Intelligent driving simulation test system and method and storage medium

Abstract

The invention discloses an intelligent driving simulation test system and method and a storage medium, and the system comprises a data collector which is used for collecting first road condition data of a vehicle in a test scene; the data converter is connected with the data collector and used for converting the first road condition data into second road condition data in a target format; the recharge simulator comprises a control module and a man-machine interaction module, the control module is connected with the data converter and used for generating simulation test data based on the second road condition data, and the man-machine interaction module is connected with the control module and used for simulating a display terminal of the vehicle so as to display the simulation test data; according to the recharge simulator, the man-machine interaction module is added, so that the whole recharge simulator is more matched with a real vehicle state, and debugging and optimization of the man-machine interaction module are more convenient.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically to an intelligent driving simulation test system, method and storage medium. Background Art

[0002] With the development of automobile automation and intelligence, the popularity of Advanced Driver Assistance Systems (ADAS) technology is also increasing rapidly. Advanced driver assistance systems include modules such as perception, fusion, planning, AEB (automatic emergency braking) and HMI (human-computer interaction). The functions of the above modules have to go through multiple iterations during the development process. Therefore, the testing and evaluation of the algorithms of the upgraded modules is a very important part. At present, the main methods of ADAS system evaluation are field testing, road testing, virtual simulation testing and road measured data re-injection simulation. Among them, the road measured data re-injection simulation stores the actual vehicle data collected and injects it back into the re-injection simulation model for simulation and testing. Through data re-injection, the performance and algorithm of the autonomous driving system can be evaluated and verified.

[0003] The HMI module on the vehicle displays the vehicle status and warning information, allowing the driver to more clearly understand the vehicle's driving conditions. It is an important part of the advanced driver assistance system. Therefore, iteration of the HMI module is very necessary. However, the existing advanced driver assistance system's feedback simulation model is relatively fixed, ignoring the simulation of the HMI module, resulting in a low overall match with the actual vehicle status.

[0004] Therefore, improvements are needed to at least partially solve the above problems. Summary of the invention

[0005] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0006] In order to at least partially solve the above problem, according to a first aspect of the present invention, there is provided an intelligent driving simulation test system, comprising: a data collector, configured to collect first road condition data of a vehicle in a test scenario;

[0007] A data converter, connected to the data collector, for converting the first road condition data into second road condition data in a target format;

[0008] The recharge simulator includes a control module and a human-computer interaction module. The control module is connected to a data converter and is used to generate simulation test data based on the second road condition data. The human-computer interaction module is connected to the control module and is used to simulate a display terminal of a vehicle to display the simulation test data.

[0009] Exemplarily, the first road condition data and the second road condition data both include camera perception data;

[0010] The control module also includes a traffic sign recognition submodule, which is connected to the data converter and the human-computer interaction module, and is used to generate traffic sign recognition simulation test data based on the camera perception data in the second road condition data, and provide the traffic sign recognition simulation test data to the human-computer interaction module.

[0011] Exemplarily, the first road condition data and the second road condition data both include radar data;

[0012] The control module also includes a radar pre-processing submodule and a forward traffic crossing warning / braking submodule;

[0013] The radar preprocessing submodule is connected to the data converter and is used to preprocess the radar data in the second road condition data;

[0014] The forward traffic crossing warning / braking submodule is connected to the radar preprocessing submodule and the human-computer interaction module, and is used to generate forward traffic crossing warning / braking simulation test data based on the preprocessed radar data, and provide the forward traffic crossing warning / braking simulation test data to the human-computer interaction module.

