Map service providing method and map service providing system based on autonomous driving simulation test

Abstract

To provide a map service providing method and a map service providing system based on an autonomous driving simulation test.SOLUTION: A method includes: downloading, by a server 300, a first format of map data from a map server 200; uploading, by an emulator 100, location information on its own vehicle to the server; acquiring, by a map engine 400, the location information on its own vehicle from the server and acquiring road network information of the surroundings of the own vehicle; generating, by the map engine, a planning path according to a simulation origin and a simulation endpoint; returning, by the map engine, a second format of map data to the server; and acquiring, by the server, the second format of map data and providing the second format of map data as a map service to the emulator.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present application relates to an autonomous driving simulation test technology, and in particular to a map service providing method and a map service providing system based on an autonomous driving simulation test. [Background technology]

[0002] The autonomous driving simulation test is mainly to digitally restore autonomous driving application scenarios in the form of mathematical modeling, build a system model that is as close as possible to the real world, and achieve the purpose of testing and verifying autonomous driving systems and algorithms through simulation testing directly through the software without field testing.

[0003] High-definition maps are increasingly prevalent in autonomous driving simulation testing. In the prior art, when a simulation scenario is constructed, only the import and export of Opendrive (Opendrive: the main open format for describing road networks in driving simulation applications, which is the de facto standard and is an international high-definition map standard) format is supported, but map data in NDS (NDS: Navigation Data Standard, a storage standard for navigation electronic maps) format is not supported. Therefore, when a simulation scenario is constructed by the prior art, it is common to convert map data in NDS format acquired and constructed according to real roads to map data in Opendrive format, and then the map data in Opendrive format is imported through the simulation software, thereby implementing scenario construction for simulation testing. Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above approaches often pose a series of problems. (1) Conversion of the two types of map data is highly dependent on the support of map providers and requires significant human and material resources. (2) The representation of map information by NDS and Opendrive is two-dimensional, and after conversion, problems such as element loss and element mismatch often occur. (3) The Opendrive element formats built by various emulators and map providers are not completely unified, so emulator software cannot import them directly, resulting in low compatibility. (4) NDS is real network data with insufficient scenario coverage, so it cannot meet the testing requirements of edge scenarios and has insufficient flexibility. (5) General emulator software cannot output all the road network information required by the autonomous driving module, and cannot conduct comprehensive testing on map-related functions. (6) Map services based on NDS may only be used for actual vehicle testing and may not be used for simulation testing.

[0005] Based on the problems in the prior art mentioned above, the present disclosure aims to provide a map service providing method and a map service providing system based on autonomous driving simulation testing, which can solve the above problems. [Means for solving the problem]

[0006] In one aspect of the present disclosure, there is provided a map service providing method based on an autonomous driving simulation test, the map service providing method being implemented using an emulator, a map server, a server, and a map engine, comprising: a scenario construction step in which an emulator is used to construct a test scenario and convert the test scenario into a first format of map data; a map upload step in which the first format of the map data is uploaded to a map server; a map download step in which the server downloads the first format of the map data from the map server if the server needs to access the first format of the map data; a vehicle positioning step in which the emulator uploads vehicle position information to a server; a map analysis step in which the map engine acquires vehicle position information from the server, and acquires road network information around the vehicle according to analysis of the vehicle position information and the first format of the map data; A route generating step, in which a map engine generates a planned route according to a simulation start point and a simulation end point, and the simulation start point and the simulation end point are arranged in the emulator and provided to the map engine through the server by uploading to the server; a map data conversion step in which the map engine converts the road network information around the vehicle and the planned route into a second format of map data and returns the second format of the map data to the server; a map service providing step in which the server obtains the second format of the map data and provides the second format of the map data to the emulator as a map service; Includes.

