CN108241354A - For the test method of automatic Pilot analogue system - Google Patents
For the test method of automatic Pilot analogue system Download PDFInfo
- Publication number
- CN108241354A CN108241354A CN201611216828.6A CN201611216828A CN108241354A CN 108241354 A CN108241354 A CN 108241354A CN 201611216828 A CN201611216828 A CN 201611216828A CN 108241354 A CN108241354 A CN 108241354A
- Authority
- CN
- China
- Prior art keywords
- automatic pilot
- control instruction
- analogue system
- identifiable
- virtual
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Debugging And Monitoring (AREA)
Abstract
The present invention relates to automatic Pilot fields, disclose a kind of test method for automatic Pilot analogue system.The test method includes：Generate vehicle simulated environment；Sensing data in simulated environment is read by data transformation interface and converts thereof into the second identifiable sensing data of automatic Pilot analogue system；Second automatic Pilot analogue system receives the identifiable sensing data and generates the second control instruction with setting test target according to it and send it to data transformation interface；Data transformation interface receives second control instruction and converts thereof into the identifiable control instruction of simulated environment generation module；The identifiable control instruction is applied to virtual vehicle so that the virtual vehicle is run in virtual scene by simulated environment generation module.In this way, realize the test to the second automatic Pilot analogue system.
Description
Technical field
The present invention relates to automatic Pilot fields, and in particular, to a kind of test method for automatic Pilot analogue system.
Background technology
The process from emulation to real steering vectors is all deferred in the exploitation of automated driving system, and emulation experiment is as a kind of zero wind
Danger, iteratively faster, reproducible test method have established solid foundation for the technical drive test examination of automatic Pilot.Emulation can be with
Quickly and effectively the correctness of algorithm is tested with performance.
The exploitation of current main machine people's system depends on Ros (robot operating system).Ros is one
Open standard platform, it is soft with helper applications developer establishment robot application that it provides a series of software frame and tool
Part.Ros mainly depends on (SuSE) Linux OS.If carrying out full-range emulation under linux, require a great deal of time
It carries out emulating building for relevant element task with energy, such as：A road environment similar to true environment is established, is established
The sensor to match establishes the Vehicle dynamics close to real conditions.The emulation system met the requirements is built from scratch
System requires a great deal of time, and delays the core algorithm development time, is the significant obstacle of present exploitation automated driving system.
Since oneself exploitation needs to spend a large amount of manpower and materials, the commercial solution using a maturation is a shortcut.At present
The commercial simulation environment of comparative maturity is Prescan and Carsim, however both of which is imitative under Windows operating system
True software, there is no ripe business softwares under Linux.Just because of this limit, the common solution of developer be
A set of algorithm is developed under Windows, is verified in simulated environment.Once being verified, it is based under Linux environment again again
The interface of Ros carries out the transplanting of algorithm.Such development scheme considerably increases exploitation amount, it is also difficult to ensure the process in transplanting
In be mistake do not occur.
Invention content
The object of the present invention is to provide a kind of test methods for automatic Pilot analogue system, can realize with reference to emulation
Software directly carries out artificial debugging, confirms the reliable of analogue system to be tested, to ensure analogue system to be tested and true system
System can reach seamless switching.
The present invention provides a kind of test method for automatic Pilot analogue system, and this method includes：Ring is operated first
The simulated environment generation module generation vehicle simulated environment of the first automatic Pilot analogue system under border, the vehicle simulated environment packet
Include virtual vehicle, virtual-sensor and virtual scene；The biography that the simulated environment generation module is generated according to the virtual-sensor
Sensor data and setting test target generate the first control instruction, and by first control instruction be applied to the virtual vehicle with
So that the virtual vehicle is run in the virtual scene；The data transformation interface of the first automatic Pilot analogue system reads institute
The the second automatic Pilot analogue system stated sensing data and the sensing data is converted under the second operating environment can
The sensing data of identification；The second automatic Pilot analogue system receives the identifiable sensing data, can be known according to this
Other sensing data generates the second control instruction with the setting test target, and second control instruction is sent to described
Data transformation interface；The data transformation interface receives second control instruction, and second control instruction is converted into described
The identifiable control instruction of simulated environment generation module；The simulated environment generation module is by the identifiable control instruction application
To the virtual vehicle so that the virtual vehicle is run in the virtual scene.
Optionally, this method further includes：If the identifiable control instruction is applied to institute after the virtual vehicle
It states the result that virtual vehicle is run in the virtual scene and reaches the setting test target, then confirm that described second drives automatically
It sails analogue system and is verified success for the setting test target.
Optionally, this method further includes：Confirm the second automatic Pilot emulation system for different setting test targets
Whether system is verified success.
Optionally, this method further includes：Confirming that second automatic Pilot emulates for all setting test targets
After system is verified successfully, which is directly applied into actual vehicle.
Optionally, first operating environment is Windows operating environments, and second operating environment is Linux operations
Environment.
