WO2020220248A1 - Procédé et système de test de simulation de véhicule à conduite autonome, support d'informations et véhicule - Google Patents

Procédé et système de test de simulation de véhicule à conduite autonome, support d'informations et véhicule Download PDF

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Publication number
WO2020220248A1
WO2020220248A1 PCT/CN2019/085151 CN2019085151W WO2020220248A1 WO 2020220248 A1 WO2020220248 A1 WO 2020220248A1 CN 2019085151 W CN2019085151 W CN 2019085151W WO 2020220248 A1 WO2020220248 A1 WO 2020220248A1
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Prior art keywords
information
hardware
control
simulation test
test method
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PCT/CN2019/085151
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English (en)
Chinese (zh)
Inventor
马建云
应佳行
商志猛
丁瑞
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深圳市大疆创新科技有限公司
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Priority to CN201980010381.2A priority Critical patent/CN111699449A/zh
Priority to PCT/CN2019/085151 priority patent/WO2020220248A1/fr
Publication of WO2020220248A1 publication Critical patent/WO2020220248A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24065—Real time diagnostics

Definitions

  • the present invention generally relates to the field of automatic driving technology, and more specifically to a simulation test method, system, storage medium and vehicle of an automatic driving vehicle.
  • the automated driving simulation test system does not have any legal and regulatory risks and safety risks, and can verify environments that cannot be involved in real road conditions.
  • the traditional automatic driving simulation test system can only verify the top-level perception, planning, and decision-making algorithms in the software level, and cannot perform hardware-in-the-loop control on hardware devices that directly control the car, such as electronic control devices (ecu) and on-board sensors. test.
  • the inventor found that the verification of the automatic driving vehicle link in this automatic driving simulation test system is obviously very different from the software and hardware links and operating status of the automatic driving vehicle in the real state. For example, it is impossible to verify the software and hardware reliability of the ecu that directly controls the car; it is impossible to actually verify the software and hardware reliability of sensor devices such as inertial navigation equipment on the vehicle; there are a large number of CAN protocol data packets on the real car for the transmission of status and command information.
  • the communication link on the traditional autopilot simulation test system is quite different from the real car, resulting in delays, link stability and other items that actually affect the reliability of real autopilot cannot be verified.
  • the present invention provides a new simulation test method, system, storage medium, and vehicle for an autonomous driving vehicle.
  • one aspect of the present invention provides a simulation test method of an automatic driving vehicle, which is applied to a hardware device of an automatic driving vehicle, and the simulation test method includes:
  • a control instruction is generated, and corresponding control information is generated according to the control instruction, and the control information is used to control the first hardware to generate the preset Vehicle movement information of the communication protocol;
  • the control information is sent to the simulation device to control the first hardware to generate vehicle motion information of the preset communication protocol.
  • Another aspect of the present invention provides a simulation test method of an automatic driving vehicle, which is applied to a simulation device, the simulation device includes first hardware, and the first hardware is used to generate vehicle motion information of a preset communication protocol.
  • Test methods include:
  • Acquiring control information generated by a hardware device where the control information is used to control the first hardware to generate vehicle motion information of the communication protocol;
  • Another aspect of the present invention provides a simulation test method for an autonomous vehicle, which is applied to a simulation test system, the simulation test system includes a hardware device and a simulation device, the simulation device includes first hardware, and the first hardware is used for Generating vehicle motion information of a preset communication protocol, the simulation test method includes:
  • Acquiring control information generated by the hardware device where the control information is used to control the first hardware to generate vehicle motion information of a preset communication protocol;
  • a control instruction is generated, and corresponding control information is generated according to the control instruction, and the control information is used to control the first hardware to generate the preset Vehicle movement information of the communication protocol;
  • the control information is sent to the simulation device to control the first hardware to generate vehicle motion information of the preset communication protocol.
  • Another aspect of the present invention is a simulation test method of an autonomous vehicle.
  • the method is applied to a hardware device of an autonomous vehicle, the hardware device includes a sensor, and the sensor is used in the simulation test method, including:
  • control information According to the vehicle motion information and the virtual environment information in the form of the preset protocol, where the control information is used to control the simulation device to generate vehicle motion information;
  • the control information is sent to the simulation device to control the simulation device to generate vehicle motion information.
  • Another aspect of the present invention provides a simulation test method for an autonomous vehicle, which is applied to a simulation device, the simulation device includes first hardware, and the first hardware is used to generate vehicle motion information of a preset communication protocol, and the simulation test Methods include:
  • Acquiring control information generated by a hardware device where the control information is used to control the first hardware to generate the vehicle motion information of the preset communication protocol;
  • the control information is generated according to the virtual environment information in the form of the preset protocol and the vehicle motion information of the preset communication protocol.
  • the simulation test system includes a hardware device and a simulation device, the simulation device includes first hardware, and the first hardware is used to generate a preset communication protocol.
  • the hardware device includes sensors, including:
  • the simulation device is configured to: obtain control information generated by the hardware device, wherein the control information is used to control the first hardware to generate vehicle motion information of the preset communication protocol;
  • the simulation device is also used for generating virtual environment information, and generating vehicle motion information of the preset communication protocol according to the control information;
  • the hardware device is used to: obtain the vehicle motion information of the preset communication protocol and the virtual environment information generated by the simulation device; control the sensor to obtain the virtual environment information, and according to the virtual environment information Generate virtual environment information in the form of a preset agreement;
  • the hardware device is also used to generate control information according to the vehicle motion information of the preset communication protocol and the virtual environment information in the form of the preset protocol, and the control information is used to control the simulation device to generate the preset Set up the vehicle movement information of the communication protocol;
  • the hardware device is also used to send the control information to the simulation device.
  • One aspect of the present invention also provides a controller, which includes:
  • One or more processors work individually or together, and the processors are used to execute the aforementioned simulation test method for an autonomous vehicle.
  • a computer storage medium on which a computer program is stored, and when the program is executed by a processor, the aforementioned simulation test method for an autonomous driving vehicle is realized.
  • One aspect of the present invention also provides a vehicle, which is simulated according to the aforementioned simulation test method for an autonomous vehicle.
  • the simulation test method and system for autonomous vehicles implement hardware-in-the-loop simulation, which can perform software and hardware verification on most hardware devices in actual automatic driving, and can be used to perform hardware and software verification including sensors, electronic control devices, etc.
  • the link simulation of the hardware device verifies the reliability of the software and hardware of the vehicle-mounted sensors and electronic control devices such as inertial navigation equipment, and basically verifies all the actual physical links on the entire vehicle, so that the physical link risk points can be verified And monitoring.
