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Lane line analog simulation test method and system based on image display

A simulation and image display technology, applied in the automotive field, can solve the problems of high test cost, driving safety, long test cycle, and site restrictions, and achieve the effect of meeting the driving test requirements, overcoming the insufficient reduction degree, and improving the utilization rate

Active Publication Date: 2021-10-15
上海和夏新能源科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The problems arising from both are: the virtual simulation test can only be used as an auxiliary verification, the fidelity of the virtual environment is not enough, and it cannot be completely based on the simulation test results
The road test of real vehicles will face many limitations, such as long test cycle, which greatly affects the efficiency of autonomous driving technology research and development, huge test cost and driving safety issues, etc.
[0004] The biggest problem with the laboratory solution is that the venue is limited, and the real vehicle needs a long enough lane line for the intelligent driving system to recognize
At present, there are generally two solutions to solve the problem of lane line simulation. One is to simulate the environment, perception and vehicle environment based on synthetic data, such as using the point cloud information of lidar to simulate the lane lines around the car body; the other is Use the GPS module to mark the trajectory of the virtual lane line in the test site and load it into the high-precision map of the vehicle to form a virtual lane line for the intelligent driving system to recognize. This completely virtual lane line simulation solution is far from meeting the test requirements.

Method used

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  • Lane line analog simulation test method and system based on image display
  • Lane line analog simulation test method and system based on image display
  • Lane line analog simulation test method and system based on image display

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example ；

[0039] The invention provides a lane line simulation test method based on image display, comprising the following steps:

[0040] S1, collect the driving parameters of the real vehicle test of the test vehicle simulated running in each working condition;

[0041]S2, digitize the test vehicle into a vehicle running model according to the test vehicle body parameters and the driving parameters of the real vehicle test;

[0042] S3, according to the set environment variables and driving path variables, obtain the visual follow-up of the virtual lane line during the driving test of the test vehicle through the vehicle running model simulation, and output and display;

[0043] S4, output driving parameters in real time so that the vehicle operation model and the test vehicle execute the same test case synchronously, and display the output virtual lane lines to the test vehicle in real time, so that the environment perception system and / or intelligent driving system of the test vehi...

no. 2 example ；

[0045] Such as figure 1 As shown, the present invention provides a lane line simulation test method based on image display, comprising the following steps:

[0046] S1, collect the driving parameters of the real vehicle test of the test vehicle simulated running in each working condition;

[0047] S2, digitize the test vehicle into a vehicle running model according to the test vehicle body parameters and the driving parameters of the real vehicle test;

[0048] S3, according to the set environment variables and driving path variables, obtain the visual follow-up of the virtual lane line during the driving test of the test vehicle through the vehicle running model simulation, and output and display;

[0049] S4, output driving parameters in real time so that the vehicle operation model and the test vehicle execute the same test case synchronously, and display the output virtual lane lines to the test vehicle in real time, so that the environment perception system and / or intell...

no. 3 example ；

[0052] The present invention provides a lane line simulation test system based on image display, comprising:

[0053] The real vehicle test device, which can perform the simulated test run of the vehicle, is used to collect the driving parameters of the real vehicle test of the simulated operation of the test vehicle in various working conditions;

[0054] The simulation device digitizes the test vehicle into a vehicle operation model according to the test vehicle body parameters and the driving parameters of the real vehicle test;

[0055] And, according to the set environment variables and driving path variables, obtain the visual follow-up of the virtual lane line during the driving test of the test vehicle through the vehicle running model simulation, and output it to the display device;

[0056] A display device, which is arranged in front of the acquisition device, is used to display the virtual lane line in real time to the test vehicle;

[0057] The input device is us...

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Abstract

The invention discloses a lane line analog simulation test method based on image display. The method comprises the following steps: acquiring driving parameters of a real vehicle test when a test vehicle simulates to run under various working conditions; digitizing the test vehicle into a vehicle operation model according to the vehicle body parameters of the test vehicle and the driving parameters of the real vehicle test; obtaining visual follow-up of the virtual lane line through vehicle operation model simulation during vehicle driving test of the test vehicle according to the set environment variable and the driving path variable, and outputting and displaying; outputting driving parameters in real time, so that the vehicle operation model and the test vehicle synchronously execute the same test case, the output virtual lane line is displayed to the test vehicle in real time, and an environment sensing system and / or an intelligent driving system of the test vehicle can detect the displayed virtual lane line. According to the invention, the defects of insufficient virtual simulation reduction degree, high real vehicle road test cost and low efficiency in the prior art are overcome, and the driving test requirements of the test vehicle under different road conditions can be met.

Description

technical field [0001] The invention relates to the field of automobiles, in particular to a lane line simulation test method based on image display. The invention also relates to a lane line simulation test system based on image display. Background technique [0002] Lane line detection is one of the core technologies of the intelligent driving system. Since the lane lines of structured roads have significant edge features, and there are certain standards for the lane line width and road width, these constraints create good conditions for the accurate identification of lane lines. [0003] At the current stage of intelligent driving tests, some are conducted through virtual simulation tests, and some are carried out through real-vehicle road tests. The problems arising from the two are: the virtual simulation test can only be used as an auxiliary verification, the fidelity of the virtual environment is not enough, and it cannot be completely based on the simulation test r...

Claims

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Application Information

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IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 栗工江贤宇周伟
Owner 上海和夏新能源科技有限公司