A multi-icu-oriented virtual simulation test system for unmanned driving

Abstract

An unmanned driving simulation test system, the overall system framework includes a virtual city scene parameterization generation module, a simulation server module, a traffic flow simulation module, a multi-ICU and human-computer interaction module, a dynamics simulation module and a data interaction middleware; the virtual city The scene parameterized generation module can realize the parameterized automatic generation of virtual city scenes, and simulate large-scale drive test scenes of different styles; the simulation server module can realize the simulation of various sensors and scene physical interaction behaviors in the simulation process, and realize the multi-ICU multi-sensor Constant frame rate asynchronous simulation mechanism; the traffic flow simulation module realizes the mixed injection of virtual traffic flow, and realizes the generation and dynamic interaction of large-scale background traffic flow in the simulation scene; the multi-ICU and human-computer interaction module realizes multi-ICU and "man-machine" hybrid The unmanned driving simulation; the dynamics simulation module realizes the real vehicle dynamics simulation of the tested vehicle; the data interaction middleware module realizes the information synchronization and transmission between the above 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 [...

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