WO2022099928A1 - Driver participation simulation test apparatus and method for driving software of unmanned vehicle - Google Patents

Driver participation simulation test apparatus and method for driving software of unmanned vehicle Download PDF

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WO2022099928A1
WO2022099928A1 PCT/CN2021/072861 CN2021072861W WO2022099928A1 WO 2022099928 A1 WO2022099928 A1 WO 2022099928A1 CN 2021072861 W CN2021072861 W CN 2021072861W WO 2022099928 A1 WO2022099928 A1 WO 2022099928A1
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simulator
vehicle
driving
test
simulated
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French (fr)
Chinese (zh)
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华炜
鲍虎军
谢天
李融
迟锐
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之江实验室
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G06F11/3668—Software testing
    • G06F11/3672—Test management
    • G06F11/3688—Test management for test execution, e.g. scheduling of test suites
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G06F11/3664—Environments for testing or debugging software
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G06F11/3668—Software testing
    • G06F11/3672—Test management
    • G06F11/3684—Test management for test design, e.g. generating new test cases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design

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  • the invention belongs to the technical field of automatic driving, and in particular relates to a driver-participated unmanned vehicle driving software simulation test device and method.
  • the purpose of the present invention is to provide a driver-participated driverless vehicle driving software simulation test device and method aiming at the deficiencies of the prior art.
  • the invention solves the problem of the behavior distortion of the sparring car in the test case by introducing the interaction of the human driver in the simulation test and performing recording processing.
  • a driver-participated unmanned vehicle driving software simulation test device the device includes the following components connected to each other through a network:
  • Unmanned vehicle simulator An unmanned vehicle simulator controls a simulated unmanned vehicle in the simulation scene.
  • the unmanned vehicle simulator receives the environmental data around the simulated unmanned vehicle output by the test server, and processes it periodically. output the state of the simulated unmanned vehicle.
  • the driverless car simulator runs a set of driverless car driving software that needs to be tested.
  • Driving simulator controls a simulated car in the simulation scene.
  • the driving simulator receives the driver's control information on the motion of the simulated car through the interactive device, and outputs the status of the simulated car periodically after processing.
  • the environment data around the simulated vehicle output from the test server is received and processed, and the screen corresponding to the environment data is displayed to the driver through the display device.
  • the sparring car simulator controls one or more simulation vehicles in the simulation scene, the sparring car simulator executes the predetermined vehicle driving script program, generates one or more simulation vehicles in the simulation scene, and for each Each generated simulated vehicle receives the environment data around the simulated vehicle output from the test server, and periodically outputs the state of the simulated vehicle after processing.
  • Test server controls a simulation scene, receives and records the simulated unmanned vehicle state output by the unmanned vehicle simulator under test, the simulated vehicle state output by the driving simulator, and the simulated vehicle output by the sparring vehicle simulator After processing these information, periodically output the environment data around the simulated unmanned vehicle to the unmanned vehicle simulator, and periodically output the environment around the simulated vehicle controlled by the driving simulator to the driving simulator data, and periodically output the environmental data around each simulated vehicle controlled by the sparring vehicle simulator to the sparring vehicle simulator.
  • Data processor Obtain the simulated vehicle state output by the driving simulator from the data recorded by the test server, and generate a vehicle driving script program that imitates the driver's driving after calculation and processing.
  • the driving simulator should include at least one display device and one interactive device; display devices include but are not limited to display screens, VR head-mounted displays, and AR head-mounted displays; interactive devices include but are not limited to handles, steering wheels, pedals, Keyboard, mouse.
  • the state output by the unmanned vehicle simulator, the driving simulator, and the sparring vehicle simulator at least includes the vehicle position, attitude and time.
  • a test method for an unmanned vehicle driving software simulation test device based on the above-mentioned driver participation comprising the following steps:
  • test server notifies the unmanned vehicle simulator, driving simulator, sparring vehicle simulator, and data processor to perform one or more A-type simulation tests. After each A-type simulation test is completed, the data processor generates several Vehicle driving scripts that imitate the driver's driving;
  • the test server informs the unmanned vehicle simulator and the sparring vehicle simulator to perform several B-type simulation tests.
  • the B-type simulation test adds an additional sparring vehicle simulator.
  • the additional sparring car simulator chooses to execute a vehicle driving script program that imitates the driver's driving generated by the step (1) A-type simulation test;
  • the vehicle driving script program, and the starting point and ending point of the unmanned vehicle are the same as those in step (1) Type A simulation test;
  • step (3) Calculate the test results of the unmanned vehicle driving software running on the unmanned vehicle simulator according to the data recorded on the test server in step (1) A type simulation test and step (2) B type simulation test.
  • step (1) includes the following substeps:
  • test server notifies the unmanned vehicle simulator, the driving simulator, and the sparring vehicle simulator that the simulation test starts, and at the same time notifies the unmanned vehicle simulator of the start and end points of the unmanned vehicles it controls;
  • the unmanned vehicle simulator and the sparring vehicle simulator calculate the state of the corresponding simulated vehicle in the simulation scene and output it to the test server;
  • the driving simulator receives the notification of the start of the simulation test Then, receive the driver's interaction, calculate the state of the simulated vehicle controlled by it in the simulation scene, and output it to the test server;
  • the test server receives and records the status information output by the unmanned vehicle simulator, the sparring vehicle simulator and the driving simulator, and judges whether the simulation test ends according to the preset test termination conditions.
  • Car simulator, driving simulator, sparring car simulator This simulation test is over, and step (1.6) is executed; if it is determined that the test is not terminated, the vehicles that appear within a certain range around it are calculated for each simulated car in the simulation world. state, these states constitute environmental data, and this environmental data is sent to the simulator that controls the simulated vehicle;
  • the unmanned vehicle simulator and the sparring vehicle simulator After receiving the environmental data sent by the test server, the unmanned vehicle simulator and the sparring vehicle simulator calculate the status of the simulated vehicles they control and output to the test server; after the driving simulator receives the environmental data sent by the test server , perform visual calculation on the environmental data and display it on the display device, and at the same time, the driving simulator receives the driver's interaction, calculates the state of the simulated vehicle controlled by it in the simulation scene, and outputs it to the test server;
  • the data processor obtains the simulated vehicle state output by the driving simulator from the data recorded by the test server, and generates a number of vehicle driving script programs imitating the driver's driving after calculation processing.
  • step (1.6) includes the following substeps:
  • step (2) includes the following substeps:
  • the test server notifies the unmanned vehicle simulator and the sparring vehicle simulator of the start of the simulation test, and at the same time notifies the unmanned vehicle simulator of the start and end points of the unmanned vehicles it controls;
  • the unmanned vehicle simulator and the sparring vehicle simulator After receiving the notification of the start of the simulation test, calculate the state of the corresponding simulated vehicle in the simulation scene and output it to the test server;
  • the test server receives and records the status of the unmanned vehicle simulator and the training vehicle simulator, and judges whether the simulation test is over according to the preset test termination conditions. If it is determined that the test is terminated, the unmanned vehicle simulator and the training vehicle are notified. The simulator ends the simulation test, and executes step (2.6); if it is determined that the test is not terminated, it calculates the states of vehicles appearing in a certain range around it for each simulated vehicle in the simulation world, and these states constitute environmental data and Send this environmental data to the simulator that controls the simulated car;
  • the unmanned vehicle simulator and the sparring vehicle simulator After receiving the environmental data sent by the test server, the unmanned vehicle simulator and the sparring vehicle simulator calculate the state of the simulated vehicles controlled by them and output them to the test server;
  • the present invention allows human drivers to drive vehicles through a driving simulator to participate in the test, so that the behavior of the traffic participating vehicles in the simulation test scene conforms to the driving style of human beings, and the test of the automatic driving software of the unmanned vehicle is more realistic. It can better improve the intelligence and safety of unmanned vehicle driving software; through the recording and processing of human driving behavior, it can provide automated driving scripts to control sparring vehicles, and realize the regression of simulation tests involving human drivers. Test, to meet the needs of repeated modification and debugging of unmanned vehicle driving software; by perturbing the parameters of the driving script, provide a batch of driving scripts for sparring vehicles, enrich the simulation test cases without losing the human driving style, and improve the coverage of simulation tests and efficiency.
  • Fig. 1 is a composition diagram of a driver-participated unmanned vehicle driving software simulation test device
  • FIG. 2 is a flow chart of a driver-participated driver-participated driverless vehicle driving software simulation test method.