Optionally, the simulated environment generation module is based on PreScan, and the data transformation interface includes：
PreScan-Matlab interfaces, for reading the sensing data of the virtual-sensor generation or receiving based on PreScan's
The identifiable control instruction of simulated environment；And Matlab-Ros interfaces, for the sensing data to be converted into
The identifiable sensing data of the second automatic Pilot analogue system based on Ros systems under Linux operating environments is concurrent
It send the identifiable sensing data or receives second control instruction and be converted into second control instruction and be based on
The receivable control instruction of the simulated environment of PreScan.
Through the above technical solutions, the through the above technical solutions, simulated environment generation module of the first automated driving system
Vehicle simulated environment is generated, it is by its data transformation interface that the data conversion of virtual-sensor in simulated environment is automatic into second
The identifiable sensing data is simultaneously passed to the second automatic Pilot emulation system by the identifiable sensing data of driving simulation system
System, the second automatic Pilot analogue system generate control instruction according to the identifiable sensing data and setting test target and will
The control instruction is converted into the identifiable control instruction of simulated environment generation module by data transformation interface and applies it to
Virtual vehicle in vehicle simulated environment to verify the reliability of the second automatic Pilot analogue system, with ensure the second analogue system and
The seamless switching of the real system of true vehicle.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is to be used to provide further understanding of the present invention, and a part for constitution instruction, with following tool
Body embodiment is used to explain the present invention, but be not construed as limiting the invention together.In the accompanying drawings：
Fig. 1 is the structural frames of the test system for automatic Pilot analogue system provided according to the embodiment of the present invention
Figure；
Fig. 2 is the knot of the test system for automatic Pilot analogue system that another embodiment according to the present invention provides
Structure block diagram；
Fig. 3 is the knot of the test system for automatic Pilot analogue system that another embodiment according to the present invention provides
Structure block diagram；
Fig. 4 is the flow of the test method for automatic Pilot analogue system provided according to the embodiment of the present invention
Figure；
Fig. 5 is the stream of the test method for automatic Pilot analogue system that another embodiment according to the present invention provides
Cheng Tu；And
Fig. 6 is test and the application schematic diagram of the automatic Pilot analogue system provided according to the embodiment of the present invention.
Reference sign
1 first automatic Pilot analogue system, 2 simulated environment generation module
3 data transformation interface, 4 second automatic Pilot analogue system
5 PreScan-Matlab interfaces, 6 Matlab-Ros interfaces
7 real vehicles
Specific embodiment
The specific embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Fig. 1 is the structural frames of the test system for automatic Pilot analogue system provided according to the embodiment of the present invention
Figure.As shown in Figure 1, the test system is included in the first automatic Pilot analogue system 1 under the first operating environment, it can be to quilt
It tests vehicle and carries out simulation operations.The first automatic Pilot analogue system 1 includes simulated environment generation module 2 and data conversion connects
Mouth 3.Simulated environment generation module 2 can generate vehicle simulated environment, which includes virtual vehicle, virtual sensing
Device and virtual scene, and can be according to the first control of test target generation for the sensing data and setting that virtual-sensor generates
It instructs and first control instruction is applied to virtual vehicle in simulated environment so that the virtual vehicle is in virtual scene
Operation.Data transformation interface 3 can be used for reading the sensing data of virtual-sensor in simulated environment and convert thereof into the
The second identifiable sensing data of automatic Pilot analogue system under two operating environments.Second automatic Pilot analogue system receives
The identifiable sensing data, and referred to according to the identifiable sensing data and the second control of the test target of setting generation
Enable and second control instruction be sent to data transformation interface 3, data transformation interface 3 receive second control instruction and by its
It is converted into 2 identifiable control instruction of simulated environment generation module, simulated environment generation module 2 is by its identifiable control instruction
Virtual vehicle is applied to so that the virtual vehicle can be run in virtual scene.
According in embodiment provided by the invention, if simulated environment generation module is by its identifiable control instruction
It is applied to after virtual vehicle, the result that virtual vehicle is run in virtual scene reaches the test target of setting, then second certainly
Dynamic driving simulation system is verified success for the test target.In addition to this, different test targets can be also set, by second
Automatic Pilot analogue system is tested for different test targets.
In addition, according in embodiment provided by the invention, which may also include the emulation of the second automatic Pilot
System, as shown in Figure 2.Fig. 2 is the test for automatic Pilot analogue system that another embodiment according to the present invention provides
The structure diagram of system.The difference lies in including second certainly with test system shown in FIG. 1 for test system shown in Fig. 2
Dynamic driving simulation system.
According in embodiment provided by the invention, the first operating environment can be Windows operating environments, and second grasps
It can be Linux operating environments to make environment.Simulated environment generation module can be based on PreScan or be based on
Carsim's, PreScan and Carsim are the commercial simulation softwares of comparative maturity.If simulated environment generation module is to be based on
PreScan's, data transformation interface includes PreScan-Matlab interfaces and Matlab-Ros interfaces.PreScan-Matlab connects
The interface of mouth interaction between PreScan and Matlab, the interface of Matlab-Ros interfaces interaction between Matlab and Ros,
Interface is a kind of application programming interface.Between PreScan systems and Ros systems cannot directly into the transmission of row information, but
It is that PreScan systems and Ros systems can be docked with Matlab, it can be considered to use Matlab as between them
Information terminal, you can PreScan-Matlab interfaces and Matlab-Ros interfaces to be used to be transmitted between PreScan and Ros
Information.PreScan-Matlab interfaces and Matlab-Ros interfaces can be using the method known to one of ordinary skill in the art
(such as programmed method) does not herein repeat this come what is realized.
