Data injection type positioning navigation simulation method and system based on Ethernet

Abstract

The invention belongs to the field of automatic driving, and particularly relates to an Ethernet-based data injection type positioning and navigation simulation method and system, an intelligent driving scene is simulated in a virtual traffic scene, positioning information and vehicle attitude information of a simulation vehicle are obtained, positioning data are directly generated from map data and the simulation scene, and the positioning data are directly generated from the simulation scene. According to the method, the consistency among the positioning information, the road structure and the driving working condition is guaranteed from the source, so that various driving environments and abnormal working conditions can be flexibly constructed without participation of real roads and vehicles, and the problem of high cost caused by dependence on real vehicles or special test sites is avoided.

Description

Technical Field

[0001] This invention belongs to the field of autonomous driving, specifically relating to a data injection-based positioning and navigation simulation method and system based on Ethernet. Background Technology

[0002] With the rapid development of technology, autonomous driving technology is gradually moving from theoretical research to engineering applications, becoming an important technological direction for promoting the intelligent transformation of transportation systems. Autonomous driving systems rely on the coordinated operation of multiple key technologies. Among them, positioning technology is a fundamental link in realizing vehicle environmental perception, path planning, and safety control. Its accuracy and reliability directly affect the driving safety and operational efficiency of vehicles in complex traffic environments. Global Navigation Satellite Systems (GNSS), as one of the most widely used positioning methods, can provide vehicles with accurate geographical location information. It plays a crucial role in vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, and the testing and implementation of autonomous driving functions. Therefore, the positioning information provided by GNSS has become an indispensable basic data source for autonomous driving systems.

[0003] In the research and development and verification of autonomous driving technology, simulation testing, as a key technical link, is of great significance for improving the safety and reliability of autonomous driving systems. Compared with closed-course vehicle testing and actual road testing, simulation testing has significant advantages such as high efficiency, strong repeatability, and the ability to simulate extreme or high-risk scenarios. It can, to some extent, compensate for the shortcomings of traditional testing methods and significantly shorten the development cycle of autonomous driving systems. By constructing virtual scenarios that closely resemble real traffic environments and injecting various scenario data into the autonomous driving system, comprehensive testing of autonomous driving algorithms and systems can be conducted without actual external targets. For example, the performance of vehicle positioning systems under severe weather conditions such as heavy rain and dense fog can be simulated in the simulation environment. Emergency situations such as sudden obstacles encountered while the vehicle is traveling at high speed can also be constructed to verify the response strategies and safety performance of the autonomous driving system.

[0004] However, autonomous driving systems have extremely high requirements for safety and reliability. They not only need to operate stably under normal conditions but also possess fault tolerance capabilities in abnormal or faulty situations to ensure the system can take effective emergency measures. Existing simulation and fault injection technologies generally use hardware simulation to generate GNSS and IMU data when simulating positioning-related sensor data. This type of approach typically relies on dedicated hardware for data construction and injection, which is not only costly and time-consuming but also has limitations in data flexibility and simulation accuracy. Because positioning sensors such as GNSS and IMUs are more complex in data structure and physical characteristics than cameras and ultrasonic radars, their simulation accuracy has a significant impact on the test results of autonomous driving systems. Therefore, relying solely on hardware simulation often makes it difficult to balance cost, efficiency, and simulation effectiveness. Summary of the Invention

[0005] The purpose of this invention is to overcome the problems of existing autonomous driving simulation technologies, such as high cost, complex implementation, insufficient flexibility, and difficulty in accurately simulating complex environments and abnormal working conditions in positioning data simulation and fault injection methods. This invention provides a data injection-based positioning and navigation simulation method and system based on Ethernet.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a data injection-based positioning and navigation simulation method based on Ethernet, comprising the following steps: A virtual traffic scenario is constructed, and the intelligent driving scenario is simulated within the virtual traffic scenario to obtain the positioning information and vehicle attitude information of the simulated vehicle. The positioning and attitude information of the simulated vehicle are converted into GNSS data and IMU data, which are then encapsulated and transmitted via Ethernet. The received encapsulated GNSS and IMU data are verified. Once the verification is successful, the encapsulated GNSS and IMU data are converted into the target format.

