CN113674610A - Design method of automatic driving closed test field with variable road form - Google Patents
Design method of automatic driving closed test field with variable road form Download PDFInfo
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- CN113674610A CN113674610A CN202111232083.3A CN202111232083A CN113674610A CN 113674610 A CN113674610 A CN 113674610A CN 202111232083 A CN202111232083 A CN 202111232083A CN 113674610 A CN113674610 A CN 113674610A
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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Abstract
The invention discloses a design method of an automatic driving closed test field with variable road forms, which comprises the following steps: hardening the ground of the automatic driving closed test field, gridding the ground, and marking the longitude and the latitude of a GPS at the cross point of a grid; according to the test requirement, drawing a high-precision map in a GPS (global positioning system) geographic fence of an automatic driving closed test field or importing the high-precision map from the outside; according to the high-precision map, the scene facility used for testing is placed at the appointed position of the automatic driving closed testing field, the GPS longitude and the latitude of the appointed position where the scene facility is placed are the same as the GPS longitude and the latitude of the scene facility on the high-precision map, and a movable base is additionally arranged on the immovable scene facility used for testing. The invention solves the problems of the enterprises on the rich requirements of the road network form, the high construction and operation and maintenance costs of the test site and the like.
Description
Technical Field
The present invention relates to the field of autopilot. More particularly, the invention relates to a design method of an automatic driving closed test field with variable road forms.
Background
An automatic driving closed test field mainly comprises a test road, traffic sign marks, traffic facilities and test equipment. The test road mainly comprises a road network structure designed according to planning, the traffic sign marking is based on the traffic sign marking on the road network structure, the traffic facilities are signal lamps, isolation guardrails, cone bucket water horses and the like (namely scene facilities mentioned in the patent) which are arranged on the basis of the road network structure, and the test equipment mainly comprises fake-man and fake-car data acquisition equipment and the like. The elements of the high-precision map comprise test roads, traffic sign marking lines and traffic facilities in an automatic driving closed test field.
The present self-driving seals test field area big, capital construction cost input is high, road form is more single, however the demand of enterprise is that the road form is abundanter better, for example the road of different width, the bend of different curvatures, the crossroad of different size and shape, T-shaped crossing, special-shaped intersection, the rotary island of different size, bus station of different grade type and size, pedestrian crossing, non-motor lane etc. and the permutation and combination of different position and order of above-mentioned element, these demands are far away not that a thousand mu level seals test field can satisfy, consequently, newly-built test field is bigger and bigger now in every place, if: the test field for the Changsha test field is more than 2000 mu, the test field for the Tianjin test field is planned to be 4000 mu, and the test field for the Chongqingdazu test field is planned to be 6000 mu. The larger test field not only means that the cost of the ground cover and the capital construction is higher, but also the later operation and maintenance cost, the time cost, the personnel cost and the like are increased by times, and the construction operation and maintenance cost falls on the vehicle enterprises and is finally transferred to consumers.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
The invention also aims to provide a design method of the automatic driving closed test field with the variable road form, so as to solve the problems that the current situation of the automatic driving closed test field cannot meet the diversified test requirements of enterprises, the construction and operation and maintenance costs of the test field are high, and the like.
To achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided a method for designing an automatic driving closed test field with variable road morphology, comprising:
hardening the ground of the automatic driving closed test field, gridding the ground, and marking the longitude and the latitude of a GPS at the cross point of a grid;
drawing a high-precision map in a GPS (global positioning system) geo-fence of an automatic driving closed test field according to test requirements;
according to the high-precision map, the scene facility used for testing is placed at the appointed position of the automatic driving closed testing field, the GPS longitude and the latitude of the appointed position where the scene facility is placed are the same as the GPS longitude and the latitude of the scene facility on the high-precision map, and a movable base is additionally arranged on the immovable scene facility used for testing.
The invention also provides a design method of the automatic driving closed test field with the variable road form, which comprises the following steps:
hardening the ground of the automatic driving closed test field, gridding the ground, and marking the longitude and the latitude of a GPS at the cross point of a grid;
according to the test requirement, the existing high-precision map is guided into the GPS geo-fence through coordinate conversion;
according to the high-precision map, the scene facility used for testing is placed at the appointed position of the automatic driving closed testing field, the GPS longitude and the latitude of the appointed position where the scene facility is placed are the same as the GPS longitude and the latitude of the scene facility on the high-precision map, and a movable base is additionally arranged on the immovable scene facility used for testing.
