Automatic driving lane line and target joint simulation method and system

Abstract

The invention discloses an automatic driving lane line and target joint simulation method and system, and the method comprises the steps: S1, processing camera data: obtaining point coordinate data processed by a camera, and carrying out the discrimination of the data; s2, coordinate system conversion 1: carrying out matching correction on a coordinate system of camera data; s3, calculating a lane line equation: fitting the data of each lane line by adopting a fitting method according to the camera data processed in the S2; s4, data cleaning: judging whether a lane line equation coefficient is normal or not; s5, processing radar data: obtaining point data after radar processing, and carrying out difference judgment processing on the data; s6, coordinate system conversion 2: carrying out matching correction on the coordinate system of the radar data; s7, data fusion: matching the target information with the lane line information to obtain an area where the target is located; and S8, making the fused data into a required interface. According to the invention, basic sensing input in an automatic driving algorithm test is constructed.

Description

technical field [0001] The invention relates to the technical field of intelligent driving testing, in particular to a method and system for joint simulation of lane lines and targets of automatic driving. Background technique [0002] With the development of autonomous vehicle testing technology and a deep understanding of testing, especially L3 and above autonomous driving, the required testing methods are becoming more and more advanced. At present, physical testing of real vehicles requires huge manpower and material resources, which requires simulation testing to replace part of physical testing to reduce costs. Simulation testing is the most basic testing technology for high-level autonomous driving, and it is the most effective and efficient testing method for functional testing. In the simulation test, the simulation of sensing information is a very important part, which is the premise of the follow-up link, decision-making planning and control. Regardless of the s...

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Problems solved by technology

[0003] For example, the patent document CN201811596580.X discloses a lane line fusion system and its fusion method. The premise of this method is that the lane line parameters must be given by an intelligent camera, and this part is highly dependent on the algorithm of the camera; in addition, the calculation target matching lane line In this case, only the lateral distance is calculated, the longitudinal distance of the target is not involved, and the specific orientation of the entire target in the vehicle cannot be determined, which increases the limitation of use

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