[0007] A further improvement of this invention lies in constructing a virtual traffic scenario and simulating the intelligent driving scenario within the virtual traffic scenario. The specific method for obtaining the positioning information and vehicle attitude information of the simulated vehicle is as follows: Acquire map data and construct virtual traffic scenarios based on the map data; The intelligent driving scenario is simulated in a virtual traffic environment to obtain the positioning information and attitude information of the simulated vehicle in real time. The vehicle attitude information includes the vehicle's yaw angle, pitch angle and roll angle parameters.

[0008] A further improvement of this invention lies in converting the positioning information and attitude information of the simulated vehicle into GNSS data and IMU data, encapsulating the GNSS data and IMU data, and transmitting them via Ethernet. The specific method is as follows: The system acquires the positioning and attitude information of the simulated vehicle, performs coordinate transformation on the positioning and attitude information, converts the positioning information into latitude and longitude data that meets the requirements of GNSS data format and uses it as GNSS data, and converts the attitude information into attitude data that meets the requirements of IMU data fields and uses it as IMU data. Perturbations are introduced into GNSS and IMU data, and the perturbated GNSS and IMU data are then encapsulated into data packets identical to those output by the sensors. The encapsulated data packet is sent to the target address via Ethernet according to the preset IP address and TCP port.

[0009] A further improvement of this invention lies in the following method for verifying the received encapsulated GNSS data and IMU data, and then converting the encapsulated GNSS data and IMU data into the target format after successful verification: Acquire encapsulated GNSS and IMU data, and perform validity checks and timestamp verification on the encapsulated GNSS and IMU data; When the validity check result is valid and the timestamp verification passes, the encapsulated GNSS data and IMU data are converted into the middleware data format required by the downstream autonomous driving algorithm and sent through the middleware interface.

[0010] Secondly, the present invention provides an Ethernet-based data injection positioning and navigation simulation system, comprising: The simulation module is used to construct virtual traffic scenarios, simulate intelligent driving scenarios within the virtual traffic scenarios, and obtain the positioning information and vehicle attitude information of the simulated vehicles. The encapsulation module is used to convert the positioning information and vehicle attitude information of the simulated vehicle into GNSS data and IMU data, encapsulate the GNSS data and IMU data, and transmit them via Ethernet. The data conversion module is used to verify the received encapsulated GNSS data and IMU data, and convert the encapsulated GNSS data and IMU data into the target format after the verification is successful.

[0011] A further improvement of this invention is that the functionality of the simulation module is implemented through the following method: Acquire map data and construct virtual traffic scenarios based on the map data; The intelligent driving scenario is simulated in a virtual traffic environment to obtain the positioning information and attitude information of the simulated vehicle in real time. The vehicle attitude information includes the vehicle's yaw angle, pitch angle and roll angle parameters.

[0012] A further improvement of this invention is that the function of the encapsulation module is implemented through the following method: The system acquires the positioning and attitude information of the simulated vehicle, performs coordinate transformation on the positioning and attitude information, converts the positioning information into latitude and longitude data that meets the requirements of GNSS data format and uses it as GNSS data, and converts the attitude information into attitude data that meets the requirements of IMU data fields and uses it as IMU data. Perturbations are introduced into GNSS and IMU data, and the perturbated GNSS and IMU data are then encapsulated into data packets identical to those output by the sensors. The encapsulated data packet is sent to the target address via Ethernet according to the preset IP address and TCP port.

[0013] A further improvement of this invention is that the data conversion module function is implemented through the following method: Acquire encapsulated GNSS and IMU data, and perform validity checks and timestamp verification on the encapsulated GNSS and IMU data; When the row validity check result is valid and the timestamp verification passes, the encapsulated GNSS data and IMU data are converted into the middleware data format required by the downstream autonomous driving algorithm and sent through the middleware interface.

