Automatic driving simulation test map real-time reading method and system based on VTD

Abstract

The invention discloses a VTD-based automatic driving simulation test map real-time reading method and system, and belongs to the technical field of intelligent network connection. Comprising the following steps: acquiring a real-time vehicle position of an automatic driving vehicle in a tested piece algorithm; based on the real-time vehicle position and a preset distance threshold range, lane line information in a pre-stored static map file is read through a VTD running plug-in and sent to a test server, so that the test server performs interpolation processing on the lane line information based on a preset sampling interval, and the lane line information is obtained; and converting into a required format and sending to the tested piece algorithm. In the automatic driving simulation test process, the lane line information can be read according to the real-time position of the automatic driving vehicle, manual extraction in advance is not needed, and the efficiency and smoothness of the automatic performance test are improved; the problem that lane line information needs to be extracted manually in the prior art, and the automatic performance testing efficiency is affected is solved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent network connection technology, and in particular to a VTD-based automatic driving simulation test map real-time reading method and system. Background Art

[0002] The statements in this section merely mention background art related to the present invention and do not necessarily constitute prior art.

[0003] In recent years, the development of electrification, networking, intelligence and sharing in the automotive industry has jointly promoted the transformation and progress of the automotive industry. Intelligence mainly covers unmanned driving technology and driver assistance systems. The application of these technologies will promote the realization of autonomous driving of automobiles and significantly improve the safety and convenience of driving. Intelligence is the core of autonomous driving technology and the key direction for the future development of the automotive industry. Through the application of intelligent technology, cars will be able to autonomously perceive the surrounding environment, make decisions and perform operations, thereby reducing the burden on drivers and improving driving safety.

[0004] Autonomous driving simulation testing plays an irreplaceable role in the research and development of autonomous driving technology. Through simulation testing, the safety of the autonomous driving system can be ensured, test efficiency can be improved, comprehensive scenarios can be covered, the repeatability of test scenarios can be achieved, the R&D cycle can be accelerated, and regulatory requirements can be met.

[0005] The significance of automated testing in autonomous driving simulation testing lies in many aspects. It plays an important role in improving the safety of autonomous driving systems, reducing costs, improving efficiency, and promoting technological innovation. Autonomous driving simulation testing requires testing different map scenarios to meet coverage requirements. Each scenario contains different road information, traffic participant information, etc. The algorithm of the tested part needs to receive lane line coordinate point information, lane width and other information in the map to activate the algorithm. However, in simulation projects, different maps have different information.

[0006] In the previous test method, the map information needed was manually extracted, edited into the format required by the algorithm, and a fixed file was compiled. During the test, the file information had to be manually extracted in advance and sent to the algorithm of the device under test, and the map information could not be read in real time. The manual compilation method was still feasible during functional testing, but during automated performance testing, manual operations would affect the efficiency of automated performance testing.

[0007] If the map scene needs to be switched, the tester must at least manually send the required map information to the algorithm of the device under test, which affects the smoothness of the automated performance test. Summary of the invention

[0008] In order to solve the deficiencies of the prior art, the present invention provides a method, system, electronic device, computer storage medium and computer program product for real-time reading of an autonomous driving simulation test map based on VTD.

[0009] In a first aspect, the present invention provides a method for real-time reading of an autonomous driving simulation test map based on VTD;

[0010] A real-time reading method for an autonomous driving simulation test map based on VTD, comprising:

[0011] Obtain the real-time vehicle position of the autonomous driving vehicle in the DUT algorithm;

[0012] Based on the real-time vehicle position and the preset distance threshold range, the lane line information in the pre-stored static map file is read through the VTD running plug-in and sent to the test server, so that the test server interpolates the lane line information based on the preset sampling interval, converts it into the required format, and then sends it to the algorithm of the device under test.

[0013] In some embodiments, based on the real-time vehicle position and a preset distance threshold range, the lane line information in the pre-stored static map file is read by running the VTD plug-in specifically as follows: the pre-stored static map file is read by running the VTD plug-in, and according to the real-time vehicle position, the lane coordinates and lane width within the preset distance threshold range are cyclically obtained and stored in temporary variables.

[0014] In some implementations, the lane width is determined based on lane coordinates having the same y-axis coordinate information and z-axis coordinate information.

[0015] In some implementations, the lane line information is sent to the test server via UDP communication.

[0016] In some implementations, the static map file is a xodr file.

[0017] In some implementations, the VTD runtime plug-in is myOdrMgrPlugin.

[0018] In a second aspect, the present invention provides a real-time reading system for an autonomous driving simulation test map based on VTD;

[0019] A VTD-based automatic driving simulation test map real-time reading system, comprising:

[0020] An acquisition module is configured to: acquire a real-time vehicle position of the autonomous driving vehicle in the algorithm of the tested component;

[0021] The map information real-time reading module is configured to: based on the real-time vehicle position and the preset distance threshold range, read the lane line information in the pre-stored static map file through the VTD running plug-in and send it to the test server, so that the test server can interpolate the lane line information based on the preset sampling interval, convert it into the required format and send it to the algorithm of the device under test.

