Method for constructing automatic driving simulation test scene in unity

Abstract

The invention relates to a method for constructing an automatic driving simulation test scene in unity, and the method comprises the following steps: setting a simulation visual angle camera and a logic visual angle camera of a following vehicle, and defining a logic visual angle and a simulation visual angle; according to a preset rule, dividing elements used for a simulation test in unity into the following classes; creating a simulation picture main window for displaying a simulation view angle; and creating a secondary window for displaying a logic view angle. According to the method, the logic view angle camera of which the rendering mode is vertical projection is added outside the simulation view angle camera, and meanwhile, the secondary window for displaying the logic view angle is created outside the simulation picture main window, so that elements of corresponding positions and corresponding sizes in simulation are displayed on the logic view angle, and redundant useless information interference is avoided; the simulation condition can be observed more visually, and the problems of the automatic driving system can be found and checked more easily.

Description

technical field [0001] The invention relates to a method for constructing an automatic driving simulation test scene in unity, and belongs to the technical field of automatic driving. Background technique [0002] Before commercial use of autonomous driving, a large number of simulation tests are often required. At present, there is no unified standard for scene construction in the simulation test of autonomous driving. The single perspective of following the car (usually also called the simulation perspective) is used for testing. The following perspective can be used to observe the simulation. Although the vehicle state can reflect the situation of the vehicle during simulation, it still has certain defects. For example, when simulating figure 1 In the situation shown, the simulated vehicle encounters an obstacle in front of it, and the angle of view behind the vehicle is not good enough to judge the exact distance between the vehicle and the obstacle. Although the dista...

AI Technical Summary

Problems solved by technology

At present, there is no unified standard for scene construction in the simulation test of autonomous driving. The single perspective of following the car (usually also called the simulation perspective) is used for testing. The following perspective can be used to observe the simulation. Vehicle state, although it can reflect the situation of the vehicle during simulation, there are still some defects

For example, when simulating figure 1 In the situation shown, the simulated vehicle encounters an obstacle in front of it, and the angle of view behind the vehicle is not good enough to judge the exact distance between the vehicle and the obstacle. Although the distance of the obstacle can also be judged by radar or laser, there is often a certain error in this judgment , and through this judgment, the simulation record cannot be displayed intuitively

In other words, the existing test scenarios cannot more comprehensively observe the driving conditions of the autonomous driving simulation vehicle

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