[0015] Exemplarily, the first road condition data and the second road condition data both include camera perception data, vehicle body state data, and radar data;

[0016] The control module also includes a radar preprocessing submodule, a perception preprocessing submodule, a fusion submodule, a regulation and control submodule, and an automatic emergency braking submodule;

[0017] The radar preprocessing submodule is connected to the data converter and is used to preprocess the radar data in the second road condition data;

[0018] The perception preprocessing submodule is connected to the data converter and is used to preprocess the camera perception data in the second road condition data;

[0019] The fusion submodule is connected with the data converter, the perception preprocessing submodule, the radar preprocessing submodule, the regulation and control submodule, the automatic emergency braking submodule and the human-computer interaction module, and is used to generate fusion simulation test data based on the preprocessed camera perception data, the preprocessed radar data and the vehicle body status data, and provide the fusion simulation test data to the regulation and control submodule, the automatic emergency braking submodule and the human-computer interaction module;

[0020] The regulation and control submodule is connected with the data converter, the perception preprocessing submodule, the radar preprocessing submodule, the fusion submodule and the human-computer interaction module, and is used to generate regulation and control simulation test data based on the preprocessed camera perception data, the preprocessed radar data, the vehicle body state data and the fusion simulation test data, and provide the regulation and control simulation test data to the human-computer interaction module;

[0021] The automatic emergency braking submodule is connected to the data converter, the perception preprocessing submodule, the radar preprocessing submodule, the fusion submodule and the human-computer interaction module, and is used to generate automatic emergency braking simulation test data based on the preprocessed camera perception data, the preprocessed radar data, the vehicle body status data and the fusion simulation test data, and provide the automatic emergency braking simulation test data to the human-computer interaction module.

[0022] Exemplarily, the human-computer interaction module is further used to receive user operation instructions and enable or disable at least one sub-module in the control module according to the user instructions.

[0023] Exemplarily, the human-computer interaction module is also connected to the data converter for displaying the second road condition data.

[0024] Exemplarily, the first road condition data also includes original vehicle output data;

[0025] The recharge simulator also includes a verification module, which is connected to the control module and is used to verify that the recharge simulator functions normally based on simulation test data and original output data of the vehicle.

[0026] Exemplarily, the recharge simulator further includes a post-processing module, which is connected to the control module and is used to generate visualization information based on the simulation test data.

[0027] Exemplarily, the data collector includes one or more of a sensor, a radar, and a camera.

[0028] According to a second aspect of the present invention, there is provided an intelligent driving simulation test method, comprising: collecting first road condition data of a vehicle in a test scenario;

[0029] Converting the first traffic condition data into second traffic condition data in a target format;

[0030] Generate simulation test data through a control module in the recharging simulator based on the second road condition data;

[0031] The display terminal of the vehicle is simulated through the human-computer interaction module in the recharging simulator to display the simulation test data.

[0032] In an example, the first road condition data and the second road condition data both include camera perception data, and based on the second road condition data, the control module in the recharging simulator generates simulation test data, including:

[0033] Based on the camera perception data in the second road condition data, traffic sign recognition simulation test data is generated by the traffic sign recognition submodule in the control module.

[0034] For example, the first road condition data and the second road condition data both include radar data, and based on the second road condition data, the simulation test data is generated by the control module in the recharging simulator, including:

[0035] Preprocessing the radar data in the second road condition data;

[0036] Based on the preprocessed radar data, the forward traffic crossing warning / braking submodule in the control module generates forward traffic crossing warning / braking simulation test data.

[0037] For example, the first road condition data and the second road condition data both include camera perception data, vehicle body state data and radar data, and the control module further includes a radar preprocessing submodule, a perception preprocessing submodule, a fusion submodule, a regulation and control submodule and an automatic emergency braking submodule. Based on the second road condition data, the control module in the recharging simulator generates simulation test data, including:

[0038] Preprocessing the radar data in the second road condition data;

[0039] Preprocessing the camera perception data in the second road condition data;

[0040] Based on the pre-processed camera perception data, pre-processed radar data and vehicle body status data, the fusion submodule in the control module generates fusion simulation test data;

[0041] Based on the pre-processed camera perception data, pre-processed radar data, vehicle body status data and fusion simulation test data, the regulation and control submodule in the control module generates regulation and control simulation test data;

[0042] Based on the preprocessed camera perception data, preprocessed radar data, vehicle body status data and fusion simulation test data, automatic emergency braking simulation test data is generated through the automatic emergency braking submodule in the control module.

[0043] For example, the human-computer interaction module is further configured to receive a user operation instruction, and enable or disable at least one submodule in the control module according to the user instruction.

[0044] For example, the human-computer interaction module is further used to display the second road condition data.