Fig. 3 is the knot of the test system for automatic Pilot analogue system that another embodiment according to the present invention provides
Structure block diagram.As shown in figure 3, the test system includes the first automatic Pilot analogue system 1 and the second automatic Pilot analogue system 4,
First automated driving system 1 includes simulated environment generation module 2 and data transformation interface 3, and data transformation interface 3 includes
PreScan-Matlab interfaces 5 and Matlab-Ros interfaces 6.In this embodiment, the first automatic Pilot analogue system 1 be
Under Windows operating environments, the second automatic Pilot analogue system 4 is the simulated environment generation mould under Linux operating environments
Block 2 is based on PreScan.In this embodiment, the simulated environment generation module 2 based on PreScan builds vehicle emulation
Environment, the vehicle simulated environment include virtual vehicle, virtual-sensor and virtual scene；PreScan-Matlab interfaces 5 are read
Sensing data is converted under Linux operating environments by the sensing data that virtual-sensor is taken to generate, Matlab-Ros interfaces 6
The 4 identifiable sensing data of the second automatic Pilot analogue system based on Ros systems and send the identifiable sensor
Data are to the second automatic Pilot analogue system 4；Second automatic Pilot analogue system 4 receives the identifiable sensing data, root
The second control instruction is generated, and second control instruction is sent according to the identifiable sensing data and the test target of setting
To Matlab-Ros interfaces 6；Matlab-Ros interfaces 6 receive second control instruction and second control instruction are converted into base
In the receivable control instruction of the simulated environment of PreScan；PreScan-Matlab interfaces 5 receive the emulation based on PreScan
The identifiable control instruction of environment simultaneously sends it to simulated environment generation module 2；Simulated environment generation module 2 can recognize that this
Control instruction be applied to virtual vehicle so that the virtual vehicle is run in virtual scene.If the identifiable control refers to
Enable and be applied to the test target that the result that virtual vehicle after virtual vehicle is run in virtual scene reaches setting, then second from
Dynamic driving simulation system 4 is verified success for the setting test target.In this way, realizing system is emulated with reference to the first automatic Pilot
System the second automatic Pilot analogue system of verification, so that the second automatic Pilot analogue system can be realized between true vehicle
Slitless connection.
Fig. 4 is the flow of the test method for automatic Pilot analogue system provided according to the embodiment of the present invention
Figure.As shown in figure 4, the test method includes the following steps：
Step S41：Generate vehicle simulated environment, that is, the first automatic Pilot analogue system under the first operating environment
Simulated environment generation module generates vehicle simulated environment, which includes virtual vehicle, virtual-sensor and void
Intend scene；The simulated environment generation module can be according to the sensing data and setting test target generation that the virtual-sensor generates
First control instruction, and first control instruction is applied to virtual vehicle so that the virtual vehicle is transported in virtual scene
Row；
Step S42：Conversion sensor data, that is, the data transformation interface of the first automatic Pilot analogue system, which is read, to be passed
Sensor data and that the sensing data is converted into the second automatic Pilot analogue system under the second operating environment is identifiable
Sensing data；
Step S43：Generate the second control instruction, that is, the second automatic Pilot analogue system receives the identifiable sensor
Data generate the second control instruction, and second control is referred to according to the identifiable sensing data and setting test target
Order is sent to data transformation interface；
Step S44：The second control instruction is converted as identifiable control instruction, that is, data-interface receives second control
Instruction, and second control instruction is converted into the identifiable control instruction of simulated environment generation module；
Step S45：Using the identifiable control instruction, that is, simulated environment generation module refers to the identifiable control
Order is applied to virtual vehicle so that the virtual vehicle is run in virtual scene.
In this way, by building simulated environment in the first automatic Pilot analogue system under the first operating environment, pass through number
Make between the first automatic Pilot analogue system and the second automatic Pilot analogue system under the second operating environment according to translation interface
The transmission of the data and control instruction of progress realizes what vehicle in the second automatic Pilot analogue system control simulated environment travelled
Process.
In addition, according in embodiment provided by the invention, if the test method may also include identifiable control
The result that virtual vehicle is run in virtual scene after application of instruction to virtual vehicle reaches setting test target, then confirms
Two automatic Pilot analogue systems are verified success for the setting test target.The second automatic Pilot is emulated in this way, realizing
The verification of system.According in embodiment provided by the invention, different test targets can be also set, such as crossing turning, is protected
Straight trip is held, red parking is met, meets barrier parking etc., confirms whether the second automatic Pilot analogue system can be verified success.When
Different test targets is set, after the second automatic Pilot analogue system is verified successfully, which can be emulated system
System is applied directly to actual vehicle.