  • the present invention provides a driver-participated unmanned vehicle driving software simulation test device, which includes the following components that are interconnected through a network:
  • Unmanned vehicle simulator control a simulated unmanned vehicle in the simulation scene, the unmanned vehicle simulator receives the environmental data around the simulated unmanned vehicle output by the test server, and periodically outputs the simulated unmanned vehicle after processing. status of the car.
  • the driverless car simulator runs a set of driverless car driving software that needs to be tested.
  • Driving simulator control a simulated car in the simulation scene.
  • the driving simulator receives the control information of the motion of the simulated car from the human driver through the interactive device, and after processing, it periodically outputs the status of the simulated car, and receives the control information from the test vehicle.
  • the environment data around the simulated vehicle output by the server is processed, and the screen corresponding to the environment data is displayed to the human driver through the display device.
  • the driving simulator should include at least one display device and one interactive device; display devices include but are not limited to display screens, VR head-mounted displays, and AR head-mounted displays; interactive devices include but are not limited to handles, steering wheels, pedals, keyboards, and mice .
  • the sparring car simulator controls a simulation car in the simulation scene, the sparring car simulator executes the predetermined vehicle driving script program, generates a simulation car in the simulation scene, and for each generated simulation car, receives the data from the test server.
  • the outputted environmental data around the simulated vehicle is processed, and the state of the simulated vehicle is periodically output.
  • Test server Control a simulation scene, receive and record the simulated unmanned vehicle status output by the tested unmanned vehicle simulator, the simulated vehicle status output by the driving simulator, and the simulated vehicle status output by the sparring vehicle simulator. After the information is processed, the environment data around the simulated unmanned vehicle is periodically output to the unmanned vehicle simulator, and the environment data around the simulated vehicle controlled by the driving simulator is periodically output to the driving simulator. The environment data around each simulated vehicle controlled by the sparring vehicle simulator is output to the sparring vehicle simulator.
  • the state output by the unmanned vehicle simulator, the driving simulator and the sparring vehicle simulator at least includes the vehicle position, attitude and time.
  • Data processor Obtain the simulated vehicle state output by the driving simulator from the data recorded by the test server, and generate a vehicle driving script program that imitates the driving of a human driver after calculation and processing.
  • the present invention also provides a driver-participated driverless vehicle driving software simulation test method, which includes the following steps:
  • Type A simulation test the test server notifies the unmanned vehicle simulator, driving simulator, sparring car simulator, and data processor to conduct a Type A simulation test. After the test, the data processor generates four imitation human drivers. Driving the vehicle driving script.
  • the A-type simulation test steps are as follows:
  • the test server notifies the unmanned vehicle simulator, the driving simulator, and the sparring vehicle simulator that the simulation test starts, and at the same time informs the unmanned vehicle simulator of the starting point and end point of the simulated unmanned vehicle it controls.
  • the unmanned vehicle simulator and the sparring vehicle simulator After receiving the notification of the start of the simulation test, calculate the state of the corresponding simulated vehicle in the simulation scene and output it to the test server; after the driving simulator receives the notification of the start of the simulation test, Receive the interaction of the human driver, and calculate the state of the simulated vehicle controlled by it in the simulation scene and output it to the test server.
  • the test server receives and records the status information output by the unmanned vehicle simulator, the sparring vehicle simulator and the driving simulator, and judges whether the simulation test is over according to the preset test termination conditions.
  • step 1.6 is executed; if it is determined that the test is not terminated, the state of the vehicles appearing within a certain range around it will be calculated for each simulated vehicle in the simulation scene.
  • the state constitutes environmental data, and this environmental data is sent to the simulator that controls the simulated vehicle.
  • the unmanned vehicle simulator and the sparring vehicle simulator calculate the status of the simulated vehicles they control and output to the test server; after the driving simulator receives the environmental data sent by the test server, The environmental data is visually calculated and displayed on the display device. At the same time, the driving simulator receives the interaction of the human driver, calculates the state of the simulated vehicle controlled by it in the simulation scene, and outputs it to the test server.
  • the data processor obtains the simulated vehicle state output by the driving simulator from the data recorded by the test server, and through calculation and processing, generates a number of vehicle driving script programs that imitate the driving of human drivers.
  • the point set S is a one-to-one mapping attitude point set, which represents the current heading angle of the vehicle.
  • the trajectory disturbance applies the front and rear of the vehicle's driving direction to all discrete trajectory points in S. , right left and right are offset by 0.3 meters respectively to obtain four different target trajectories TS i , i ⁇ 1,2,3,4 ⁇ ;
  • the attitude function disturbance makes a simple quadratic curve for every 10 continuous trajectory points Fitting, calculating the curvature corresponding to each point, randomly deflecting the attitude heading angle of the point p where the maximum curvature is located by 1° or 2°, and then deflecting and deflecting the attitude of the five points before and after the point p in the same direction as the point p.
  • the angle decreases linearly according to the trajectory distance from point p, the deflection is zero when it decreases forward to the sixth point, and the deflection is zero when it decreases backward to the sixth point; finally, four target trajectories TS i are obtained based on four The target pose function TK i (TS i ), i ⁇ 1,2,3,4 ⁇ .
  • the PID control algorithm is used to let the simulated vehicle chassis use the target trajectory TS i and the target attitude TK i (TS i ) as the control targets to simulate driving, and record the state of the simulated vehicle chassis during the above-mentioned four simulation driving processes.
  • B-type simulation test the test server notifies the unmanned vehicle simulator and the sparring vehicle simulator to perform four B-type simulation tests. Compared with the A-type simulation test, the B-type simulation test adds an additional sparring vehicle simulator. In the simulation test, the additional sparring car simulator sequentially executes one of the four vehicle driving scripts generated by the A-type simulation test to imitate the driving of a human driver; The same vehicle driving script in the test, and the starting point and end point of the unmanned vehicle are the same as those in the A-type simulation test.
  • the B-type simulation test steps are as follows:
  • the test server notifies the unmanned vehicle simulator and the sparring vehicle simulator of the start of the simulation test, and at the same time notifies the unmanned vehicle simulator of the start and end points of the unmanned vehicles it controls.
  • the unmanned vehicle simulator and the sparring vehicle simulator After receiving the notification of the start of the simulation test, calculate the state of the corresponding simulated vehicle in the simulation scene and output it to the test server.
  • the test server receives and records the status of the unmanned vehicle simulator and the training vehicle simulator, and judges whether the simulation test is over according to the preset test termination conditions. If it is determined that the test is terminated, the unmanned vehicle simulator and the training vehicle simulator are notified. The simulation test is over, and step 2.6 is executed; if it is determined that the test is not terminated, the state of the vehicles appearing in a certain range around it is calculated for each simulated vehicle in the simulation world. These states constitute environmental data, and the environmental data Sent to the simulator that controls the simulated car.
  • the unmanned vehicle simulator and the sparring vehicle simulator After receiving the environmental data sent by the test server, the unmanned vehicle simulator and the sparring vehicle simulator calculate the state of the simulated vehicles controlled by them and output them to the test server.
  • the test server ends the simulation test.
  • test results is as follows:
  • the corresponding points were deducted from the total score of 100 to obtain a single test score; then the average score of the five test results was calculated to obtain the final test result.
  • the present invention enables human drivers to participate in the simulation test process of the driverless vehicle driving software online, thereby improving the difficulty and authenticity of the simulation test; and execute the script through the sparring car simulator, so that the sparring car in the simulation test can simulate the driving behavior of human beings.
  • the uncertainty of the simulation test can provide more and more realistic critical cases, and test the intelligence and safety of autonomous vehicle driving software more comprehensively.

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Abstract

Disclosed are a driver participation simulation test apparatus and method for driving software of an unmanned vehicle. The apparatus comprises an unmanned vehicle simulator, a driving simulator, a training vehicle simulator, a test server and a data processor. The present invention allows human drivers to participate in an online simulation test process for driving software of an unmanned vehicle so as to increase the difficulty and realness of a simulation test; by means of recording and processing human driving behavior, the present invention generates several vehicle driving scripts that simulate human driver driving behavior, and by means of executing a script of the training vehicle simulator, a training vehicle during simulation testing can simulate the human driving behavior when driving, which on one hand reconstructs real human training behavior at a high level of fidelity, and on the other hand greatly increases the uncertainty of a simulation test, so that the simulation test can provide more numerous and realistic critical cases, and comprehensively test the intelligence and safety of the driving software of unmanned vehicles.