[0045] According to a third aspect of the present invention, a computer-readable storage medium is provided, in which computer instructions are stored. When the computer instructions are executed on a computer, the computer executes the method as described above.

[0046] According to the intelligent driving simulation test system, method and storage medium of the present invention, the re-injection simulator includes a control module and a human-computer interaction module. The control module is connected to the data converter. The control module is used to generate simulation test data based on the second road condition data. The human-computer interaction module is connected to the control module and is used to simulate the display terminal of the vehicle to display the simulation test data. By adding the human-computer interaction module, the present application makes the overall re-injection simulator more compatible with the actual vehicle state, and the debugging and optimization of the human-computer interaction module are more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The following drawings of the present application are hereby used as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the device and principle of the present application. In the drawings,

[0048] Figure 1 This is a schematic block diagram of an intelligent driving simulation test system according to an embodiment of the present application.

[0049] Figure 2 This is a method flow chart of an intelligent driving simulation test method according to an embodiment of the present application. DETAILED DESCRIPTION

[0050] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features well known in the art are not described.

[0051] It should be understood that the present application can be implemented in different forms and should not be construed as being limited to the embodiments presented herein. On the contrary, providing these embodiments will make the disclosure thorough and complete and fully convey the scope of the present application to those skilled in the art. In the accompanying drawings, the sizes and relative sizes of layers and regions may be exaggerated for clarity. The same reference numerals throughout represent the same elements.

[0052] It should be understood that although the terms first, second, third, etc. can be used to describe various elements, components, regions, layers and / or parts, these elements, components, regions, layers and / or parts should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or part from another element, component, region, layer or part. Therefore, without departing from the teachings of the present application, the first element, component, region, layer or part discussed below can be represented as a second element, component, region, layer or part.

[0053] Spatially relative terms such as "under", "beneath", "below", "under", "over", "above", etc., may be used herein for convenience of description to describe the relationship of one element or feature to other elements or features shown in the figures. It should be understood that the spatially relative terms are intended to encompass different orientations of the device in use and operation in addition to the orientation shown in the figures.

[0054] The purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present application. When used herein, the singular forms "a", "an", and "said / the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "consisting of" and / or "comprising", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0055] Embodiments of the invention are described herein with reference to cross-sectional views as schematic diagrams of ideal embodiments (and intermediate structures) of the present application. Thus, variations in the shapes shown due to, for example, manufacturing techniques and / or tolerances can be expected. Therefore, embodiments of the present application should not be limited to the specific shapes shown herein, but include shape deviations due to, for example, manufacturing. Therefore, what is shown in the figures is schematic in nature, and their shapes are not intended to display the actual shape of the device and are not intended to limit the scope of the present application.

[0056] Refer to the attached Figure 1-2 An intelligent driving simulation test system according to an embodiment of the present application is exemplarily described. The intelligent driving simulation test system includes a data collector, a data converter and a recharge simulator.

[0057] The data collector is used to collect the first road condition data of the vehicle in the test scene. Specifically, the data collector can be a data collection tool on the actual vehicle, such as one or more of a sensor, a radar, and a camera. The test scene is a real scene, such as a real vehicle starting from the starting point of the test scene and driving to the end point of the test scene. The test scene is not specifically limited in the embodiments of the present application, and those skilled in the art can flexibly select the test scene according to actual conditions.

[0058] The data converter is connected to the data acquisition unit and is used to convert the first road condition data into the second road condition data in a target format. The second road condition data is in a data format that can be recognized by the recharging simulator. In the embodiment of the present application, the second road condition data in the target format is MAT data (MAT data is the data storage format of MATLAB) that can be read by the Simulink simulation system (a visual simulation tool in MATLAB). The data converter can be a computer device with data conversion software, which can realize the function of converting the first road condition data (such as sensor data, radar data, camera data) into the second road condition data in the target format. The software for realizing data format conversion belongs to the common prior art and is not described in detail in the embodiment of the present application.