Fig. 5 is the stream of the test method for automatic Pilot analogue system that another embodiment according to the present invention provides
Cheng Tu.The difference lies in this embodiment, test method exists flow chart shown in fig. 5 with flow chart shown in Fig. 4
After step S55 (the step S45 in Fig. 4), following steps are further comprised：
Step S56：Judge whether to be proved to be successful, that is, judge that identifiable control instruction is applied to void after virtual vehicle
Intend the test target whether result that vehicle is run in virtual scene reaches setting, confirm if the test target for reaching setting
Second automatic Pilot analogue system is verified success for the setting test target, confirms if the test target that setting is not achieved
Second automatic Pilot analogue system is not verified success for the setting test target；Step S57 is performed if being proved to be successful,
If otherwise perform step S58；
Step S57：Judge whether to verify for all test targets, you can to set different test targets,
Such as crossing turning keeps straight trip, meets red parking, meets barrier parking, judges that can the second automatic Pilot analogue system by
It is proved to be successful, if so then execute step S60, if otherwise performing step S59；
Step S58：Algorithm, even authentication failed are changed, then illustrates that the algorithm in the second automatic Pilot analogue system is discontented with
Sufficient condition needs to modify to it, has changed from the process of the step S53 again test method after algorithm, if verification cannot
It is successful then need continue modification algorithm, until the second automatic Pilot analogue system is verified success；
Step S59：The test target of setting is replaced, is performed after having replaced the test target of setting from step S52 cycles, directly
In the case of the different test targets in setting, the second automatic Pilot analogue system is verified success；And
Step S60：Actual vehicle is applied to, i.e., the second automatic Pilot analogue system is applied to actual vehicle.
Combining what the first automatic Pilot analogue system verified the second automatic Pilot analogue system in this way, realizing
Process, it is ensured that the reliability of the second automatic Pilot analogue system, and it is verified successful feelings in the second automatic Pilot analogue system
Under condition, dock with actual vehicle to complete the driving to actual vehicle directly by the second automatic Pilot analogue system.In this mistake
Cheng Zhong does not need to additional conversion exploitation requirement from simulated environment to true vehicle environment, efficient, convenient.
According in embodiment provided by the invention, the first operating environment can be Windows operating environments, and second grasps
It can be Linux operating environments to make environment；Simulated environment generation module can be based on PreScan or be based on
Carsim's, PreScan and Carsim are the commercial simulation softwares of comparative maturity.If simulated environment generation module is to be based on
PreScan's, data transformation interface includes PreScan-Matlab interfaces and Matlab-Ros interfaces.PreScan-Matlab connects
Mouth refers to for reading the sensing data of virtual-sensor generation or receiving the identifiable control of the simulated environment based on PreScan
It enables；Matlab-Ros interfaces, for sensing data to be converted into second based on Ros systems under Linux operating environments
The identifiable sensing data of automatic Pilot analogue system simultaneously sends identifiable sensing data or receives the second control instruction
And second control instruction is converted into the receivable control instruction of the simulated environment based on PreScan.
Fig. 6 is test and the application schematic diagram of the automatic Pilot analogue system provided according to the embodiment of the present invention.
In the embodiment, the first automated driving system 1 includes simulated environment generation module 2, PreScan- based on PreScan
Matlab interfaces 5 and Matlab-Ros interfaces 6；First automated driving system 1 is under Windows operating environments, and first certainly
Dynamic control loop 4 is under Linux operating environments；Simulated environment generation module 2 based on PreScan builds vehicle emulation ring
Border, the vehicle simulated environment include virtual vehicle, virtual-sensor and virtual scene；PreScan-Matlab interfaces 5 are read
Sensing data is converted under Linux operating environments by the sensing data of virtual-sensor generation, Matlab-Ros interfaces 6
4 identifiable sensing data of the second automatic Pilot analogue system based on Ros systems simultaneously passes through network to send this identifiable
Sensing data is to the second automatic Pilot analogue system 4；Second automatic Pilot analogue system 4 receives the identifiable sensor number
According to according to the identifiable sensing data and test target the second control instruction of generation of setting, that is, opened by what it included
The algorithm of hair carries out the effects that detection of obstacles, Lane detection, decision rule and control module and generates the second control instruction, and
Second control instruction is sent to Matlab-Ros interfaces 6；Matlab-Ros interfaces 6 receive second control instruction and should
Second control instruction is converted into the receivable control instruction of simulated environment based on PreScan；PreScan-Matlab interfaces 5 connect
It receives the identifiable control instruction of simulated environment based on PreScan and sends it to simulated environment generation module 2；Simulated environment
The identifiable control instruction is applied to generation module 2 virtual vehicle so that the virtual vehicle is run in virtual scene,
Virtual vehicle is driven to complete the update of a position according to the second control instruction, complete a simulation cycles.If this is recognizable
Control instruction be applied to the test target that the result that virtual vehicle after virtual vehicle is run in virtual scene reaches setting,
Then the second automatic Pilot analogue system 4 is verified success for the setting test target.Replace different test target verifications the
Two automatic Pilot analogue systems 4, if being verified success, that is, complete the closed-loop simulation of whole system, then driven second automatically
It sails analogue system 4 and is applied to real vehicles 7, the data that sensor is obtained from real vehicles emulate system by the second automatic Pilot
The processing of algorithm in system 4 generates control message and is sent to real vehicles 7, completes the driving to real vehicles 7.So realize
Second automatic Pilot analogue system 4 carries out emulation testing to verify the second automatic Pilot by the first automatic Pilot analogue system 1
The reliability of analogue system 4, and applied it to very in the case where the second automatic Pilot analogue system 4 is verified reliability
Real vehicle 7 develops requirement without additional conversion, efficient, convenient.