[0022] In a third aspect, the present invention provides an electronic device;

[0023] An electronic device includes a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above-mentioned VTD-based autonomous driving simulation test map real-time reading method.

[0024] In a fourth aspect, the present invention provides a computer-readable storage medium;

[0025] A computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the steps of the above-mentioned VTD-based autonomous driving simulation test map real-time reading method.

[0026] In a fifth aspect, the present invention provides a computer program product;

[0027] A computer program product includes a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned VTD-based autonomous driving simulation test map real-time reading method.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The technical solution provided by the present invention is to develop an automated map engine based on a VTD plug-in. When VTD runs a simulation scenario, the map information required for the current state, including lane line coordinate points, lane width, etc., is obtained in combination with the vehicle position and converted into a format that can be used by the algorithm, so that the automated test can read the map information as needed.

[0030] 2. The technical solution provided by the present invention realizes the acquisition of static map points and is also applicable to interference-existing and complex traffic conditions.

[0031] 3. The technical solution provided by the present invention stores the map information of different simulation scenarios in different xodr files. When executing automated performance testing, there is no need to extract, compile or send the map information after completing a simulation scenario test. The corresponding xodr file can be directly read automatically, thereby improving the fluency of automated performance testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0033] Figure 1 A flowchart of a method for real-time reading of an autonomous driving simulation test map based on VTD provided in an embodiment of the present invention;

[0034] Figure 2 An example diagram of the operation of the straight road map automated simulation test provided by an embodiment of the present invention;

[0035] Figure 3 This is a diagram showing an example of the operation of the automated simulation test of the curve map provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0037] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "have" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0039] Embodiment 1

[0040] In the development of existing driver assistance systems and autonomous driving systems, it is necessary to extract the required map information in advance and compile it into a fixed file when conducting autonomous driving simulation tests, and then send the information manually to the algorithm of the device under test during the test to activate it, which affects the efficiency and fluency of the automated performance test; therefore, the present invention provides a real-time reading method for autonomous driving simulation test maps based on VTD.

[0041] Next, combine Figure 1-Figure 3, a VTD-based real-time reading method for an autonomous driving simulation test map disclosed in this embodiment is described in detail. The VTD-based real-time reading method for an autonomous driving simulation test map comprises:

[0042] S1. Obtain the real-time vehicle position of the autonomous driving vehicle in the algorithm of the device under test.

[0043] As an implementation manner, before executing S1, the method further includes:

[0044] Load the VTD running plug-in and deploy it. Specifically, load the VTD running plug-in myOdrMgrPlugin to the VTD installation path .. / VIRES / VTD202x.x / Develop / Modules / in the Ubuntu computer, and compile and configure related files to enable the myOdrMgrPlugin plug-in to run automatically when the simulation software VTD is running.

[0045] Here, the specific compilation and configuration methods are well-known technologies to those skilled in the art and will not be described in detail here.

[0046] S2: Based on the real-time vehicle position and the preset distance threshold range, the VTD plug-in is used to read the lane line information in the pre-stored static map file and send it to the DUT algorithm, so that the DUT algorithm interpolates the lane line information based on the preset sampling interval and converts it into the required format. Specifically, it includes:

[0047] S201. Run the myOdrMgrPlugin plug-in. Based on the real-time position of the autonomous driving vehicle, the lane line information of 200 meters in front and 50 meters behind the autonomous driving vehicle in the static map file is read through the myOdrMgrPlugin plug-in and stored in a temporary variable.

[0048] In this embodiment, the static map file is a xord file, and the map information is defined by ~.xodr. During the autonomous driving simulation test, as long as the map information is defined by ~.xodr, the lane line information can be obtained in combination with the vehicle position during the real-time simulation without being disturbed by complex traffic conditions.

[0049] For example, when the myOdrMgrPlugin plug-in is running, the lane line information is read and processed by C++ code programming. The lane line information includes the coordinate information (x, y, z) of the point and the lane width information.

[0050] Because the algorithm of the device under test has requirements for lane line information, it is necessary to receive lane line information of at least 200m in front of the main vehicle and 50m behind it, and there are requirements for the interval between points. In order to ensure the algorithm's requirements for data reception and the operating requirements of the environment, a point is taken at an interval of 5m, and a total of 50 points are taken; here, the array size for storing and accessing lane line information is defined as [50, 24], which means taking 50 points. Assuming that the maximum number of lanes is 5, there are 6 lane lines in total, and one point contains 4 pieces of information, so a total of 50*24 pieces of information.

[0051] Loop through the ST coordinate system to get the coordinate value of each point, and perform coordinate system conversion to get the coordinate value of the inertial coordinate system of the corresponding point. According to the lane coordinates with the same Y-axis coordinate information and Z-axis coordinate information, calculate the difference in the X-axis coordinate information, determine the lane width at the corresponding position, and record the data in the defined array.