[0059] The recharging simulator includes a control module and a human-computer interaction module. The control module is connected to the data converter. The control module is used to generate simulation test data based on the second road condition data. The human-computer interaction module is connected to the control module and is used to simulate the display terminal of the vehicle to display the simulation test data. The recharging simulator can be a computer device with a Simulink simulation system. The control module and the human-computer interaction module are simulation models built based on the Simulink simulation system. The control module is used to simulate the control system of the real vehicle. The human-computer interaction module is used to simulate the display terminal of the vehicle. The display terminal is used to display the simulation test data. Specifically, the display terminal can be a dashboard, a central control screen, etc. on the vehicle, which is used to display the vehicle status and alarm information. The control module and the human-computer interaction module are created in the Simulink simulation system. When the submodules in the advanced intelligent assistance system need to be iterated during the development process, the submodules in the recharging simulator can be debugged and analyzed with the help of the Simulink simulation system. In particular, by adding the human-computer interaction module, the control module and the human-computer interaction module in the recharging simulator are more matched with the real vehicle status as a whole, and the debugging and optimization of the human-computer interaction module are more convenient. For example, if there is a problem with the display of the actual vehicle, and the problem is caused by a logical error in the human-computer interaction module of the actual vehicle, the human-computer interaction module in the re-injection simulator can be modified to debug its logic. Alternatively, when the logic of the human-computer interaction module of the actual vehicle needs to be changed and optimized, it can be developed in the human-computer interaction module of the re-injection simulator and then transferred to the actual vehicle for verification after simulation verification.

[0060] It should be noted that, in this embodiment, the data converter and the recharge simulator are both computer devices, and their structures include a processor, a memory, a system bus, etc., which are similar to the general computer architecture. In some other embodiments, the data conversion software and the Simulink simulation system can also be installed in the same computer device, that is, the data converter and the recharge simulator can be the same computer device, and those skilled in the art can set it according to actual conditions.

[0061] In the embodiment of the present application, the first road condition data and the second road condition data both include camera perception data, vehicle body status data and radar data. Specifically, the camera perception data is the relevant perception data about pedestrians and other vehicles collected by the vehicle-mounted camera, as well as relevant information such as lane lines and drivable areas. The vehicle body status data includes the vehicle's speed, acceleration, angular velocity, steering wheel angle, steering wheel angle velocity, physical button information and vehicle-mounted tablet button information, etc. The radar data includes the obstacle position, speed and other information collected by the front radar data and the corner radar data. The above-mentioned first road condition data and second road condition data types are for example only and do not specifically limit their types.

[0062] In an embodiment of the present application, the control module also includes a traffic sign recognition submodule, which is connected to the data converter and the human-computer interaction module, and is used to generate traffic sign recognition simulation test data based on the camera perception data in the second road condition data, and provide the traffic sign recognition simulation test data to the human-computer interaction module. In the field of advanced driver assistance systems, the traffic sign recognition (TSR) system mainly relies on the on-board front camera, which can accurately identify common traffic signs such as speed limit, stop, and U-turn. The traffic sign recognition simulation test data includes information such as the speed limit of the speed limit sign. The embodiment of the present application does not specifically limit or list all the traffic sign recognition simulation test data displayed by the human-computer interaction module.

[0063] In an embodiment of the present application, the control module also includes a radar preprocessing submodule and a forward traffic crossing warning / braking submodule. The radar preprocessing submodule is connected to the data converter and is used to preprocess the radar data in the second road condition data. Radar data preprocessing is conducive to improving the accuracy and reliability of its data. Specifically, the preprocessing includes one or more of the data processing methods such as data type conversion, filtering, noise removal and outlier detection. The forward traffic crossing warning / braking submodule is connected to the radar preprocessing submodule and the human-computer interaction module, and is used to generate forward traffic crossing warning / braking simulation test data based on the preprocessed radar data, and provide the forward traffic crossing warning / braking simulation test data to the human-computer interaction module. In the field of advanced driver assistance systems, the function of the forward traffic crossing warning (FCTA) is to monitor other road users approaching the front of the vehicle laterally in real time when the vehicle is moving at a low speed, and issue a warning message when there is a risk of collision. The function of the front traffic crossing braking (FCTB) is to monitor other road users approaching the front of the vehicle laterally in real time when the vehicle is moving at a low speed, and automatically activate the vehicle braking system to slow down the vehicle when there is a risk of collision, so as to avoid collision or mitigate the consequences of collision. The front traffic crossing warning / braking simulation test data includes the front lateral vehicle warning information, etc. The embodiment of the present application does not specifically limit or list all the front traffic crossing warning / braking simulation test data displayed by the human-computer interaction module.