In conclusion the second automatic Pilot analogue system is verified with reference to the first automatic Pilot analogue system, and
In the case of second automatic Pilot analogue system is verified successfully, directly by the second automatic Pilot analogue system and actual vehicle pair
It connects to complete the driving to actual vehicle.So, it can be ensured that the reliability and analogue system of the second automatic Pilot analogue system
With the slitless connection of the real system of real vehicles, and additional conversion exploitation is not needed to from simulated environment to true vehicle environment
It is it is required that cost-effective, efficient, convenient.
The optional embodiment of example of the present invention is described in detail above in association with attached drawing, still, embodiment of the present invention is not
The detail being limited in the above embodiment, can be to of the invention real in the range of the technology design of embodiment of the present invention
The technical solution for applying mode carries out a variety of simple variants, these simple variants belong to the protection domain of embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, embodiment of the present invention
Various combinations of possible ways are no longer separately illustrated.
It will be appreciated by those skilled in the art that all or part of step in realizing the method for the above embodiment is can be with
Relevant hardware is instructed to complete by program, which is stored in a storage medium, including some instructions making
It obtains one (can be microcontroller, chip etc.) or processor (processor) performs each embodiment the method for the application
All or part of step.And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of embodiment of the present invention, as long as its
Without prejudice to the thought of embodiment of the present invention, it should equally be considered as embodiment of the present invention disclosure of that.
Claims (6)
1. a kind of test method for automatic Pilot analogue system, which is characterized in that this method includes：
The simulated environment generation module generation vehicle simulated environment of the first automatic Pilot analogue system under the first operating environment,
The vehicle simulated environment includes virtual vehicle, virtual-sensor and virtual scene；
The sensing data and setting test target that the simulated environment generation module is generated according to the virtual-sensor generate first
Control instruction, and first control instruction is applied to the virtual vehicle so that the virtual vehicle is in the virtual scene
Operation；
The data transformation interface of the first automatic Pilot analogue system reads the sensing data and by the sensing data
It is converted into the second identifiable sensing data of automatic Pilot analogue system under the second operating environment；
The second automatic Pilot analogue system receives the identifiable sensing data, according to the identifiable sensing data
The second control instruction is generated, and second control instruction is sent to the data transformation interface with the setting test target；
The data transformation interface receives second control instruction, and second control instruction is converted into the simulated environment and is given birth to
Into the identifiable control instruction of module；And
The identifiable control instruction is applied to the virtual vehicle so that the virtual vehicle by the simulated environment generation module
It is run in the virtual scene.
2. according to the method described in claim 1, it is characterized in that, this method further includes：
If the virtual vehicle is in the virtual scene after the identifiable control instruction is applied to the virtual vehicle
The result of middle operation reaches the setting test target, then confirms that the second automatic Pilot analogue system is tested for the setting
Target is verified success.
3. according to the method described in claim 2, it is characterized in that, this method further includes：
Confirm whether the second automatic Pilot analogue system is verified success for different setting test targets.
4. according to the method described in claim 3, it is characterized in that, this method further includes：
After confirming that the second automatic Pilot analogue system is verified successfully for all setting test target, by this
Two automatic Pilot analogue systems directly apply to actual vehicle.
5. according to the method described in claim 1, it is characterized in that, first operating environment is Windows operating environments, institute
It is Linux operating environments to state the second operating environment.
