Map service providing method and system based on automatic driving simulation test

Abstract

The invention relates to a map service providing method and system based on an automatic driving simulation test. The method comprises the following steps: constructing a test scene by using a simulator and converting the test scene into map data in a first format; uploading the map data in the first format to a map server; under the condition that the server needs to access the map data of the first format, the server downloads the map data of the first format from the map server; the simulator uploads own vehicle positioning information to the server; the map engine obtains the own vehicle positioning information from the server and analyzes the own vehicle positioning information and the map data in the first format to obtain network information of roads around the own vehicle; the map engine generates a planned path according to the simulation starting point and the simulation ending point; the map engine converts the network information of roads around the vehicle and the planned path into map data in a second format and returns the map data to the server; and the server obtains the map data in the second format and provides the map data in the second format to the emulator as a map service.

Description

Technical Field

[0001] The present application relates to autonomous driving simulation testing technology, and specifically to a map service providing method and a map service providing system based on autonomous driving simulation testing. Background Art

[0002] Autonomous driving simulation testing mainly uses mathematical modeling to digitally restore the application scenarios of autonomous driving and establish a system model that is as close to the real world as possible. The purpose of testing and verifying the autonomous driving system and algorithm can be achieved by directly performing simulation testing through software without the need for a real vehicle.

[0003] High-precision maps are increasingly dominant in autonomous driving simulation tests. In the prior art, when building simulation scenarios, only the import and export of map data in Opendrive (Opendrive is the main open format and de facto standard for describing road networks in driving simulation applications, and is an international high-definition map specification map) format is supported, but map data in NDS (NDS: Navigation Data Standard, navigation electronic map storage standard) format is not supported. Therefore, the usual practice in the prior art when building simulation scenarios is to convert the map data in NDS format built based on real road collection into map data in Opendrive format, and then import the map data in this Opendrive format into the simulation software to build the scenario and perform simulation testing.

[0004] However, the above practices often lead to a series of problems:

[0005] (1) The conversion of the two types of map data is heavily dependent on the support of map vendors and requires huge manpower and material resources;

[0006] (2) NDS and Opendrive represent map information in two dimensions, and after conversion, problems such as element loss and element mismatch often occur;

[0007] (3) Since the opendrive element formats built by various simulators and graphics vendors are not completely unified, simulator software cannot be directly imported, resulting in poor compatibility;

[0008] (4) NDS is real road network data with insufficient scene coverage, unable to meet the testing requirements of edge scenes, and lacks flexibility;

[0009] (5) Commonly used simulator software cannot output all the road network information required by the autonomous driving module, resulting in the inability to conduct a comprehensive test of map-related features;

[0010] (6) NDS-based map services can only be used for real vehicle testing and cannot be used for simulation testing. Summary of the invention

[0011] Based on the above-mentioned problems in the prior art, the present invention aims to provide a map service providing method and a map service providing system based on autonomous driving simulation testing that can solve the above-mentioned problems.

[0012] A method for providing a map service based on an autonomous driving simulation test according to one aspect of the present invention is implemented using a simulator, a map server, a server, and a map engine, and includes:

[0013] A scene building step, using the simulator to build a test scene and convert it into map data in a first format;

[0014] A map uploading step, uploading the map data in the first format to the map server;

[0015] a map downloading step, in which, when the server needs to access the map data in the first format, the server downloads the map data in the first format from the map server;

[0016] The vehicle positioning step, the simulator uploads the vehicle positioning information to the server;

[0017] A map parsing step, wherein the map engine obtains the vehicle positioning information from the server and obtains the road network information around the vehicle based on the vehicle positioning information and the map data in the first format;

[0018] a route generation step, wherein the map engine generates a planned path according to a simulation start point and a simulation end point, wherein the simulation start point and the simulation end point are set in the simulator and provided to the map engine by the server by uploading to the server;

[0019] a map data conversion step, wherein the map engine converts the road network information around the vehicle and the planned path into map data in a second format and returns the map data to the server; and

[0020] In a map service providing step, the server obtains the map data in the second format and provides the map data in the second format as a map service to the simulator.