  • FIG. 1 shows a schematic block diagram of an exemplary electronic device for implementing a simulation test method and a simulation test system for an autonomous vehicle according to an embodiment of the present invention
  • Figure 2 shows a schematic block diagram of a simulation test system for an autonomous vehicle in an embodiment of the present invention
  • FIG. 3 shows a schematic block diagram of a simulation test system for an automatic driving vehicle in an embodiment of the present invention
  • FIG. 4 shows a schematic flowchart of a simulation test method of an autonomous vehicle in the first embodiment of the present invention
  • Fig. 5 shows a schematic flowchart of a simulation test method for an autonomous vehicle in a second embodiment of the present invention
  • FIG. 6 shows a schematic flowchart of a simulation test method for an autonomous vehicle in a third embodiment of the present invention
  • FIG. 7 shows a schematic flowchart of a simulation test method for an autonomous vehicle in a fourth embodiment of the present invention.
  • FIG. 8 shows a schematic flowchart of a simulation test method for an autonomous vehicle in a fifth embodiment of the present invention.
  • embodiments of the present invention provide a simulation test method for an autonomous driving vehicle to perform hardware-in-the-loop testing on the hardware devices of the autonomous vehicle, for example, electronic control devices, main computing equipment, sensors, etc. .
  • the embodiment of the present invention also provides a simulation test system, including a simulation device, which is used to generate virtual environment information and vehicle motion information of a preset communication protocol.
  • the virtual environment information is simulated by the simulation device and the vehicle motion information of the preset communication protocol is generated according to the control information, thereby realizing the simulation of the vehicle.
  • the simulation device includes first hardware for generating vehicle motion information of a preset communication protocol, and for generating vehicle motion information of a preset communication protocol.
  • the first hardware simulates the hardware link of the vehicle, so that the hardware device (for example, the electronic control device) that interacts with the first hardware in the simulation test system is the same as in the real automatic driving, so that the hardware device is linked Road simulation to verify the software and hardware reliability of the hardware device.
  • the hardware device for example, the electronic control device
  • the simulation device is used to obtain control information generated by the hardware device, wherein the control information is used to control the simulation device to generate vehicle motion information of the preset communication protocol.
  • the simulation device is used for generating virtual environment information, and generating vehicle motion information of the preset communication protocol according to the control information.
  • the hardware device is used to obtain vehicle motion information and virtual environment information of a preset communication protocol generated by the simulation device. According to the vehicle motion information and virtual environment information of the preset communication protocol, a control instruction is generated, and corresponding control information is generated according to the control instruction, and the control information is used to control the first hardware to generate the preset Vehicle movement information of the communication protocol. The control information is sent to the simulation device to control the first hardware to generate vehicle motion information of the preset communication protocol.
  • the simulation device is used to obtain control information generated by a hardware device, wherein the control information is used to control the first hardware to generate vehicle motion information of the communication protocol. Generate virtual environment information, and control the first hardware according to the control information to generate vehicle motion information of the preset communication protocol. Sending the virtual environment information and the vehicle motion information of the preset communication protocol to the hardware device, so that the hardware device generates the control information.
  • the hardware device includes a sensor for acquiring virtual environment information generated by the simulation device, and generating virtual environment information in the form of a preset protocol according to the virtual environment information, so that the sensor hardware is in the loop, This can verify the stability of the sensor-related links on the vehicle.
  • FIG. 1 an example electronic device 100 for implementing a simulation test method and a simulation test system for an autonomous vehicle according to an embodiment of the present invention will be described.
  • the electronic device 100 includes one or more processors 102, one or more storage devices 104, an input device 106, and an output device 108. These components are connected through a bus system and/or other forms of connection mechanisms (not shown). Out) interconnection. It should be noted that the components and structure of the electronic device 100 shown in FIG. 1 are only exemplary and not restrictive, and the electronic device may also have other components and structures as required.
  • the processor 102 may be a central processing unit (CPU), an image processing unit (GPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other forms with data processing capabilities and/or instruction execution capabilities
  • the processor 102 may be a central processing unit (CPU) or other form of processing unit with data processing capability and/or instruction execution capability, and may control other components in the electronic device 100 to execute desired Function.
  • the processor 102 can include one or more embedded processors, processor cores, microprocessors, logic circuits, hardware finite state machines (FSM), digital signal processors (DSP), or combinations thereof.
  • FSM hardware finite state machines
  • DSP digital signal processors
  • the storage device 104 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory.
  • the volatile memory may include random access memory (RAM) and/or cache memory (cache), for example.
  • the non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc.
  • One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 102 may run the program instructions to implement the autonomous vehicle in the embodiments of the present invention (implemented by the processor) described below.
  • the simulation test method and simulation test system and/or other desired functions Various application programs and various data, such as various data used and/or generated by the application program, can also be stored in the computer-readable storage medium.
  • the input device 106 may be a device used by a user to input instructions, and may include one or more of a keyboard, a mouse, a microphone, and a touch screen. In addition, the input device 106 may also be any interface for receiving information.
  • the output device 108 may output various information (for example, images or sounds) to the outside (for example, the user), and may include one or more of a display (for example, to display vehicle motion information, virtual environment information, etc.), speakers, etc. .
  • the output device 108 may also be any other device with output function.
  • the communication interface 110 is used for communication between the electronic device 100 and other devices, including wired or wireless communication.
  • the electronic device 100 can access a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G, 5G, or a combination thereof.
  • the communication interface 155 further includes a near field communication (NFC) module to facilitate short-range communication.
  • NFC near field communication
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • the example electronic device used to implement the simulation test method of the autonomous driving vehicle may be implemented as a terminal such as a desktop computer, a tablet computer, etc., or a simulation test system of an autonomous driving vehicle including these terminals , Controller, etc.
  • FIG. 2 a simulation test system for an automatic driving vehicle in an embodiment of the present invention will be described.
  • the simulation test system 200 includes a hardware device and a simulation device, the simulation device includes first hardware, and the first hardware is used to generate vehicle motion information of a preset communication protocol .
  • the first hardware is provided with a signal interface for enabling the hardware device to communicate with the first hardware through the signal interface.
  • the first hardware includes a circuit board, and the circuit board is provided with the signal interface.
  • the signal interface may be a signal interface for communication with a hardware device (for example, an electronic control device of the hardware device), such as a can , Car Ethernet, throttle analog signal and other signal interfaces, in a specific example, as shown in Figure 2, the first hardware includes sim_car220, sim_car 220 can be a "fake car" realized by circuit board simulation.