Preferably, the method for designing an automatic driving closed test site with a variable road form further includes: and checking the actual position of the scene facility in the automatic driving closed test field, and if the GPS longitude and the latitude of the actual position of the scene facility are different from the GPS longitude and the latitude of the scene facility on the high-precision map, moving the scene facility to the specified position in the automatic driving closed test field.
Preferably, the actual positions of the scene facilities placed in the automatic driving closed test field are verified by using a scene verifying device, and the scene verifying device comprises:
the high-precision positioner is used for being placed on a scene facility, and acquiring and transmitting the GPS longitude and latitude of the actual position where the scene facility is placed;
the map display module is used for acquiring and displaying a high-precision map;
and the map layer superposition module is in wireless communication connection with the high-precision positioner and is used for receiving the GPS longitude and latitude of the actual position where the scene facility is placed, which are sent by the high-precision positioner, and the map layer superposition module is in communication connection with the map display module and is used for displaying the actual position of the scene facility on the high-precision map in real time.
Preferably, the scene verification apparatus further includes:
and the attribute setting module is used for marking the actual position of the scene facility on the high-precision map and annotating the attribute.
Preferably, the grid size is 10cm by 10cm when the ground is gridded.
Preferably, the ground surface is hardened to form an asphalt pavement or a cement pavement.
Preferably, the scene facility that the test was used is including taking isolation barrier, deceleration strip, signal lamp, awl bucket, water horse, and the mobilizable scene facility that the test was used is all increased and is equipped with the removal base including isolation barrier, deceleration strip, signal lamp, isolation barrier, deceleration strip, signal lamp.
The invention at least comprises the following beneficial effects: according to the method, the closed test field is subjected to digital processing, the transformation of immovable scene facilities is combined, the scene facilities are placed according to the high-precision map in a mode of manually drawing or externally leading in the high-precision map, the traditional high-cost field planning, design, construction and operation and maintenance cost is replaced, the road network form can be customized, and the test requirement of enterprise diversity is met.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a flowchart of a method for designing an automatic driving closed test field with variable road configuration according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for designing an automatic driving closed test field with variable road morphology according to another embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials, if not otherwise specified, are commercially available; in the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
< example 1>
A design method of an automatic driving closed test field with variable road forms comprises the following steps:
s101, hardening the ground of the automatic driving closed test field, gridding the ground, and marking the longitude and the latitude of a GPS at the intersection of a grid;
specifically, when the ground of the automatic driving closed test field is hardened, the processing mode includes but is not limited to a hardening processing mode aiming at realizing road surface characteristics with different friction coefficients such as asphalt, cement and the like, one of the hardening processing modes is selected to harden the ground of the automatic driving closed test field, and different hardening processing modes can be adopted for different plots of the test field according to the test requirements.
When a traditional automatic driving closed test field is built, road side lines, lane lines, pedestrian crossing lines and the like need to be drawn on the ground of the closed test field according to a test field design drawing, isolation guardrails are distributed in the center of the road, signal lamps are distributed at intersections and the like, and only hardening treatment is carried out in the application, so that the construction is simple, the engineering quantity is small, and the construction period is short.
Specifically, when the ground is gridded, the size of the grid may be set to 10cm × 10cm, or 20cm × 30cm, but the size is not limited to these two sizes, and the size of the grid may be changed according to specific requirements.
The gridding construction process is generally as follows: the constructor takes points at the boundary of the automatic driving closed test field in advance to determine the head and tail sections of the grid lines, uses the thin ropes stained with lime, fixes the two ends of each thin rope at the head and tail ends of one grid line in the automatic driving closed test field, slightly lifts the thin ropes to enable the thin ropes to be bounced to the ground, then traces of the grid lines can be drawn on the ground, and then marking lines are marked along the traces of the grid lines. Or selecting the spray painting cloth with holes, flatly paving the spray painting cloth to the ground, and spraying the spray painting cloth by using a spray painting machine, wherein the spray painting marks are left on the ground at the positions with the holes.
Specifically, when the intersections of the grid are marked with the GPS longitudes and latitudes, each intersection can be marked, so that when the scene facility is subsequently placed, the designated position can be quickly found, certainly, part of the intersections can also be marked, so that the workload for marking the intersections in the early stage can be reduced, when the scene facility is subsequently placed, the designated position of the scene facility in the automatic driving closed test field can be calculated according to the marked intersections GPS longitudes and latitudes, and of course, the coordinates of the intersections can be marked in other ways, so that the designated position of the scene facility can be quickly found when the scene facility is subsequently placed.