[0064] In an embodiment of the present application, the control module also includes a perception preprocessing submodule, a fusion submodule, a regulation and control submodule and an automatic emergency braking submodule.

[0065] Specifically, the perception preprocessing submodule is connected to the data converter and is used to preprocess the camera perception data in the second road condition data. Camera perception data preprocessing is conducive to improving the accuracy and reliability of its data. Specifically, the preprocessing includes one or more of the data processing methods such as data type conversion, filtering, noise removal and outlier detection.

[0066] Specifically, the fusion submodule is connected to the data converter, the perception preprocessing submodule, the radar preprocessing submodule, the regulation and control submodule, the automatic emergency brake submodule and the human-computer interaction module, and is used to generate fusion simulation test data based on the preprocessed camera perception data, the preprocessed radar data and the vehicle body state data, and provide the fusion simulation test data to the regulation and control submodule, the automatic emergency brake submodule and the human-computer interaction module. In the field of advanced driver assistance systems, the fusion submodule can organically integrate information from different modalities (such as images, voices, videos, etc.), so as to extract more comprehensive and accurate feature representations. The fusion simulation test data includes data formed after the fusion of the preprocessed camera perception data, the preprocessed radar data and the vehicle body state data. The fusion simulation test data is used as the input of the regulation and control submodule and the automatic emergency brake submodule, which enhances the correlation between the submodules. By fusing data from different data sources together, it is used to enhance the overall accuracy and integrity of data from different sources. The embodiment of the present application does not specifically limit or list all the fusion simulation test data displayed by the human-computer interaction module.

[0067] Specifically, the regulation and control submodule is connected to the data converter, the perception preprocessing submodule, the radar preprocessing submodule, the fusion submodule and the human-computer interaction module, and is used to generate the regulation and control simulation test data based on the preprocessed camera perception data, the preprocessed radar data, the vehicle body state data and the fusion simulation test data, and provide the regulation and control simulation test data to the human-computer interaction module. In the field of advanced driver assistance systems, the regulation and control submodule has the functions of global planning of vehicle movement (such as planning the running route from location A to location B), behavioral decision-making (determining whether to change lanes or overtake, etc.), local planning (planning local driving trajectories, avoiding obstacles, etc.) and precise control of the vehicle to travel along the planned trajectory. Specifically, the regulation and control submodule includes a lateral control part and a longitudinal control part. The lateral control is mainly used for the control of the vehicle steering wheel, and the longitudinal control is mainly used for the control of the vehicle throttle, brake and gear. The regulation and control submodule also includes ELKA emergency lane keeping assist (ELKA), which belongs to the prior art in this field and will not be elaborated in detail here. The regulatory control simulation test data includes information such as vehicle speed and gear position. The embodiment of the present application does not specifically limit or list all the regulatory control simulation test data displayed by the human-computer interaction module.

[0068] Specifically, the automatic emergency braking submodule is connected to the data converter, the perception preprocessing submodule, the radar preprocessing submodule, the fusion submodule and the human-computer interaction module, and is used to generate automatic emergency braking simulation test data based on the preprocessed camera perception data, the preprocessed radar data, the vehicle body status data and the fusion simulation test data, and provide the automatic emergency braking simulation test data to the human-computer interaction module. In the field of intelligent driving, the automatic emergency braking system (AEB) is an active automobile safety technology. When the distance between the vehicle and the obstacle is less than the safe distance, the automatic emergency braking system can alarm and automatically brake the vehicle even if the driver does not have time to step on the brake pedal. The automatic emergency braking simulation test data includes warning information and vehicle body status information. The embodiment of the present application does not specifically limit or list all the automatic emergency braking simulation test data displayed by the human-computer interaction module.