  • the first hardware is realized by hardware, and its main function is to simulate the signal interface of the car (for example, can, car Ethernet, etc., throttle analog signal, etc.), so that the actual electronic control device of the car is exactly the same as the real car.
  • the first hardware is realized by a circuit board, and the circuit board is provided with a signal interface to simulate the hardware signal form of a real car, so that the electronic control device of the actual car is completely the same as the real car, and the link to the electronic control device is realized Simulation and verification.
  • the simulation device further includes second hardware.
  • the second hardware may include a simulator 210, which may be any simulator with a simulation function, which is not specifically described here. limited.
  • the communication connection between the first hardware and the second hardware is realized by a simulation device including the first hardware and the second hardware together to realize the simulation of the vehicle, or a simulation device including only the first hardware may also realize the simulation of the vehicle.
  • the second hardware (such as the simulator 210) is provided with a signal interface for communicating with the first hardware, such as a USB interface, a Uart (Universal Asynchronous Transmitter) interface, a Bluetooth interface, etc., to communicate with the first hardware.
  • the hardware exchanges information.
  • the hardware device includes a sensor 230.
  • the sensor 230 may be any sensor mounted on the vehicle.
  • the sensor 230 includes at least one of a positioning system, a lidar, a millimeter wave radar, a vision sensor, and an inertial navigation module.
  • the sensor 230 no longer collects actual environmental data, but instead obtains the "data" of the simulator delivered by a simulation device such as a simulator.
  • the physical link between the sensor 230 and the main computing device 240 is completely identical to that of the real car.
  • the hardware-in-the-loop of the inertial navigation module that obtains pose information can verify the stability of the sensor-related links on the vehicle.
  • the sensor is provided with a signal interface for communicating with the simulation device, such as a USB interface, a Uart (Universal Asynchronous Transmitter) interface, a Bluetooth interface, and the like.
  • the hardware device further includes a main computing device 240, which may be implemented by the electronic device in the foregoing embodiment, or may also be implemented by other terminal devices.
  • the main computing device is provided with a signal interface for communicating with other devices.
  • the signal interface is exactly the same as the signal interface of the computing device on the real car.
  • the signal interface between the main computing device 240 and the sensor 230 is The signal interface on the car is the same.
  • the signal interface between the main computing device 240 and the electronic control device 250 is the same as the signal interface on the real car, so that the hardware link related to the main computing device in the simulation test system is the same as in the real car
  • the signal interface can be any form of signal interface, which is not specifically limited here.
  • the hardware device further includes an electronic control device 250, which is a device that actually controls the car.
  • the electronic control device 250 that directly controls the car is hardware-in-the-loop, which can perform long-term verification of its software and hardware reliability.
  • the electronic control device 250 communicates with the main computing device 240, and the electronic control device 250 communicates with the simulation device.
  • the electronic control device 250 communicates with the first hardware of the simulation device. Communication is carried out through the Can bus.
  • the software and hardware operating environment and signal interface of the electronic control device 250 are identical to those in the real car, so as to more effectively verify the stability of the physical link of the electronic control device in the real car.
  • the simulation device includes first hardware, and the simulation device is used to: obtain control information generated by the hardware device, wherein the control information is used to control the first hardware generation
  • the vehicle motion information of the preset communication protocol for example, the control information includes control information of a preset communication protocol, and the preset communication protocol may be a preset communication protocol between the first hardware and the electronic control device.
  • the communication protocol is the same as the preset communication protocol between the electronic control device on the real car and the car.
  • the preset communication protocol includes the Can protocol to simulate the link of the electronic control device and verify the stability of the link Sex.
  • the control information includes control information for controlling at least one of accelerator, braking, steering, and gear.
  • the vehicle motion information of the preset communication protocol includes at least one vehicle motion information of accelerator feedback, steering wheel angle, brake feedback, left and right turn signal status, and light pole status in the form of the preset communication protocol
  • the vehicle motion information of the preset communication protocol can also be used as a basis for the main computing device of the hardware device to make automatic driving decisions.
  • the simulation device includes first hardware, and the simulation device is further configured to: generate virtual environment information, and generate vehicle motion information of the preset communication protocol according to the control information, and the simulation device simulates the behavior of a real car
  • the virtual environment information is a simulation of any driving environment and vehicle state that may be encountered during the running of the real car, so that the virtual environment information of the simulation test system is basically the same as the real environment, and the simulation of the simulation test system is guaranteed
  • the simulation can verify the real environment more realistically, and can also verify the environment that cannot be involved in real road conditions.
  • the virtual environment information includes at least one of the following: a virtual driving environment and a virtual vehicle state.
  • the virtual driving environment includes at least one of a pedestrian environment, a road environment, and a weather environment.
  • the virtual vehicle state includes at least one of the following: attitude information, position information, and wheel speed information.
  • the simulation device includes first hardware, and the simulation device is further configured to: control the first hardware to generate vehicle motion information according to the control information; and control the first hardware to control the vehicle motion information Processing is performed to generate vehicle motion information of the preset communication protocol.
  • the preset communication protocol is a preset communication protocol form between the first hardware and a hardware device such as the electronic control device 250.
  • the communication protocol format of the vehicle and the electronic control device is the same; the vehicle motion information of the preset communication protocol is sent to the hardware device, for example, the vehicle motion information of the preset communication protocol is sent to the hardware device of the electronic control device 250, such as As shown in Figure 2, the stability of the link of the electronic control device is verified through the information exchange.
  • the first hardware includes a circuit board, the circuit board is provided with the signal interface, and the first hardware sends the vehicle motion information of the preset communication protocol to the vehicle through the signal interface. Mentioned hardware device.
  • the simulation device includes first hardware and second hardware, and the simulation device is configured to: control the second hardware to generate vehicle motion information according to the control information; control the first hardware to obtain the vehicle motion Information and control the first hardware to generate vehicle motion information of the preset communication protocol according to the vehicle motion information.
  • the simulation device includes first hardware and second hardware.
  • the second hardware includes a simulator 210
  • the first hardware includes sim_car 220
  • the second hardware includes The hardware is used to generate virtual environment information and send the virtual environment information to the sensor 230 of the hardware device.
  • the simulator 210 simulates posture information, position information, wheel speed information and other information and sends it to the sensor of the inertial navigation module, for example,
  • the device 210 simulates a virtual driving environment and sends it to sensors such as radars and image sensors.