[0007] In one aspect of the present disclosure, a map service providing system based on an autonomous driving simulation test includes an emulator, a map server, a server, and a map engine, An emulator is used to construct a test scenario and convert the test scenario into a first format of map data, the emulator is also used to upload the first format of the map data to a map server, and the emulator is used to obtain position information of the host vehicle, a simulation start point and a simulation end point, and upload the position information of the host vehicle, the simulation start point and the simulation end point to the server; a map server is used to store the first format of the map data; The server is used to download a first format of map data from the map server and provide the first format of the map data to the map engine, and is also used to provide the position information of the host vehicle, the simulation start point and the simulation end point from the emulator to the map engine, and is also used to provide a second format of the map data, which is returned from the map engine to the emulator as a map service, as described below; The map engine obtains road network information around the vehicle according to an analysis of the vehicle's position information and the first format of the map data obtained from the server, the map engine generates a planned route according to the simulation starting point and the simulation ending point obtained from the server, further converts the road network information around the vehicle and the planned route into a second format of the map data, and returns the second format of the map data to the server. [Brief description of the drawings]

[0008] The foregoing and other objects and advantages of the present application will become more fully apparent from the following detailed description taken in conjunction with the accompanying drawings, in which like or similar elements are designated by like reference numerals, and in which: [Figure 1] 1 is a flowchart of a method for providing map services based on an autonomous driving simulation test according to one embodiment of the present disclosure. [Diagram 2] FIG. 1 is a structural block diagram of a map service providing system based on an autonomous driving simulation test according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The following are some examples of the present disclosure, intended to provide a basic understanding of the present disclosure, and are not intended to identify key or critical elements of the disclosure or to define the scope of protection.

[0010] FIG. 1 is a flowchart of a method for providing map services based on an autonomous driving simulation test according to one embodiment of the present disclosure.

[0011] As shown in FIG. 1 , the method for providing a map service based on an autonomous driving simulation test according to an embodiment of the present disclosure is implemented using an emulator 100, a map server 200, a server 300 and a map engine 400, and the method includes: S1: constructing a test scenario using the emulator 100, converting the test scenario into a first format of map data, and uploading the first format of map data to a map server 200; S2: storing, by the map server 200, a first format of the map data; S3: When the server 300 needs access to the first format of the map data stored in the map server 200, downloading the first format of the map data from the map server 200 by the server 300; S4: Providing, by the server 300, the first format of the map data to the map engine 400; S5: Upload the position information of the vehicle to the server 300 in real time by the emulator 100, and provide the simulation start point and the simulation end point from the emulator 100 to the server 300; S6: The server 300 provides the map engine 400 with the vehicle's location information, the simulation start point, and the simulation end point; S7: Using the map engine 400, obtain location information of the vehicle from the server 300, obtain road network information around the vehicle according to analysis of the location information of the vehicle and the first format of the map data, generate a planned route based on a simulation start point and a simulation end point using the map engine 400, and further convert the road network information around the vehicle and the generated planned route into a second format of the map data using the map engine 400; S8: Returning the converted second format map data to the server 300 by the map engine; S9: Providing the acquired second format of the map data to the emulator 100 as a map service by the server 300; Includes.

[0012] Here, the first format of the map data is map data in Opendrive format, and the second format of the map data is map data in PNC format (Planning And Control), i.e., an interface protocol that meets the definition of PNC, and may be, for example, protobuf, json, xml, etc.

[0013] In step S1, the emulator 100 can use emulators such as Carmaker (Carmaker is a dynamics ADAS and autonomous driving simulation software released by IPG, Germany) and VTD (Virtual Test Drive is a complex traffic environment vision modeling and simulation software developed by VIRES, Germany), which can be used to generate and convert map data in Opendrive format.

[0014] The emulator 100 may be located on the user side, i.e., on the vehicle. The simulation start point and the simulation end point during the simulation may be set by the user, for example, they are set in the corresponding configuration file of the emulator 100. The "planned route" generated in S7 above includes only extensive road information. In the simulation process of receiving the planned route converted into the second format, the vehicle travels according to the planned route information. During the driving process, it is also necessary to obtain surrounding static map information such as lanes, obstacles, surrounding traffic signs, etc. for navigation planning at the lane level. The static map information refers to the above "surrounding road network information of the vehicle".

[0015] In step S2, the map data can be managed by introducing the map server 200, which can support uploading of the map data in Opendrive format. As a preferred method, the map server 200 can further generate thumbnails of the map data in Opendrive format for visual display to the user.

[0016] In step S3, preferably, the server 300 may be configured to perform authentication before the map data is loaded from the map server 200, and only if the authentication is successful, the server 300 can download the map data from the map server 200. In particular, for example, the map server 200 issues an appID (application ID) and an appSecret (application key) to the server 300, and when the server 300 accesses the map server 200, the server 300 obtains a request token through the appID and the appSecret to complete the authentication, and the server 300 can download the map data from the map server 200 after the authentication is successful.

[0017] A map service providing method based on an autonomous driving simulation test according to an embodiment of the present disclosure is presented above, and then a corresponding map service providing system based on an autonomous driving simulation test for implementing the method is presented.

[0018] FIG. 2 is a structural block diagram of a map service providing system based on an autonomous driving simulation test according to an embodiment of the present disclosure.

[0019] As shown in FIG. 2 , the map service providing system based on the autonomous driving simulation test according to an embodiment of the present disclosure includes an emulator 100, a map server 200, a server 300 and a map engine 400.

[0020] The emulator 100 is disposed in a user terminal and is used to construct a test scenario and convert the test scenario into a first format of map data, the emulator 100 is also used to upload the first format of the map data to the map server 200, and is used to obtain the position information of the vehicle, the simulation starting point and the simulation ending point, and upload the position information of the vehicle, the simulation starting point and the simulation ending point to the server 300.

[0021] The map server 200 is used to store the first format of the map data, and the map server 200 provides an API interface for map upload, download and search functions.

[0022] The server 300 is used to download a first format of map data from the map server 200 and provide the first format of map data to the map engine 400, is used to provide the vehicle's position information, simulation start point and simulation end point from the emulator 100 to the map engine 400, and is also used to provide the emulator 100 with a second format of map data (described later) that is returned from the map engine 400 as a map service; that is, the server 300 provides all the API interfaces required by the emulator 100.

[0023] The map engine 400 acquires road network information around the vehicle according to an analysis of the vehicle's position information and the first format of the map data acquired from the server 300, and the map engine 400 generates a planned route according to the simulation starting point and the simulation end point acquired from the server, and further converts the planned route into the second format of the map data and returns the second format of the map data to the server 300.

[0024] The first format of the map data is map data in Opendrive format, and the second format of the map data is map data in PNC format (Planning And Control).

[0025] Emulator 100 is a simulation module 110 for obtaining position information of a vehicle, a simulation starting point and a simulation ending point, constructing a test scenario, converting the test scenario into a first format of map data, and uploading the first format of the map data to a map server; an SDK module 120 for acquiring the position information of the host vehicle, the simulation starting point, and the simulation ending point from the simulation module 110, uploading the position information of the host vehicle, the simulation starting point, and the simulation ending point to the server 300, receiving and caching the second format of the map data from the server 300, and returning the second format of the map data to the simulation module 110; a communication module 130 for communicating with the simulation module 110 and for executing a PNC (Planning And Control) function, a FCT (Function Control) function, and a Fusion (sensor data fusion) function, the PNC function being used to obtain a second format of map data returned from the server 300 to the simulation module 110, i.e., map data in the PNC format, by communicating with the simulation module 110, and to implement planning and control of the simulation based on the map data in the PNC format; Equipped with.

[0026] The SDK module 120 may further include data management functions including, among other things, reducing the frequency of requests to the server 300 to read map data from the map server 200 by controlling the update mechanism for cached content.

[0027] The map server 200 a storage module 210 for storing the first format of the map data obtained from the emulator 100; a first authentication module 220 for performing identity authentication with the server 300; a management module 230 for generating thumbnails of the first format of the map data and providing the thumbnails to a server 300 for reading; Equipped with.

[0028] The server 300 includes: a download module 310 for downloading the first format of the map data from the map server 200 and providing the first format of the map data to the map engine 400; a transmission module 320 for providing the position information of the vehicle, the simulation start point, and the simulation end point from the emulator to the map engine 400, and for providing a second format of map data, which will be described later, that is returned from the map engine 400 to the emulator 100 as a map service; a second authentication module 330 for performing identity authentication with the map server 200; Equipped with.

[0029] Map Engine 400 is The map engine 400 further includes a solving module 410 for obtaining road network information around the vehicle according to analyzing the first format of the position information of the vehicle and the map data obtained from the server 300, and returning the road network information around the vehicle to the server 300. During the driving process, it is also required to obtain surrounding static map information such as lanes, obstacles, surrounding traffic signs, etc. for navigation planning at lane level. These static map information are referred to as the above-mentioned "road network information around the vehicle". The map engine 400 further includes: a route generation module 420 for generating a planned route according to the simulation starting point and the simulation end point obtained from the server 300; a conversion module 430 for converting the road network information around the vehicle and the planned route into a second format of map data and returning the second format of the map data to the server 300; Equipped with.

[0030] The present disclosure also provides a computer-readable medium storing a computer program, the computer program being for implementing the above-described method of providing map services based on an autonomous driving simulation test, when executed by a processor.

[0031] The present disclosure also provides a computer device comprising a storage module, a processor, and a computer program stored on the storage module and executable on the processor, for implementing the above-mentioned method of providing a map service based on an autonomous driving simulation test when the processor executes the computer program.

[0032] The map service providing method and map service providing system based on autonomous driving simulation test disclosed herein provide a map service architecture based on Opendrive format, and build a map data closed loop chain: emulator → map server → server → map engine → → server → emulator. Furthermore, Opendrive is an international high-definition map standard, which supports the parsing of map services in Opendrive format with extremely high compatibility and scalability.

[0033] Furthermore, the map service providing method and map service providing system based on autonomous driving simulation testing according to the present disclosure can also provide real-time road network information around the vehicle, which constitutes the limitations on which the emulator can output map information.

[0034] Furthermore, according to the map service providing method and map service providing system based on autonomous driving simulation test disclosed herein, map data can be managed by introducing a map server, which can support uploading map data in Opendrive format and automatically generating thumbnails so that users can directly view it. Furthermore, the same map data is shared between the emulator and the map server, which can ensure data consistency and avoid mutual conversion between NDS format and Opendrive format, thereby avoiding a series of mismatches caused by data conversion.

[0035] Furthermore, in this disclosure, the maps in the map server are self-constructed maps that go beyond the limitations based on NDS maps, can cover a variety of core case scenarios, and have greater flexibility.

[0036] Furthermore, the map service providing method and map service providing system based on autonomous driving simulation test according to the present disclosure solves the problem of lack of available map services in current autonomous driving simulation tests.

[0037] The above description is only for the specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Those skilled in the art can contemplate other feasible modifications or replacements according to the technical scope disclosed in the present application, and all such modifications or replacements are within the scope of protection of the present application. Without contradiction, the embodiments and the features of the embodiments of the present application may also be combined. The scope of protection of the present application is subject to the scope of protection of the claims.

Claims

1. A method for providing a map service based on an autonomous driving simulation test, the method being implemented using an emulator, a map server, a server and a map engine, comprising: a scenario construction step in which the emulator constructs a test scenario, the test scenario being used to convert map data into a first format; a map upload step in which the first format of the map data is uploaded to the map server; a map download step in which the server downloads the first format of the map data from the map server when the server needs to access the first format of the map data; a positioning step of the own vehicle, in which the emulator uploads position information of the own vehicle to the server; a map analysis step in which the map engine acquires location information of the vehicle from the server, and acquires road network information around the vehicle according to an analysis of the location information of the vehicle and the first format of the map data; a route generation step in which the map engine generates a planned route according to a simulation start point and a simulation end point, the simulation start point and the simulation end point being located in the emulator and provided to the map engine via the server by uploading to the server; a map data conversion step in which the map engine converts the road network information around the vehicle and the planned route into a second format of map data, and returns the second format of the map data to the server; a map service providing step in which the server obtains the second format of the map data and provides the second format of the map data to the emulator as a map service; A method for providing a map service based on an autonomous driving simulation test, comprising:

2. 2. The method for providing a map service based on an autonomous driving simulation test according to claim 1, wherein the first format of the map data is map data in an Opendrive format, and the second format of the map data is map data in a PNC format.

3. 2. The method for providing a map service based on an autonomous driving simulation test according to claim 1, characterized in that in the map downloading step, the server needs to perform personal authentication before downloading the map data from the map server, and the map data can be downloaded from the map server only if the personal authentication is successful.

4. A method for providing a map service based on an autonomous driving simulation test, the method being applied to an emulator, comprising: acquiring a position information of the vehicle, a simulation starting point, and a simulation ending point, constructing a test scenario, and converting the position information of the vehicle, the simulation starting point, and the simulation ending point into a first format of map data; uploading the converted first format of the map data to an external server; receiving a second format of the map data returned from the external server, the second format of the map data being obtained via format conversion of the first format of the map data; implementing simulation planning and control based on the second format of the map data; and A method for providing a map service based on an autonomous driving simulation test, comprising:

5. A map service providing method based on an autonomous driving simulation test, the map service providing method being applied to a map engine, comprising: Acquiring road network information around the vehicle according to analysis of the received vehicle position information and the first format of the map data; Generate a planned route according to the received simulation start point and simulation end point; converting the road network information around the vehicle and the planned route into a second format of map data; A method for providing a map service based on an autonomous driving simulation test, comprising:

6. A map service providing system based on an autonomous driving simulation test, comprising an emulator, a map server, a server and a map engine, the emulator is used to construct a test scenario, the test scenario being used to convert the map data into a first format, the emulator is also used to upload the map data into the first format to the map server, and is also used to obtain a position information of the vehicle, a simulation start point and a simulation end point, and upload the position information of the vehicle, the simulation start point and the simulation end point to the server, the emulator is also used to receive the map data into a second format (described later) from the server; the map server is used to store the first format of the map data; The server is used to download the first format of the map data from the map server and provide the first format of the map data to the map engine, and is used to provide the position information of the vehicle, the simulation start point and the simulation end point from the emulator to the map engine, and is used to provide the second format of the map data, which is returned from the map engine to the emulator as a map service, as described below; The map engine acquires road network information around the vehicle according to the analysis of the position information of the vehicle and the first format of the map data acquired from the server, the map engine generates a planned route according to the simulation starting point and the simulation ending point acquired from the server, further converts the road network information around the vehicle and the planned route into a second format of the map data, and returns the second format of the map data to the server. A map service providing system based on an autonomous driving simulation test,

7. The map server includes: a storage module for storing the first format of the map data obtained from the emulator; a first authentication module for performing authentication with the server; Equipped with The server further comprises: a second authentication module for performing authentication with the map server; The map service providing system based on the autonomous driving simulation test according to claim 6.

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

9. a simulation module for acquiring position information of an own vehicle, a simulation start point and a simulation end point, the simulation module being used to construct a test scenario and convert the test scenario into a first format of map data; an SDK module used to obtain the first format of the map data from the simulation module, upload the first format of the map data to an external server, and return the second format of the map data received from the external server to the simulation module; a communication module for acquiring the second format of the map data by communicating with the simulation module, the communication module being used to perform simulation planning and control based on the second format of the map data; An emulator comprising:

10. A solving module for obtaining road network information around the vehicle according to analyzing the received vehicle position information and the first format of the map data; a path generation module for generating a planned path according to the received simulation start point and simulation end point; a conversion module for converting road network information around the vehicle and the planned route into a second format of the map data; A map engine comprising:

11. A computer-readable medium storing a computer program for implementing the method for providing map services based on autonomous driving simulation tests according to any one of claims 1 to 5, when executed by a processor.

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

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