6. according to the method described in claim 5, it is characterized in that, the simulated environment generation module is based on PreScan,
The data transformation interface includes：
PreScan-Matlab interfaces are based on for reading the sensing data of the virtual-sensor generation or reception
The identifiable control instruction of the simulated environment of PreScan；And
Matlab-Ros interfaces, for by the sensing data be converted under Linux operating environments based on Ros systems
The identifiable sensing data of the second automatic Pilot analogue system simultaneously sends the identifiable sensing data or reception
Second control instruction is simultaneously converted into the receivable control of the simulated environment based on PreScan by second control instruction
Instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611216828.6A CN108241354B (en) | 2016-12-26 | 2016-12-26 | Test method for automatic driving simulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611216828.6A CN108241354B (en) | 2016-12-26 | 2016-12-26 | Test method for automatic driving simulation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108241354A true CN108241354A (en) | 2018-07-03 |
| CN108241354B CN108241354B (en) | 2022-11-22 |
Family
ID=62704909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611216828.6A Active CN108241354B (en) | 2016-12-26 | 2016-12-26 | Test method for automatic driving simulation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108241354B (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108897240A (en) * | 2018-08-13 | 2018-11-27 | 济南浪潮高新科技投资发展有限公司 | Automatic Pilot emulation testing cloud platform and automatic Pilot emulation test method |
| CN108959805A (en) * | 2018-07-23 | 2018-12-07 | 济南浪潮高新科技投资发展有限公司 | A kind of cloud platform and method of the hardware-in-loop simulation of automatic Pilot |
| CN109557904A (en) * | 2018-12-06 | 2019-04-02 | 百度在线网络技术（北京）有限公司 | A kind of test method, device, equipment and medium |
| CN109725628A (en) * | 2018-12-21 | 2019-05-07 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of emulation mode and device |
| CN109739216A (en) * | 2019-01-25 | 2019-05-10 | 深圳普思英察科技有限公司 | The test method and system of the practical drive test of automated driving system |
| CN110209146A (en) * | 2019-05-23 | 2019-09-06 | 杭州飞步科技有限公司 | Test method, device, equipment and the readable storage medium storing program for executing of automatic driving vehicle |
| CN110412888A (en) * | 2019-04-29 | 2019-11-05 | 当家移动绿色互联网技术集团有限公司 | Adjust method, apparatus, medium and the electronic equipment of the speed of simulation process |
| CN110765661A (en) * | 2019-11-22 | 2020-02-07 | 北京京东乾石科技有限公司 | Automatic driving simulation scene generation method and device, electronic equipment and storage medium |
| CN110850843A (en) * | 2019-11-08 | 2020-02-28 | 北京海纳川汽车部件股份有限公司 | Car lamp control simulation test method and system |
| CN111123883A (en) * | 2018-10-30 | 2020-05-08 | 百度在线网络技术（北京）有限公司 | Dual-drive unmanned vehicle simulation method, device, equipment and computer readable medium |
| CN111123728A (en) * | 2018-10-30 | 2020-05-08 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle simulation method, device, equipment and computer readable medium |
| CN111159262A (en) * | 2018-11-08 | 2020-05-15 | 百度在线网络技术（北京）有限公司 | Automatic driving simulation data processing method and device |
| CN111176134A (en) * | 2018-11-09 | 2020-05-19 | 百度在线网络技术（北京）有限公司 | Simulation system adaptation method, device and terminal |
| CN111538315A (en) * | 2020-04-26 | 2020-08-14 | 东风汽车集团有限公司 | Simulation test system and test method for automatic driving function of whole vehicle |
| CN111665738A (en) * | 2019-03-05 | 2020-09-15 | 阿里巴巴集团控股有限公司 | In-loop simulation system and information processing method and device thereof |
| CN112289023A (en) * | 2020-10-09 | 2021-01-29 | 腾讯科技（深圳）有限公司 | Parking simulation test method and device for automatic driving and related equipment |
| CN112513762A (en) * | 2018-08-20 | 2021-03-16 | 宝马股份公司 | Extensible remote operation autonomous robot |
| CN113704119A (en) * | 2021-08-31 | 2021-11-26 | 中汽创智科技有限公司 | Test method, device and system for intelligent driving and storage medium |
| CN113442856B (en) * | 2021-08-31 | 2021-12-10 | 国汽智控(北京)科技有限公司 | Control method and device based on adaptive platform and ROS2 and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1365032A (en) * | 2001-12-29 | 2002-08-21 | 天津大学 | Open type structure digital control system of remote network monitoring and secondary development |
| CN101414179A (en) * | 2008-11-20 | 2009-04-22 | 上海交通大学 | Human-machine interactive assembly process planning system |
| US20110224828A1 (en) * | 2010-02-12 | 2011-09-15 | Neuron Robotics, LLC | Development platform for robotic systems |
| US20110288841A1 (en) * | 2010-05-24 | 2011-11-24 | Gm Global Technology Operations, Inc. | Vehicle simulation system with software-in-the-loop bypass control |
| CN102262394A (en) * | 2010-05-24 | 2011-11-30 | 通用汽车环球科技运作有限责任公司 | Vehicle system modeling systems and methods |
| CN102789171A (en) * | 2012-09-05 | 2012-11-21 | 北京理工大学 | Method and system for semi-physical simulation test of visual unmanned aerial vehicle flight control |
