Unmanned driving virtual simulation test system for multiple ICUs (Intensive Care Unit)

Abstract

The invention discloses an unmanned driving simulation test system. An overall system framework comprises a virtual city scene parameterization generation module, a simulation server module, a traffic flow simulation module, a multi-ICU and man-machine interaction module, a dynamics simulation module and data interaction middleware; the virtual city scene parameterization generation module can realize parameterization automatic generation of a virtual city scene and simulate large-scale road test scenes of different styles; the simulation server module realizes simulation of various sensors and scene physical interaction behaviors in a simulation process, and realizes a multi-ICU multi-sensor constant frame rate asynchronous simulation mechanism; the traffic flow simulation module realizes mixed injection of virtual traffic flow, and realizes generation and dynamic interaction of large-scale background traffic flow in a simulation scene; the multi-ICU and man-machine interaction module is used for realizing multi-ICU and man-machine mixed unmanned driving simulation; the dynamics simulation module is used for realizing real vehicle dynamic simulation of the tested vehicle; and the data interaction middleware module realizes information synchronization and transmission among the simulation modules.

Description

technical field [0001] The invention relates to the technical field of unmanned driving, in particular to the construction of an unmanned driving virtual simulation test system oriented to multi-intelligent driving controllers (ICUs). Background technique [0002] Unmanned driving systems must pass large-scale testing and verification before they can be deployed and operated. However, in smaller-scale real road environment tests, it is difficult to verify the performance of unmanned driving systems in various urban environments; on the other hand, it is difficult to reproduce complex and dangerous traffic scenes during driving in real road tests. Therefore, using a virtual simulation environment to test the unmanned driving system has become a necessary basis for the development of the unmanned driving system. However, the existing unmanned driving simulation test system often has the following defects: [0003] 1. The scene is single and the construction cost is high [...

AI Technical Summary

Problems solved by technology

The unmanned driving system test needs to be based on complex urban scenes. At present, it usually requires a large amount of manual interactive construction based on real collected data, which is expensive.

[0005] 2. Unable to achieve individual control of traffic flow

None of them support the active interactive control of some vehicles in the background traffic flow, so that the demand for v2v active interaction between the simulated unmanned driving system and the background vehicles cannot be realized

[0007] 3. Unable to meet the high-performance requirements of multi-ICU and man-machine "co-time and space" tests

Due to the performance constraints of multi-sensor real-time simulation, it is difficult to support the "co-temporal" high-performance rapid test of multiple types of multiple ICUs in the same scene; and it is also difficult to support the "co-temporal" test of human drivers and ICUs

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