Description

一种驾驶员参与的无人车驾驶软件仿真测试装置与方法A driver-participated driverless vehicle driving software simulation test device and method 技术领域technical field
本发明属于自动驾驶技术领域，尤其涉及一种驾驶员参与的无人车驾驶软件仿真测试装置与方法。The invention belongs to the technical field of automatic driving, and in particular relates to a driver-participated unmanned vehicle driving software simulation test device and method.
背景技术Background technique
自动驾驶技术是汽车行业乃至未来社会重要的发展方向，其涉及的软件开发、自动驾驶系统及整车验证与集成都非常依赖于仿真技术的支撑。软件仿真测试可以通过测试案例等形式为自动驾驶提供感知、决策、控制等方面的测试，许多企业与车厂也已提出了相关的仿真测试方案。但目前的仿真测试多以固定的场景和路线对被测车辆进行测试，被测车辆在测试中所遇见的陪练车往往行为单一、决策简单，与现实的人类驾驶行为存在不小差异，其测试效果也会因此受到局限。毕竟无人驾驶还未完全实现，在很长一个时期内必然是有人驾驶和无人驾驶的混杂交通模式，所以无人车驾驶软件的仿真测试需要高保真人类驾驶行为的陪练。Autonomous driving technology is an important development direction of the automotive industry and even the future society. The software development, autonomous driving system, and vehicle verification and integration involved are very dependent on the support of simulation technology. Software simulation testing can provide tests of perception, decision-making, and control for autonomous driving in the form of test cases. Many companies and car manufacturers have also proposed relevant simulation testing solutions. However, the current simulation tests mostly use fixed scenarios and routes to test the vehicle under test. The sparring vehicles encountered by the vehicle under test during the test often have a single behavior and simple decision-making, which are quite different from the actual human driving behavior. The effect will also be limited. After all, unmanned driving has not been fully realized, and it must be a mixed traffic mode of manned and unmanned driving for a long period of time. Therefore, the simulation test of unmanned vehicle driving software requires high-fidelity human driving behavior sparring.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于针对现有技术的不足，提供一种驾驶员参与的无人车驾驶软件仿真测试装置与方法。本发明通过在仿真测试中引入人类驾驶员的交互并进行记录处理，解决测试案例陪练车行为失真的问题。The purpose of the present invention is to provide a driver-participated driverless vehicle driving software simulation test device and method aiming at the deficiencies of the prior art. The invention solves the problem of the behavior distortion of the sparring car in the test case by introducing the interaction of the human driver in the simulation test and performing recording processing.
本发明的目的是通过以下技术方案来实现的：一种驾驶员参与的无人车驾驶软件仿真测试装置，该装置包括以下通过网络相互连接的组件：The purpose of the present invention is to achieve through the following technical solutions: a driver-participated unmanned vehicle driving software simulation test device, the device includes the following components connected to each other through a network:
无人车仿真器：一个无人车仿真器控制仿真场景中的一辆仿真无人车，无人车仿真器接收由测试服务器输出的该仿真无人车周围的环境数据，进行处理后周期性地输出该仿真无人车的状态。无人车仿真器内部运行一套需要被测试的无人车驾驶软件。Unmanned vehicle simulator: An unmanned vehicle simulator controls a simulated unmanned vehicle in the simulation scene. The unmanned vehicle simulator receives the environmental data around the simulated unmanned vehicle output by the test server, and processes it periodically. output the state of the simulated unmanned vehicle. The driverless car simulator runs a set of driverless car driving software that needs to be tested.
驾驶仿真器：一个驾驶仿真器控制仿真场景中的一辆仿真车，驾驶仿真器通过交互设备接收驾驶员对该仿真车运动的控制信息，进行处理后周期性地输出该仿真车的状态，同时接收由测试服务器输出的该仿真车周围的环境数据并进行处理，通过显示装置将该环境数据对应的画面显示给驾驶员。Driving simulator: A driving simulator controls a simulated car in the simulation scene. The driving simulator receives the driver's control information on the motion of the simulated car through the interactive device, and outputs the status of the simulated car periodically after processing. The environment data around the simulated vehicle output from the test server is received and processed, and the screen corresponding to the environment data is displayed to the driver through the display device.
陪练车仿真器：一个陪练车仿真器控制仿真场景中的一辆或多辆仿真车，陪练车仿真器执行预定的车辆行驶脚本程序，在仿真场景中产生一个或多辆仿真车，并且对于每个所产生的仿真车，接收由测试服务器输出的该仿真车周围的环境数据，经处理后周期性地输出该仿 真车的状态。The sparring car simulator: a sparring car simulator controls one or more simulation vehicles in the simulation scene, the sparring car simulator executes the predetermined vehicle driving script program, generates one or more simulation vehicles in the simulation scene, and for each Each generated simulated vehicle receives the environment data around the simulated vehicle output from the test server, and periodically outputs the state of the simulated vehicle after processing.
测试服务器：一个测试服务器控制一个仿真场景，接收并记录由被测的无人车仿真器输出的仿真无人车状态、由驾驶仿真器输出的仿真车状态、由陪练车仿真器输出的仿真车状态等，对这些信息进行处理后，周期性地向无人车仿真器输出该仿真无人车周围的环境数据，周期性地向驾驶仿真器输出该驾驶仿真器所控制的仿真车周围的环境数据，周期性地向陪练车仿真器输出该陪练车仿真器所控制的每辆仿真车周围的环境数据。Test server: A test server controls a simulation scene, receives and records the simulated unmanned vehicle state output by the unmanned vehicle simulator under test, the simulated vehicle state output by the driving simulator, and the simulated vehicle output by the sparring vehicle simulator After processing these information, periodically output the environment data around the simulated unmanned vehicle to the unmanned vehicle simulator, and periodically output the environment around the simulated vehicle controlled by the driving simulator to the driving simulator data, and periodically output the environmental data around each simulated vehicle controlled by the sparring vehicle simulator to the sparring vehicle simulator.
数据处理器：从测试服务器所记录的数据中获取由驾驶仿真器输出的仿真车状态，经过计算处理，生成模仿驾驶员驾驶的车辆行驶脚本程序。Data processor: Obtain the simulated vehicle state output by the driving simulator from the data recorded by the test server, and generate a vehicle driving script program that imitates the driver's driving after calculation and processing.
进一步地，所述驾驶仿真器应包含至少一种显示设备与一种交互设备；显示设备包括但不限于显示屏、VR头盔显示器、AR头盔显示器；交互设备包括但不限于手柄、方向盘、踏板、键盘、鼠标。Further, the driving simulator should include at least one display device and one interactive device; display devices include but are not limited to display screens, VR head-mounted displays, and AR head-mounted displays; interactive devices include but are not limited to handles, steering wheels, pedals, Keyboard, mouse.
进一步地，所述无人车仿真器、驾驶仿真器、陪练车仿真器输出的状态至少包含车辆位置、姿态和时刻。Further, the state output by the unmanned vehicle simulator, the driving simulator, and the sparring vehicle simulator at least includes the vehicle position, attitude and time.
一种基于上述的驾驶员参与的无人车驾驶软件仿真测试装置的测试方法，包括如下步骤：A test method for an unmanned vehicle driving software simulation test device based on the above-mentioned driver participation, comprising the following steps:
(1)测试服务器通知无人车仿真器、驾驶仿真器、陪练车仿真器、数据处理器进行一次或多次A型仿真测试，每次A型仿真测试结束后，由数据处理器生成若干个模仿驾驶员驾驶的车辆行驶脚本程序；(1) The test server notifies the unmanned vehicle simulator, driving simulator, sparring vehicle simulator, and data processor to perform one or more A-type simulation tests. After each A-type simulation test is completed, the data processor generates several Vehicle driving scripts that imitate the driver's driving;
(2)测试服务器通知无人车仿真器、陪练车仿真器进行若干次B型仿真测试，B型仿真测试比A型仿真测试额外增加一个陪练车仿真器，在每次B型仿真测试中，该额外增加的陪练车仿真器选择执行一个由步骤(1)A型仿真测试产生的模仿驾驶员驾驶的车辆行驶脚本程序；其余陪练车仿真器执行与步骤(1)A型仿真测试中相同的车辆行驶脚本程序，且无人车的起点和终点与步骤(1)A型仿真测试中相同；(2) The test server informs the unmanned vehicle simulator and the sparring vehicle simulator to perform several B-type simulation tests. Compared with the A-type simulation test, the B-type simulation test adds an additional sparring vehicle simulator. In each B-type simulation test, The additional sparring car simulator chooses to execute a vehicle driving script program that imitates the driver's driving generated by the step (1) A-type simulation test; The vehicle driving script program, and the starting point and ending point of the unmanned vehicle are the same as those in step (1) Type A simulation test;
(3)根据在步骤(1)A型仿真测试和步骤(2)B型仿真测试中测试服务器上记录的数据，计算无人车仿真器上运行的无人车驾驶软件的测试结果。(3) Calculate the test results of the unmanned vehicle driving software running on the unmanned vehicle simulator according to the data recorded on the test server in step (1) A type simulation test and step (2) B type simulation test.
