Test method of L3-level autopilot system of vehicle-in-loop based on virtual driving scene

Abstract

The invention relates to a test method of an L3-level autopilot system of vehicle-in-loop based on a virtual driving scene. The method comprises the following steps of observing a kinematic state of avehicle, wherein the kinematic state comprises a position and a course angle, and is used for updating a vehicle pose in the virtual scene; establishing a sensory system model, wherein the sensory system model comprises four perception equipment models of vision, a millimeter wave radar, a laser radar and an ultrasonic radar; injecting virtual test scene libraries, and predefining three types oftest scene libraries including system driving scene working conditions, emergency working conditions and human-computer interaction working conditions according to an application scene of the L3-levelautopilot system; rendering in the virtual scene according to a pilot position parameter to generate a scene visualization visual angle; and recording and evaluating test data, including algorithm performance quantitative evaluation indexes and system evaluation indexes, and finally outputting comprehensive summary evaluation indexes of the L3-level autopilot system. Through the test method disclosed by the invention, the typical application scene of the L3-level autopilot system can be tested and evaluated in a limited experimental site.

Description

technical field

[0001] The invention relates to the technical field of automobile automatic driving, in particular to a testing method for an L3 automatic driving system based on a virtual driving scene vehicle-in-the-loop. Background technique

[0002] Intelligence is one of the important trends in the development of the automotive industry today. It is expected that intelligent driving technology and systems will develop rapidly around the world during 2020-2030. The automatic driving system is divided into six levels from low to high according to the degree of intelligence, among which the level of L3 automatic driving is defined as allowing the corresponding system to replace the driver to drive the vehicle independently in the defined driving scene, such as reducing the speed in the high-speed driving scene. driving burden, etc. At present, L1 and L2 advanced assisted driving systems have been implemented in some mass-produced models, while L3 automatic driving systems...

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