[0021] A map service providing system based on autonomous driving simulation test according to one aspect of the present invention comprises: a simulator, a map server, a server and a map engine.

[0022] The simulator is used to construct a test scenario and convert it into map data in a first format. The simulator is also used to upload the map data in the first format to the map server and to obtain vehicle positioning information, a simulation start point and a simulation end point and upload them to the server.

[0023] The map server is used to store map data in the first format.

[0024] The server is used to download the map data in the first format from the map server and provide it to the map engine, and to provide the vehicle positioning information, simulation start point and simulation end point from the simulator to the map engine, and is also used to provide the map data in the second format described below returned from the map engine as a map service to the simulator,

[0025] The map engine obtains the road network information around the vehicle based on the vehicle positioning information obtained from the server and the map data in the first format. The map engine generates a planned path based on the simulation start point and simulation end point obtained from the server, and further converts the road network information around the vehicle and the planned path into map data in the second format and returns them to the server. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and other objects and advantages of the present application will become more fully apparent from the following detailed description in conjunction with the accompanying drawings, in which the same or similar elements are represented by the same reference numerals.

[0027] Figure 1 It is a flowchart of a method for providing map services based on autonomous driving simulation testing according to one embodiment of the present invention.

[0028] Figure 2 It is a structural block diagram of a map service providing system based on autonomous driving simulation testing according to one embodiment of the present invention. DETAILED DESCRIPTION

[0029] Some of the various embodiments of the present invention are described below, which are intended to provide a basic understanding of the present invention, but are not intended to identify the key or decisive elements of the present invention or to limit the scope of protection.

[0030] Figure 1 It is a flowchart of a method for providing map services based on autonomous driving simulation testing according to one embodiment of the present invention.

[0031] like Figure 1 As shown, a method for providing a map service based on an autonomous driving simulation test according to an embodiment of the present invention is implemented using a simulator 100, a map server 200, a server 300, and a map engine 400. The method includes the following steps:

[0032] S1: constructing a test scenario using the simulator 100 and converting it into map data in a first format, and uploading the map data in the first format to the map server 200;

[0033] S2: the map server 200 stores map data in a first format;

[0034] S3: when the server 300 needs to access the map data in the first format stored in the map server 200, the server 300 downloads the map data in the first format from the map server 200;

[0035] S4: the server 300 provides the obtained map data in the first format to the map engine 400;

[0036] S5: The simulator 100 uploads the vehicle positioning information to the server 300 in real time and provides the simulation start point and simulation end point to the server 300 from the simulator 100;

[0037] S6: The server 300 provides the vehicle positioning information, the simulation start point and the simulation end point to the map engine 400;

[0038] S7: the map engine 400 obtains the vehicle positioning information from the server 300 and obtains the road network information around the vehicle according to the vehicle positioning information and the map data in the first format, and the map engine 400 generates a planned path according to the simulation start point and the simulation end point. Further, the map engine 400 converts the road network information around the vehicle and the generated planned path into map data in the second format;

[0039] S8: the map engine returns the converted map data in the second format to the server 300;

[0040] S9: The server 300 provides the obtained map data in the second format to the simulator 100 as a map service.

[0041] Here, the map data in the first format is map data in the Opendrive format, and the map data in the second format is map data in the PNC format (Planning And Control), that is, it meets the interface protocol defined by PNC, such as protobuf, json, xml, etc.

[0042] Among them, in step S1, as the simulator 100, simulators such as Carmaker (Carmaker is a dynamics, ADAS and autonomous driving simulation software launched by the German IPG company), VTD (Virtual Test Drive is a complex traffic environment visual modeling and simulation software developed by the German VIRES company), etc. can be used to generate and convert map data in the Opendrive format.

[0043] The simulator 100 can be set on the user side, that is, the vehicle. The simulation start point and the simulation end point during the simulation can be set by the user, for example, in the corresponding configuration file of the simulator 100. The "planned route" generated in the above S7 only contains broad road information. During the simulation process of receiving the "planned route" converted into the second format, the vehicle will drive according to the planned route information. During the driving process, it is also necessary to obtain surrounding static map information such as lane lines, obstacles, surrounding traffic signs, etc. for lane line-level navigation planning. These surrounding static map information refers to the "road network information around the vehicle" mentioned above.

[0044] In step S2, by introducing the map server 200 to manage the map data, it is possible to support uploading of map data in the Opendrive format. As a preferred method, the map server 200 can further automatically generate thumbnails for the map data in the Opendrive format to facilitate intuitive viewing by users.

[0045] In step S3, preferably, it can be set that the server 300 needs to perform identity authentication before downloading map data from the map server 200 and can only download map data from the map server 200 if the identity authentication is successful. Specifically, for example, the map server 200 will issue appID (application ID) and appSecret (application key) to the server 300. When the server 300 accesses the map server 200, the server 300 obtains the request token through appID and appSecret to complete the authentication. After the authentication is successfully passed, the server 30 can download map data from the map server 200.

[0046] The above describes a method for providing a map service based on an autonomous driving simulation test according to an embodiment of the present invention. Next, a corresponding system for providing a map service based on an autonomous driving simulation test for implementing the method will be described.

[0047] Figure 2 It is a structural block diagram of a map service providing system based on autonomous driving simulation testing according to one embodiment of the present invention.

[0048] like Figure 2 As shown, a map service providing system based on autonomous driving simulation testing according to an embodiment of the present invention includes: a simulator 100, a map server 200, a server 300 and a map engine 400.

[0049] The simulator 100 is set at the user end, which is used to construct a test scenario and convert it into map data in a first format. The simulator 100 is also used to upload the map data in the first format to the map server 200 and to obtain the vehicle positioning information, simulation starting point and simulation end point and upload them to the server 300.

[0050] The map server 200 is used to store the map data in the first format and provides an API interface for map upload, download and retrieval functions.

[0051] The server 300 is used to download map data in a first format from the map server 200 and provide it to the map engine 400, and to provide the vehicle positioning information, simulation starting point and simulation end point from the simulator 100 to the map engine 400, and is also used to provide the map data in the second format described below returned from the map engine 400 as a map service to the simulator 100, that is, the server 300 provides all the API interfaces required by the simulator 100.

[0052] The map engine 400 obtains the road network information around the vehicle based on the vehicle positioning information obtained from the server 300 and the map data in the first format. In addition, the map engine 400 generates a planned path based on the simulation starting point and simulation end point obtained from the server, and further converts the planned path into map data in the second format and returns it to the server 300.

[0053] The map data in the first format is map data in the OpenDrive format, and the map data in the second format is map data in the PNC format (Planning And Control).

[0054] The simulator 100 includes:

[0055] The simulation module 110 is used to obtain the vehicle positioning information, the simulation starting point and the simulation end point, and to construct a test scenario and convert it into map data in a first format and upload the map data in the first format to the map server;

[0056] SDK module 120, used to obtain vehicle positioning information, simulation start point and simulation end point from simulation module 110 and upload to server 300, and used to receive and cache map data in a second format from server 300 and return to simulation module 110; and

[0057] The communication module 130 is used to communicate with the simulation module 110 and to implement the PNC function (Planning And Control), the FCT function (Function Control) and the Fusion function (sensor data fusion), wherein the PNC function is used to obtain map data in a second format, i.e., map data in a PNC format, returned from the server 300 to the simulation module 110 through communication with the simulation module 110 and to implement simulation planning and control based on the map data in the PNC format.

[0058] The SDK module 120 may further have a data management function, specifically including controlling an update mechanism of cache content to reduce frequent requests to the server 300 to download map data from the map server 200 .

[0059] The map server 200 includes:

[0060] The storage module 210 is used to store the map data in the first format obtained from the simulator 100;

[0061] A first authentication module 220, used to implement identity authentication with the server 300; and

[0062] The management module 230 is used to generate thumbnails from the map data in the first format and provide the thumbnails to the server 300 for downloading.

[0063] The server 300 includes:

[0064] A download module 310, configured to download map data in a first format from the map server 200 and provide the map data to the map engine 400; and

[0065] The transmission module 320 is used to provide the vehicle positioning information, the simulation start point and the simulation end point from the simulator to the map engine 400 and to provide the map data in the second format described below returned from the map engine 400 to the simulator 100 as a map service; and

[0066] The second authentication module 330 is used to implement identity authentication with the map server 200 .

[0067] The map engine 400 includes:

[0068] The parsing module 410 is used to parse the vehicle positioning information obtained from the server 300 and the map data in the first format to obtain the road network information around the vehicle and return it to the server 300. In the process of driving, it is also necessary to obtain surrounding static map information such as lane lines, obstacles, and surrounding traffic signs for lane line-level navigation planning. The surrounding static map information refers to the above-mentioned "road network information around the vehicle".

[0069] A path generation module 420, configured to generate a planned path according to the simulation start point and the simulation end point obtained from the server 300; and

[0070] The conversion module 430 is used to convert the road network information around the vehicle and the planned path into map data in a second format and return it to the server 300 .

[0071] The present invention also provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned map service providing method based on autonomous driving simulation testing.

[0072] The present invention also provides a computer device, including a storage module, a processor, and a computer program stored on the storage module and executable on the processor, wherein the processor implements the above-mentioned map service providing method based on autonomous driving simulation testing when executing the computer program.

[0073] According to the map service providing method and map service providing system based on autonomous driving simulation test of the present invention, a map service architecture based on Opendrive format is proposed and a map data closed-loop chain is constructed: simulator->map server->server->map engine->->server->simulator. Moreover, Opendrive is an international high-definition map specification, and map services that support parsing Opendrive format have extremely high compatibility and scalability.

[0074] Furthermore, the map service providing method and map service providing system based on the autonomous driving simulation test according to the present invention can also provide real-time road network information surrounding the vehicle, making up for the limitation that the simulator can only output map information.

[0075] Furthermore, according to the map service providing method and map service providing system based on autonomous driving simulation test of the present invention, by introducing a map server to manage map data, it is possible to support uploading map data in Opendrive format and automatically generate thumbnails, which is convenient for users to view intuitively. Moreover, the simulator and the map server share the same map data, thereby ensuring data consistency, avoiding mutual conversion between NDS format and Opendrive format, and thus avoiding a series of mismatch problems caused by data conversion.

[0076] Moreover, in the present invention, the map in the map server is a self-built map, which breaks through the limitations of the NDS-based map and can cover various core case scenarios, making it more flexible.

[0077] Furthermore, the map service providing method and map service providing system based on autonomous driving simulation testing according to the present invention solves the problem of lack of available map services in current autonomous driving simulation testing.

[0078] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Those skilled in the art can think of other feasible changes or substitutions based on the technical scope disclosed in the present application, and such changes or substitutions are all included in the protection scope of the present application. In the absence of conflict, the implementation modes of the present application and the features in the implementation modes can also be combined with each other. The protection scope of the present application shall be subject to the description of the claims.

Claims

1. A method for providing map services based on autonomous driving simulation testing, characterized in that: The method is implemented using a simulator, a map server, a server and a map engine, and includes: A scene building step, using the simulator to build a test scene and convert it into map data in a first format; A map uploading step, uploading the map data in the first format to the map server; a map downloading step, in which, when the server needs to access the map data in the first format, the server downloads the map data in the first format from the map server; The vehicle positioning step, the simulator uploads the vehicle positioning information to the server; A map parsing step, wherein the map engine obtains the vehicle positioning information from the server and obtains the road network information around the vehicle based on the vehicle positioning information and the map data in the first format; a route generation step, wherein the map engine generates a planned path according to a simulation starting point and a simulation end point, wherein the simulation starting point and the simulation end point are set in the simulator and provided to the map engine by the server by uploading to the server; a map data conversion step, wherein the map engine converts the road network information around the vehicle and the planned path into map data in a second format and returns the map data to the server; and In a map service providing step, the server obtains the map data in the second format and provides the map data in the second format as a map service to the simulator.

