Track data generation method and device for vehicle navigation dynamic scene test

Abstract

The invention discloses a trajectory data generation method and device for a vehicle navigation dynamic scene test, and relates to the technical field of vehicle testing, and the method comprises the steps: obtaining original trajectory data in response to a test path planned through a navigation map; performing linear interpolation processing on the original trajectory data to obtain smooth path points distributed at fixed time intervals and vehicle speed intervals; and converting the smooth path points from a map coordinate system to a target coordinate system used by a vehicle-mounted terminal, and generating trajectory data. The dynamic navigation test can be completed in a laboratory bench environment without depending on a real vehicle, the real vehicle does not need to move, a track of any path can be rapidly generated, and a large number of complex scenes are covered.

Description

Technical Field

[0001] This invention relates to the field of vehicle testing technology, and in particular to a method and apparatus for generating trajectory data for dynamic scenario testing of vehicle navigation. Background Technology

[0002] As a crucial component of modern automotive intelligent connectivity, vehicle navigation systems directly impact user travel experience and driving safety. Currently, dynamic scenario testing of in-vehicle navigation systems primarily relies on real-vehicle road tests. This approach involves driving the vehicle in a real road environment to collect actual navigation trajectories and bus message data, thereby verifying the correctness of the navigation function, the rationality of route planning, and the system's response performance under various road conditions.

[0003] However, traditional real-vehicle road testing methods have obvious limitations and shortcomings: First, the coverage of test scenarios is limited, making it difficult to systematically reproduce or cover complex and special road conditions, such as urban congestion, traffic accidents, multiple route selection, tunnels, overpasses, and continuous ramps; second, the testing cost is high, requiring a large amount of manpower, vehicles, fuel, and time resources, and is accompanied by vehicle wear and tear and road risks; third, the testing efficiency is low, with data collection constrained by actual traffic conditions, weather, and other factors, making it difficult to achieve rapid and batch execution of test cases; finally, traditional road tests can usually only collect data from fixed routes, lacking flexibility and failing to cover complex and dynamic real-world road conditions, thus limiting the comprehensiveness and relevance of the test. Summary of the Invention

[0004] In view of the above, the present invention aims to provide a method and apparatus for generating trajectory data for dynamic scenario testing of vehicle navigation, so as to solve the aforementioned technical problems.

[0005] The technical solution adopted in this invention is as follows:

[0006] This invention provides a method for generating trajectory data for dynamic scenario testing of vehicle navigation, including:

[0007] In response to the test path planned via the navigation map, the raw trajectory data is obtained;

[0008] Linear interpolation is performed on the original trajectory data to obtain smooth path points distributed at fixed time intervals and vehicle speed intervals;

[0009] The smooth path points are converted from the map coordinate system to the target coordinate system used by the vehicle terminal to generate trajectory data.

[0010] Optionally, the test path includes: a starting point, a destination, and path strategy parameters.

[0011] Optionally, the path strategy parameters include at least one of: congestion avoidance, high-speed priority, and shortest path.

[0012] Optionally, linear interpolation is performed on the original trajectory data to obtain smooth path points distributed at fixed time intervals and vehicle speed intervals, including:

[0013] Based on the preset frame interval and preset vehicle speed, the original trajectory points are resampled at equal time intervals to generate a smooth and continuous path point sequence.

[0014] Optionally, the smoothed path points are converted from the map coordinate system to the target coordinate system used by the vehicle terminal to generate trajectory data, including:

[0015] The latitude, longitude, GPS time, altitude, and heading angle data of the smoothed path points are mapped to a predefined vehicle coordinate system, and verification information is added to generate trajectory data.

[0016] The present invention also provides a trajectory data generation device for dynamic scenario testing of vehicle navigation, comprising:

[0017] The acquisition module is used to acquire raw trajectory data in response to the test path planned by the navigation map;

[0018] The processing module is used to perform linear interpolation on the original trajectory data to obtain smooth path points distributed at fixed time intervals and vehicle speed intervals; the smooth path points are converted from the map coordinate system to the target coordinate system used by the vehicle terminal to generate trajectory data.

[0019] The present invention also provides a computing device, comprising: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method described above.

[0020] The present invention also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described above.

[0021] The above-described solution of the present invention has at least the following beneficial effects:

[0022] The above-described solution of the present invention acquires original trajectory data in response to a test path planned via a navigation map; performs linear interpolation on the original trajectory data to obtain smooth path points distributed at fixed time intervals and vehicle speed intervals; and converts the smooth path points from the map coordinate system to the target coordinate system used by the vehicle terminal to generate trajectory data. This allows for dynamic navigation testing in a laboratory bench environment without relying on actual vehicles, enabling rapid generation of trajectories for arbitrary paths and covering a wide range of complex scenarios (urban road networks, overpasses, ring roads, etc.). It saves fuel, vehicle wear and tear, manpower, and road test time, significantly reducing costs; and offers high controllability and repeatability, precisely controlling trajectory, speed, and time, allowing for unlimited repetition of the same or modified test scenarios; easily testing remote areas, dangerous road sections, or specific traffic conditions, thus improving test coverage. Attached Figure Description

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described below with reference to the accompanying drawings, wherein:

[0024] Figure 1 This is a schematic diagram of a trajectory data generation method for dynamic scenario testing of vehicle navigation provided in an embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram of a trajectory data generation device for dynamic scenario testing of vehicle navigation provided in an embodiment of the present invention. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0027] This invention proposes an embodiment of a trajectory data generation method for dynamic scenario testing of vehicle navigation, specifically, as follows: Figure 1 As shown, it includes:

[0028] Step 11: In response to the test path planned via the navigation map, obtain the raw trajectory data;

[0029] Step 12: Perform linear interpolation on the original trajectory data to obtain smooth path points distributed at fixed time intervals and vehicle speed intervals;

[0030] Step 13: Convert the smoothed path points from the map coordinate system to the target coordinate system used by the vehicle terminal to generate trajectory data.

[0031] In this embodiment, a laboratory method is adopted to conduct dynamic navigation tests in a laboratory bench environment without the need for actual vehicle movement. Test information is received through the vehicle bus, converted into bus messages, and finally input to the vehicle infotainment system, where trajectory data is displayed on the central control screen map interface.

[0032] Specifically, by calling the route planning API of a third-party map open platform and passing in parameters such as starting point, destination, driving strategy, and vehicle speed, raw trajectory data is obtained, including latitude and longitude and GPS time. Driving strategies include congestion avoidance, highway priority, and shortest path.

[0033] Since the GPS data on the vehicle bus is in frame intervals of T0ms, the original trajectory needs to be linearly interpolated to T0ms first. Smooth path points with vehicle speed intervals, where vehicle speed is set as a uniform variable.

[0034] The interpolated map path uses the GCJ02 coordinate system, while the vehicle-mounted TBOX uses the WGS84 coordinate system. Coordinate conversion needs to be completed using coordinate conversion software such as the QGIS plugin.

[0035] The latitude, longitude, GPS time, altitude, and heading angle of the converted path are mapped to the CAN ID defined in the bus database. The E2E Profile1 verification mechanism is used to calculate the E2E check value for each CAN message to prevent message tampering or loss.

[0036] For example, the CAN ID1 message consists of: GPS time + checksum + counter; the CAN ID2 message consists of: longitude + checksum + counter; the CAN ID3 message consists of: latitude + checksum + counter; and the CAN ID4 message consists of: altitude + heading angle + checksum + counter.

[0037] Generate an ASC file containing timestamps, CAN ID, and checksum bits from CAN messages according to the format required by bus tools, such as CANoe.

[0038] Finally, after playing back the ASC file to the vehicle infotainment system using the bus tool, navigation icons can be displayed on the central control screen map interface and move according to the set route.

[0039] The trajectory data generation method for dynamic scenario testing of vehicle navigation described in the above embodiments of the present invention can complete dynamic navigation testing in a laboratory bench environment without relying on real vehicles. It can quickly generate trajectories for arbitrary paths, covering a large number of complex scenarios (urban road networks, overpasses, ring roads, etc.). This significantly reduces costs by saving fuel, vehicle wear and tear, manpower, and road test time. Furthermore, it offers high controllability and repeatability, precisely controlling trajectory, speed, and time, and allowing for unlimited repetition of the same or modified test scenarios. It easily tests remote areas, dangerous road sections, or specific traffic conditions, improving test coverage.

[0040] Embodiments of the present invention also provide a trajectory data generation device 20 for dynamic scenario testing of vehicle navigation, comprising:

[0041] Module 21 is used to acquire raw trajectory data in response to a test path planned via a navigation map;

[0042] Processing module 22 is used to perform linear interpolation on the original trajectory data to obtain smooth path points distributed at fixed time intervals and vehicle speed intervals; and to convert the smooth path points from the map coordinate system to the target coordinate system used by the vehicle terminal to generate trajectory data.

[0043] Optionally, the test path includes: a starting point, a destination, and path strategy parameters.

[0044] Optionally, the path strategy parameters include at least one of: congestion avoidance, high-speed priority, and shortest path.

[0045] Optionally, linear interpolation is performed on the original trajectory data to obtain smooth path points distributed at fixed time intervals and vehicle speed intervals, including:

[0046] Based on the preset frame interval and preset vehicle speed, the original trajectory points are resampled at equal time intervals to generate a smooth and continuous path point sequence.

[0047] Optionally, the smoothed path points are converted from the map coordinate system to the target coordinate system used by the vehicle terminal to generate trajectory data, including:

[0048] The latitude, longitude, GPS time, altitude, and heading angle data of the smoothed path points are mapped to a predefined vehicle coordinate system, and verification information is added to generate trajectory data.

[0049] It should be noted that this device is the same as the method described above. All implementations in the above method embodiments are applicable to the embodiments of this device and can achieve the same technical effect.

[0050] An embodiment of the present invention also provides a computing device, including: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method described in the above embodiments. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effect.

[0051] In this embodiment of the invention, a computer-readable storage medium is also provided, storing instructions that, when executed on a computer, cause the computer to perform the method described in the above embodiments. All implementations of the methods described in the above embodiments are applicable to this embodiment and can achieve the same technical effect.

[0052] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0053] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0054] In the embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0055] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0056] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0057] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0058] Furthermore, it should be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of the present invention. Moreover, the steps performing the above series of processes can naturally be executed in the order described, but are not necessarily required to be executed in chronological order; some steps can be executed in parallel or independently of each other. Those skilled in the art will understand that all or any step or component of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or a combination thereof. This is something that those skilled in the art can achieve by using their basic programming skills after reading the description of the present invention.

[0059] Therefore, the object of the present invention can also be achieved by running a program or a set of programs on any computing device. The computing device can be a known general-purpose device. Therefore, the object of the present invention can also be achieved simply by providing a program product containing program code implementing the method or apparatus. That is, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent to the present invention. Furthermore, the steps performing the above series of processes can naturally be performed in the order described, but are not necessarily required to be performed in chronological order. Some steps can be performed in parallel or independently of each other.

[0060] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for generating trajectory data for vehicle navigation dynamic scenario testing, characterized in that, The method comprises: obtaining original trajectory data in response to a test path planned through a navigation map; performing linear interpolation processing on the original trajectory data to obtain smooth path points distributed at fixed time intervals and vehicle speed intervals; converting the smooth path points from a map coordinate system to a target coordinate system used by a vehicle terminal to generate trajectory data.

2. The method of claim 1, wherein, The test path comprises: a starting point, a destination, and path strategy parameters.

3. The method of claim 2, wherein, The path strategy parameters comprise: at least one of congestion avoidance, high-speed priority, and shortest path.

4. The method of claim 1, wherein, The linear interpolation processing on the original trajectory data to obtain smooth path points distributed at fixed time intervals and vehicle speed intervals comprises: performing equal-time-interval resampling on the original trajectory points according to a preset frame interval time and a preset vehicle speed to generate a smooth and continuous path point sequence.

5. The method of claim 1, wherein, The conversion of the smooth path points from the map coordinate system to the target coordinate system used by the vehicle terminal to generate the trajectory data comprises: mapping longitude and latitude, GPS time, altitude, and heading angle data of the smooth path points to a predefined vehicle coordinate system and adding verification information to generate the trajectory data.

6. A trajectory data generation apparatus for vehicle navigation dynamic scenario testing, characterized in that, The method comprises: an obtaining module configured to obtain original trajectory data in response to a test path planned through a navigation map; a processing module configured to perform linear interpolation processing on the original trajectory data to obtain smooth path points distributed at fixed time intervals and vehicle speed intervals, and to convert the smooth path points from a map coordinate system to a target coordinate system used by a vehicle terminal to generate trajectory data.

7. A computing device, comprising: The method comprises: a processor and a memory storing a computer program, wherein the computer program is executed by the processor to perform the method according to any one of claims 1 to 5.

8. A computer readable storage medium, characterized in that, An instruction stored in a computer, wherein the instruction, when executed on the computer, causes the computer to perform the method according to any one of claims 1 to 5.

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