S102, drawing a high-precision map in a GPS (global positioning system) geographic fence of an automatic driving closed test field according to test requirements;
specifically, the GPS geofence is a new application of the LBS (service developed around geographic location data), which is to use a virtual fence to enclose a virtual geographic boundary, and of course, the GPS geofence is generated based on an electronic map, and the GPS geofence of the autopilot closed test yard is created on the electronic map according to the real position and boundary of the autopilot closed test yard, and with the GPS geofence of the autopilot closed test yard, high-precision maps of different road network forms can be designed in the GPS geofence according to test requirements.
S103, according to the high-precision map, placing the scene facility used for testing at the specified position of the automatic driving closed test field, wherein the GPS longitude and the latitude of the specified position where the scene facility is placed are the same as the GPS longitude and the latitude of the scene facility on the high-precision map, and a movable base is additionally arranged on the immovable scene facility used for testing.
Specifically, unmovable scene facility is generally including keeping apart guardrail, deceleration strip, signal lamp, with these scene facilities add after moving the base, just can place different positions according to the high accuracy map of difference, certainly, keep apart guardrail, deceleration strip, signal lamp and only be a part of scene facility, during the actual application, the scene facility that the test was used can also be awl bucket, water horse etc. because these scene facilities themselves can move, consequently need not add and move the base.
In the embodiment, the closed test field is subjected to digital processing, the scene facilities are placed according to the high-precision map in a mode of manually drawing the high-precision map by combining the transformation of the immovable scene facilities, the traditional high-cost field planning, design and construction cost is replaced, the road network form can be customized, and the test requirement of enterprise diversity is met.
< example 2>
A design method of an automatic driving closed test field with variable road forms comprises the following steps:
s201, hardening the ground of the automatic driving closed test field, gridding the ground, and marking the longitude and the latitude of a GPS at the intersection of a grid;
specifically, when the ground of the automatic driving closed test field is hardened, the processing mode includes but is not limited to a hardening processing mode aiming at realizing road surface characteristics with different friction coefficients such as asphalt, cement and the like, one of the hardening processing modes is selected to harden the ground of the automatic driving closed test field, and different hardening processing modes can be adopted for different plots of the test field according to the test requirements.
When a traditional automatic driving closed test field is built, road side lines, lane lines, pedestrian crossing lines and the like need to be drawn on the ground of the closed test field according to a test field design drawing, isolation guardrails are distributed in the center of the road, signal lamps are distributed at intersections and the like, and only hardening treatment is carried out in the application, so that the construction is simple, the engineering quantity is small, and the construction period is short.
Specifically, when the ground is gridded, the size of the grid may be set to 10cm × 10cm, or 20cm × 30cm, but the size is not limited to these two sizes, and the size of the grid may be changed according to specific requirements.
The gridding construction process is generally as follows: the constructor takes points at the boundary of the automatic driving closed test field in advance to determine the head and tail sections of the grid lines, uses the thin ropes stained with lime, fixes the two ends of each thin rope at the head and tail ends of one grid line in the automatic driving closed test field, slightly lifts the thin ropes to enable the thin ropes to be bounced to the ground, then traces of the grid lines can be drawn on the ground, and then marking lines are marked along the traces of the grid lines. Or selecting the spray painting cloth with holes, flatly paving the spray painting cloth to the ground, and spraying the spray painting cloth by using a spray painting machine, wherein the spray painting marks are left on the ground at the positions with the holes.
Specifically, when the intersections of the grid are marked with the GPS longitudes and latitudes, each intersection can be marked, so that when the scene facility is subsequently placed, the designated position can be quickly found, certainly, part of the intersections can also be marked, so that the workload for marking the intersections in the early stage can be reduced, when the scene facility is subsequently placed, the designated position of the scene facility in the automatic driving closed test field can be calculated according to the marked intersections GPS longitudes and latitudes, and of course, the coordinates of the intersections can be marked in other ways, so that the designated position of the scene facility can be quickly found when the scene facility is subsequently placed.
S202, importing the existing high-precision map into the GPS geo-fence through coordinate conversion according to the test requirement;
specifically, the existing high-precision map includes a high-precision map that has been designed by the user, the designed high-precision map may be made by the user on other map design software, or may be a collected high-precision map on an actual road, and since a reference coordinate system selected by the designed high-precision map may be different from that of the GPS geofence, the coordinates of the designed high-precision map need to be translated to coordinates within the range of the GPS geofence by way of coordinate conversion or translation.