  • the first hardware is used to: obtain control information of a preset communication protocol generated by the hardware device, for example, obtain control information of a preset communication protocol generated by the electronic control device 250, and generate the control information in a preset protocol format Control information, sending the control information in the preset protocol form to the second hardware, and the control information in the preset protocol form has a data format that can be read by the second hardware, and the second hardware is also used to follow the preset protocol
  • the form of control information generates vehicle motion information and sends it to the first hardware; the first hardware is also used to obtain the vehicle motion information, and according to the vehicle motion information, generate the vehicle motion information of the preset communication protocol,
  • the vehicle motion information of the preset communication protocol is sent to a hardware device, for example, to the electronic control device 250 of the hardware device.
  • the first hardware and the second hardware work together to realize the simulation of the real car, and pass the first
  • the hardware and the hardware device exchange information to verify the stability of the link of the electronic control device.
  • sim_car 220 circuit board can also be used to realize the simulation and simulation of vehicle kinematics and dynamics, and the simulator 210 is only used to realize the display of the vehicle motion state.
  • the hardware device includes a sensor 230, and the hardware device is used to obtain the vehicle motion information and the virtual environment information of the preset communication protocol generated by the simulation device , Verifying the stability of the hardware device link through the above information exchange; controlling the sensor to obtain the virtual environment information, and generating virtual environment information in the form of a preset protocol according to the virtual environment information, the simulation test system of the embodiment of the present invention
  • the sensor of the hardware device no longer collects actual environment data, but is used to obtain the virtual environment information, and generate virtual environment information in the form of a preset protocol according to the virtual environment information, so that the sensor hardware is in the loop and can verify the vehicle
  • the stability of the link related to the sensor the hardware device is also used to generate control information according to the vehicle motion information of the preset communication protocol and the virtual environment information in the form of the preset protocol, and the control information is used for Control the simulation device to generate the vehicle motion information of the preset communication protocol, the control information is the same as the control information in the real car, so as
  • the sensor 230 is used to obtain the virtual environment information from the simulation device (for example, the simulator 210), generate virtual environment information in the form of a preset protocol according to the virtual environment information, and send it to the host computing Equipment 240.
  • the sensor of the hardware device of the simulation test system in the embodiment of the present invention no longer collects actual environment data, but is used to obtain the virtual environment information, and generate virtual environment information in the form of a preset protocol according to the virtual environment information, so that the sensor Hardware in the loop can verify the stability of the sensor-related links on the vehicle.
  • the virtual environment information in the form of the preset protocol has a data format that can be read by the main computing device 240, so that the main computing device can obtain virtual environment information and make automatic driving decisions and path planning based on the virtual environment information. .
  • the hardware device further includes a main computing device 240, which is used to obtain the virtual environment information, such as receiving the virtual environment information output from the simulation device, or, Receive virtual environment information in the form of a preset protocol output from the sensor, and complete environment perception according to the virtual environment information, make decisions and path planning, and generate control instructions.
  • the main computing device 240 is also used to send the control instruction to the electronic control device 250.
  • the main computing device 240 is also used to obtain vehicle motion information generated by the simulation device, and generate a control instruction according to the vehicle motion information and virtual environment information of the preset communication protocol, and the control instruction is used to control the vehicle
  • the simulation device generates the vehicle motion information of the preset communication protocol, and makes automatic driving decisions through the main computing device 240 to simulate the decision processing of real cars when they are automatically driving in various environments, and can be evaluated based on these decision processing methods
  • the accuracy and safety of decision-making, in addition, the stability of the physical link of the main computing device can also be verified through the above information interaction.
  • the main computing device 240 is the same as the main computing device on the real car, and it may include a perception module, a control module, and a navigation module.
  • the perception module receives virtual environment information in the form of a preset protocol sent by the sensor and calculates The real-time position, speed, acceleration, and yaw angle of the vehicle are sent to the control module and navigation module.
  • the navigation module calculates the predicted trajectory of the vehicle and obtains the vehicle motion information sent by the simulation device, such as accelerator, brake, steering, gear, etc. Make autonomous driving decisions.
  • the hardware device further includes an electronic control device 250, and the hardware device is also used to: control the electronic control device 250 to obtain the control instruction and control the electronic control device 250 processes the control instruction into control information of a preset communication protocol, and sends the control information to the simulation device, for example, to the first hardware of the simulation device (for example, sim_car 220).
  • control the electronic control device 250 to obtain the control instruction
  • control the electronic control device 250 processes the control instruction into control information of a preset communication protocol, and sends the control information to the simulation device, for example, to the first hardware of the simulation device (for example, sim_car 220).
  • the electronic control device 250 is used for the autonomous computing device 240 to obtain control instructions, process the control instructions into control information of a preset communication protocol, and send the control information to the simulation device, wherein the preset communication protocol Refers to the preset communication protocol between the electronic control device and the simulation device, and the preset communication protocol is the same as the preset communication protocol of the electronic control device on the actual vehicle.
  • the preset communication protocol includes the Can protocol.
  • the electronic control device simulates the actual control state of the electronic control device in the real car, and the stability of the electronic control device link is verified through the information interaction between the electronic control device and the simulation device.
  • the hardware device is further used to: control the electronic control device to obtain vehicle motion information of the preset communication protocol, and control the electronic control device to send the vehicle motion information of the preset communication protocol To the main computing device.
  • the electronic control device 250 is used to obtain vehicle motion information of a preset communication protocol from a simulation device (for example, sim_car 220 of the first hardware), and send the vehicle motion information of the preset communication protocol to the main computer
  • the device 240 allows the main computing device 240 to obtain feedback on the vehicle's motion state, so as to make decisions and path planning for the further movement of the vehicle.
  • the simulation test system of the embodiment of the present invention is a hardware-in-the-loop vehicle link simulation test system, which can perform software and hardware verification on most hardware devices other than vehicles in actual automatic driving.
  • the simulation test system includes the first hardware, which simulates the signal interface of the car in communication with the electronic control device, so that the actual state of the electronic control device of the car is exactly the same as the state on the real car, so that the link related to the electronic control device Perform simulation to achieve long-term verification of the software and hardware reliability of the electronic control device.
  • the hardware-in-the-loop of the inertial navigation module that obtains pose information can verify the stability of the link.
  • the simulation test system in the embodiment of the present invention basically verifies all actual physical links on the entire vehicle, and verifies and monitors all physical link risk points.
  • FIG. 4 shows a schematic flowchart of the simulation test method of an autonomous driving vehicle in the first embodiment of the present invention. The method is described based on the hardware device in the aforementioned simulation test system.
  • the simulation test method 400 of the autonomous driving vehicle in the embodiment of the present invention is applied to the hardware device of the autonomous driving vehicle, and the simulation test method 400 includes:
  • step S401 obtaining vehicle motion information and virtual environment information of a preset communication protocol generated by a simulation device, wherein the simulation device includes first hardware, and the first hardware is used to generate a vehicle of the preset communication protocol Sports information
  • step S402 a control instruction is generated according to the vehicle motion information and virtual environment information of the preset communication protocol, and corresponding control information is generated according to the control instruction, and the control information is used to control the first hardware Generating vehicle motion information of the preset communication protocol;
  • step S403 the control information is sent to the simulation device to control the first hardware to generate vehicle motion information of the preset communication protocol.
  • the simulation device includes the first hardware
  • the first hardware is used to generate the vehicle motion information of the preset communication protocol, and the signal interface of the vehicle is simulated through the first hardware (for example, CAN, vehicle Ethernet, throttle analog signal, etc.) ), so that the electronic control device of the actual car is completely the same as the state on the real car, so that through the simulation test method of the embodiment of the present invention, the link related to the electronic control device can be simulated, and the software and hardware of the electronic control device can be simulated. Long-term verification of reliability.
  • the first hardware is provided with a signal interface for enabling the hardware device to communicate with the first hardware through the signal interface.
  • the first hardware includes a circuit board, and the circuit board is provided with the signal interface to simulate the hardware signal form of the real car, so that the electronic control device of the actual car is completely the same as the state of the real car. Simulation and verification of the link.
  • the virtual environment information includes at least one of the following: a virtual driving environment and a virtual vehicle state.
  • the virtual driving environment includes at least one of a pedestrian environment, a road environment, and a weather environment.
  • the virtual vehicle state includes at least one of the following: attitude information, position information, and wheel speed information.
  • the virtual driving environment and virtual vehicle status may also include other information, which is not specifically limited here.
  • control information includes control information of a preset communication protocol, where the preset communication protocol includes a CAN protocol, which is the main communication for information exchange between the electronic control device in a real car and other equipment Protocol, by simulating the CAN protocol, the electronic control device of the actual car is completely the same as the state on the real car, realizing the simulation and verification of the link of the electronic control device.
  • the preset communication protocol includes a CAN protocol, which is the main communication for information exchange between the electronic control device in a real car and other equipment Protocol, by simulating the CAN protocol, the electronic control device of the actual car is completely the same as the state on the real car, realizing the simulation and verification of the link of the electronic control device.
  • the hardware device further includes a sensor for acquiring the virtual environment information, and generating virtual environment information in the form of a preset protocol according to the virtual environment information
  • the simulation test method also It includes: generating the control instruction according to the vehicle motion information of the preset communication protocol and the virtual environment information in the form of the preset protocol.
  • the sensor no longer collects actual environment data, but acquires the "data" of the simulator passed by the simulator, for example, the virtual environment information, but the physical link with the main computing device is exactly the same as on the real car , So that, for example, the inertial navigation module that obtains the pose information is hardware-in-the-loop. Therefore, the stability of the sensor-related link on the vehicle can be verified through the simulation test method of the embodiment of the present invention.
  • the hardware device includes an electronic control device
  • the simulation test method further includes: controlling the electronic control device to obtain the control instruction, and controlling the electronic control device to process the control instruction into the control information
  • the control information is sent to the simulation device to simulate the actual vehicle control situation of the electronic control device, and the stability of the link to the electronic control device is verified through information interaction with the simulation device.
  • the control information includes control information of a preset communication protocol, wherein the preset communication protocol includes a CAN protocol.
  • the control instruction is generated by the main computing device to obtain the virtual environment information, complete environment perception according to the virtual environment information, and make decisions and path planning.
  • the control instruction includes a control instruction for controlling at least one of accelerator, braking, steering, and gear.
  • the control instruction corresponds to the control information
  • the control information includes control information for controlling at least one of accelerator, brake, steering, and gear.
  • the hardware device includes a main computing device and an electronic control device
  • the simulation test method further includes: controlling the electronic control device to obtain vehicle motion information of the preset communication protocol; controlling the electronic control device The device sends the acquired vehicle motion information of the preset communication protocol to the main computing device, so that the main computing device makes an automatic driving decision based on the vehicle motion information, and realizes the simulation of the decision in the automatic driving of the real car .
  • the hardware device further includes a sensor and a main computing device
  • the simulation test method further includes: controlling the main computing device to obtain virtual environment information in the form of the preset protocol and the information of the preset communication protocol.
  • Vehicle motion information controlling the main computing device to generate the control instruction according to the virtual environment information in the form of the preset protocol and the vehicle motion information of the preset communication protocol.
  • the sensor of the hardware device of the simulation test system in the embodiment of the present invention no longer collects actual environment data, but is used to obtain the virtual environment information, and generate virtual environment information in the form of a preset protocol according to the virtual environment information, so that the sensor Hardware in the loop can verify the stability of the sensor-related links on the vehicle.
  • the virtual environment information in the form of the preset protocol has a data format that can be read by the main computing device, so that the main computing device can obtain the virtual environment information and make automatic driving decisions and route planning based on the virtual environment information Wait.
  • FIG. 5 shows a schematic flowchart of the simulation test method of the autonomous driving vehicle in the second embodiment of the present invention.
  • the method of the embodiment is described based on the perspective of the simulation device in the aforementioned simulation test system.
  • the simulation test method of the autonomous vehicle is applied to a simulation device, the simulation device includes first hardware, and the first hardware is used to generate vehicle motion information of a preset communication protocol
  • the first hardware includes a circuit board, the circuit board is provided with the signal interface, and the first hardware sends the vehicle motion information of the preset communication protocol to the signal interface through the signal interface.
  • the first hardware is implemented by a circuit board, and the circuit board is provided with a signal interface to simulate the hardware signal form of a real car, so that, for example, the hardware device of the electronic control device that actually controls the car is completely the same as the state on the real car , To realize the simulation and verification of the link of the hardware device such as the electronic control device.
  • the simulation test method 500 includes:
  • control information generated by a hardware device is acquired, where the control information is used to control the first hardware to generate vehicle motion information of the communication protocol, so as to facilitate communication between hardware devices such as electronic control devices.
  • the control information includes control information of a preset communication protocol, for example, the preset communication protocol includes a CAN protocol.
  • the control information includes control information for controlling at least one of accelerator, braking, steering, and gear.
  • step S502 generating virtual environment information, and controlling the first hardware according to the control information to generate vehicle motion information of the preset communication protocol;
  • the virtual environment information includes at least one of the following: a virtual driving environment and a virtual vehicle state.
  • the virtual driving environment includes at least one of a pedestrian environment, a road environment, and a weather environment.
  • the virtual vehicle state also includes at least one of the following: posture information, position information, and wheel speed information.
