Automatic driving virtual scene in-the-loop test system and method

An automatic driving and testing system technology, applied in the field of communication, can solve the problems of occupying test vehicle space, increasing test vehicle resource consumption, and consuming test vehicle resources, so as to achieve the effect of reducing energy consumption and enriching test scenarios

Pending Publication Date: 2020-02-14
清华大学苏州汽车研究院(吴江)
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The inventors have found that there are at least the following problems in the prior art: in the existing virtual scene in-the-loop test method, the simulation servers used to construct the virtual scene are all installed on the test vehicle, so the test vehicle resources will be consumed during the actual test , especially when there are many test scenarios, it is often necessary to deploy more types of sensors in the simulation server to achieve the richness of the test scenarios, but this will occupy the space of the test vehicle, thereby further increasing the consumption of test vehicle resources

Method used

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  • Automatic driving virtual scene in-the-loop test system and method

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Embodiment 1

[0022] figure 1 The schematic structural diagram of the automatic driving virtual scene in-the-loop test system provided for Embodiment 1 of the present invention includes: a test vehicle 11 , a simulation server 12 located outside the test vehicle 11 , and an industrial computer 13 located inside the test vehicle 11 .

[0023] Wherein, the simulation server 11 is used to construct a virtual test scene, and transmits the simulation signal corresponding to the virtual test scene to the industrial computer 13; the industrial computer 13 is used to generate a control signal according to the simulation signal, and transmit the control signal to the test vehicle 11; the test vehicle 11 is used to move according to the control signal, and transmits the current vehicle state information to the simulation server 12 through the industrial computer 13; the simulation server 12 is used to test the control performance of the industrial computer 13 according to the vehicle state information...

Embodiment 2

[0039] figure 2It is a flow chart of the automatic driving virtual scene-in-the-loop test method provided in Embodiment 2 of the present invention. This embodiment is applied to the automatic driving virtual scene-in-the-loop test system in the above-mentioned embodiment. The method of this embodiment specifically includes the following operations:

[0040] Step 101, the simulation server constructs a virtual test scene, and transmits the simulation signal corresponding to the virtual test scene to the industrial computer.

[0041] Optionally, the virtual test scene includes: a virtual obstacle and a virtual vehicle corresponding to the test vehicle, wherein the virtual vehicle and the test vehicle move synchronously.

[0042] Optionally, the simulation server includes at least one type of sensor.

[0043] The perception data of the automatic driving system to the virtual test scene is generated by the simulation of the sensor model.

[0044] Specifically, the simulation se...

Embodiment 3

[0057] image 3 It is a flow chart of the automatic driving virtual scene in-the-loop test method provided by the third embodiment of the present invention. This embodiment is applied to the automatic driving virtual scene in-the-loop test system in the above embodiment. After the test results are obtained in this embodiment, further increase LE: Adjust the position and attitude of the virtual vehicle through the simulation server according to the test results. The method of this embodiment specifically includes the following operations:

[0058] Step 201, the simulation server constructs a virtual test scene, and transmits the simulation signal corresponding to the virtual test scene to the industrial computer.

[0059] Step 202, the industrial computer generates a control signal according to the simulation signal, and transmits the control signal to the test vehicle.

[0060] Step 203, the test vehicle moves according to the control signal, and transmits the current vehicl...

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Abstract

The embodiment of the invention discloses an automatic driving virtual scene in-the-loop test system and method. The system comprises a test vehicle, a simulation server located outside the test vehicle and an industrial personal computer located inside the test vehicle. The simulation server is used for constructing a virtual test scene and transmitting a simulation signal corresponding to the virtual test scene to the industrial personal computer; the industrial personal computer is used for generating a control signal according to the simulation signal and transmitting the control signal tothe test vehicle; the test vehicle is used for moving according to the control signal and transmitting the current vehicle state information to the simulation server through the industrial personal computer; and the simulation server is used for testing the control performance of the industrial personal computer according to the vehicle state information to obtain a test result. According to theinvention, the simulation server is arranged outside the test vehicle, so that the energy consumption of the test vehicle is significantly reduced in the virtual scene in-the-loop test process of thetest vehicle.

Description

technical field [0001] Embodiments of the present invention relate to the field of communication technologies, and in particular to a system and method for autonomous driving virtual scene-in-the-loop testing. Background technique [0002] Intelligent networked vehicles are new types of vehicles that can partially or completely replace the operation of human drivers, and simulation testing is a basic test method to speed up the development of functional prototypes of intelligent networked vehicles, and is one of the important means to accumulate the test mileage of unmanned vehicles. Effectively test dangerous or unusual driving scenarios. [0003] The inventors have found that there are at least the following problems in the prior art: in the existing virtual scene in-the-loop test method, the simulation servers used to construct the virtual scene are all installed on the test vehicle, so the test vehicle resources will be consumed during the actual test , especially when ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 潘舟金管时华周云柯
Owner 清华大学苏州汽车研究院(吴江)
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