| EP2871544A2 (en) * | 2013-11-08 | 2015-05-13 | Rockwell Automation Technologies, Inc. | Interface for data exchange between industrial controllers and simulation applications for simulating a machine |
| CN104950695A (en) * | 2015-07-15 | 2015-09-30 | 浙江工业大学 | Universal UAV (unmanned aerial vehicle) vision simulation platform |
| CN105652690A (en) * | 2016-01-13 | 2016-06-08 | 重庆长安汽车股份有限公司 | In-loop test system and method for automatic parking system vehicle |
-
2016
- 2016-12-26 CN CN201611216828.6A patent/CN108241354B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1365032A (en) * | 2001-12-29 | 2002-08-21 | 天津大学 | Open type structure digital control system of remote network monitoring and secondary development |
| CN101414179A (en) * | 2008-11-20 | 2009-04-22 | 上海交通大学 | Human-machine interactive assembly process planning system |
| US20110224828A1 (en) * | 2010-02-12 | 2011-09-15 | Neuron Robotics, LLC | Development platform for robotic systems |
| US20110288841A1 (en) * | 2010-05-24 | 2011-11-24 | Gm Global Technology Operations, Inc. | Vehicle simulation system with software-in-the-loop bypass control |
| CN102262394A (en) * | 2010-05-24 | 2011-11-30 | 通用汽车环球科技运作有限责任公司 | Vehicle system modeling systems and methods |
| CN102789171A (en) * | 2012-09-05 | 2012-11-21 | 北京理工大学 | Method and system for semi-physical simulation test of visual unmanned aerial vehicle flight control |
| EP2871544A2 (en) * | 2013-11-08 | 2015-05-13 | Rockwell Automation Technologies, Inc. | Interface for data exchange between industrial controllers and simulation applications for simulating a machine |
| CN104950695A (en) * | 2015-07-15 | 2015-09-30 | 浙江工业大学 | Universal UAV (unmanned aerial vehicle) vision simulation platform |
| CN105652690A (en) * | 2016-01-13 | 2016-06-08 | 重庆长安汽车股份有限公司 | In-loop test system and method for automatic parking system vehicle |
Non-Patent Citations (6)
| Title |
|---|
| ANDR´ES E. G´OMEZ ET.AL: "Simulation Platform for Cooperative Vehicle Systems", 《2014 IEEE 17TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC)》 * |
| ANDR´ES E. G´OMEZ ET.AL: "Simulation Platform for Cooperative Vehicle Systems", 《2014 IEEE 17TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC)》, 30 November 2014 (2014-11-30), pages 1347 * |
| MATHWORKS: "MathWorks推出与机器人操作***（ROS）完整集成的Robotics System Toolbox", 《微型机与应用》 * |
| MATHWORKS: "MathWorks推出与机器人操作***（ROS）完整集成的Robotics System Toolbox", 《微型机与应用》, 30 September 2015 (2015-09-30), pages 70 * |
| 曾锐利: "碰撞避让***的仿真教学实践研究", 《电气电子教学学报》 * |
| 曾锐利: "碰撞避让***的仿真教学实践研究", 《电气电子教学学报》, 31 October 2016 (2016-10-31), pages 137 * |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108959805A (en) * | 2018-07-23 | 2018-12-07 | 济南浪潮高新科技投资发展有限公司 | A kind of cloud platform and method of the hardware-in-loop simulation of automatic Pilot |
| CN108959805B (en) * | 2018-07-23 | 2023-04-18 | 山东浪潮科学研究院有限公司 | Automatic-driving hardware-in-loop simulation cloud platform and method |
| CN108897240A (en) * | 2018-08-13 | 2018-11-27 | 济南浪潮高新科技投资发展有限公司 | Automatic Pilot emulation testing cloud platform and automatic Pilot emulation test method |
| CN112513762A (en) * | 2018-08-20 | 2021-03-16 | 宝马股份公司 | Extensible remote operation autonomous robot |
| CN112513762B (en) * | 2018-08-20 | 2024-04-16 | 宝马股份公司 | Extensible teleoperated autonomous robot |
| CN111123883A (en) * | 2018-10-30 | 2020-05-08 | 百度在线网络技术（北京）有限公司 | Dual-drive unmanned vehicle simulation method, device, equipment and computer readable medium |
| CN111123728A (en) * | 2018-10-30 | 2020-05-08 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle simulation method, device, equipment and computer readable medium |
| CN111159262B (en) * | 2018-11-08 | 2024-06-04 | 阿波罗智能技术(北京)有限公司 | Automatic driving simulation data processing method and device |
| CN111159262A (en) * | 2018-11-08 | 2020-05-15 | 百度在线网络技术（北京）有限公司 | Automatic driving simulation data processing method and device |
| CN111176134A (en) * | 2018-11-09 | 2020-05-19 | 百度在线网络技术（北京）有限公司 | Simulation system adaptation method, device and terminal |
| CN111176134B (en) * | 2018-11-09 | 2022-09-09 | 百度在线网络技术（北京）有限公司 | Simulation system adaptation method, device and terminal |
| CN109557904A (en) * | 2018-12-06 | 2019-04-02 | 百度在线网络技术（北京）有限公司 | A kind of test method, device, equipment and medium |
| CN109725628A (en) * | 2018-12-21 | 2019-05-07 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of emulation mode and device |
| CN109739216A (en) * | 2019-01-25 | 2019-05-10 | 深圳普思英察科技有限公司 | The test method and system of the practical drive test of automated driving system |
| CN111665738A (en) * | 2019-03-05 | 2020-09-15 | 阿里巴巴集团控股有限公司 | In-loop simulation system and information processing method and device thereof |
| CN110412888A (en) * | 2019-04-29 | 2019-11-05 | 当家移动绿色互联网技术集团有限公司 | Adjust method, apparatus, medium and the electronic equipment of the speed of simulation process |
| CN110412888B (en) * | 2019-04-29 | 2020-05-29 | 当家移动绿色互联网技术集团有限公司 | Method, apparatus, medium, and electronic device for adjusting speed of simulation process |
| CN110209146A (en) * | 2019-05-23 | 2019-09-06 | 杭州飞步科技有限公司 | Test method, device, equipment and the readable storage medium storing program for executing of automatic driving vehicle |
