A simulation test method and system for tunnel traffic capacity of an autonomous driving vehicle

Abstract

The present application discloses a simulation test method and system for the tunnel passability of an autonomous driving vehicle. The method determines a simulation positioning signal of the autonomous driving vehicle during the simulation test according to the test tunnel environmental parameters required for the simulation test of the tunnel passability of the autonomous driving vehicle; shields the original positioning signal of the autonomous driving vehicle, and sends the simulated positioning signal to the autonomous driving vehicle, so that the autonomous driving vehicle performs a simulation test of the tunnel passability under the simulated positioning signal. This method realizes the testing of the tunnel passability of the autonomous driving vehicle without the need for a corresponding real tunnel, which can effectively reduce the testing cost of the tunnel passability of the autonomous driving vehicle and improve the testing efficiency. In addition, the testing by sending the simulated positioning signal to the autonomous driving vehicle is not restricted by road geometry and has a wide range of applications.

Description

Technical Field

[0001] The present application relates to the technical field of autonomous driving vehicle testing, and in particular to a simulation test method and system for the tunnel passability of an autonomous driving vehicle. Background Art

[0002] With the development of technology, people have higher and higher requirements on the performance of autonomous vehicles. In order to ensure the reliability of the traffic capacity of autonomous vehicles, it is often necessary to test the tunnel traffic capacity of autonomous vehicles during the research and development process of autonomous vehicles.

[0003] To test the tunnel traffic capability of autonomous vehicles in a real tunnel, it is necessary to find a real mountain tunnel to close the road for testing. Testing in a real tunnel will affect the normal traffic function of the tunnel, and the test process is long and the cost of a single test is high. On the other hand, the real tunnel will also block the positioning signal of the data acquisition equipment used in the test, making the test difficult.

[0004] Therefore, how to test the tunnel passing capability of autonomous vehicles efficiently and at low cost is a technical problem to be solved. Summary of the invention

[0005] The main purpose of this application is to provide a simulation test method and system for the tunnel passability of an autonomous driving vehicle, aiming to solve the technical problem of high testing cost and low efficiency in testing the tunnel passability of an autonomous driving vehicle through a real tunnel.

[0006] In a first aspect, the present application provides a simulation test method for tunnel trafficability of an autonomous driving vehicle, the method comprising the following steps:

[0007] Determining a simulated positioning signal of the autonomous driving vehicle during the simulation test according to test tunnel environmental parameters required for the simulation test of the tunnel traffic capacity of the autonomous driving vehicle;

[0008] The original positioning signal of the autonomous driving vehicle is shielded, and the simulated positioning signal is sent to the autonomous driving vehicle, so that the autonomous driving vehicle performs a simulation test of its tunnel passability under the simulated positioning signal.

[0009] In some embodiments, the step of determining the simulated positioning signal of the autonomous driving vehicle during the simulation test based on the test tunnel environment parameters required for the simulation test of the tunnel traffic capacity of the autonomous driving vehicle includes:

[0010] According to a plurality of real tunnel environment parameters and the real positioning signal of the autonomous driving vehicle in the corresponding real tunnel, a mapping relationship model between the tunnel environment parameters and the positioning signal is established;

[0011] The test tunnel environmental parameters are input into the mapping relationship model to obtain the simulated positioning signal output by the mapping relationship model.

[0012] In some embodiments, the tunnel environment parameters include:

[0013] Tunnel cross-sectional shape, tunnel road plane alignment, tunnel clear height, tunnel road width, tunnel road length and tunnel curvature.

[0014] In some embodiments, before establishing a mapping relationship model between tunnel environment parameters and positioning signals based on a plurality of real tunnel environment parameters and real positioning signals of the autonomous driving vehicle in the corresponding real tunnel, the method further includes:

[0015] Classifying the tunnel type according to the cross-sectional shape of the tunnel and the plane alignment of the tunnel road;

[0016] Obtaining tunnel clear height, tunnel road width, tunnel road length, and tunnel curvature for multiple tunnels of different tunnel types;

[0017] Among them, the cross-sectional shapes of the tunnel include circular, arched and rectangular, and the plane lines of the tunnel road include straight lines, circular curves and gentle curves.

[0018] In some embodiments, the sending of the simulated positioning signal to the autonomous driving vehicle so that the autonomous driving vehicle performs a simulation test of tunnel trafficability under the simulated positioning signal further includes:

[0019] Obtaining an onboard aftermarket positioning signal of the autonomous driving vehicle;

[0020] coupling the vehicle-mounted aftermarket positioning signal with the analog positioning signal;

[0021] A coupled simulated positioning signal is sent to the autonomous driving vehicle so that the autonomous driving vehicle performs a simulation test of tunnel trafficability under the coupled simulated signal.

[0022] In some embodiments, the vehicle-mounted aftermarket positioning signal includes:

[0023] GPS antenna positioning signal, IMU inertial navigation positioning signal or high-precision map positioning signal.

[0024] In some embodiments, after determining the simulated positioning signal of the autonomous driving vehicle during the simulation test, the method further includes:

[0025] The simulated positioning signal is adjusted according to the simulation test requirements.

[0026] In a second aspect, the present application also provides a simulation test system for tunnel traffic capacity of an autonomous driving vehicle, the system comprising:

[0027] A signal acquisition module, which is used to determine a simulated positioning signal of the autonomous driving vehicle during a simulation test according to test tunnel environmental parameters required for a simulation test of the tunnel traffic capacity of the autonomous driving vehicle;

[0028] A vehicle testing module is used to shield the original positioning signal of the autonomous driving vehicle and send the simulated positioning signal to the autonomous driving vehicle so that the autonomous driving vehicle can perform a simulated test of the tunnel passing ability under the simulated positioning signal.

[0029] In some embodiments, the signal acquisition module is further used to:

[0030] According to a plurality of real tunnel environment parameters and the real positioning signal of the autonomous driving vehicle in the corresponding real tunnel, a mapping relationship model between the tunnel environment parameters and the positioning signal is established;

[0031] The test tunnel environmental parameters are input into the mapping relationship model to obtain the simulated positioning signal output by the mapping relationship model.

[0032] In some embodiments, the vehicle testing module is further used to:

[0033] Obtaining an onboard aftermarket positioning signal of the autonomous driving vehicle;

[0034] coupling the vehicle-mounted aftermarket positioning signal with the analog positioning signal;

[0035] A coupled simulated positioning signal is sent to the autonomous driving vehicle so that the autonomous driving vehicle performs a simulation test of tunnel trafficability under the coupled simulated signal.

[0036] The present application provides a simulation test method and system for the tunnel passability of an autonomous driving vehicle. The method determines a simulation positioning signal of the autonomous driving vehicle during the simulation test according to the test tunnel environmental parameters required for the simulation test of the tunnel passability of the autonomous driving vehicle; shields the original positioning signal of the autonomous driving vehicle, and sends the simulated positioning signal to the autonomous driving vehicle, so that the autonomous driving vehicle performs a simulation test of the tunnel passability under the simulated positioning signal. This method realizes the testing of the tunnel passability of the autonomous driving vehicle without the need for a corresponding real tunnel, which can effectively reduce the testing cost of the tunnel passability of the autonomous driving vehicle and improve the testing efficiency. In addition, the testing by sending the simulated positioning signal to the autonomous driving vehicle is not restricted by road geometry and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 A flowchart of a simulation test method for tunnel trafficability of an autonomous driving vehicle provided in an embodiment of the present application;

[0039] Figure 2 A schematic diagram of a specific process of a simulation test method for tunnel traffic capacity of an autonomous driving vehicle;

[0040] Figure 3 A schematic block diagram of a simulation test system for the tunnel passability of an autonomous driving vehicle provided in an embodiment of the present application.

[0041] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0044] The embodiments of the present application provide a method and system for simulating and testing the tunnel passability of an autonomous driving vehicle.

[0045] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0046] Please refer to Figure 1 , Figure 1 A flowchart of a simulation test method for the tunnel passability of an autonomous driving vehicle provided in an embodiment of the present application.

[0047] like Figure 1 As shown, the method includes steps S1 to S2.

[0048] Step S1: Determine a simulated positioning signal of the autonomous driving vehicle during the simulation test according to test tunnel environmental parameters required for the simulation test of the tunnel traffic capacity of the autonomous driving vehicle.

[0049] Specifically, the method determines the simulated positioning signal of the autonomous driving vehicle during the simulation test based on the test tunnel environmental parameters required for the simulation test of the tunnel passability of the autonomous driving vehicle, including: establishing a mapping relationship model between tunnel environmental parameters and positioning signals based on multiple real tunnel environmental parameters and the real positioning signal of the autonomous driving vehicle in the corresponding real tunnel; inputting the test tunnel environmental parameters into the mapping relationship model to obtain the simulated positioning signal output by the mapping relationship model.

[0050] It is worth noting that the tunnel environment parameters in this embodiment include tunnel cross-sectional shape, tunnel road plane alignment, tunnel clear height, tunnel road width, tunnel road length and tunnel curvature. Among them, the tunnel cross-sectional shape includes circular, arched and rectangular, and the tunnel road plane alignment includes straight line, circular curve and transition curve.

[0051] Before establishing a mapping relationship model between tunnel environment parameters and positioning signals according to multiple real tunnel environment parameters and real positioning signals of the autonomous driving vehicle in the corresponding real tunnel, the method further includes: classifying tunnel types according to the tunnel cross-sectional shape and the tunnel road plane line shape, and obtaining the tunnel clear height, tunnel road width, tunnel road length and tunnel curvature of multiple tunnels of different tunnel types. Collect multiple typical tunnel environment parameters of different tunnel types so that the tunnel environment parameters used to establish the mapping relationship model can cover multiple tunnel types.

[0052] Exemplary, such as Figure 2 As shown, the tunnel types are classified according to the cross-sectional shape of the tunnel and the road plane linear shape. For example, they can be divided into circular straight tunnels, circular circular curve tunnels, circular circular curve tunnels and other types. Multiple typical real tunnel environmental parameters are collected for different types of tunnels, and the real positioning signal from the tunnel entrance to the tunnel exit in the real tunnel is collected by the tunnel positioning signal acquisition processor. It can be understood that the positioning signal in this embodiment refers to the distribution of positioning signals from the tunnel entrance to the tunnel exit. The recorded real tunnel environmental parameters of the tunnel cross-sectional shape, road plane linear shape, tunnel clear height H, road width W, road length L, tunnel curvature R and the real positioning signal of the corresponding tunnel are fitted by deep learning to obtain the mapping relationship model F = [H, W, L, R] → S between the tunnel environmental parameters and the positioning signal of each tunnel type. Among them, F is the mapping relationship model and S is the positioning signal.

[0053] When conducting a simulation test of the tunnel traffic capacity of an autonomous driving vehicle, tunnel environmental parameters R such as the tunnel cross-sectional shape, tunnel road plane line shape, tunnel clear height H, tunnel road width W, tunnel road length L and tunnel curvature will be set according to the test requirements, which are the test tunnel environmental parameters. The test tunnel environmental parameters are input into the mapping relationship model F = [H, W, L, R] → S of the corresponding tunnel type through the tunnel simulation positioning signal calculator. According to the mapping relationship, the simulated positioning signal of the autonomous driving vehicle during the simulation test can be obtained, and the calculated simulated positioning signal is sent to the tunnel positioning signal coupling receiver. It can be understood that the simulated positioning signal here is the simulated vehicle positioning signal distribution in the test tunnel.

[0054] As a preferred implementation, after determining the simulated positioning signal of the autonomous driving vehicle during the simulation test, it also includes: adjusting the simulated positioning signal according to the simulation test requirements. The actual test process can adjust the signal to generate a characteristic signal, such as directly modifying the simulated positioning signal corresponding to a certain section of the test tunnel to 0 to achieve a scenario where the positioning signal is completely lost.

[0055] Step S2: shield the original positioning signal of the autonomous driving vehicle, and send the simulated positioning signal to the autonomous driving vehicle, so that the autonomous driving vehicle performs a simulation test of the tunnel passing capacity under the simulated positioning signal.

[0056] Preferably, the sending of the simulated positioning signal to the autonomous driving vehicle so that the autonomous driving vehicle performs a simulated test of its tunnel passability under the simulated positioning signal also includes: acquiring an on-board aftermarket positioning signal of the autonomous driving vehicle; coupling the on-board aftermarket positioning signal with the simulated positioning signal; and sending the coupled simulated positioning signal to the autonomous driving vehicle so that the autonomous driving vehicle performs a simulated test of its tunnel passability under the coupled simulated signal.

[0057] Exemplarily, in this embodiment, the original positioning signal of the autonomous driving vehicle is shielded by a tunnel positioning signal coupling receiver. The tunnel positioning signal coupling receiver is a semi-sealed darkroom device that can cover the vehicle antenna and seal with the roof to form a fully sealed darkroom, completely shielding the positioning signal of the vehicle's current environment. The tunnel positioning signal coupling receiver also includes a receiving signal antenna for receiving the analog positioning signal sent by the tunnel simulation positioning signal calculator. At the same time, the tunnel positioning signal coupling receiver can also receive the vehicle-mounted after-installation positioning signal, and couple the vehicle-mounted after-installation positioning signal with the analog positioning signal to obtain a coupled analog positioning signal, and transmit the coupled analog positioning signal to the autonomous driving vehicle, and the autonomous driving vehicle performs a simulation test of the tunnel's traffic capacity under the coupled analog signal.

[0058] It is worth noting that the vehicle-mounted aftermarket positioning signal includes a GPS antenna positioning signal, an IMU inertial navigation positioning signal or a high-precision map positioning signal.

[0059] This application establishes a mapping relationship between tunnel environment parameters and positioning signals based on real tunnels and real positioning signals in real tunnels, and then determines the simulated positioning signals corresponding to the test tunnel environment parameters during the simulation test based on the mapping relationship, then shields the original positioning signal of the autonomous driving vehicle, and couples the simulated positioning signal with the on-board after-installation positioning signal, and sends the coupled positioning signal to the braking driving vehicle, so that the autonomous driving vehicle does not need a real tunnel, and the tunnel traffic capacity of the autonomous driving vehicle can be tested under the simulated positioning signal. It can effectively reduce the test cost of the tunnel traffic capacity of the autonomous driving vehicle, while improving the test efficiency, and the test can be carried out without road geometry constraints by sending simulated positioning signals to the autonomous driving vehicle, and has a wide range of applications.

[0060] Please refer to Figure 3 , Figure 3 A schematic block diagram of a simulation test system for the tunnel traffic capacity of an autonomous driving vehicle provided in an embodiment of the present application. The system includes:

[0061] A signal acquisition module, which is used to determine a simulated positioning signal of the autonomous driving vehicle during a simulation test according to test tunnel environmental parameters required for a simulation test of the tunnel traffic capacity of the autonomous driving vehicle;

[0062] A vehicle testing module is used to shield the original positioning signal of the autonomous driving vehicle and send the simulated positioning signal to the autonomous driving vehicle so that the autonomous driving vehicle can perform a simulated test of the tunnel passing ability under the simulated positioning signal.

[0063] Wherein, the signal acquisition module is also used for:

[0064] According to a plurality of real tunnel environment parameters and the real positioning signal of the autonomous driving vehicle in the corresponding real tunnel, a mapping relationship model between the tunnel environment parameters and the positioning signal is established;

[0065] The test tunnel environmental parameters are input into the mapping relationship model to obtain the simulated positioning signal output by the mapping relationship model.

[0066] Among them, tunnel environmental parameters include:

[0067] Tunnel cross-sectional shape, tunnel road plane alignment, tunnel clear height, tunnel road width, tunnel road length and tunnel curvature.

[0068] Among other things, the system is also used for:

[0069] Classifying the tunnel type according to the cross-sectional shape of the tunnel and the plane alignment of the tunnel road;

[0070] Obtaining tunnel clear height, tunnel road width, tunnel road length, and tunnel curvature for multiple tunnels of different tunnel types;

[0071] Among them, the cross-sectional shapes of the tunnel include circular, arched and rectangular, and the plane lines of the tunnel road include straight lines, circular curves and gentle curves.

[0072] Wherein, the vehicle testing module is also used for:

[0073] Obtaining an onboard aftermarket positioning signal of the autonomous driving vehicle;

[0074] coupling the vehicle-mounted aftermarket positioning signal with the analog positioning signal;

[0075] A coupled simulated positioning signal is sent to the autonomous driving vehicle so that the autonomous driving vehicle performs a simulation test of tunnel trafficability under the coupled simulated signal.

[0076] Wherein, the vehicle-mounted aftermarket positioning signal includes:

[0077] GPS antenna positioning signal, IMU inertial navigation positioning signal or high-precision map positioning signal.

[0078] Among other things, the system is also used for:

[0079] The simulated positioning signal is adjusted according to the simulation test requirements.

[0080] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system and each module and unit can refer to the corresponding processes in the aforementioned embodiments and will not be repeated here.

[0081] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0082] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description is only a specific implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A simulation test method for tunnel traffic capacity of an autonomous driving vehicle, characterized in that: include: Determining a simulated positioning signal of the autonomous driving vehicle during the simulation test according to test tunnel environmental parameters required for the simulation test of the tunnel traffic capacity of the autonomous driving vehicle; shielding the original positioning signal of the autonomous driving vehicle, and sending the simulated positioning signal to the autonomous driving vehicle, so that the autonomous driving vehicle performs a simulation test of tunnel trafficability under the simulated positioning signal; The step of determining the simulated positioning signal of the autonomous driving vehicle during the simulation test according to the test tunnel environment parameters required for the simulation test of the tunnel traffic capacity of the autonomous driving vehicle includes: According to a plurality of real tunnel environment parameters and the real positioning signal of the autonomous driving vehicle in the corresponding real tunnel, a mapping relationship model between the tunnel environment parameters and the positioning signal is established; Inputting the test tunnel environmental parameters into the mapping relationship model to obtain the simulated positioning signal output by the mapping relationship model; Among them, tunnel environmental parameters include: Tunnel cross-sectional shape, tunnel road plane alignment, tunnel clear height, tunnel road width, tunnel road length and tunnel curvature.

2. The simulation test method for tunnel traffic capacity of an autonomous driving vehicle according to claim 1, characterized in that: Before establishing a mapping relationship model between the tunnel environment parameters and the positioning signal according to the plurality of real tunnel environment parameters and the real positioning signal of the autonomous driving vehicle in the corresponding real tunnel, the method further includes: Classifying the tunnel type according to the cross-sectional shape of the tunnel and the plane alignment of the tunnel road; Obtaining tunnel clear height, tunnel road width, tunnel road length, and tunnel curvature for multiple tunnels of different tunnel types; Among them, the cross-sectional shapes of the tunnel include circular, arched and rectangular, and the plane lines of the tunnel road include straight lines, circular curves and gentle curves.

3. The simulation test method for tunnel traffic capacity of an autonomous driving vehicle according to claim 1, characterized in that: The sending of the simulated positioning signal to the autonomous driving vehicle so that the autonomous driving vehicle performs a simulation test of tunnel trafficability under the simulated positioning signal further includes: Obtaining an onboard aftermarket positioning signal of the autonomous driving vehicle; coupling the vehicle-mounted aftermarket positioning signal with the analog positioning signal; A coupled simulated positioning signal is sent to the autonomous driving vehicle so that the autonomous driving vehicle performs a simulation test of tunnel trafficability under the coupled simulated signal.

4. The simulation test method for tunnel traffic capacity of an autonomous driving vehicle according to claim 3, characterized in that: The vehicle-mounted aftermarket positioning signal includes: GPS antenna positioning signal, IMU inertial navigation positioning signal or high-precision map positioning signal.

5. The simulation test method for tunnel traffic capacity of an autonomous driving vehicle according to claim 1, characterized in that: After determining the simulated positioning signal of the autonomous driving vehicle during the simulation test, the method further includes: The simulated positioning signal is adjusted according to the simulation test requirements.

6. A simulation test system for the tunnel traffic capacity of an autonomous driving vehicle, characterized in that: include: A signal acquisition module, which is used to determine a simulated positioning signal of the autonomous driving vehicle during a simulation test according to test tunnel environmental parameters required for a simulation test of the tunnel traffic capacity of the autonomous driving vehicle; A vehicle testing module, which is used to shield the original positioning signal of the autonomous driving vehicle and send the simulated positioning signal to the autonomous driving vehicle, so that the autonomous driving vehicle performs a simulation test of tunnel trafficability under the simulated positioning signal; Wherein, the signal acquisition module is also used for: Establish a mapping relationship model between various real tunnel environment parameters and the real positioning signals of the autonomous driving vehicle in the corresponding real tunnel; Inputting the test tunnel environmental parameters into the mapping relationship model to obtain the simulated positioning signal output by the mapping relationship model; Among them, tunnel environmental parameters include: Tunnel cross-sectional shape, tunnel road plane alignment, tunnel clear height, tunnel road width, tunnel road length and tunnel curvature.

7. The simulation test system for the tunnel traffic capacity of an autonomous driving vehicle according to claim 6, characterized in that: The vehicle testing module is also used for: Obtaining an onboard aftermarket positioning signal of the autonomous driving vehicle; coupling the vehicle-mounted aftermarket positioning signal with the analog positioning signal; A coupled simulated positioning signal is sent to the autonomous driving vehicle so that the autonomous driving vehicle performs a simulation test of tunnel trafficability under the coupled simulated signal.

Images