[0014] Thirdly, the present invention provides an Ethernet-based data injection-based positioning and navigation simulation system, comprising: The host computer is used to construct a virtual traffic scenario, simulate the intelligent driving scenario within the virtual traffic scenario, obtain the positioning information and vehicle attitude information of the simulated vehicle, convert the positioning information and vehicle attitude information of the simulated vehicle into GNSS data and IMU data, encapsulate the GNSS data and IMU data, and send them to the intelligent driving domain controller via Ethernet. The intelligent driving domain controller is used to acquire actual GNSS and IMU data, verify the encapsulated GNSS and IMU data, and convert the encapsulated GNSS and IMU data into the target format after the verification is successful.

[0015] Fourthly, the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of an Ethernet-based data injection positioning and navigation simulation method.

[0016] Fifthly, the present invention provides a storage medium storing a computer program thereon, wherein the computer program, when executed by a processor, implements the steps of an Ethernet-based data injection positioning and navigation simulation method.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention simulates intelligent driving scenarios within a virtual traffic environment, acquiring the location and attitude information of the simulated vehicle. This ensures that the location data is directly derived from map data and the simulation scenario, guaranteeing consistency between the location information and road structure and driving conditions from the source. This allows for the flexible construction of various driving environments and abnormal conditions without the need for real roads and vehicles, avoiding the high costs associated with relying on real vehicles or dedicated test sites. By converting the simulated vehicle's location and attitude information into GNSS and IMU data, and then encapsulating and transmitting this data via Ethernet, the positioning and navigation simulation no longer relies on dedicated hardware such as FPGAs for data construction and injection. This reduces hardware investment and development workload, simplifies the system implementation structure, and lowers the overall construction cost and complexity of the simulation system. Furthermore, using Ethernet for data transmission makes the injection of location data more flexible. Different data channels and transmission strategies can be configured through software, facilitating rapid adjustments to data content and injection methods according to simulation needs, thus improving the flexibility of simulation testing. This invention verifies the encapsulated GNSS and IMU data at the receiving end, and converts the data into the target format only after the verification is successful. This effectively ensures the validity and time consistency of the injected data, and prevents abnormal data from directly entering the downstream processing flow. This improves the reliability and stability of the positioning data during the simulation process, enabling the method to more accurately simulate the performance of positioning and navigation data under complex environments and abnormal working conditions. It overcomes the problems of high cost, complex implementation, and insufficient adaptability of existing autonomous driving simulation technologies in terms of positioning data simulation and fault injection. Attached Figure Description

[0018] Figure 1 This is a flowchart of the present invention; Figure 2 This is a system diagram of the present invention; Figure 3 This is a functional architecture diagram of Example 3; Figure 4 This is a hardware connection diagram for Example 4; Figure 5 Inject the program flowchart into the host computer; Figure 6 Flowchart of the receiving program for the intelligent driving domain controller; Figure 7 This is a schematic diagram of the system in Example 5. Detailed Implementation

[0019] To further understand the content of this invention, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the invention.

[0020] Example 1: See Figure 1 The Ethernet-based data injection-based positioning and navigation simulation method includes the following steps: S1. Construct a virtual traffic scenario and simulate the intelligent driving scenario within the virtual traffic scenario to obtain the positioning information and vehicle attitude information of the simulated vehicle.

[0021] S2 converts the positioning and attitude information of the simulated vehicle into GNSS and IMU data, encapsulates the GNSS and IMU data, and transmits them via Ethernet.

[0022] S3 verifies the received encapsulated GNSS and IMU data. If the verification is successful, the encapsulated GNSS and IMU data are converted into the target format.

[0023] Example 2: See Figure 2 An Ethernet-based data injection positioning and navigation simulation system includes: The simulation module is used to construct virtual traffic scenarios, simulate intelligent driving scenarios within the virtual traffic scenarios, and obtain the positioning information and vehicle attitude information of the simulated vehicles.