[0069] In some other embodiments, the first road condition data and the second road condition data may include only camera perception data, and the control module may also include only a traffic sign recognition submodule. In some other embodiments, the first road condition data and the second road condition data may include only radar data; the control module may also include only a radar preprocessing submodule and a forward traffic crossing warning / braking submodule. In some other embodiments, the first road condition data and the second road condition data may include only camera perception data, vehicle body status data and radar data; the control module may also include only a radar preprocessing submodule, a perception preprocessing submodule, a fusion submodule, a regulation and control submodule and an automatic emergency braking submodule. Those skilled in the art may set the submodule types included in the control module and the data types included in the first road condition data and the second road condition data according to actual conditions.

[0070] In the embodiment of the present application, the human-computer interaction module is also used to receive user operation instructions, and enable or disable at least one submodule in the control module according to the user instructions. The user can issue user operation instructions according to needs, and the user operation instructions are used to control the activation or deactivation of at least one submodule among the traffic sign recognition submodule, the front traffic crossing warning / braking submodule, the fusion submodule, the regulation and control submodule, and the automatic emergency braking submodule, so that the interaction between the human-computer interaction module and the control module is more consistent with the signal transmission on the actual vehicle, and can meet the scenario where only some submodules are needed.

[0071] In an embodiment of the present application, the first road condition data also includes the original output data of the vehicle. The recharging simulator also includes a verification module, which is connected to the control module, and the verification module is used to verify whether the function of the recharging simulator is normal based on the simulation test data and the original output data of the vehicle. The verification module is a simulation model built based on the Simulink simulation system. Specifically, the original output data of the vehicle includes original traffic sign recognition output data, original front traffic crossing warning / braking output data, original fusion output data, original regulation and control output data, and original automatic emergency braking output data. The verification module is connected to the traffic sign recognition submodule, the front traffic crossing warning / braking submodule, the fusion submodule, the regulation and control submodule, and the automatic emergency braking submodule. When the difference values ​​between the traffic sign recognition simulation test data and the original traffic sign recognition output data, the front traffic crossing warning / braking simulation test data and the original front traffic crossing warning / braking output data, the fusion simulation test data and the original fusion output data, the regulation and control simulation test data and the original regulation and control output data, and the automatic emergency braking simulation test data and the original automatic emergency braking output data are respectively less than the corresponding preset thresholds, it is determined that the control module in the recharging simulator functions normally. It should be noted that the original output data of the vehicle is based on the output of the real vehicle control system and the first road condition data. When the verification module is used for verification, the first road condition data input into the real vehicle control system and the first road condition data input into the recharging simulator should be kept consistent. By verifying the final output results of the two, the situation of the recharging simulator can be judged. Before using the recharging simulator to optimize and debug a submodule, the function of the recharging simulator is verified through the verification module to ensure the reliability of subsequent debugging.

[0072] In an embodiment of the present application, the recharge simulator also includes a post-processing module, which is connected to the control module, and the post-processing module is used to generate visual information based on the simulation test data. The post-processing module is a simulation model built based on the Simulink simulation system. Visual information includes forms such as video display and image display. For example, it can be screened according to the target ID (identity identifier) ​​to see the fusion state of the target, such as the situation of single vision, single radar and visual radar fusion targets. For another example, the longitudinal control part of the planning submodule is used to output a top view of the predicted path of the current vehicle, so as to more intuitively observe the path of the current vehicle when the car turns or changes lanes. In some other embodiments, the human-computer interaction module is also connected to the data converter to display the second road condition data. That is, the human-computer interaction module can also be used to display camera perception data, vehicle body status data and radar data, so that users can have a more comprehensive understanding of the actual situation of the vehicle.

[0073] Reference Figure 2 A specific description is given of an intelligent driving simulation test method of the present application, which includes:

[0074] S100: Collect first road condition data of the vehicle in a test scenario.

[0075] S200: Convert the first traffic condition data into second traffic condition data in a target format.

[0076] S300, generating simulation test data through a control module in a recharging simulator based on the second road condition data.

[0077] S400, simulating a display terminal of the vehicle through a human-computer interaction module in the recharging simulator to display simulation test data.