2. The method for providing map services based on autonomous driving simulation testing according to claim 1, characterized in that: The map data in the first format is map data in an Opendrive format, and the map data in the second format is map data in a PNC format.

3. The method for providing map services based on autonomous driving simulation testing according to claim 1, characterized in that: In the map downloading step, the server needs to perform identity authentication before downloading the map data from the map server and can download the map data from the map server only if the identity authentication is successful.

4. A method for providing map services for autonomous driving simulation testing, characterized in that: The method is applied to a simulator and comprises the following steps: Acquire vehicle positioning information, a simulation start point, and a simulation end point, and construct a test scenario and convert the vehicle positioning information, the simulation start point, and the simulation end point into map data in a first format; Uploading the map data converted into the first format to an external server; receiving map data in a second format returned from the external server, wherein the map data in the second format is obtained by format conversion of the map data in the first format; and The simulation is planned and controlled based on the map data in the second format.

5. A method for providing map services for autonomous driving simulation testing, characterized in that: The method is applied to a map engine and includes the following steps: Obtaining road network information around the vehicle based on the received vehicle positioning information and the first format map data; Generate a planned path according to the received simulation start point and simulation end point; and The road network information around the vehicle and the planned path are converted into map data in a second format.

6. A map service providing system based on autonomous driving simulation testing, characterized in that: include: Emulator, map server, server and map engine, The simulator is used to construct a test scenario and convert it into map data in a first format, the simulator is also used to upload the map data in the first format to the map server, and to obtain the vehicle positioning information, the simulation start point and the simulation end point and upload them to the server, and the simulator is also used to receive the following map data in a second format from the server, The map server is used to store map data in the first format. The server is used to download the map data in the first format from the map server and provide it to the map engine, and to provide the vehicle positioning information, simulation start point and simulation end point from the simulator to the map engine, and is also used to provide the map data in the second format described below returned from the map engine as a map service to the simulator, The map engine obtains the road network information around the vehicle based on the vehicle positioning information obtained from the server and the map data in the first format. The map engine generates a planned path based on the simulation start point and simulation end point obtained from the server, and further converts the road network information around the vehicle and the planned path into map data in the second format and returns them to the server.

7. The map service providing system based on autonomous driving simulation test according to claim 6, characterized in that: The map server comprises: a storage module, used for storing the map data in the first format obtained from the simulator; and The first authentication module is used to implement identity authentication with the server. The server further comprises: The second authentication module is used to implement identity authentication with the map server.

8. The map service providing system based on autonomous driving simulation test according to claim 7, characterized in that: The map data in the first format is map data in an Opendrive format, and the map data in the second format is map data in a PNC format.

9. A simulator, characterized in that: include: A simulation module, used to obtain vehicle positioning information, a simulation start point and a simulation end point, and to construct a test scenario and convert the test scenario into map data in a first format; SDK module, used for acquiring the map data in the first format from the simulation module and uploading it to an external server and for returning the map data in the second format received from the external server to the simulation module; as well as A communication module is used to obtain the map data in the second format by communicating with the simulation module and to implement simulation planning and control based on the map data in the second format.

10. A map engine, characterized in that: include: A parsing module, used to parse the received vehicle positioning information and the map data in the first format to obtain the road network information around the vehicle; A path generation module is used to generate a planned path according to the received simulation start point and simulation end point; as well as The conversion module is used to convert the road network information around the vehicle and the planned path into map data in a second format.

11. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the map service providing method based on the autonomous driving simulation test as described in any one of claims 1 to 5 is implemented.

12. A computer device comprising a storage module, a processor, and a computer program stored in the storage module and executable on the processor, characterized in that: When the processor executes the computer program, the map service providing method based on the autonomous driving simulation test according to any one of claims 1 to 5 is implemented.

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