Here, there is also a case where a designed high-precision map is imported into a GPS geofence and then modified on the designed high-precision map, which can be regarded as a special case of this step.
S203, according to the high-precision map, placing the scene facility used for testing at the specified position of the automatic driving closed test field, wherein the GPS longitude and the latitude of the specified position where the scene facility is placed are the same as the GPS longitude and the latitude of the scene facility on the high-precision map, and a movable base is additionally arranged on the immovable scene facility used for testing.
Specifically, immovable scene facilities generally include isolation guardrails, deceleration strips and signal lamps, after mobile bases are added to the scene facilities, the positions of the scene facilities can be movably changed according to different high-precision maps designed by users in GPS geographic fences, actual different road network forms and road conditions are formed, of course, the isolation guardrails, the deceleration strips and the signal lamps are only part of the scene facilities, and during actual application, the scene facilities used for testing can be cone barrels, water horses and the like.
In the embodiment, the closed test field is subjected to digital processing, the scene facilities are placed according to the high-precision map in a mode of externally guiding in the high-precision map by combining the transformation of immovable scene facilities, the traditional high-cost field planning, design and construction cost is replaced, the road network form can be customized, and the test requirement of enterprise diversity is met.
< example 3>
In this embodiment, on the basis of embodiment 1 or 2, the method for designing an automatic driving closed test field with a variable road form further includes: and checking the actual position of the scene facility in the automatic driving closed test field, and if the GPS longitude and the latitude of the actual position of the scene facility are different from the GPS longitude and the latitude of the scene facility on the high-precision map, moving the scene facility to the specified position in the automatic driving closed test field.
Specifically, a scene verification device is used for verifying the actual positions of scene facilities placed in an automatic driving closed test field, and the scene verification device comprises:
the high-precision positioner is used for being placed on a scene facility, and acquiring and transmitting the GPS longitude and latitude of the actual position where the scene facility is placed;
the map display module is used for acquiring and displaying a high-precision map;
and the map layer superposition module is in wireless communication connection with the high-precision positioner and is used for receiving the GPS longitude and latitude of the actual position where the scene facility is placed, which are sent by the high-precision positioner, and the map layer superposition module is in communication connection with the map display module and is used for displaying the actual position of the scene facility on the high-precision map in real time.
When the scene verifying device is used for verifying the placement positions of the scene facilities in the automatic driving closed test field, the following processes are included:
1) leading the high-precision map into a scene checking device, and enabling a map display module to display the high-precision map;
2) opening the high-precision positioner, keeping smooth communication between the high-precision positioner and the scene verification device, and placing the high-precision positioner on a scene facility to be verified;
3) because the layer loading module can display the position of the high-precision positioner, a user can accurately see the actual position of the scene facility to be verified on the high-precision map displayed by the map display module, and the user can judge whether the actual position of the scene facility to be verified has deviation from the designed position of the scene facility on the high-precision map by naked eyes;
through verification, if the GPS longitude and latitude of the actual position of the scene facility placed in the automatic driving closed test field are different from the GPS longitude and latitude of the scene facility on the high-precision map, the scene facility is moved to the specified position of the high-precision map in the automatic driving closed test field.
In the above embodiment, whether the positions of the scene facilities in the test scene are correctly placed can be accurately verified by the scene verification device.
< example 4>
In this embodiment, on the basis of embodiment 3, the scene verification apparatus further includes:
and the attribute setting module is used for marking the actual position of the scene facility on the high-precision map and annotating the attribute.
For example, take a movable guardrail as an example: the method comprises the steps of respectively arranging high-precision locators at two ends and in the middle of a movable guardrail, checking whether the actual position of the movable guardrail in a scene verification device coincides with the position on a high-precision map, if not, moving the movable guardrail in an automatic driving closed test field, placing the movable guardrail at a preset specified position, if so, respectively marking points at two ends and in the middle of the movable guardrail on the high-precision map, setting the point position as the movable guardrail by utilizing the attribute of the scene verification device, associating the 3 points, and indicating that the connecting line area of the 3 points represents one movable guardrail.
In the scene verification device, the functions of the map display module, the layer overlay module and the attribute setting module can be further achieved by executing the following method through the processor:
acquiring and displaying a high-precision map;
receiving the GPS longitude and latitude of the actual position of the scene facility, which are sent by the high-precision locator, and displaying the actual position of the scene facility on the high-precision map according to the GPS longitude and latitude of the actual position of the scene facility;
the actual location of the scene facility on the high precision map is marked and attributes are annotated.
The processor may be an integrated circuit chip having data processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The processor may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art.
< example 5>
In this embodiment, on the basis of embodiment 1 or 2, the size of the grid is 10cm × 10cm when the grid processing is performed on the ground, the size of the grid is moderate, the grid workload is appropriate, the intersections obtained after the grid processing are neither dense nor sparse, and the situation of the automatic driving closed test field can be accurately reflected comprehensively after digitization.
< example 6>
In this embodiment, on the basis of embodiment 1 or 2, the asphalt pavement or the cement pavement is formed after the ground surface is hardened, and these two pavements are realistic and common pavement situations, so that any one of the hardening modes is selected and has a great representativeness.
< example 7>
On embodiment 1 or 2 basis, unmovable scene facility includes isolation barrier, deceleration strip, signal lamp, and the scene facility that the test was used includes the isolation barrier of taking the mobile base, the deceleration strip of moving the base, the signal lamp of moving the base, awl bucket, water horse.
By combining the above embodiments, the design method of the automatic driving closed test field is more flexible and changeable in field construction, and is not limited to a test scene any more, while the traditional design method of the test field is difficult to change the position of scene facilities after the field construction is completed, so that the road network form and the road condition cannot be changed, and therefore the design method is special for a test scene and has a narrow application range.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (8)
1. The design method of the automatic driving closed test field with the variable road form is characterized by comprising the following steps:
hardening the ground of the automatic driving closed test field, gridding the ground, and marking the longitude and the latitude of a GPS at the cross point of a grid;
drawing a high-precision map in a GPS (global positioning system) geo-fence of an automatic driving closed test field according to test requirements;
according to the high-precision map, the scene facility used for testing is placed at the appointed position of the automatic driving closed testing field, the GPS longitude and the latitude of the appointed position where the scene facility is placed are the same as the GPS longitude and the latitude of the scene facility on the high-precision map, and a movable base is additionally arranged on the immovable scene facility used for testing.
2. The design method of the automatic driving closed test field with the variable road form is characterized by comprising the following steps:
hardening the ground of the automatic driving closed test field, gridding the ground, and marking the longitude and the latitude of a GPS at the cross point of a grid;
according to the test requirement, the existing high-precision map is guided into the GPS geo-fence through coordinate conversion;
according to the high-precision map, the scene facility used for testing is placed at the appointed position of the automatic driving closed testing field, the GPS longitude and the latitude of the appointed position where the scene facility is placed are the same as the GPS longitude and the latitude of the scene facility on the high-precision map, and a movable base is additionally arranged on the immovable scene facility used for testing.
3. The method of designing an automated driving closed test site with a variable road profile according to claim 1 or 2, further comprising: and checking the actual position of the scene facility in the automatic driving closed test field, and if the GPS longitude and the latitude of the actual position of the scene facility are different from the GPS longitude and the latitude of the scene facility on the high-precision map, moving the scene facility to the specified position in the automatic driving closed test field.
4. The method of claim 3, wherein the scene verification device is used to verify the actual position of the scene facility in the automatic driving closed test field, and the scene verification device comprises:
the high-precision positioner is used for being placed on a scene facility, and acquiring and transmitting the GPS longitude and latitude of the actual position where the scene facility is placed;
the map display module is used for acquiring and displaying a high-precision map;
and the map layer superposition module is in wireless communication connection with the high-precision positioner and is used for receiving the GPS longitude and latitude of the actual position where the scene facility is placed, which are sent by the high-precision positioner, and the map layer superposition module is in communication connection with the map display module and is used for displaying the actual position of the scene facility on the high-precision map in real time.
5. The method according to claim 4, wherein the scene verification device further comprises:
and the attribute setting module is used for marking the actual position of the scene facility on the high-precision map and annotating the attribute.
6. The method according to claim 1 or 2, wherein the grid size is 10cm by 10cm when the ground is gridded.
7. The method of designing an automatic driving closed test field with a variable road form according to claim 1 or 2, wherein an asphalt pavement or a cement pavement is formed after the ground hardening treatment.
8. The design method of the automatic driving closed test field with the variable road form as claimed in claim 1 or 2, wherein the scene facilities used for the test comprise isolation guardrails, deceleration strips, signal lamps, cone barrels and water horses, the immovable scene facilities used for the test comprise isolation guardrails, deceleration strips and signal lamps, and movable bases are additionally arranged on the isolation guardrails, the deceleration strips and the signal lamps.
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