[0078] In one example, specifically, in step S300, the first road condition data and the second road condition data both include camera perception data, and based on the second road condition data, the simulation test data is generated by the control module in the recharging simulator, including:

[0079] Based on the camera perception data in the second road condition data, traffic sign recognition simulation test data is generated by the traffic sign recognition submodule in the control module.

[0080] In one example, specifically, in step S300, both the first road condition data and the second road condition data include radar data, and based on the second road condition data, the simulation test data is generated by the control module in the recharging simulator, including:

[0081] Preprocessing the radar data in the second road condition data;

[0082] Based on the preprocessed radar data, the forward traffic crossing warning / braking submodule in the control module generates forward traffic crossing warning / braking simulation test data.

[0083] In one example, specifically, in step S300, the first road condition data and the second road condition data both include camera perception data, vehicle body state data and radar data, and the control module further includes a radar preprocessing submodule, a perception preprocessing submodule, a fusion submodule, a regulation and control submodule and an automatic emergency braking submodule. Based on the second road condition data, the control module in the recharging simulator generates simulation test data, including:

[0084] Preprocessing the radar data in the second road condition data;

[0085] Preprocessing the camera perception data in the second road condition data;

[0086] Based on the pre-processed camera perception data, pre-processed radar data and vehicle body status data, the fusion submodule in the control module generates fusion simulation test data;

[0087] Based on the pre-processed camera perception data, pre-processed radar data, vehicle body status data and fusion simulation test data, the regulation and control submodule in the control module generates regulation and control simulation test data;

[0088] Based on the preprocessed camera perception data, preprocessed radar data, vehicle body status data and fusion simulation test data, automatic emergency braking simulation test data is generated through the automatic emergency braking submodule in the control module.

[0089] For example, the human-computer interaction module is further configured to receive a user operation instruction, and enable or disable at least one submodule in the control module according to the user instruction.

[0090] In an embodiment of the present application, the re-injection simulator can also add new functional sub-modules according to the needs of the actual project, that is, new interfaces can be added in a timely manner according to the needs of new functions, and new functions can be developed in the re-injection simulator, and real vehicle testing can be carried out after the re-injection test is relatively stable.

[0091] The present application also provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed on a computer, the computer executes any one of the methods described above.

[0092] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0093] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0094] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0095] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0096] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0097] It should be noted that the above-mentioned embodiments illustrate rather than limit the invention and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims.

Claims

1. An intelligent driving simulation test system, characterized in that: include: A data collector, used to collect first road condition data of the vehicle in a test scenario; A data converter, connected to the data collector, for converting the first road condition data into second road condition data in a target format; The recharge simulator includes a control module and a human-computer interaction module. The control module is connected to the data converter and is used to generate simulation test data based on the second road condition data. The human-computer interaction module is connected to the control module and is used to simulate the display terminal of the vehicle to display the simulation test data.

2. The system according to claim 1, characterized in that The first road condition data includes data sensed by a first camera, and the second road condition data includes data sensed by a second camera; The control module also includes a traffic sign recognition submodule, which is connected to the data converter and the human-computer interaction module, and is used to generate traffic sign recognition simulation test data based on the second camera perception data, and provide the traffic sign recognition simulation test data to the human-computer interaction module.

3. The system according to claim 1, characterized in that The first road condition data includes first radar data, and the second road condition data includes second radar data; The control module also includes a radar pre-processing submodule and a forward traffic crossing warning / braking submodule; The radar preprocessing submodule is connected to the data converter and is used to preprocess the second radar data to obtain third radar data; The forward traffic crossing warning / braking submodule is connected to the radar preprocessing submodule and the human-computer interaction module, and is used to generate forward traffic crossing warning / braking simulation test data based on the third radar data, and provide the forward traffic crossing warning / braking simulation test data to the human-computer interaction module.