[0024] The encapsulation module is used to convert the positioning and attitude information of the simulated vehicle into GNSS data and IMU data, encapsulate the GNSS data and IMU data, and transmit them via Ethernet.

[0025] The data conversion module is used to verify the received encapsulated GNSS data and IMU data, and convert the encapsulated GNSS data and IMU data into the target format after the verification is successful.

[0026] Example 3: See Figure 3 In this embodiment, the host computer is used to run intelligent driving scenario simulation software, and the specific method is as follows: Step one: Acquire map data in the host computer and construct a virtual traffic scenario based on the map data. The virtual traffic scenario describes the road structure and traffic environment and serves as the operating environment for the intelligent driving scenario simulation. Start the intelligent driving scenario simulation within the virtual traffic scenario, allowing the simulated vehicle to travel along a preset path on the virtual road. During the simulation, acquire the simulated vehicle's positioning and attitude information in real time. The vehicle attitude information includes the vehicle's yaw angle, pitch angle, and roll angle parameters.

[0027] By constructing virtual traffic scenarios based on map data and conducting intelligent driving simulations within these scenarios, the driving state of the simulated vehicle is kept consistent with the real road structure. This ensures the consistency and reliability of the spatial distribution of the simulated vehicle's positioning and attitude information. Simultaneously, by acquiring the vehicle's yaw, pitch, and roll parameters in real time, the vehicle's attitude information fully reflects the changes in its spatial attitude. This provides an accurate data source for the subsequent conversion and processing of positioning and attitude data, thereby improving the simulation results' resemblance to real-world autonomous driving scenarios.

[0028] Step two: The data injection program on the host computer side acquires the positioning information and attitude information of the simulated vehicle in real time, and performs coordinate transformation processing on the positioning information and attitude information of the simulated vehicle.

[0029] Specifically, the positioning information of the simulated vehicle is converted into latitude and longitude data that conforms to the GNSS data format requirements, and used as GNSS data; the vehicle attitude information is converted into attitude data that meets the requirements of IMU data fields, and used as IMU data.

[0030] After parameter conversion, perturbations are introduced into the GNSS and IMU data to simulate the data fluctuation characteristics generated by real GNSS and IMU during actual operation. Subsequently, the perturbated GNSS and IMU data are encapsulated into data packets with the same format as the sensor output.

[0031] After encapsulation, GNSS data packets and IMU data packets are sent to the target address via Ethernet according to the pre-configured IP address and TCP port, thereby completing the Ethernet injection of positioning and attitude data.

[0032] Through the above parameter conversion processing, the simulated data is made consistent with the real GNSS data and IMU data in terms of data form and semantics; by introducing perturbations, the simulation data is prevented from being too idealized, and the degree of simulation of the real sensor output characteristics by the injected data is improved; at the same time, the use of Ethernet for data transmission reduces the dependence on dedicated hardware interfaces and improves the flexibility of system deployment and debugging.

[0033] Step 3: The intelligent driving domain controller receives encapsulated GNSS data and IMU data transmitted via Ethernet. After receiving the encapsulated GNSS data and IMU data, it performs validity checks and timestamp verification.

[0034] When the validity check result is valid and the timestamp verification passes, the encapsulated GNSS data and IMU data are converted into the middleware data format required by the downstream autonomous driving algorithm and sent to the downstream autonomous driving algorithm module through the middleware interface.

[0035] By performing validity checks and timestamp verifications on data before it enters downstream autonomous driving algorithms, abnormal or time-series-incorrect data can be promptly removed, preventing invalid data from affecting the operation of autonomous driving algorithms and thus improving the overall stability and safety of the system. At the same time, by converting the verified data into the middleware data format required by downstream autonomous driving algorithms, the data injected into the simulation can be directly connected to the existing algorithm processing flow, ensuring the consistency between the simulation testing process and the actual system operation process.

[0036] In summary, this embodiment achieves Ethernet-based positioning and navigation data injection simulation by sequentially completing the construction and simulation of a virtual traffic scene, the conversion and encapsulation of positioning and attitude data, and data reception, verification, and format conversion. The coordinated steps reduce system implementation costs while improving the realism, reliability, and engineering applicability of the positioning and navigation simulation data, effectively meeting the verification requirements of positioning and attitude data for autonomous driving systems during the simulation testing phase.

[0037] Example 4: This embodiment provides further explanation in conjunction with a specific system setup and operation process, as detailed below: See Figure 4 In this embodiment, the host computer serves as the data generator for simulation and is used to run the intelligent driving scenario simulation software. Intelligent driving scenario simulation software, such as VTD or Prescan, is installed on the host computer. This type of software can edit and construct virtual scenes and maps. After the software starts, it can dynamically output parameters such as the latitude and longitude of the vehicle in real time. To improve the accuracy of the simulated vehicle, a separate professional vehicle dynamics model simulation software, such as CarSim, needs to be installed for joint simulation with VTD. CarSim can output vehicle dynamics parameters, vehicle attitude, and other information. The intelligent driving scenario simulation software is used to construct virtual roads, traffic environments, and simulated vehicle models. After the simulation software starts, it constructs a virtual traffic scene based on pre-loaded map data and drives the simulated vehicle to run within the virtual traffic scene.

[0038] During the simulation, the simulation system continuously outputs the positioning information of the simulated vehicle, including its latitude and longitude. Simultaneously, to improve the accuracy of the simulated vehicle's motion, vehicle dynamics model simulation software is deployed on the host computer side and runs in conjunction with the scene simulation software. The vehicle dynamics model simulation software outputs the vehicle's dynamic parameters and body attitude information, including yaw, pitch, and roll parameters.

[0039] The aforementioned positioning information and vehicle attitude information are transmitted to the host computer's data injection program via inter-process communication (IPC), thereby forming a continuously updated simulation positioning and attitude data source.

[0040] See Figure 5 The data injection program on the host computer side receives positioning information and vehicle attitude information from the simulation system in real time and processes the received data.

[0041] Specifically, the data injection program performs coordinate transformation on the positioning information of the simulated vehicle, converting it into latitude and longitude data that meets the requirements of GNSS data format, and outputs it as GNSS data. At the same time, it organizes and converts the vehicle attitude information of the simulated vehicle into attitude data that meets the requirements of IMU data fields, and outputs it as IMU data.

[0042] After data conversion, perturbations are introduced into the GNSS and IMU data to simulate measurement errors and data fluctuations that occur during actual GNSS and IMU operation. Subsequently, the perturbated GNSS and IMU data are encapsulated into data packets consistent with the output format of the actual sensors.

[0043] After encapsulation, the data injection program sends GNSS data packets and IMU data packets to the intelligent driving domain controller via Ethernet according to the pre-configured IP address and TCP port, thereby completing the software injection of positioning and attitude data.

[0044] See Figure 6 The intelligent driving domain controller bypasses the original GNSS data and IMU data input interfaces, or physically disconnects them when GNSS data and IMU data are external devices, so that the domain controller no longer receives data input from real sensors during the simulation test.

[0045] Meanwhile, the network interface on the intelligent driving domain controller side used to receive GNSS and IMU data is configured to be consistent with the IP address and TCP port set on the host computer side, so as to ensure that Ethernet injected data can be correctly received and reduce the latency during data transmission.

[0046] A data receiver node runs on the intelligent driving domain controller to receive GNSS and IMU data transmitted via Ethernet. The data receiver node can be generated through cross-compilation or developed and deployed directly on the domain controller.

[0047] After receiving the encapsulated GNSS and IMU data, the data receiving node performs validity checks and timestamp verification on the data. When the detection results meet the requirements, the GNSS and IMU data are converted into the middleware data format required by the downstream autonomous driving algorithm and sent to the positioning and navigation algorithms through the middleware interface.

[0048] By using the above method, the data injected through simulation can enter the downstream algorithm module according to the same processing flow as the real sensor data, thereby realizing the simulation verification of the positioning and navigation algorithm.

[0049] Through the system setup and operation process of this embodiment, a software-based positioning and navigation data injection simulation based on Ethernet was achieved. Without the need for actual GNSS and IMU sensors, continuous and controllable positioning and attitude data can be provided to the intelligent driving domain controller for functional testing and performance verification of positioning and navigation algorithms.

[0050] This embodiment uses Ethernet for data injection, which reduces system hardware costs and development complexity, while improving the flexibility and engineering applicability of simulation testing.

[0051] Example 5: See Figure 7 The present invention also provides an electronic device 100 for a data injection-based positioning and navigation simulation method based on Ethernet; the electronic device 100 includes a memory 101, at least one processor 102, a computer program 103 stored in the memory 101 and executable on the at least one processor 102, and at least one communication bus 104.

[0052] The memory 101 can be used to store the computer program 103. The processor 102 implements the steps of the Ethernet-based data injection positioning and navigation simulation method described in Embodiment 1 by running or executing the computer program stored in the memory 101 and calling the data stored in the memory 101. The memory 101 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device 100 (such as audio data), etc. In addition, the memory 101 may include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.

[0053] The at least one processor 102 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 102 may be a microprocessor or any conventional processor. The processor 102 is the control center of the electronic device 100, connecting various parts of the electronic device 100 via various interfaces and lines.

[0054] The memory 101 in the electronic device 100 stores multiple instructions to implement an Ethernet-based data injection positioning and navigation simulation method, characterized in that the processor 102 can execute the multiple instructions to achieve: A virtual traffic scenario is constructed, and the intelligent driving scenario is simulated within the virtual traffic scenario to obtain the positioning information and vehicle attitude information of the simulated vehicle. The positioning and attitude information of the simulated vehicle are converted into GNSS data and IMU data, which are then encapsulated and transmitted via Ethernet. The received encapsulated GNSS and IMU data are verified. Once the verification is successful, the encapsulated GNSS and IMU data are converted into the target format.

[0055] Example 6: If the modules / units integrated in the electronic device 100 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, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0056] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0057] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0058] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1The function specified in one or more boxes.

[0059] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A data injection-based positioning and navigation simulation method based on Ethernet, characterized in that, Includes the following steps: A virtual traffic scenario is constructed, and the intelligent driving scenario is simulated within the virtual traffic scenario to obtain the positioning information and vehicle attitude information of the simulated vehicle. The positioning and attitude information of the simulated vehicle are converted into GNSS data and IMU data, which are then encapsulated and transmitted via Ethernet. The received encapsulated GNSS and IMU data are verified. Once the verification is successful, the encapsulated GNSS and IMU data are converted into the target format.

2. The Ethernet-based data injection positioning and navigation simulation method according to claim 1, characterized in that, The specific method for constructing a virtual traffic scenario and simulating the intelligent driving scenario within the virtual traffic scenario to obtain the location information and attitude information of the simulated vehicle is as follows: Acquire map data and construct virtual traffic scenarios based on the map data; The intelligent driving scenario is simulated in a virtual traffic environment to obtain the positioning information and attitude information of the simulated vehicle in real time. The vehicle attitude information includes the vehicle's yaw angle parameters, pitch angle parameters, and roll angle parameters.

3. The Ethernet-based data injection positioning and navigation simulation method according to claim 1, characterized in that, The specific method for converting the simulated vehicle's positioning and attitude information into GNSS and IMU data, encapsulating the GNSS and IMU data, and transmitting them via Ethernet is as follows: The system acquires the positioning and attitude information of the simulated vehicle, performs coordinate transformation on the positioning and attitude information, converts the positioning information into latitude and longitude data that meets the requirements of GNSS data format and uses it as GNSS data, and converts the attitude information into attitude data that meets the requirements of IMU data fields and uses it as IMU data. Perturbations are introduced into GNSS and IMU data, and the perturbated GNSS and IMU data are encapsulated into data packets with the same format as the sensor output. The encapsulated data packet is sent to the target address via Ethernet according to the preset IP address and TCP port.

