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Visual positioning hardware-in-the-loop simulation platform and simulation method

A visual positioning and simulation platform technology, applied in the direction of instruments, control/adjustment systems, simulators, etc., can solve problems such as the inability to evaluate the impact of the visual positioning system

Active Publication Date: 2021-06-18
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The sensor data and video stream of the virtual scene of autonomous driving are directly imported into the computing platform of autonomous driving, and the camera is not connected to the simulation system in the form of hardware-in-the-loop, so it is impossible to evaluate the impact of the real camera on the visual positioning system in various scenarios

Method used

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  • Visual positioning hardware-in-the-loop simulation platform and simulation method
  • Visual positioning hardware-in-the-loop simulation platform and simulation method

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Effect test

Embodiment 1

[0037] Such as figure 1 As shown, a visual positioning hardware-in-the-loop simulation platform mainly includes three parts, namely, an automatic driving simulation system, a darkroom scene system, and a visual positioning system. Among them, the visual positioning system includes a visual positioning computing platform and a camera. The visual positioning computing platform is equipped with visual positioning algorithm software. The visual positioning computing platform and the camera are added to the simulation system as the visual positioning system hardware. The visual positioning computing platform communicates with The automatic driving simulation system is connected for data interaction; the dark room scene system includes a dark room, where a high-definition display screen and a camera actually used in the visual positioning system are placed. In front of the screen, the camera collects the video displayed on the high-definition display screen of the automatic driving ...

Embodiment 2

[0044] A simulation method for visually positioning a hardware-in-the-loop simulation platform, comprising the following steps:

[0045] The visual positioning computing platform obtains the high-precision map of the virtual scene from the automatic driving simulation system;

[0046] The visual positioning computing platform obtains IMU and wheel speed data from the automatic driving simulation system through the data interface;

[0047] The automatic driving simulation system displays the virtual scene in front of the vehicle through the high-definition display screen in the dark room scene system;

[0048] The camera collects the video displayed on the high-definition display screen of the automatic driving simulation system in real time;

[0049] The visual positioning computing platform relies on the real-time camera video stream to extract features, compares it with the high-precision map in the automatic driving simulation system, and integrates IMU and wheel speed dat...

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Abstract

The invention discloses a visual positioning hardware-in-the-loop simulation platform and simulation method. The visual positioning hardware-in-the-loop simulation platform comprises an automatic driving simulation system, a darkroom scene system and a visual positioning system, the visual positioning system comprises a visual positioning calculation platform and a camera, and the visual positioning calculation platform is in communication connection with the automatic driving simulation system; the visual positioning calculation platform obtains virtual sensor data and a virtual scene high-precision map from the automatic driving simulation system; and the darkroom scene system comprises a darkroom, a high-definition display screen and a camera in the visual positioning system are placed in the darkroom, the high-definition display screen is connected with the automatic driving simulation system through a video line, the camera is placed in front of the high-definition display screen, and the camera collects videos displayed on the high-definition display screen by the automatic driving simulation system in real time. The visual positioning computing platform and the camera are connected into the system, hardware-in-the-loop simulation is achieved, and the real drive test condition is simulated to the maximum extent.

Description

technical field [0001] The invention specifically relates to a visual positioning hardware-in-the-loop simulation platform and a simulation method, belonging to the technical field of automatic driving visual positioning. Background technique [0002] The positioning system is the basic module of autonomous driving. The perception, planning, and control of autonomous driving all rely on positioning information. Previously, high-precision inertial navigation, RTK GNSS, and high-beam laser radar were widely used in positioning systems for high-level autonomous driving. However, the cost of these sensors The high cost hinders the popularization of self-driving vehicles to a certain extent, so it has become a trend to use low-cost camera visual information for self-driving positioning. [0003] There are generally two methods for traditional methods of visual positioning verification. One is to use a large number of data collection vehicles to collect a large number of videos an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 闫坤陈博
Owner CHINA FIRST AUTOMOBILE
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