  • step S503 the virtual environment information and the vehicle motion information of the preset communication protocol are sent to the hardware device, so that the hardware device generates the control information.
  • the simulation device includes the first hardware
  • the first hardware is used to generate the vehicle motion information of the preset communication protocol, and the signal interface of the vehicle is simulated through the first hardware (for example, CAN, vehicle Ethernet, throttle analog signal, etc.) ), so that the electronic control device of the actual car is completely the same as the state on the real car, so that through the simulation test method of the embodiment of the present invention, the link related to the electronic control device can be simulated, and the software and hardware of the electronic control device can be simulated. Long-term verification of reliability.
  • the simulation device includes first hardware and second hardware
  • the simulation test method includes: controlling the second hardware to generate vehicle motion information according to the control information; controlling the first hardware to obtain the vehicle motion information , And control the first hardware to generate the vehicle movement information of the preset communication protocol according to the vehicle movement information.
  • the simulation test method further includes: controlling the second hardware to generate the virtual environment information, and realizing the simulation of the real car through the joint action of the first hardware and the second hardware.
  • the simulation device includes first hardware
  • the simulation test method further includes: controlling the first hardware to generate vehicle motion information according to the control information; controlling the first hardware to perform the motion of the vehicle
  • the information is processed to generate vehicle motion information of the preset communication protocol; and the vehicle motion information of the preset communication protocol is sent to a hardware device.
  • the stability of the link of the electronic control device is verified.
  • FIG. 6 shows a schematic flowchart of the simulation test method of an autonomous driving vehicle in the third embodiment of the present invention.
  • the method of the embodiment is described from the perspective of the aforementioned simulation test system.
  • the simulation test method 600 of an autonomous vehicle is applied to a simulation test system
  • the simulation test system includes a hardware device and a simulation device
  • the simulation device includes a first hardware
  • the first The hardware is used to generate vehicle motion information of a preset communication protocol
  • the simulation test method 600 includes:
  • control information generated by the hardware device is acquired, where the control information is used to control the first hardware to generate vehicle motion information of a preset communication protocol; optionally, the control information includes a preset Control information of the communication protocol.
  • the preset communication protocol includes CAN protocol, or other suitable protocol forms.
  • the vehicle motion information of the preset communication protocol includes at least one vehicle motion information of accelerator feedback, steering wheel angle, brake feedback, left and right turn signal states, and light pole states in the form of the preset communication protocol.
  • step S602 virtual environment information is generated, and vehicle motion information of the preset communication protocol is generated according to the control information;
  • step S603 acquiring vehicle motion information and the virtual environment information generated by the simulation device with a preset communication protocol
  • step S604 a control instruction is generated according to the vehicle motion information and virtual environment information of the preset communication protocol, and corresponding control information is generated according to the control instruction, and the control information is used to control the first hardware Generating vehicle motion information of the preset communication protocol;
  • step S605 the control information is sent to the simulation device to control the first hardware to generate vehicle motion information of the preset communication protocol.
  • the simulation device includes the first hardware
  • the first hardware is used to generate the vehicle motion information of the preset communication protocol, and the signal interface of the vehicle is simulated through the first hardware (for example, CAN, vehicle Ethernet, throttle analog signal, etc.) ), so that the electronic control device of the actual car is completely the same as the state on the real car, so that through the simulation test method of the embodiment of the present invention, the link related to the electronic control device can be simulated, and the software and hardware of the electronic control device can be simulated. Long-term verification of reliability.
  • the hardware device further includes a sensor for acquiring the virtual environment information, and generating virtual environment information in the form of a preset protocol according to the virtual environment information
  • the simulation test method further includes : Generate the control instruction according to the vehicle motion information of the preset communication protocol and the virtual environment information in the form of the preset protocol.
  • the control instruction includes a control instruction for controlling at least one of accelerator, braking, steering, and gear.
  • the sensor processes the virtual environment information to generate virtual environment information in the form of a preset protocol, and the virtual environment information in the form of the preset protocol has a data format that can be read by the main computing device, so that the main computing device can read and parse it Virtual environment information to make further decisions.
  • the sensor includes at least one of a positioning system, a lidar, a millimeter-wave radar, a vision sensor, and an inertial navigation module, or other sensors applied to an autonomous vehicle.
  • the hardware device includes an electronic control device
  • the simulation test method further includes: controlling the electronic control device to obtain the control instruction, and controlling the electronic control device to process the control instruction into the control information
  • the control information is sent to the simulation device, for example, to the first hardware of the simulation device.
  • the control information includes control information of a preset communication protocol.
  • the preset communication protocol includes CAN protocol, or other suitable protocol forms.
  • the control information includes control information for controlling at least one of accelerator, brake, steering, and gear.
  • the electronic control device simulates the actual control state of the electronic control device in the real car, and the stability of the electronic control device link is verified through the information interaction between the electronic control device and the simulation device.
  • the hardware device includes an electronic control device and a main computing device
  • the simulation test method includes: controlling the electronic control device to obtain vehicle motion information of the preset communication protocol; controlling the electronic control device to obtain The vehicle motion information of the preset communication protocol is sent to the main computing device, so that the main computing device 240 obtains feedback of the vehicle motion state, so as to make decisions and path planning for the further movement of the vehicle.
  • the virtual environment information includes at least one of the following: a virtual driving environment and a virtual vehicle state.
  • the virtual driving environment includes at least one of a pedestrian environment, a road environment, and a weather environment.
  • the virtual vehicle state further includes at least one of the following: posture information, position information, and wheel speed information.
  • the hardware device further includes a main computing device
  • the simulation test method further includes: controlling the main computing device to obtain virtual environment information in the form of the preset protocol and the vehicle movement of the preset communication protocol Information; control the main computing device to generate the control instruction based on the virtual environment information in the form of the preset protocol and the vehicle motion information of the preset communication protocol, and make automatic driving decisions through the main computing device 240 to simulate a real car Decision processing during automatic driving in various environments, and the accuracy and safety of the decision can be evaluated according to these decision processing methods.
  • the stability of the physical link of the main computing device can also be verified through the above information interaction.
  • the first hardware is provided with a signal interface for enabling the hardware device to communicate with the first hardware through the signal interface.
  • the first hardware includes a circuit board, and the circuit board is provided with the signal interface.
  • the first hardware and the electronic control device communicate through the Can bus, or may also communicate through other suitable communication methods, but the communication method is the same in the real car, so as to The electronic control device performs simulation verification.
  • the first hardware has the same signal interface as the real car.
  • the signal interface includes at least one of a can interface, a vehicle Ethernet interface, and a throttle analog signal interface.