4. The Ethernet-based data injection positioning and navigation simulation method according to claim 1, characterized in that, The specific method for verifying the received encapsulated GNSS and IMU data, and then converting the encapsulated GNSS and IMU data into the target format after successful verification is as follows: Acquire encapsulated GNSS and IMU data, and perform validity checks and timestamp verification on the encapsulated GNSS and IMU data; When the row validity check result is valid and the timestamp verification passes, the encapsulated GNSS data and IMU data are converted into the middleware data format required by the downstream autonomous driving algorithm and sent through the middleware interface.

5. A data injection-based positioning and navigation simulation system based on Ethernet, characterized in that, include: The simulation module is used to construct virtual traffic scenarios, simulate intelligent driving scenarios within the virtual traffic scenarios, and obtain the positioning information and vehicle attitude information of the simulated vehicles. The encapsulation module is used to convert the positioning information and vehicle attitude information of the simulated vehicle into GNSS data and IMU data, encapsulate the GNSS data and IMU data, and transmit them via Ethernet. The data conversion module is used to verify the received encapsulated GNSS data and IMU data, and convert the encapsulated GNSS data and IMU data into the target format after the verification is successful.

6. The Ethernet-based data injection positioning and navigation simulation system according to claim 5, characterized in that, The simulation module's functionality is implemented using the following methods: Acquire map data and construct virtual traffic scenarios based on the map data; The intelligent driving scenario is simulated in a virtual traffic environment to obtain the positioning information and attitude information of the simulated vehicle in real time. The vehicle attitude information includes the vehicle's yaw angle parameters, pitch angle parameters, and roll angle parameters.

7. The Ethernet-based data injection positioning and navigation simulation system according to claim 5, characterized in that, The functionality of the encapsulation module is implemented through the following methods: The system acquires the positioning and attitude information of the simulated vehicle, performs coordinate transformation on the positioning and attitude information, converts the positioning information into latitude and longitude data that meets the requirements of GNSS data format and uses it as GNSS data, and converts the attitude information into attitude data that meets the requirements of IMU data fields and uses it as IMU data. Perturbations are introduced into GNSS and IMU data, and the perturbated GNSS and IMU data are encapsulated into data packets with the same format as the sensor output. The encapsulated data packet is sent to the target address via Ethernet according to the preset IP address and TCP port.

8. The Ethernet-based data injection positioning and navigation simulation system according to claim 5, characterized in that, The data conversion module functionality is implemented using the following methods: Acquire encapsulated GNSS and IMU data, and perform validity checks and timestamp verification on the encapsulated GNSS and IMU data; When the row validity check result is valid and the timestamp verification passes, the encapsulated GNSS data and IMU data are converted into the middleware data format required by the downstream autonomous driving algorithm and sent through the middleware interface.

9. A data injection-based positioning and navigation simulation system based on Ethernet, characterized in that, include: The host computer is used to construct a virtual traffic scenario, simulate the intelligent driving scenario within the virtual traffic scenario, obtain the positioning information and vehicle attitude information of the simulated vehicle, convert the positioning information and vehicle attitude information of the simulated vehicle into GNSS data and IMU data, encapsulate the GNSS data and IMU data, and send them to the intelligent driving domain controller via Ethernet. The intelligent driving domain controller is used to acquire actual GNSS and IMU data, verify the encapsulated GNSS and IMU data, and convert the encapsulated GNSS and IMU data into the target format after the verification is successful.

10. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the Ethernet-based data injection positioning and navigation simulation method as described in any one of claims 1 to 4.

11. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the Ethernet-based data injection positioning and navigation simulation method as described in any one of claims 1 to 4.

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