[0052] Part of the code is as follows:

[0053]

[0054] S202: Send the lane line information to the test server where the DUT algorithm is deployed through UDP communication.

[0055] Specifically, first, create a socket, then set the server address and port where the DUT algorithm is deployed, then package, inspect and process the data in sequence, and finally send the data to the test server where the DUT algorithm is deployed. The specific code is as follows:

[0056]

[0057]

[0058] Because the algorithm has requirements for the spacing distance between points, further, after receiving the lane line information, the test server uses interpolation processing to increase the density of the points, and then post-processes it into the format required by the algorithm of the device under test and sends it to the algorithm of the device under test.

[0059] In this embodiment, the interpolation processing method is a piecewise interpolation method. The specific code is as follows:

[0060]

[0061]

[0062]

[0063] In this embodiment, the algorithm of the device under test is the existing autonomous driving simulation test algorithm H-NOP provided by the manufacturer. This embodiment does not make any improvements to it, and will not be described in detail here.

[0064] Embodiment 2

[0065] This embodiment discloses a real-time reading system for an autonomous driving simulation test map based on VTD, including:

[0066] An acquisition module is configured to: acquire a real-time vehicle position of the autonomous driving vehicle in the algorithm of the tested component;

[0067] The map information real-time reading module is configured to: based on the real-time vehicle position and the preset distance threshold range, read the lane line information in the pre-stored static map file through the VTD running plug-in and send it to the test server, so that the test server can interpolate the lane line information based on the preset sampling interval, convert it into the required format and send it to the algorithm of the device under test.

[0068] It should be noted that the acquisition module and the map information real-time reading module correspond to the steps in Embodiment 1, and the examples and application scenarios implemented by the modules and the corresponding steps are the same, but are not limited to the contents disclosed in Embodiment 1. It should be noted that the modules as part of the system can be executed in a computer system such as a set of computer executable instructions.

[0069] Embodiment 3

[0070] Embodiment 3 of the present invention provides an electronic device, including a memory and a processor, and computer instructions stored in the memory and executed on the processor. When the computer instructions are executed by the processor, the steps of the above-mentioned method for real-time reading of the autonomous driving simulation test map are completed.

[0071] Embodiment 4

[0072] Embodiment 4 of the present invention provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, the steps of the above-mentioned method for real-time reading of the autonomous driving simulation test map are completed.

[0073] Embodiment 5

[0074] Embodiment 5 of the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned method for real-time reading of the autonomous driving simulation test map.

[0075] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0076] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0077] These computer program instructions can also be loaded onto a computer or other programmable data processing device, and a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0078] The description of each embodiment in the above embodiments has different emphases. For parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A real-time reading method for an autonomous driving simulation test map based on VTD, characterized in that: include: Obtain the real-time vehicle position of the autonomous driving vehicle in the DUT algorithm; Based on the real-time vehicle position and the preset distance threshold range, the pre-stored lane line information is read through the VTD running plug-in and sent to the test server, so that the test server interpolates the lane line information based on the preset sampling interval, converts it into the required format and sends it to the algorithm of the device under test.

2. The method for real-time reading of an automatic driving simulation test map based on VTD as claimed in claim 1, characterized in that: The method of reading the lane line information in the pre-stored static map file by running the VTD plug-in based on the real-time vehicle position and the preset distance threshold range is specifically as follows: reading the pre-stored static map file by running the VTD plug-in, and according to the real-time vehicle position, cyclically obtaining the lane coordinates and lane width within the preset distance threshold range and storing them in temporary variables.

3. The method for real-time reading of an automatic driving simulation test map based on VTD as claimed in claim 2, characterized in that: The lane width is determined based on the lane coordinates having the same y-axis coordinate information and z-axis coordinate information.

4. The method for real-time reading of an automatic driving simulation test map based on VTD as claimed in claim 1, characterized in that: The lane line information is sent to the test server via UDP communication.

5. The VTD-based real-time reading method for an autonomous driving simulation test map according to claim 1, characterized in that: The static map file is a xodr file.

6. The VTD-based real-time reading method for autonomous driving simulation test maps according to claim 1, characterized in that: The VTD running plug-in is myOdrMgrPlugin.

7. The VTD-based automatic driving simulation test map real-time reading system is characterized by: include: An acquisition module is configured to: acquire a real-time vehicle position of the autonomous driving vehicle in the algorithm of the tested component; The map information real-time reading module is configured to: based on the real-time vehicle position and the preset distance threshold range, read the lane line information in the pre-stored static map file through the VTD running plug-in and send it to the test server, so that the test server can interpolate the lane line information based on the preset sampling interval, convert it into the required format and send it to the algorithm of the device under test.

8. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the VTD-based autonomous driving simulation test map real-time reading method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the steps of the VTD-based autonomous driving simulation test map real-time reading method described in any one of claims 1-6 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the VTD-based autonomous driving simulation test map real-time reading method described in any one of claims 1-6 are implemented.

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