| CN110850843A (en) * | 2019-11-08 | 2020-02-28 | 北京海纳川汽车部件股份有限公司 | Car lamp control simulation test method and system |
| CN110765661A (en) * | 2019-11-22 | 2020-02-07 | 北京京东乾石科技有限公司 | Automatic driving simulation scene generation method and device, electronic equipment and storage medium |
| CN111538315A (en) * | 2020-04-26 | 2020-08-14 | 东风汽车集团有限公司 | Simulation test system and test method for automatic driving function of whole vehicle |
| CN111538315B (en) * | 2020-04-26 | 2021-10-29 | 东风汽车集团有限公司 | Simulation test system and test method for automatic driving function of whole vehicle |
| CN112289023A (en) * | 2020-10-09 | 2021-01-29 | 腾讯科技（深圳）有限公司 | Parking simulation test method and device for automatic driving and related equipment |
| CN112289023B (en) * | 2020-10-09 | 2024-03-26 | 腾讯科技（深圳）有限公司 | Parking simulation test method and device for automatic driving and related equipment |
| CN113704119A (en) * | 2021-08-31 | 2021-11-26 | 中汽创智科技有限公司 | Test method, device and system for intelligent driving and storage medium |
| CN113442856B (en) * | 2021-08-31 | 2021-12-10 | 国汽智控(北京)科技有限公司 | Control method and device based on adaptive platform and ROS2 and storage medium |
| CN113704119B (en) * | 2021-08-31 | 2024-06-07 | 中汽创智科技有限公司 | Test method, device and system for intelligent driving and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108241354B (en) | 2022-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108241354A (en) | For the test method of automatic Pilot analogue system | |
| CN108241762A (en) | For the test system and test method of automatic Pilot analogue system | |
| EP4047342B1 (en) | Scene reproduction test method, apparatus, device and program product of autonomous driving system | |
| CN109598184B (en) | Method and device for processing multi-segmentation tasks | |
| EP3633618A1 (en) | Method for tracking object by using convolutional neural network including tracking network and computing device using the same | |
| CN102591780B (en) | Device driver software test method and test system | |
| KR102391668B1 (en) | Autonomous Driving AI Simulation System and Method using Virtual Reality | |
| EP3690846B1 (en) | Learning method and learning device for determining whether to switch mode of vehicle from manual driving mode to autonomous driving mode by performing trajectory-based behavior analysis on recent driving route | |
| CN109739216A (en) | The test method and system of the practical drive test of automated driving system | |
| CN103678126B (en) | For improving the system and method for the efficiency that application simulation accelerates | |
| CN111324044A (en) | Simulation system and test platform for unmanned automobile | |
| CN113704043A (en) | Chip function verification method and device, readable storage medium and electronic equipment | |
| CN110442528B (en) | Train control software cross-platform operation system and method based on safety computer simulation software | |
| CN109800475A (en) | Automatic Pilot data processing method, device, equipment and computer storage medium | |
| US11017270B2 (en) | Method and apparatus for image processing for vehicle | |
| CN109783374A (en) | Code process method, apparatus, equipment and the computer storage medium in automatic Pilot field | |
| CN114430385B (en) | Network equipment detection method and device and electronic equipment | |
| CN113868174B (en) | Verification platform building method and device and storage medium | |
| Kim et al. | {PatchVerif}: Discovering Faulty Patches in Robotic Vehicles | |
| CN106888448A (en) | Using method for down loading, safety element and terminal | |
| KR102340120B1 (en) | Evaluation system for driving simulation and method thereof | |
| CN112230632A (en) | Method, apparatus, device and storage medium for automatic driving | |
| CN112597005A (en) | Closed-loop simulation test system and method for automatic driving full-stack algorithm | |
| CN109753415A (en) | Processor verifies system and the processor verification method based on processor verifying system | |
| CN115993937A (en) | Method and device for realizing simulation environment of multi-process solid state disk |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180719 Address after: 511458 9, Nansha District Beach Road, Guangzhou, Guangdong, 9 Applicant after: Rui Chi Intelligent Automobile (Guangzhou) Co.,Ltd. Address before: 100026 8 floor 909, 105 building 3, Yao Yuan Road, Chaoyang District, Beijing. Applicant before: Lexus Automobile (Beijing) Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 511458 9, Nansha District Beach Road, Guangzhou, Guangdong, 9 Applicant after: Evergrande Faraday Future Smart Car (Guangdong) Co.,Ltd. Address before: 511458 9, Nansha District Beach Road, Guangzhou, Guangdong, 9 Applicant before: Rui Chi Intelligent Automobile (Guangzhou) Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190318 Address after: 100015 Building No. 7, 74, Jiuxianqiao North Road, Chaoyang District, Beijing, 001 Applicant after: FAFA Automobile (China) Co.,Ltd. Address before: 511458 9, Nansha District Beach Road, Guangzhou, Guangdong, 9 Applicant before: Evergrande Faraday Future Smart Car (Guangdong) Co.,Ltd. |
|
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |