Multi-ICU co-spatiotemporal hardware simulation testing system and method for automatic driving vehicle

Abstract

The invention discloses a multi-ICU co-spatiotemporal hardware simulation testing system and method for an automatic driving vehicle. The testing system is integrally divided into a simulation layer,an ICU (Intelligent Control Unit) layer and a data transmission layer. The simulation layer provides a virtual environment model, a sensor model, a traffic participant model, a traffic flow model anda vehicle dynamics model of simulation testing; the ICU layer is a simulation testing object; and the data transmission layer provides a communication interface of the simulation layer and the ICU layer, software for testing monitoring and automatic testing, and a high-performance processor for ensuring the real-time performance of the whole simulation process. The testing method provides a construction method for quickly generating a virtual environment required by testing and a multi-ICU co-spatiotemporal testing method. Compared with the prior art, the testing system and method has the advantages that multiple ICUs are co-spatiotemporal, multi-stage simulation data oriented to decision planning system requirements is generated, a rapid construction method for a virtual testing scene isprovided, and the like.

Description

technical field [0001] The invention relates to the field of simulation testing of a decision-making planning system for an automatic driving vehicle, in particular to a hardware simulation testing system and method for multiple ICUs of an automatic driving vehicle sharing time and space. Background technique [0002] To guarantee the safety, effectiveness, and sustainability of driverless vehicle development, extensive development and testing are necessary. However, traditional driverless road tests are expensive, time-consuming, risky and can only be tested in limited traffic scenarios. In addition, some special scenarios, such as extreme weather, sensor failure, and damage to some road sections, cannot be repeatedly tested and reproduced. The unmanned driving simulation system provides a safe and effective solution to this problem. [0003] Among them, the hardware-in-the-loop simulation test of autonomous driving is also an integral part of system development and verif...

AI Technical Summary

Problems solved by technology

However, traditional unmanned road tests are expensive, time-consuming, risky and can only be tested in limited traffic scenarios

In addition, some special scenarios, such as extreme weather, sensor failure, damage to some road sections, etc., cannot be repeatedly tested and reproduced

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