  • the simulation device further includes first hardware and second hardware
  • the simulation test method includes: controlling the second hardware to generate vehicle motion information according to the control information; controlling the first hardware to obtain The vehicle motion information, and control the first hardware to generate the vehicle motion information of the preset communication protocol according to the vehicle motion information.
  • the simulation test method further includes: controlling the second hardware to generate the virtual environment information. The simulation of the real car is realized through the joint action of the first hardware and the second hardware.
  • the simulation device includes first hardware
  • the simulation test method includes: controlling the first hardware to generate vehicle motion information according to the control information; controlling the first hardware to perform the motion of the vehicle The information is processed to generate the vehicle motion information of the preset communication protocol; the vehicle motion information of the preset communication protocol is sent to the hardware device, and the information exchange between the first hardware and the hardware device is used to verify the electronic control device The stability of the link.
  • FIG. 7 shows a schematic flowchart of a simulation test method for an autonomous driving vehicle in a fourth embodiment of the present invention. The method is described based on the hardware device in the aforementioned simulation test system.
  • the simulation test method 700 of an automated driving vehicle is applied to a hardware device of an automated driving vehicle.
  • the hardware device includes a sensor.
  • the sensor includes a positioning system and a lidar.
  • step S701 obtain vehicle motion information and virtual environment information generated by the simulation device
  • step S702 control the sensor to acquire the virtual environment information, and generate virtual environment information in a preset protocol form according to the virtual environment information;
  • step S703 generate control information according to the vehicle motion information and the virtual environment information in the form of the preset protocol, and the control information is used to control the simulation device to generate vehicle motion information;
  • step S704 the control information is sent to the simulation device to control the simulation device to generate vehicle motion information.
  • the hardware device includes a sensor that no longer collects actual environment data, but obtains virtual environment information generated by a simulation device, and generates virtual environment information in the form of a preset protocol according to the virtual environment information,
  • the virtual environment information in the form of the preset protocol is sent to the main computing device, and the main computing device performs further decision processing.
  • the physical link between the sensor and the main computing device is exactly the same as the real car, so that, for example, the pose information can be obtained
  • the inertial navigation module hardware in the loop can verify the stability of the sensor-related links on the vehicle.
  • control information includes control information of a preset communication protocol
  • the preset communication protocol includes a CAN protocol
  • the virtual environment information may include simulated environment and road information.
  • the virtual environment information includes at least one of the following: a virtual driving environment and a virtual vehicle state.
  • the virtual driving environment includes at least one of a pedestrian environment, a road environment, and a weather environment.
  • the virtual vehicle state further includes at least one of the following: posture information, position information, and wheel speed information.
  • the hardware device further includes a host computing device
  • the simulation test method further includes: the sensor generates virtual environment information in the form of a preset protocol according to the virtual environment information, and sends it to the host Computing equipment and sensors no longer collect actual environment data, but are used to obtain the virtual environment information, and generate virtual environment information in the form of a preset protocol according to the virtual environment information, so that the sensor hardware is in the loop and can be verified on the vehicle The stability of the link associated with the sensor.
  • the virtual environment information in the form of the preset protocol has a data format that can be read by the main computing device, so that the main computing device can obtain virtual environment information and make autonomous driving decisions and routes based on the virtual environment information Planning, etc.
  • the hardware device further includes an electronic control device
  • the simulation test method further includes: controlling the main computing device to acquire the vehicle motion information and the virtual environment information in the form of the preset protocol, and generate control instructions, wherein , The control instruction is used to control the simulation device to generate vehicle motion information; control the electronic control device to process the control instruction into corresponding control information, and send the control information to the simulation device to control the
  • the simulation device generates vehicle motion information of the preset communication protocol, and verifies the stability of the physical link related to the electronic control device through information exchange.
  • control instruction includes a control instruction for controlling at least one of accelerator, braking, steering, and gear; and/or, the control information includes controlling at least one of accelerator, braking, steering, and gear Control information.
  • control instructions and control information are not limited to the control instructions and control information listed above, and may also be other instructions and information used to control the movement of the vehicle.
  • controlling the main computing device to obtain the vehicle motion information and the virtual environment information in the form of the preset protocol further includes: controlling the electronic control device to obtain the vehicle motion information of the preset communication protocol , And control the electronic control device to send the vehicle motion information of the preset communication protocol to the main computing device, and verify the relationship between the electronic control device and the main computing device through information interaction between the electronic control device and the main computing device The stability of the link between.
  • the simulation device includes first hardware, and the first hardware is provided with a signal interface for enabling the hardware device to communicate with the first hardware through the signal interface.
  • the first hardware includes a circuit board, and the circuit board is provided with the signal interface in the form of a hardware signal that simulates a real car, so that the actual electronic control device for controlling the car is completely the same as that on the real car, Realize the simulation and verification of the electronic control device link.
  • FIG. 8 shows a schematic flowchart of a simulation test method of an autonomous driving vehicle in a fifth embodiment of the present invention. The method is described based on the perspective of the simulation device in the aforementioned simulation test system.
  • a simulation test method 800 for an autonomous vehicle link is applied to a simulation device, the simulation device includes first hardware, and the first hardware is used to generate a preset communication protocol For vehicle motion information, the simulation test method includes:
  • step S801 control information generated by a hardware device is acquired, where the control information is used to control the first hardware to generate the vehicle motion information of the preset communication protocol;
  • step S802 virtual environment information is generated, and the first hardware is controlled according to the control information to generate vehicle motion information of the preset communication protocol; wherein, the virtual environment information is used to be processed by the hardware device into The virtual environment information in a preset protocol form;
  • step S803 sending the virtual environment information and the vehicle motion information of the preset communication protocol to the hardware device, so that the hardware device can process the virtual environment information into virtual environment information in the form of a preset protocol, and The hardware device is caused to generate the control information according to the virtual environment information in the preset protocol form and the vehicle motion information in the preset communication protocol.
  • the simulation device includes the first hardware
  • the first hardware is used to generate the vehicle motion information of the preset communication protocol, and the signal interface of the vehicle is simulated through the first hardware (for example, CAN, vehicle Ethernet, throttle analog signal, etc.) ), so that the hardware device (such as electronic control device) that actually controls the car is completely the same as the state on the real car, so that through the simulation test method of the embodiment of the present invention, the hardware device (such as electronic control device and sensor) can be compared
  • the link is simulated to perform long-term verification of the software and hardware reliability of hardware devices (such as electronic control devices and sensors).
  • control information includes control information of a preset communication protocol, for example, the preset communication protocol includes a CAN protocol.
  • the control information includes control information for controlling at least one of accelerator, braking, steering, and gear.