进一步地，所述步骤(1)包括以下子步骤：Further, the step (1) includes the following substeps:
(1.1)测试服务器通知无人车仿真器、驾驶仿真器、陪练车仿真器本次仿真测试开始，同时通知无人车仿真器其所控制的无人车的起点和终点；(1.1) The test server notifies the unmanned vehicle simulator, the driving simulator, and the sparring vehicle simulator that the simulation test starts, and at the same time notifies the unmanned vehicle simulator of the start and end points of the unmanned vehicles it controls;
(1.2)无人车仿真器、陪练车仿真器收到仿真测试开始的通知后，计算各自对应的仿真车在仿真场景中的状态并输出到测试服务器；驾驶仿真器收到仿真测试开始的通知后，接收驾驶员的交互，并计算其控制的仿真车在仿真场景中的状态并输出到测试服务器；(1.2) After receiving the notification of the start of the simulation test, the unmanned vehicle simulator and the sparring vehicle simulator calculate the state of the corresponding simulated vehicle in the simulation scene and output it to the test server; the driving simulator receives the notification of the start of the simulation test Then, receive the driver's interaction, calculate the state of the simulated vehicle controlled by it in the simulation scene, and output it to the test server;
(1.3)测试服务器接收并记录无人车仿真器、陪练车仿真器和驾驶仿真器输出的状态信 息，根据预先设定的测试终止条件判断仿真测试是否结束，若判定测试终止，则通知无人车仿真器、驾驶仿真器、陪练车仿真器该次仿真测试结束，执行步骤(1.6)；若判定测试未终止，则为仿真世界中的每一辆仿真车计算其周围一定范围内出现的车辆的状态，这些状态构成环境数据，并将此环境数据发送给控制该仿真车的仿真器；(1.3) The test server receives and records the status information output by the unmanned vehicle simulator, the sparring vehicle simulator and the driving simulator, and judges whether the simulation test ends according to the preset test termination conditions. Car simulator, driving simulator, sparring car simulator This simulation test is over, and step (1.6) is executed; if it is determined that the test is not terminated, the vehicles that appear within a certain range around it are calculated for each simulated car in the simulation world. state, these states constitute environmental data, and this environmental data is sent to the simulator that controls the simulated vehicle;
(1.4)无人车仿真器、陪练车仿真器接收到测试服务器发出的环境数据后，计算各自所控制的仿真车的状态并输出到测试服务器；驾驶仿真器接收到测试服务器发出的环境数据后，对环境数据进行可视化计算并显示在显示设备上，同时驾驶仿真器接收驾驶员的交互，计算其控制的仿真车在仿真场景中的状态并输出到测试服务器；(1.4) After receiving the environmental data sent by the test server, the unmanned vehicle simulator and the sparring vehicle simulator calculate the status of the simulated vehicles they control and output to the test server; after the driving simulator receives the environmental data sent by the test server , perform visual calculation on the environmental data and display it on the display device, and at the same time, the driving simulator receives the driver's interaction, calculates the state of the simulated vehicle controlled by it in the simulation scene, and outputs it to the test server;
(1.5)执行步骤(1.3)；(1.5) Execute step (1.3);
(1.6)数据处理器从测试服务器所记录的数据中获取由驾驶仿真器输出的仿真车状态，经过计算处理，生成若干模仿驾驶员驾驶的车辆行驶脚本程序。(1.6) The data processor obtains the simulated vehicle state output by the driving simulator from the data recorded by the test server, and generates a number of vehicle driving script programs imitating the driver's driving after calculation processing.
进一步地，所述步骤(1.6)包括以下子步骤：Further, the step (1.6) includes the following substeps:
(1.6.1)从测试服务器所记录的数据中获取由驾驶仿真器输出的仿真车状态，生成仿真车的轨迹和定义于轨迹上的姿态函数；(1.6.1) Obtain the state of the simulated vehicle output by the driving simulator from the data recorded by the test server, and generate the trajectory of the simulated vehicle and the attitude function defined on the trajectory;
(1.6.2)对轨迹和姿态函数在一定范围内进行扰动，扰动后的轨迹和姿态函数称为目标轨迹和目标姿态函数；(1.6.2) Disturb the trajectory and attitude function within a certain range, and the disturbed trajectory and attitude function are called target trajectory and target attitude function;
(1.6.3)采用控制算法让仿真车底盘按步骤(1.6.2)得到的目标轨迹和目标姿态进行仿真行驶，记录仿真车底盘在此过程中的状态；(1.6.3) Using a control algorithm to make the simulated vehicle chassis perform simulated driving according to the target trajectory and target attitude obtained in step (1.6.2), and record the state of the simulated vehicle chassis during this process;
(1.6.4)在仿真行驶结束后，对所记录的状态经格式处理后写入一个模仿驾驶员驾驶的车辆行驶脚本程序中。(1.6.4) After the simulated driving is completed, the recorded state is formatted and written into a vehicle driving script program that simulates the driving of the driver.
进一步地，所述步骤(2)包括以下子步骤：Further, the step (2) includes the following substeps:
(2.1)测试服务器通知无人车仿真器、陪练车仿真器本次仿真测试开始，同时通知无人车仿真器其所控制的无人车的起点和终点；(2.1) The test server notifies the unmanned vehicle simulator and the sparring vehicle simulator of the start of the simulation test, and at the same time notifies the unmanned vehicle simulator of the start and end points of the unmanned vehicles it controls;
(2.2)无人车仿真器、陪练车仿真器收到仿真测试开始的通知后，计算各自对应的仿真车在仿真场景中的状态并输出到测试服务器；(2.2) After receiving the notification of the start of the simulation test, the unmanned vehicle simulator and the sparring vehicle simulator calculate the state of the corresponding simulated vehicle in the simulation scene and output it to the test server;
(2.3)测试服务器接收并记录无人车仿真器、陪练车仿真器的状态，根据预先设定的测试终止条件判断仿真测试是否结束，若判定测试终止，则通知无人车仿真器、陪练车仿真器该次仿真测试结束，执行步骤(2.6)；若判定测试未终止，则为仿真世界中的每一辆仿真车计算其周围一定范围内出现的车辆的状态，这些状态构成环境数据，并将此环境数据发送给控制该仿真车的仿真器；(2.3) The test server receives and records the status of the unmanned vehicle simulator and the training vehicle simulator, and judges whether the simulation test is over according to the preset test termination conditions. If it is determined that the test is terminated, the unmanned vehicle simulator and the training vehicle are notified. The simulator ends the simulation test, and executes step (2.6); if it is determined that the test is not terminated, it calculates the states of vehicles appearing in a certain range around it for each simulated vehicle in the simulation world, and these states constitute environmental data and Send this environmental data to the simulator that controls the simulated car;
(2.4)无人车仿真器、陪练车仿真器接收到测试服务器发出的环境数据后，计算各自所 控制的仿真车的状态并输出到测试服务器；(2.4) After receiving the environmental data sent by the test server, the unmanned vehicle simulator and the sparring vehicle simulator calculate the state of the simulated vehicles controlled by them and output them to the test server;
(2.5)执行步骤(2.3)；(2.5) Execute step (2.3);
(2.6)测试服务器结束本次仿真测试。(2.6) The test server ends the simulation test.
本发明的有益效果是：本发明让人类驾驶员通过驾驶模拟器驾驶车辆参与测试，使仿真测试场景中的交通参与车辆行为符合人类的驾驶风格，对无人车自动驾驶软件的测试更具现实意义，可以更好地提高无人车驾驶软件的智能性和安全性；通过对人类驾驶行为的记录和处理，可提供自动化的行驶脚本控制陪练车，实现有人类驾驶员参与的仿真测试的回归测试，满足无人车驾驶软件反复修改调试的需求；通过对行驶脚本的参数扰动，提供批量化的陪练车行驶脚本，在不丢失人类驾驶风格的同时丰富仿真测试案例，提高仿真测试的覆盖率和效率。The beneficial effects of the present invention are: the present invention allows human drivers to drive vehicles through a driving simulator to participate in the test, so that the behavior of the traffic participating vehicles in the simulation test scene conforms to the driving style of human beings, and the test of the automatic driving software of the unmanned vehicle is more realistic. It can better improve the intelligence and safety of unmanned vehicle driving software; through the recording and processing of human driving behavior, it can provide automated driving scripts to control sparring vehicles, and realize the regression of simulation tests involving human drivers. Test, to meet the needs of repeated modification and debugging of unmanned vehicle driving software; by perturbing the parameters of the driving script, provide a batch of driving scripts for sparring vehicles, enrich the simulation test cases without losing the human driving style, and improve the coverage of simulation tests and efficiency.
附图说明Description of drawings
此处所说明的附图用来提供对本发明的进一步理解，构成本发明的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：The accompanying drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:
图1为一种驾驶员参与的无人车驾驶软件仿真测试装置的组成图；Fig. 1 is a composition diagram of a driver-participated unmanned vehicle driving software simulation test device;
图2为一种驾驶员参与的无人车驾驶软件仿真测试方法的流程图。FIG. 2 is a flow chart of a driver-participated driver-participated driverless vehicle driving software simulation test method.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明具体实施例及相应的附图对本发明技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
参考图1，本发明提供一种驾驶员参与的无人车驾驶软件仿真测试装置，该装置包括以下通过网络进行相互连接的组件：Referring to FIG. 1 , the present invention provides a driver-participated unmanned vehicle driving software simulation test device, which includes the following components that are interconnected through a network:
无人车仿真器：控制仿真场景中的一辆仿真无人车，无人车仿真器接收由测试服务器输出的该仿真无人车周围的环境数据，进行处理后周期性地输出该仿真无人车的状态。无人车仿真器内部运行一套需要被测试的无人车驾驶软件。Unmanned vehicle simulator: control a simulated unmanned vehicle in the simulation scene, the unmanned vehicle simulator receives the environmental data around the simulated unmanned vehicle output by the test server, and periodically outputs the simulated unmanned vehicle after processing. status of the car. The driverless car simulator runs a set of driverless car driving software that needs to be tested.
驾驶仿真器：控制仿真场景中的一辆仿真车，驾驶仿真器通过交互设备接受人类驾驶者对该仿真车运动的控制信息，进行处理后周期性地输出该仿真车的状态，同时接收由测试服务器输出的该仿真车周围的环境数据并进行处理，通过显示装置将该环境数据对应的画面显示给人类驾驶者。所述驾驶仿真器应包含至少一种显示设备与一种交互设备；显示设备包括但不限于显示屏、VR头盔显示器、AR头盔显示器；交互设备包括但不限于手柄、方向盘、踏板、键盘、鼠标。Driving simulator: control a simulated car in the simulation scene. The driving simulator receives the control information of the motion of the simulated car from the human driver through the interactive device, and after processing, it periodically outputs the status of the simulated car, and receives the control information from the test vehicle. The environment data around the simulated vehicle output by the server is processed, and the screen corresponding to the environment data is displayed to the human driver through the display device. The driving simulator should include at least one display device and one interactive device; display devices include but are not limited to display screens, VR head-mounted displays, and AR head-mounted displays; interactive devices include but are not limited to handles, steering wheels, pedals, keyboards, and mice .
陪练车仿真器：控制仿真场景中的一辆仿真车，陪练车仿真器执行预定的车辆行驶脚本程序，在仿真场景中产生一个仿真车，并且对于每个所产生的仿真车，接收由测试服务器输出的该仿真车周围的环境数据，经处理后周期性地输出该仿真车的状态。The sparring car simulator: controls a simulation car in the simulation scene, the sparring car simulator executes the predetermined vehicle driving script program, generates a simulation car in the simulation scene, and for each generated simulation car, receives the data from the test server. The outputted environmental data around the simulated vehicle is processed, and the state of the simulated vehicle is periodically output.
测试服务器：控制一个仿真场景，接收并记录由被测无人车仿真器输出的仿真无人车状态、由驾驶仿真器输出的仿真车状态、由陪练车仿真器输出的仿真车状态，对这些信息进行处理后，周期性地向无人车仿真器输出该仿真无人车周围的环境数据，周期性地向驾驶仿真器输出该驾驶仿真器所控制的仿真车周围的环境数据，周期性地向陪练车仿真器输出该陪练车仿真器所控制的每辆仿真车周围的环境数据。所述无人车仿真器、驾驶仿真器、陪练车仿真器输出的状态至少包含车辆位置、姿态和时刻。Test server: Control a simulation scene, receive and record the simulated unmanned vehicle status output by the tested unmanned vehicle simulator, the simulated vehicle status output by the driving simulator, and the simulated vehicle status output by the sparring vehicle simulator. After the information is processed, the environment data around the simulated unmanned vehicle is periodically output to the unmanned vehicle simulator, and the environment data around the simulated vehicle controlled by the driving simulator is periodically output to the driving simulator. The environment data around each simulated vehicle controlled by the sparring vehicle simulator is output to the sparring vehicle simulator. The state output by the unmanned vehicle simulator, the driving simulator and the sparring vehicle simulator at least includes the vehicle position, attitude and time.
数据处理器：从测试服务器所记录的数据中获取由驾驶仿真器输出的仿真车状态，经过计算处理，生成模仿人类驾驶者驾驶的车辆行驶脚本程序。Data processor: Obtain the simulated vehicle state output by the driving simulator from the data recorded by the test server, and generate a vehicle driving script program that imitates the driving of a human driver after calculation and processing.
参考图2，本发明还提供一种驾驶员参与的无人车驾驶软件仿真测试方法，该方法包括如下步骤：Referring to FIG. 2 , the present invention also provides a driver-participated driverless vehicle driving software simulation test method, which includes the following steps:
1.A型仿真测试，测试服务器通知无人车仿真器、驾驶仿真器、陪练车仿真器、数据处理器进行一次A型仿真测试，测试结束后，由数据处理器生成四个模仿人类驾驶者驾驶的车辆行驶脚本程序。1. Type A simulation test, the test server notifies the unmanned vehicle simulator, driving simulator, sparring car simulator, and data processor to conduct a Type A simulation test. After the test, the data processor generates four imitation human drivers. Driving the vehicle driving script.
具体地，A型仿真测试步骤如下：Specifically, the A-type simulation test steps are as follows:
1.1测试服务器通知无人车仿真器、驾驶仿真器、陪练车仿真器本次仿真测试开始，同时通知无人车仿真器其所控制的仿真无人车的起点和终点。1.1 The test server notifies the unmanned vehicle simulator, the driving simulator, and the sparring vehicle simulator that the simulation test starts, and at the same time informs the unmanned vehicle simulator of the starting point and end point of the simulated unmanned vehicle it controls.
1.2无人车仿真器、陪练车仿真器收到仿真测试开始的通知后，计算各自对应的仿真车在仿真场景中的状态并输出到测试服务器；驾驶仿真器收到仿真测试开始的通知后，接收人类驾驶者的交互，并计算其控制的仿真车在仿真场景中的状态并输出到测试服务器。1.2 After receiving the notification of the start of the simulation test, the unmanned vehicle simulator and the sparring vehicle simulator calculate the state of the corresponding simulated vehicle in the simulation scene and output it to the test server; after the driving simulator receives the notification of the start of the simulation test, Receive the interaction of the human driver, and calculate the state of the simulated vehicle controlled by it in the simulation scene and output it to the test server.
1.3测试服务器接收并记录无人车仿真器、陪练车仿真器和驾驶仿真器输出的状态信息，根据预先设定的测试终止条件判断仿真测试是否结束，若判定测试终止，则通知无人车仿真器、驾驶仿真器、陪练车仿真器该次仿真测试结束，执行步骤1.6；若判定测试未终止，则为仿真场景中的每一辆仿真车计算其周围一定范围内出现的车辆的状态，这些状态构成环境数据，并将此环境数据发送给控制该仿真车的仿真器。1.3 The test server receives and records the status information output by the unmanned vehicle simulator, the sparring vehicle simulator and the driving simulator, and judges whether the simulation test is over according to the preset test termination conditions. After the simulation test of the simulator, driving simulator, and sparring car simulator is completed, step 1.6 is executed; if it is determined that the test is not terminated, the state of the vehicles appearing within a certain range around it will be calculated for each simulated vehicle in the simulation scene. The state constitutes environmental data, and this environmental data is sent to the simulator that controls the simulated vehicle.
1.4无人车仿真器、陪练车仿真器接收到测试服务器发出的环境数据后，计算各自所控制的仿真车的状态并输出到测试服务器；驾驶仿真器接收到测试服务器发出的环境数据后，对环境数据进行可视化计算并显示在显示设备上，同时驾驶仿真器接收人类驾驶者的交互，计算其控制的仿真车在仿真场景中的状态并输出到测试服务器。1.4 After receiving the environmental data sent by the test server, the unmanned vehicle simulator and the sparring vehicle simulator calculate the status of the simulated vehicles they control and output to the test server; after the driving simulator receives the environmental data sent by the test server, The environmental data is visually calculated and displayed on the display device. At the same time, the driving simulator receives the interaction of the human driver, calculates the state of the simulated vehicle controlled by it in the simulation scene, and outputs it to the test server.
1.5执行步骤1.3。1.5 Perform step 1.3.
1.6数据处理器从测试服务器所记录的数据中获取由驾驶仿真器输出的仿真车状态，经过计算处理，生成若干模仿人类驾驶者驾驶的车辆行驶脚本程序。1.6 The data processor obtains the simulated vehicle state output by the driving simulator from the data recorded by the test server, and through calculation and processing, generates a number of vehicle driving script programs that imitate the driving of human drivers.
具体计算步骤如下：The specific calculation steps are as follows:
1.6.1从测试服务器所记录的数据中获取由驾驶仿真器输出的仿真车状态，生成仿真车的离散轨迹S和定义于轨迹上的姿态函数K(S)，其中K(S)是与离散点集S一一映射的姿态点集，代表了车辆目前的航向角。1.6.1 Obtain the state of the simulated car output by the driving simulator from the data recorded by the test server, and generate the discrete trajectory S of the simulated car and the attitude function K(S) defined on the trajectory, where K(S) is the same as the discrete trajectory S. The point set S is a one-to-one mapping attitude point set, which represents the current heading angle of the vehicle.
1.6.2对轨迹S和姿态函数K(S)进行扰动，得到目标轨迹TS和目标姿态函数TK(TS)；轨迹扰动对所有S中的所有离散轨迹点按车辆行驶方向的正前、正后、正左、正右分别偏移0.3米，得到四个不同的目标轨迹TS i，i∈{1,2,3,4}；姿态函数扰动对每10个连续轨迹点做简单的二次曲线拟合，计算每个点对应的曲率，将最大曲率所在点p的姿态航向角随机偏转1°或2°，随后对点p前后各5个点的姿态进行与点p相同方向的偏转，偏转角度根据与点p的轨迹距离线性递减，向前递减至第6个点时偏转量为零，向后递减至第6个点时偏转量为零；最终基于四个目标轨迹TS i得到四个目标姿态函数TK i(TS i)，i∈{1,2,3,4}。 1.6.2 Disturb the trajectory S and the attitude function K(S) to obtain the target trajectory TS and the target attitude function TK(TS); the trajectory disturbance applies the front and rear of the vehicle's driving direction to all discrete trajectory points in S. , right left and right are offset by 0.3 meters respectively to obtain four different target trajectories TS i , i∈{1,2,3,4}; the attitude function disturbance makes a simple quadratic curve for every 10 continuous trajectory points Fitting, calculating the curvature corresponding to each point, randomly deflecting the attitude heading angle of the point p where the maximum curvature is located by 1° or 2°, and then deflecting and deflecting the attitude of the five points before and after the point p in the same direction as the point p. The angle decreases linearly according to the trajectory distance from point p, the deflection is zero when it decreases forward to the sixth point, and the deflection is zero when it decreases backward to the sixth point; finally, four target trajectories TS i are obtained based on four The target pose function TK i (TS i ), i∈{1,2,3,4}.
1.6.3采用PID控制算法让仿真车底盘以目标轨迹TS i和目标姿态TK i(TS i)为控制目标进行仿真行驶，记录仿真车底盘在上述总共四次仿真行驶过程中的状态。 1.6.3 The PID control algorithm is used to let the simulated vehicle chassis use the target trajectory TS i and the target attitude TK i (TS i ) as the control targets to simulate driving, and record the state of the simulated vehicle chassis during the above-mentioned four simulation driving processes.
1.6.4在仿真行驶结束后，对所记录的状态按XML格式整理后写入四个模仿人类驾驶者驾驶的车辆行驶脚本程序中。1.6.4 After the simulated driving, the recorded states are sorted in XML format and written into four vehicle driving script programs that imitate the driving of human drivers.
2.B型仿真测试，测试服务器通知无人车仿真器、陪练车仿真器进行四次B型仿真测试，B型仿真测试比A型仿真测试额外增加一个陪练车仿真器，在每次B型仿真测试中，该额外增加的陪练车仿真器按顺序执行一个由A型仿真测试所产生的四个模仿人类驾驶者驾驶的车辆行驶脚本程序中的一个；其余陪练车仿真器执行与A型仿真测试中相同的车辆行驶脚本程序，且无人车的起点和终点与A型仿真测试中相同。2. B-type simulation test, the test server notifies the unmanned vehicle simulator and the sparring vehicle simulator to perform four B-type simulation tests. Compared with the A-type simulation test, the B-type simulation test adds an additional sparring vehicle simulator. In the simulation test, the additional sparring car simulator sequentially executes one of the four vehicle driving scripts generated by the A-type simulation test to imitate the driving of a human driver; The same vehicle driving script in the test, and the starting point and end point of the unmanned vehicle are the same as those in the A-type simulation test.
具体地，B型仿真测试步骤如下：Specifically, the B-type simulation test steps are as follows:
2.1测试服务器通知无人车仿真器、陪练车仿真器本次仿真测试开始，同时通知无人车仿真器其所控制的无人车的起点和终点。2.1 The test server notifies the unmanned vehicle simulator and the sparring vehicle simulator of the start of the simulation test, and at the same time notifies the unmanned vehicle simulator of the start and end points of the unmanned vehicles it controls.
2.2无人车仿真器、陪练车仿真器收到仿真测试开始的通知后，计算各自对应的仿真车在仿真场景中的状态并输出到测试服务器。2.2 After receiving the notification of the start of the simulation test, the unmanned vehicle simulator and the sparring vehicle simulator calculate the state of the corresponding simulated vehicle in the simulation scene and output it to the test server.
2.3测试服务器接收并记录无人车仿真器、陪练车仿真器的状态，根据预先设定的测试终止条件判断仿真测试是否结束，若判定测试终止，则通知无人车仿真器、陪练车仿真器该次仿真测试结束，执行步骤2.6；若判定测试未终止，则为仿真世界中的每一辆仿真车计算其 周围一定范围内出现的车辆的状态，这些状态构成环境数据，并将此环境数据发送给控制该仿真车的仿真器。2.3 The test server receives and records the status of the unmanned vehicle simulator and the training vehicle simulator, and judges whether the simulation test is over according to the preset test termination conditions. If it is determined that the test is terminated, the unmanned vehicle simulator and the training vehicle simulator are notified. The simulation test is over, and step 2.6 is executed; if it is determined that the test is not terminated, the state of the vehicles appearing in a certain range around it is calculated for each simulated vehicle in the simulation world. These states constitute environmental data, and the environmental data Sent to the simulator that controls the simulated car.
2.4无人车仿真器、陪练车仿真器接收到测试服务器发出的环境数据后，计算各自所控制的仿真车的状态并输出到测试服务器。2.4 After receiving the environmental data sent by the test server, the unmanned vehicle simulator and the sparring vehicle simulator calculate the state of the simulated vehicles controlled by them and output them to the test server.
2.5执行步骤2.3。2.5 Perform step 2.3.
2.6测试服务器结束本次仿真测试。2.6 The test server ends the simulation test.
3.计算测试结果，根据在一次A型和四次B型测试中测试服务器上记录的数据，计算无人车驾驶软件的测试结果。3. Calculate the test results, based on the data recorded on the test server in one Type A and four Type B tests, calculate the test results of the unmanned vehicle driving software.
具体地，计算测试结果的方法如下：Specifically, the method for calculating the test results is as follows:
根据车辆碰撞其它车辆、驰离车道的次数和测试完成时间的长短，从总分100分中扣除相应分数，得到单次测试分数；再计算5次测试结果的分数均值，得到最终测试结果。According to the number of times the vehicle collided with other vehicles, ran away from the lane and the length of the test completion time, the corresponding points were deducted from the total score of 100 to obtain a single test score; then the average score of the five test results was calculated to obtain the final test result.
本发明使人类驾驶员可以在线参与无人车驾驶软件的仿真测试过程，从而提高仿真测试的难度和真实性；具体地，通过对人类驾驶行为的记录和处理，生成若干模仿人类驾驶者驾驶行为的车辆行驶脚本，并通过陪练车仿真器执行脚本，使仿真测试中的陪练车可以模拟人类驾驶行为进行驾驶；一方面高保真地还原了真实人类的陪练行为，另一方面大大增加了仿真测试的不确定性，使仿真测试可以提供更多更逼真的临界案例，更全面地测试无人车驾驶软件的智能性和安全性。The present invention enables human drivers to participate in the simulation test process of the driverless vehicle driving software online, thereby improving the difficulty and authenticity of the simulation test; and execute the script through the sparring car simulator, so that the sparring car in the simulation test can simulate the driving behavior of human beings. The uncertainty of the simulation test can provide more and more realistic critical cases, and test the intelligence and safety of autonomous vehicle driving software more comprehensively.

Claims (7)

  1. 一种驾驶员参与的无人车驾驶软件仿真测试装置，其特征在于，该装置包括以下通过网络相互连接的组件：A driver-participated unmanned vehicle driving software simulation test device, characterized in that the device includes the following components connected to each other through a network:
    无人车仿真器：一个无人车仿真器控制仿真场景中的一辆仿真无人车，无人车仿真器接收由测试服务器输出的该仿真无人车周围的环境数据，进行处理后周期性地输出该仿真无人车的状态；无人车仿真器内部运行一套需要被测试的无人车驾驶软件；Unmanned vehicle simulator: An unmanned vehicle simulator controls a simulated unmanned vehicle in the simulation scene. The unmanned vehicle simulator receives the environmental data around the simulated unmanned vehicle output by the test server, and processes it periodically. The state of the simulated unmanned vehicle is output; the unmanned vehicle simulator runs a set of unmanned vehicle driving software that needs to be tested;
    驾驶仿真器：一个驾驶仿真器控制仿真场景中的一辆仿真车，驾驶仿真器通过交互设备接收驾驶员对该仿真车运动的控制信息，进行处理后周期性地输出该仿真车的状态，同时接收由测试服务器输出的该仿真车周围的环境数据并进行处理，通过显示装置将该环境数据对应的画面显示给驾驶员；Driving simulator: A driving simulator controls a simulated car in the simulation scene. The driving simulator receives the driver's control information on the motion of the simulated car through the interactive device, and periodically outputs the status of the simulated car after processing. Receive and process the environmental data around the simulated vehicle output by the test server, and display the screen corresponding to the environmental data to the driver through the display device;
    陪练车仿真器：一个陪练车仿真器控制仿真场景中的一辆或多辆仿真车，陪练车仿真器执行预定的车辆行驶脚本程序，在仿真场景中产生一个或多辆仿真车，并且对于每个所产生的仿真车，接收由测试服务器输出的该仿真车周围的环境数据，经处理后周期性地输出该仿真车的状态；The sparring car simulator: a sparring car simulator controls one or more simulation vehicles in the simulation scene, the sparring car simulator executes the predetermined vehicle driving script program, generates one or more simulation vehicles in the simulation scene, and for each Each of the generated simulated vehicles receives the environmental data around the simulated vehicle output by the test server, and periodically outputs the status of the simulated vehicle after processing;
    测试服务器：一个测试服务器控制一个仿真场景，接收并记录由被测的无人车仿真器输出的仿真无人车状态、由驾驶仿真器输出的仿真车状态、由陪练车仿真器输出的仿真车状态，对这些信息进行处理后，周期性地向无人车仿真器输出该仿真无人车周围的环境数据，周期性地向驾驶仿真器输出该驾驶仿真器所控制的仿真车周围的环境数据，周期性地向陪练车仿真器输出该陪练车仿真器所控制的每辆仿真车周围的环境数据；Test server: A test server controls a simulation scene, receives and records the simulated unmanned vehicle state output by the unmanned vehicle simulator under test, the simulated vehicle state output by the driving simulator, and the simulated vehicle output by the sparring vehicle simulator After processing the information, periodically output the environment data around the simulated unmanned vehicle to the unmanned vehicle simulator, and periodically output the environment data around the simulated vehicle controlled by the driving simulator to the driving simulator , periodically output the environmental data around each simulated vehicle controlled by the sparring vehicle simulator to the sparring vehicle simulator;
    数据处理器：从测试服务器所记录的数据中获取由驾驶仿真器输出的仿真车状态，经过计算处理，生成模仿驾驶员驾驶的车辆行驶脚本程序。Data processor: Obtain the simulated vehicle state output by the driving simulator from the data recorded by the test server, and generate a vehicle driving script program that imitates the driver's driving after calculation and processing.
  2. 根据权利要求1所述的一种驾驶员参与的无人车驾驶软件仿真测试装置，其特征在于，所述驾驶仿真器应包含至少一种显示设备与一种交互设备；显示设备包括但不限于显示屏、VR头盔显示器、AR头盔显示器；交互设备包括但不限于手柄、方向盘、踏板、键盘、鼠标。The driver-participated driverless vehicle driving software simulation test device according to claim 1, wherein the driving simulator should include at least one display device and one interactive device; the display devices include but are not limited to Display screen, VR head-mounted display, AR head-mounted display; interactive devices include but are not limited to handles, steering wheels, pedals, keyboards, and mice.
  3. 根据权利要求1所述的一种驾驶员参与的无人车驾驶软件仿真测试装置，其特征在于，所述无人车仿真器、驾驶仿真器、陪练车仿真器输出的状态至少包含车辆位置、姿态和时刻。The driver-participated driver-participated unmanned vehicle driving software simulation test device according to claim 1, wherein the state output by the unmanned vehicle simulator, the driving simulator, and the sparring vehicle simulator at least includes the vehicle position, Gestures and moments.
  4. 一种基于权利要求1所述的驾驶员参与的无人车驾驶软件仿真测试装置的测试方法，其特征在于，包括如下步骤：A test method for an unmanned vehicle driving software simulation test device based on the driver's participation according to claim 1, characterized in that, comprising the steps of:
    (1)测试服务器通知无人车仿真器、驾驶仿真器、陪练车仿真器、数据处理器进行一次 或多次A型仿真测试，每次A型仿真测试结束后，由数据处理器生成若干个模仿驾驶员驾驶的车辆行驶脚本程序；(1) The test server notifies the unmanned vehicle simulator, driving simulator, sparring vehicle simulator, and data processor to perform one or more A-type simulation tests. After each A-type simulation test is completed, the data processor generates several Vehicle driving scripts that imitate the driver's driving;
    (2)测试服务器通知无人车仿真器、陪练车仿真器进行若干次B型仿真测试，B型仿真测试比A型仿真测试额外增加一个陪练车仿真器，在每次B型仿真测试中，该额外增加的陪练车仿真器选择执行一个由步骤(1)A型仿真测试产生的模仿驾驶员驾驶的车辆行驶脚本程序；其余陪练车仿真器执行与步骤(1)A型仿真测试中相同的车辆行驶脚本程序，且无人车的起点和终点与步骤(1)A型仿真测试中相同；(2) The test server informs the unmanned vehicle simulator and the sparring vehicle simulator to perform several B-type simulation tests. Compared with the A-type simulation test, the B-type simulation test adds an additional sparring vehicle simulator. In each B-type simulation test, The additional sparring car simulator chooses to execute a vehicle driving script program that imitates the driver's driving generated by the step (1) A-type simulation test; The vehicle driving script program, and the starting point and ending point of the unmanned vehicle are the same as those in step (1) Type A simulation test;
    (3)根据在步骤(1)A型仿真测试和步骤(2)B型仿真测试中测试服务器上记录的数据，计算无人车驾驶软件的测试结果。(3) Calculate the test result of the unmanned vehicle driving software according to the data recorded on the test server in step (1) A type simulation test and step (2) B type simulation test.
  5. 根据权利要求4所述的驾驶员参与的无人车驾驶软件仿真测试装置的测试方法，其特征在于，所述步骤(1)包括以下子步骤：The test method of the driver-participated unmanned vehicle driving software simulation test device according to claim 4, wherein the step (1) comprises the following sub-steps:
    (1.1)测试服务器通知无人车仿真器、驾驶仿真器、陪练车仿真器本次仿真测试开始，同时通知无人车仿真器其所控制的无人车的起点和终点；(1.1) The test server notifies the unmanned vehicle simulator, the driving simulator, and the sparring vehicle simulator that the simulation test starts, and at the same time notifies the unmanned vehicle simulator of the start and end points of the unmanned vehicles it controls;
    (1.2)无人车仿真器、陪练车仿真器收到仿真测试开始的通知后，计算各自对应的仿真车在仿真场景中的状态并输出到测试服务器；驾驶仿真器收到仿真测试开始的通知后，接收驾驶员的交互，并计算其控制的仿真车在仿真场景中的状态并输出到测试服务器；(1.2) After receiving the notification of the start of the simulation test, the unmanned vehicle simulator and the sparring vehicle simulator calculate the state of the corresponding simulated vehicle in the simulation scene and output it to the test server; the driving simulator receives the notification of the start of the simulation test Then, receive the driver's interaction, calculate the state of the simulated vehicle controlled by it in the simulation scene, and output it to the test server;
    (1.3)测试服务器接收并记录无人车仿真器、陪练车仿真器和驾驶仿真器输出的状态信息，根据预先设定的测试终止条件判断仿真测试是否结束，若判定测试终止，则通知无人车仿真器、驾驶仿真器、陪练车仿真器该次仿真测试结束，执行步骤(1.6)；若判定测试未终止，则为仿真世界中的每一辆仿真车计算其周围一定范围内出现的车辆的状态，这些状态构成环境数据，并将此环境数据发送给控制该仿真车的仿真器；(1.3) The test server receives and records the status information output by the unmanned vehicle simulator, the sparring vehicle simulator and the driving simulator, and judges whether the simulation test ends according to the preset test termination conditions. Car simulator, driving simulator, and sparring car simulator The simulation test is over, and step (1.6) is executed; if it is determined that the test is not terminated, the vehicles that appear within a certain range around it are calculated for each simulated car in the simulation world. state, these states constitute environmental data, and this environmental data is sent to the simulator that controls the simulated car;
    (1.4)无人车仿真器、陪练车仿真器接收到测试服务器发出的环境数据后，计算各自所控制的仿真车的状态并输出到测试服务器；驾驶仿真器接收到测试服务器发出的环境数据后，对环境数据进行可视化计算并显示在显示设备上，同时驾驶仿真器接收驾驶员的交互，计算其控制的仿真车在仿真场景中的状态并输出到测试服务器；(1.4) After receiving the environmental data sent by the test server, the unmanned vehicle simulator and the sparring vehicle simulator calculate the status of the simulated vehicles they control and output to the test server; after the driving simulator receives the environmental data sent by the test server , perform visual calculation on the environmental data and display it on the display device, and at the same time, the driving simulator receives the driver's interaction, calculates the state of the simulated vehicle controlled by it in the simulation scene, and outputs it to the test server;
    (1.5)执行步骤(1.3)；(1.5) Execute step (1.3);
    (1.6)数据处理器从测试服务器所记录的数据中获取由驾驶仿真器输出的仿真车状态，经过计算处理，生成若干模仿驾驶员驾驶的车辆行驶脚本程序。(1.6) The data processor obtains the simulated vehicle state output by the driving simulator from the data recorded by the test server, and generates several vehicle driving script programs imitating the driver's driving after calculation processing.
  6. 根据权利要求5所述的驾驶员参与的无人车驾驶软件仿真测试装置的测试方法，其特征在于，所述步骤(1.6)包括以下子步骤：The test method of the driver-participated unmanned vehicle driving software simulation test device according to claim 5, wherein the step (1.6) comprises the following sub-steps:
    (1.6.1)从测试服务器所记录的数据中获取由驾驶仿真器输出的仿真车状态，生成仿真车 的轨迹和定义于轨迹上的姿态函数；(1.6.1) Obtain the simulated vehicle state output by the driving simulator from the data recorded by the test server, and generate the trajectory of the simulated vehicle and the attitude function defined on the trajectory;
    (1.6.2)对轨迹和姿态函数在一定范围内进行扰动，扰动后的轨迹和姿态函数称为目标轨迹和目标姿态函数；(1.6.2) Disturb the trajectory and attitude function within a certain range, and the disturbed trajectory and attitude function are called target trajectory and target attitude function;
    (1.6.3)采用控制算法让仿真车底盘按步骤(1.6.2)得到的目标轨迹和目标姿态进行仿真行驶，记录仿真车底盘在此过程中的状态；(1.6.3) Using a control algorithm to make the simulated vehicle chassis perform simulated driving according to the target trajectory and target attitude obtained in step (1.6.2), and record the state of the simulated vehicle chassis during this process;
    (1.6.4)在仿真行驶结束后，对所记录的状态经格式处理后写入一个模仿驾驶员驾驶的车辆行驶脚本程序中。(1.6.4) After the simulated driving is completed, the recorded state is formatted and written into a vehicle driving script program that simulates the driving of the driver.
  7. 根据权利要求4所述的驾驶员参与的无人车驾驶软件仿真测试装置的测试方法，其特征在于，所述步骤(2)包括以下子步骤：The test method of the driver-participated unmanned vehicle driving software simulation test device according to claim 4, wherein the step (2) comprises the following sub-steps:
    (2.1)测试服务器通知无人车仿真器、陪练车仿真器本次仿真测试开始，同时通知无人车仿真器其所控制的无人车的起点和终点；(2.1) The test server notifies the unmanned vehicle simulator and the sparring vehicle simulator of the start of the simulation test, and at the same time notifies the unmanned vehicle simulator of the start and end points of the unmanned vehicles it controls;
    (2.2)无人车仿真器、陪练车仿真器收到仿真测试开始的通知后，计算各自对应的仿真车在仿真场景中的状态并输出到测试服务器；(2.2) After receiving the notification of the start of the simulation test, the unmanned vehicle simulator and the sparring vehicle simulator calculate the state of the corresponding simulated vehicle in the simulation scene and output it to the test server;
    (2.3)测试服务器接收并记录无人车仿真器、陪练车仿真器的状态，根据预先设定的测试终止条件判断仿真测试是否结束，若判定测试终止，则通知无人车仿真器、陪练车仿真器该次仿真测试结束，执行步骤(2.6)；若判定测试未终止，则为仿真世界中的每一辆仿真车计算其周围一定范围内出现的车辆的状态，这些状态构成环境数据，并将此环境数据发送给控制该仿真车的仿真器；(2.3) The test server receives and records the status of the unmanned vehicle simulator and the training vehicle simulator, and judges whether the simulation test is over according to the preset test termination conditions. If it is determined that the test is terminated, the unmanned vehicle simulator and the training vehicle are notified. The simulator ends the simulation test, and executes step (2.6); if it is determined that the test is not terminated, the state of the vehicles that appear in a certain range around it is calculated for each simulated vehicle in the simulation world, and these states constitute environmental data and Send this environmental data to the simulator that controls the simulated car;
    (2.4)无人车仿真器、陪练车仿真器接收到测试服务器发出的环境数据后，计算各自所控制的仿真车的状态并输出到测试服务器；(2.4) After receiving the environmental data sent by the test server, the unmanned vehicle simulator and the sparring vehicle simulator calculate the status of the simulated vehicles controlled by them and output them to the test server;
    (2.5)执行步骤(2.3)；(2.5) Execute step (2.3);
    (2.6)测试服务器结束本次仿真测试。(2.6) The test server ends the simulation test.
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