CN112783766A - Editing system and editing method for simulating vehicle running scene - Google Patents
Editing system and editing method for simulating vehicle running scene Download PDFInfo
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- CN112783766A CN112783766A CN202110059487.0A CN202110059487A CN112783766A CN 112783766 A CN112783766 A CN 112783766A CN 202110059487 A CN202110059487 A CN 202110059487A CN 112783766 A CN112783766 A CN 112783766A
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
- G06F11/3668—Software testing
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- G06F11/368—Test management for test version control, e.g. updating test cases to a new software version
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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Abstract
The invention provides an editing system and an editing method for simulating a vehicle running scene, which comprise the following steps: the map module is used for loading a preset map and selecting a target area in the preset map; the editing module is used for editing preset attributes of the automatic driving automobile and the obstacle in the target area and editing scene evaluation indexes of the target area; the obstacle includes: an agent and a stationary barrier; the agent includes at least one of: vehicles and pedestrians; the scene evaluation index is an evaluation index representing the operation result of the automatic driving automobile in the target area; the display module is used for displaying the editing condition of the vehicle running scene corresponding to the target area in real time; and the preview module is used for previewing the motion conditions of the automatic driving automobile and the intelligent agent in the running scene of the automobile. The invention solves the technical problems that the vehicle test scene is single and the test scene can not be changed in the prior art.
Description
Technical Field
The invention relates to the technical field of vehicle testing, in particular to an editing system and an editing method for simulating a vehicle running scene.
Background
In the field of automatic driving, research and development personnel usually test various performances of a vehicle with an automatic driving function in test software to ensure the safety of the vehicle with the automatic driving function in the driving process. In the existing vehicle test scheme, a test script mode is adopted to carry out safety test on the vehicle. For example, a corresponding test program is written in a test script, and then the test script is executed to perform a safety test on the vehicle. However, the test mode of the test script is easy to have the problems that the test scene is single and cannot be changed, which brings certain difficulty and potential safety hazard to the subsequent vehicle test. For example, the tester needs to write a test script for each test scenario, which is time-consuming and wastes a lot of manpower.
Disclosure of Invention
In view of the above, the present invention provides an editing system and an editing method for simulating a vehicle operation scene, so as to alleviate the technical problems in the prior art that a vehicle test scene is single and the test scene cannot be changed.
In a first aspect, an embodiment of the present invention provides an editing system for simulating a vehicle operation scene, including: the map display system comprises a map module, an editing module, a display module and a preview module, wherein the map module is used for loading a preset map and selecting a target area in the preset map; the editing module is used for editing preset attributes of the automatic driving automobile and the obstacle in the target area and editing scene evaluation indexes of the target area; the obstacle includes: an agent and a stationary barrier; the agent includes at least one of: vehicles and pedestrians; the scene evaluation index is an evaluation index representing the operation result of the automatic driving automobile in the target area; the display module is used for displaying the editing condition of the vehicle running scene corresponding to the target area in real time; the preview module is used for previewing the motion conditions of the automatic driving automobile and the intelligent agent in the vehicle running scene.
Further, the map module is further configured to perform a zoom operation on the target area in the preset map, and select a different area operation by dragging a selection box.
Further, the editing module comprises: the automatic driving automobile editing unit is used for editing the preset attribute of the automatic driving automobile in the target area; the obstacle editing unit is used for editing the preset attribute of the obstacle in the target area; and the scene evaluation index editing unit is used for editing the scene evaluation index of the automatic driving automobile in the target area.
Further, the automatic driving automobile editing unit is further configured to: editing a driving strategy of the automatic driving automobile; compiling the number of autodrive cars; editing the size information of each automatic driving automobile; the initial position, initial velocity, acceleration and motion trajectory of each autonomous vehicle are edited.
Further, the obstacle editing unit is further configured to: editing a motion strategy of the obstacle; editing priority information of the obstacles; editing the number and the type of the obstacles; editing size information of each obstacle; and editing the initial position, the initial speed, the acceleration and the motion trail of each agent.
Further, the preset attributes include: self attributes and motion attributes; the self attribute includes: size, number; the motion attributes include: initial velocity, acceleration and motion trajectory.
Further, the system further comprises: the toolbar module is used for opening or closing the target function module; the target function module comprises any one of the following: the map module, the editing module, the display module and the preview module.
Further, the editing module further comprises: and the edit box unit is used for displaying the editable content.
In a second aspect, an embodiment of the present invention further provides an editing method for a simulated vehicle operation scene, which is applied to the editing system for a simulated vehicle operation scene in the first aspect, where the method includes: loading a preset map by using the map module, and determining a target area in the preset map; editing preset attributes of the automatic driving automobile and the obstacle in the target area and editing scene evaluation indexes of the target area by using the editing module; and previewing the motion conditions of the automatic driving automobile and the intelligent agent in the vehicle running scene corresponding to the target area by using the previewing module.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to the second aspect when executing the computer program.
The embodiment of the invention provides an editing system and an editing method for simulating a vehicle running scene, wherein a preset map is loaded through a map module, and a target area in the preset map is selected; editing preset attributes of the automatic driving automobile and the obstacle in the target area through an editing module, and editing scene evaluation indexes of the target area; then displaying the editing condition of the vehicle running scene corresponding to the target area in real time through a display module; and finally, previewing the motion conditions of the automatic driving automobile and the intelligent agent in the vehicle running scene by the previewing module. The system provided by the embodiment of the invention can edit the vehicle test scene according to actual needs, and solves the technical problems that the vehicle test scene is single and the test scene cannot be changed in the prior art.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an editing system for simulating a vehicle operation scene according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another editing system for simulating a vehicle operation scene according to an embodiment of the present invention;
fig. 3 is a flowchart of an editing method for simulating a vehicle operation scene according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
fig. 1 is a schematic diagram of an editing system for simulating a vehicle operation scene according to an embodiment of the invention. As shown in fig. 1, the system includes: a map module 10, an editing module 20, a presentation module 30 and a preview module 40.
Specifically, the map module 10 is configured to load a preset map and select a target area in the preset map. Optionally, the map module 10 is further configured to perform a zoom operation on a target area in a preset map, and select a different area operation by dragging a selection box.
Specifically, the map module 10 may display the loaded real map, may drag and zoom the map, and may jump to a target area corresponding to the map by double-clicking a left mouse button.
The editing module 20 is configured to edit preset attributes of the autonomous vehicle and the obstacle in the target area, and edit scene evaluation indexes of the target area; the obstacle includes: an agent and a stationary barrier; the agent includes at least one of: vehicles and pedestrians; the scene evaluation index is an evaluation index representing the operation result of the automatic driving automobile in the target area.
Alternatively, the vehicle may include an automobile and a non-automobile; static obstacles include resident obstacles such as traffic signs such as traffic lights, and temporary obstacles such as roadblocks and the like.
Alternatively, the automotive vehicle comprises a variety of small and medium sized vehicles, such as cars, pickup trucks, SUVs, minivans, and the like. The orientation of the vehicle should be marked as the direction the vehicle head is pointing. Wherein an object being towed by the vehicle (e.g., another vehicle) should be tagged separately from the trailer.
Optionally, the automotive vehicle also includes a large vehicle, such as a bus, a large truck, or the like. The orientation of the vehicle should be marked as the direction the vehicle head is pointing. The large truck with the head and the body capable of turning respectively can be set as one obstacle according to requirements, or the head and the body can be set as two obstacles under the condition that the head and the body turn respectively. For multi-section buses, a single barrier can be set.
Alternatively, the non-motor vehicles include a cyclist, a tricycle cyclist, an electric bicycle cyclist, a two-wheeled motorcycle cyclist and the like. Among them, a parked bicycle, a tricycle, an electric bicycle, a two-wheeled motorcycle, etc., which is not ridden, are regarded as stationary obstacles. The orientation of the rider should be marked as the direction the head of the vehicle is pointing.
Alternatively, the pedestrian includes a general pedestrian, a person sitting in a wheelchair, a person sliding with a skateboard, a person using a balance car, and the like, and the embodiment of the present invention is not particularly limited thereto. The orientation of the pedestrian should be marked as the direction in which the torso of the person is facing frontally. In the embodiment of the invention, if the postures of the trunk and the limbs of a pedestrian are different in different frames, the occupied area in the top view is different in size. When the pedestrian is close to the vehicle, the pedestrian labeled cube should avoid containing any point in the vehicle point cloud as much as possible. When six or more than six pedestrians walk (or stand) next to each other, the obstacle can be set as a 'crowd' type obstacle, and the orientation of the crowd should be marked as the orientation of the trunk of most people in the crowd.
Optionally, the stationary barrier further comprises a traffic cone, a traffic post, a traffic sign, and the like. For example, traffic cones and traffic pillars include various types of traffic cones, traffic pillars, and the like for isolating construction sites, accident sites, crime investigation sites, and the like from roads; traffic signs include various types of temporary traffic signs (e.g., temporary construction sites, accident sites, crime investigation sites, etc.), such as "construction ahead" signs, etc., but do not include permanent traffic signs, traffic lights, and guideboards. The direction of the traffic sign is the direction of the face of the signboard with characters or patterns.
Optionally, the preset attribute includes: self attributes and motion attributes; the self-attribute includes: size, number; the motion attributes include: initial velocity, initial heading, start point, end point, acceleration, and trajectory.
And the display module 30 is configured to display the editing condition of the vehicle operation scene corresponding to the target area in real time. The user is facilitated to view the scene edited now.
And the previewing module 40 is used for previewing the motion conditions of the automatic driving automobile and the intelligent agent in the running scene of the automobile.
Specifically, when the user edits the vehicle running scene, the motion condition of the vehicle running scene can be previewed, namely, the automatic driving vehicle and the intelligent agent in the scene move, so that whether the edited and set vehicle running scene meets the requirements of the user can be observed, for example, whether the motion speed and the motion track of the intelligent agent and the automatic driving vehicle meet preset conditions and the like are met, a simulation system is not needed to be opened to observe the motion condition of the scene, and the previewing time of the user is saved.
The embodiment of the invention provides an editing system for simulating a vehicle running scene, which loads a preset map through a map module and selects a target area in the preset map; editing preset attributes of the automatic driving automobile and the obstacle in the target area through an editing module; then displaying the editing condition of the vehicle running scene corresponding to the target area in real time through a display module; and finally, previewing the motion conditions of the automatic driving automobile and the intelligent agent in the vehicle running scene by the previewing module. The system provided by the embodiment of the invention can edit the vehicle test scene according to actual needs, and solves the technical problems that the vehicle test scene is single and the test scene cannot be changed in the prior art.
In the embodiment of the present invention, the map module 10 is further configured to set map information of a preset map. Wherein the map information includes: accuracy requirements, element types, and topological relationships. Wherein the accuracy requirement can be set to a centimeter accuracy requirement.
Optionally, the element types include lane information, traffic lights, traffic signs, road markings, and the like. Specifically, the lane information includes a three-dimensional shape description of the lane and lane attribute information; the lane attribute information includes: (1) lane types, such as motor, non-motor, or bus lanes, etc.; (2) straight, left-turn or right-turn; (3) a road boundary dashed solid line; (4) speed limit information; (5) the time attribute is as follows: the passing time of the tide lane, the passable time of the bus lane and the like. The traffic signal lamp comprises a three-dimensional position and traffic signal lamp attribute information; specifically, the traffic signal light attribute information includes: the number of the bulbs, whether countdown exists or not, and a round lamp or an arrow lamp. The traffic signs include three-dimensional locations and traffic sign types, the traffic sign types including: speed limit cards, stop giving way or slow down, etc. The road mark line comprises a three-dimensional position and a road mark line type; specifically, the road-marking line types include: sidewalks, waiting areas, stops, stop lines, etc.
Optionally, the topological relationship includes: the topological relation of the lanes and the incidence relation of the traffic lights and the lanes.
Optionally, fig. 2 is a schematic diagram of another editing system for simulating a vehicle operation scene according to an embodiment of the present invention. As shown in fig. 2, the editing module 20 includes: an autonomous driving vehicle editing unit 21, an obstacle editing unit 22, a scene evaluation index editing unit 23, and an edit box unit 24.
The autonomous driving vehicle editing unit 21 is configured to edit a preset attribute of an autonomous driving vehicle in the target area. Specifically, the automated driving car editing unit 21 is further configured to:
editing a driving strategy of the automatic driving automobile; for example, editing a formal route of an autonomous vehicle, avoidance strategies for obstacles, countermeasures for traffic lights, and the like;
editing the number of the automatically driven automobiles; for example, adding or deleting an autonomous vehicle;
editing the size information of each automatic driving automobile; for example, size information such as length, width, and the like of an autonomous vehicle is set;
and editing the starting point, the end point, the initial speed, the initial orientation, the acceleration and the motion trail of each automatic driving automobile.
And an obstacle editing unit 22, configured to edit a preset attribute of an obstacle in the target area. Specifically, the obstacle editing unit 22 is further configured to:
editing a motion strategy of the barrier;
editing the priority information of the obstacles; wherein the priority information of the obstacle reflects the priority of avoidance or treatment of the autonomous vehicle when dealing with the obstacle;
editing the number and the type of the obstacles; for example, adding or deleting agents (vehicles, pedestrians, cyclists, etc.), adding or deleting static obstacles (signal lights, street lights, roadblocks, etc.);
editing size information of each obstacle; for example, the length, width, etc. of the setting agent or the stationary obstacle;
and editing the starting point, the end point, the initial speed, the initial orientation, the acceleration and the motion trail of each agent, for example, setting the motion trail and the motion speed of other vehicles and pedestrians and the like.
And the scene evaluation index editing unit 23 is used for editing the scene evaluation index of the automatic driving automobile in the target area. Optionally, the scenario evaluation index may include a plurality of indexes; for example, the collision index may be used to assess whether the autonomous vehicle has collided with an obstacle within a pre-specified time period (which may also be specified by editing); the speed indicator may be used to assess whether the speed of the autonomous vehicle meets a predetermined speed range (which may also be specified by editing) for a pre-specified period of time. Optionally, the scene evaluation index may further include: reach the distance index, no fence index, etc.
And an edit box unit 24 for displaying the editable content and editing the editable content in real time.
Optionally, as shown in fig. 2, the system provided in the embodiment of the present invention further includes: a toolbar module 50 for opening or closing the target function module; the target function module comprises any one of the following: a map module 10, an editing module 20, a presentation module 30 and a preview module 40.
The editing system for simulating the vehicle running scene provided by the embodiment of the invention can construct a brand new scene, such as: constructing a scene according to a predefined scene template, wherein different templates are supported to be loaded; existing scenes can also be fine-tuned, for example: the existing scene is taken as a template, and is edited again after being loaded into the existing scene, such as fine tuning the length, width, height, motion track, motion speed and the like of a certain intelligent agent (a vehicle, a pedestrian, a person riding a vehicle and the like).
Optionally, the editing system and the editing method for simulating the vehicle running scene provided by the embodiment of the invention can test the running strategy of the automatic driving vehicle by constructing and editing the scene of the automatic driving vehicle motion, and can preview the motion conditions of the automatic driving vehicle and the intelligent agent in the scene in real time in the editing process, thereby relieving the technical problems that the vehicle test scene is single and the test scene cannot be changed in the prior art.
Example two:
fig. 3 is a flowchart of an editing method for a simulated vehicle operation scene, which is applied to the editing system for a simulated vehicle operation scene provided in the first embodiment of the present invention. As shown in fig. 3, the method specifically includes the following steps:
step S302, loading a preset map by using a map module, and determining a target area in the preset map.
And step S304, editing preset attributes of the automatic driving automobile and the obstacle in the target area by using an editing module, and editing scene evaluation indexes of the target area.
And S306, previewing the motion conditions of the automatic driving automobile and the intelligent agent in the vehicle running scene corresponding to the target area by using the previewing module.
The embodiment of the invention provides an editing method for simulating a vehicle running scene, which can edit a vehicle test scene according to actual needs by using the editing system for simulating the vehicle running scene provided in the embodiment one, and solves the technical problems that the vehicle test scene is single and the test scene cannot be changed in the prior art.
The embodiment of the invention also provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can be operated on the processor, wherein the steps of the editing method for simulating the vehicle operation scene provided by the embodiment of the invention are realized when the processor executes the computer program.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An editing system for simulating a vehicle operation scene, comprising: a map module, an editing module, a display module and a preview module, wherein,
the map module is used for loading a preset map and selecting a target area in the preset map;
the editing module is used for editing preset attributes of the automatic driving automobile and the obstacle in the target area and editing scene evaluation indexes of the target area; the obstacle includes: an agent and a stationary barrier; the agent includes at least one of: vehicles and pedestrians; the scene evaluation index is an evaluation index representing the operation result of the automatic driving automobile in the target area;
the display module is used for displaying the editing condition of the vehicle running scene corresponding to the target area in real time;
the preview module is used for previewing the motion conditions of the automatic driving automobile and the intelligent agent in the vehicle running scene.
2. The system of claim 1, wherein the map module is further configured to perform a zoom operation on the target area in the preset map and select a different area operation by dragging a selection box.
3. The system of claim 1, wherein the editing module comprises: an autonomous driving vehicle editing unit, an obstacle editing unit, and a scene evaluation index editing unit, wherein,
the automatic driving automobile editing unit is used for editing the preset attribute of the automatic driving automobile in the target area;
the obstacle editing unit is used for editing the preset attribute of the obstacle in the target area;
and the scene evaluation index editing unit is used for editing the scene evaluation index of the automatic driving automobile in the target area.
4. The system of claim 3, wherein the autopilot editing unit is further configured to:
editing a driving strategy of the automatic driving automobile;
compiling the number of autodrive cars;
editing the size information of each automatic driving automobile;
and editing the starting point, the end point, the initial speed, the initial orientation, the acceleration and the motion trail of each automatic driving automobile.
5. The system of claim 3, wherein the obstacle editing unit is further configured to:
editing a motion strategy of the obstacle;
editing priority information of the obstacles;
editing the number and the type of the obstacles;
editing size information of each obstacle;
and editing the starting point, the end point, the initial speed, the initial orientation, the acceleration and the motion trail of each agent.
6. The system according to any one of claims 1 and 3, wherein the preset attributes include: self attributes and motion attributes; the self attribute includes: size, number; the motion attributes include: initial velocity, initial heading, start point, end point, acceleration, and trajectory.
7. The system of claim 1, further comprising: the toolbar module is used for opening or closing the target function module; the target function module comprises any one of the following: the map module, the editing module, the display module and the preview module.
8. The system of claim 3, wherein the editing module further comprises: and the edit box unit is used for displaying the editable content.
9. An editing method for a simulated vehicle operation scene is applied to the editing system for the simulated vehicle operation scene in claim 1, and the method comprises the following steps:
loading a preset map by using the map module, and determining a target area in the preset map;
editing preset attributes of the automatic driving automobile and the obstacle in the target area and editing scene evaluation indexes of the target area by using the editing module;
and previewing the motion conditions of the automatic driving automobile and the intelligent agent in the vehicle running scene corresponding to the target area by using the previewing module.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of claim 9 are performed when the computer program is executed by the processor.
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| CN202110059487.0A CN112783766A (en) | 2021-01-15 | 2021-01-15 | Editing system and editing method for simulating vehicle running scene |
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