4. The system according to claim 1, characterized in that The first road condition data includes first camera perception data, first vehicle body state data and first radar data, and the second road condition data includes second camera perception data, second vehicle body state data and second radar data; The control module also includes a radar preprocessing submodule, a perception preprocessing submodule, a fusion submodule, a regulation and control submodule and an automatic emergency braking submodule; The radar preprocessing submodule is connected to the data converter and is used to preprocess the second radar data to obtain third radar data; The perception preprocessing submodule is connected to the data converter and is used to preprocess the second camera perception data to obtain the third camera perception data; The fusion submodule is connected to the data converter, the perception preprocessing submodule, the radar preprocessing submodule, the regulation and control submodule, the automatic emergency braking submodule and the human-computer interaction module, and is used to generate fusion simulation test data based on the third camera perception data, the third radar data and the second vehicle body state data, and provide the fusion simulation test data to the regulation and control submodule, the automatic emergency braking submodule and the human-computer interaction module; The regulation and control submodule is connected to the data converter, the perception preprocessing submodule, the radar preprocessing submodule, the fusion submodule and the human-computer interaction module, and is used to generate regulation and control simulation test data based on the third camera perception data, the third radar data, the second vehicle body state data and the fusion simulation test data, and provide the regulation and control simulation test data to the human-computer interaction module; The automatic emergency braking submodule is connected to the data converter, the perception preprocessing submodule, the radar preprocessing submodule, the fusion submodule and the human-computer interaction module, and is used to generate automatic emergency braking simulation test data based on the third camera perception data, the third radar data, the second vehicle body state data and the fusion simulation test data, and provide the automatic emergency braking simulation test data to the human-computer interaction module.

5. The system according to any one of claims 2 to 4, characterized in that: The human-computer interaction module is further used to receive a user operation instruction, and activate or deactivate at least one submodule in the control module according to the user operation instruction.

6. The system according to any one of claims 2 to 4, characterized in that: The human-computer interaction module is also connected to the data converter and is used to display the second road condition data.

7. The system according to claim 1, characterized in that The first road condition data also includes original output data of the vehicle; The recharge simulator further comprises a verification module, which is connected to the control module and is used to verify whether the recharge simulator functions normally based on the simulation test data and the original output data of the vehicle.

8. The system according to claim 1, characterized in that The recharge simulator further includes a post-processing module, which is connected to the control module and is used to generate visualization information based on the simulation test data.

9. The system according to claim 1, characterized in that The data collector includes one or more of a sensor, a radar and a camera.

10. An intelligent driving simulation test method, characterized in that: include: Collecting first road condition data of the vehicle in the test scenario; converting the first traffic condition data into second traffic condition data in a target format; Based on the second road condition data, generating simulation test data through a control module in the recharging simulator; The display terminal of the vehicle is simulated by the human-computer interaction module in the recharging simulator to display the simulation test data.

11. The method according to claim 10, characterized in that The first road condition data includes data sensed by a first camera, and the second road condition data includes data sensed by a second camera; The generating simulation test data based on the second road condition data by a control module in the recharging simulator includes: Based on the second camera perception data, traffic sign recognition simulation test data is generated by the traffic sign recognition submodule in the control module.

12. The method according to claim 10, characterized in that The first road condition data includes first radar data, and the second road condition data includes second radar data; The generating simulation test data based on the second road condition data by a control module in the recharging simulator includes: preprocessing the second radar data to obtain third radar data; Based on the third radar data, the forward traffic crossing warning / braking submodule in the control module generates forward traffic crossing warning / braking simulation test data.

13. The method according to claim 10, characterized in that The first road condition data includes first camera perception data, first vehicle body state data and first radar data, and the second road condition data includes second camera perception data, second vehicle body state data and second radar data; The generating simulation test data based on the second road condition data by a control module in the recharging simulator includes: preprocessing the second radar data to obtain third radar data; Preprocessing the second camera perception data to obtain third camera perception data; Based on the third camera perception data, the third radar data and the second vehicle body state data, generating fusion simulation test data through a fusion submodule in the control module; Based on the third camera perception data, the third radar data, the second vehicle body state data and the fusion simulation test data, generating regulation and control simulation test data through the regulation and control submodule in the control module; Based on the third camera perception data, the third radar data, the second vehicle body state data and the fusion simulation test data, automatic emergency braking simulation test data is generated by the automatic emergency braking submodule in the control module.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer is enabled to execute the method according to any one of claims 10 to 13.

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