  • the virtual environment information further includes: data information corresponding to the virtual driving environment.
  • the virtual environment information includes at least one of the following: a virtual driving environment and a virtual vehicle state.
  • the virtual driving environment includes at least one of a pedestrian environment, a road environment, and a weather environment;
  • the virtual vehicle state includes at least one of the following: attitude information, position information, and wheel speed information .
  • the first hardware includes a circuit board, the circuit board is provided with the signal interface, and the first hardware sends the vehicle motion information of the preset communication protocol to the vehicle through the signal interface.
  • the first hardware is realized by a circuit board, and the circuit board is provided with a signal interface to simulate the hardware signal form of a real car, so that the electronic control device of the actual car is completely the same as the real car, and the link to the electronic control device is realized Simulation and verification.
  • the simulation device further includes second hardware
  • the simulation test method includes: controlling the second hardware to generate vehicle motion information according to the control information; controlling the first hardware to obtain the vehicle motion information , And control the first hardware to generate the vehicle movement information of the preset communication protocol according to the vehicle movement information. More specifically, the simulation test method includes controlling the second hardware to generate the virtual environment information. , The first hardware and the second hardware work together to realize the simulation of the real car, and through the information interaction between the first hardware and the hardware device, the stability of the link of the electronic control device is verified.
  • the hardware device includes a sensor for processing the virtual environment information into virtual environment information in the form of a preset protocol, for example, for receiving the virtual environment information sent by the second hardware, and combining the virtual environment information
  • the environmental information is processed into virtual environmental information in the form of a preset protocol, and the sensor hardware is in the loop, which can verify the stability of the sensor-related links on the vehicle.
  • the simulation test method specifically further includes: controlling the first hardware to generate vehicle motion information according to the control information; controlling the first hardware to process the vehicle motion information to generate the The vehicle motion information of the preset communication protocol; sending the vehicle motion information of the preset communication protocol to the hardware device, so that the hardware device makes an automatic driving decision based on the vehicle motion information, and verifies the link between the simulation device and the hardware device The stability.
  • the hardware device includes a sensor, and the sensor no longer collects actual environment data, but obtains virtual environment information generated by the simulation device, and according to the virtual environment
  • the information generates virtual environment information in the form of a preset protocol, and sends the virtual environment information in the form of a preset protocol to the main computing device, and the main computing device performs further decision processing.
  • the physical link between the sensor and the main computing device is The vehicle is exactly the same, so that, for example, the hardware-in-the-loop inertial navigation module that obtains pose information can verify the stability of the sensor-related links on the vehicle.
  • the simulation device includes the first hardware
  • the first hardware is used to generate the vehicle motion information of the preset communication protocol, and the signal interface of the vehicle is simulated through the first hardware (for example, CAN, vehicle Ethernet, throttle analog signal, etc.) ), so that the electronic control device of the actual car is completely the same as the state on the real car, so that through the simulation test method of the embodiment of the present invention, the link related to the electronic control device can be simulated, and the software and hardware of the electronic control device can be simulated. Long-term verification of reliability.
  • an embodiment of the present invention also provides a controller.
  • the controller includes one or more processors that work individually or collectively.
  • the processors are used to perform the simulation test of the autonomous vehicle in the foregoing embodiments.
  • the controller also has the advantages of the simulation test method for the autonomous vehicle in the foregoing embodiment.
  • another embodiment of the present invention also provides a computer storage medium.
  • One or more computer program instructions can be stored on the computer-readable storage medium, and the processor can run the program instructions stored in the memory to implement The functions (implemented by the processor) in the embodiments of the present invention described herein and/or other desired functions, for example, to execute the simulation test methods 400, 500, 600, 700, 800 of an autonomous vehicle according to the embodiments of the present invention The relevant steps in.
  • Various application programs and various data such as various data used and/or generated by the application program, can also be stored in the computer-readable storage medium.
  • the computer storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only Memory (CD-ROM), USB memory, or any combination of the above storage media.
  • the computer-readable storage medium may be any combination of one or more computer-readable storage media.
  • a vehicle is also provided.
  • the vehicle is tested by the simulation test method of the autonomous vehicle in the foregoing embodiment. Simulation. Therefore, the stability, safety and reliability of the whole vehicle link are higher due to the vehicles verified by the above simulation test system and simulation test method.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another device, or some features can be ignored or not implemented.
  • the various component embodiments of the present invention may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules according to the embodiments of the present invention.
  • DSP digital signal processor
  • the present invention can also be implemented as a device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein.
  • Such a program for realizing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals. Such signals can be downloaded from Internet websites, or provided on carrier signals, or provided in any other form.

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Abstract

La présente invention concerne un procédé et un système de test de simulation de véhicule à conduite autonome, un support d'informations et un véhicule. Le procédé consiste : à obtenir des informations de mouvement de véhicule et des informations d'environnement virtuel d'un protocole de communication prédéfini généré par un dispositif de simulation (S401), le dispositif de simulation comprenant un premier matériel, et le premier matériel étant configuré pour générer les informations de mouvement de véhicule du protocole de communication prédéfini ; à générer une instruction de commande selon les informations de mouvement de véhicule et les informations d'environnement virtuel du protocole de communication prédéfini et à générer des informations de commande correspondantes selon l'instruction de commande (S402), les informations de commande étant utilisées pour commander le premier matériel pour générer les informations de mouvement de véhicule du protocole de communication prédéfini ; et à envoyer les informations de commande au dispositif de simulation pour commander le premier matériel pour générer les informations de mouvement de véhicule du protocole de communication prédéfini (S403). Selon le procédé et le système de test de simulation, une vérification de logiciel et de matériel peut être réalisée sur de multiples dispositifs matériels dans une conduite autonome réelle, ce qui permet de vérifier et de surveiller des points de risque de liaison physique sur le véhicule.
PCT/CN2019/085151 2019-04-30 2019-04-30 Procédé et système de test de simulation de véhicule à conduite autonome, support d'informations et véhicule WO2020220248A1 (fr)

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CN201980010381.2A CN111699449A (zh) 2019-04-30 2019-04-30 自动驾驶车辆的仿真测试方法、系统、存储介质和车辆
PCT/CN2019/085151 WO2020220248A1 (fr) 2019-04-30 2019-04-30 Procédé et système de test de simulation de véhicule à conduite autonome, support d'informations et véhicule

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Cited By (1)

* Cited by examiner, † Cited by third party
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CN113311817A (zh) * 2021-07-28 2021-08-27 国汽智控(北京)科技有限公司 车辆协同控制测试方法、装置、电子设备及存储介质

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