CN115113542A - Automatic driving simulation method, system, electronic device and readable storage medium - Google Patents
Automatic driving simulation method, system, electronic device and readable storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of simulation test, and discloses an automatic driving simulation method, an automatic driving simulation system, electronic equipment and a readable storage medium, wherein the method comprises the steps of obtaining driving simulation software, an automatic driving algorithm and a data adaptation rule, converting driving simulation data output by the driving simulation software into a vehicle machine universal format according to the data adaptation rule, further carrying out calculation according to the automatic driving algorithm, converting vehicle control instructions of the automatic driving algorithm into a simulation system format according to the data adaptation rule, further sending the simulation system format to the driving simulation software, realizing data communication between the automatic driving algorithm and the driving simulation software through the data adaptation rule, enabling the receiving and sending data of the automatic driving algorithm to be in the vehicle machine universal format consistent with a real vehicle, enabling the automatic driving simulation environment to be closer to the real environment, and improving the test accuracy of an automatic driving simulation test result, and the automatic driving algorithm in the test is more smoothly transplanted to a real vehicle machine.
Description
Technical Field
The invention relates to the technical field of simulation tests, in particular to an automatic driving simulation method, an automatic driving simulation system, electronic equipment and a readable storage medium.
Background
In recent years, with the increasing degree of automobile intelligence, the complexity of automatic driving (also called intelligent driving assistance) is also increasing. The automatic driving algorithm is a crucial link in automatic driving and needs to be effectively tested, so that the automatic driving algorithm has a potential safety defense line under extreme working conditions and is widely applied to various large suppliers and vehicle enterprises, wherein the simulation test technology of the automatic driving algorithm generally needs to simulate the physical environment of the real world by means of automatic driving simulation software developed by a computer, an environment sensing system is built based on a sensor, a real sensor is simulated by processing sensing data, map information and digital modeling, and the function test and verification of the algorithm are completed by combining the sensor simulation technology to obtain a planning control decision so as to control the driving speed and direction of an automobile.
At present, the internal software of a real vehicle usually adopts C language or C + +, but the interface format of the automatic driving algorithm accessed to the automatic driving simulation software is different, so that the data format received by the automatic driving algorithm in the test is completely different from the data format of the real vehicle, the automatic driving simulation environment is not completely the same as the real environment, the compatibility is very low, and the test accuracy of the automatic driving simulation test result is further reduced.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.
In view of the above-mentioned shortcomings of the prior art, the present invention discloses an automatic driving simulation method, system, electronic device and readable storage medium, so as to realize that the automatic driving simulation environment is closer to the real environment, thereby improving the test accuracy of the automatic driving simulation test result.
The invention discloses an automatic driving simulation method, which comprises the following steps: acquiring driving simulation software, an automatic driving algorithm and a data adaptation rule, wherein the data adaptation rule is used for realizing data conversion between a simulation system format and a vehicle-mounted machine universal format; driving scene simulation is carried out through the driving simulation software to obtain driving simulation data corresponding to the simulation system format, and the driving simulation data are converted into the vehicle-mounted machine universal format according to the data adaptation rule to obtain conversion simulation data; calculating the converted simulation data according to the automatic driving algorithm to obtain a vehicle control instruction corresponding to the vehicle-mounted machine general format, and converting the vehicle control instruction into the simulation system format according to the data adaptation rule to obtain a conversion control instruction; and sending the conversion control instruction to the driving simulation software to control the virtual vehicle in the monitoring simulation software to automatically drive.
Optionally, the driving scene simulation is performed by the driving simulation software to obtain driving simulation data corresponding to the simulation system format, and the method includes: distributing physical ports to the driving simulation software to obtain a first port and a second port corresponding to the driving simulation software; sending a preset simulation starting instruction to the driving simulation software, and triggering the driving simulation software to simulate a driving scene; receiving state parameters for describing a virtual vehicle and scene parameters for describing a virtual scene through the first port, and receiving sensor parameters for describing a vehicle sensor through the second port, wherein the vehicle sensor is arranged on the virtual vehicle; determining the state parameters, the scene parameters and the sensor parameters as driving simulation data.
Optionally, the simulation starting instruction is obtained by the following method: acquiring a scene file, and determining simulation information according to the scene file, wherein the simulation information comprises at least one of destination information, simulation ending conditions and a sensor starting state; and generating a simulation starting instruction according to the scene file and the simulation information.
Optionally, sending a preset simulation starting instruction to the driving simulation software includes at least one of: the driving simulation software comprises a display interface, receives a selection instruction corresponding to the display interface, and executes the selection instruction through the display interface to obtain a simulation starting instruction corresponding to the selection instruction; and distributing a physical port to the driving simulation software to obtain a third port corresponding to the driving simulation software, and sending a preset simulation starting instruction to the third port.
Optionally, sending the conversion control instruction to the driving simulation software includes: and sending the conversion control instruction to a first port of the driving simulation software.
Optionally, before calculating the converted simulation data according to the autopilot algorithm, the method further comprises: and establishing an algorithm port corresponding to the automatic driving algorithm according to the vehicle-mounted machine universal format, wherein the algorithm port is used for transmitting the conversion simulation data and the vehicle control command.
Optionally, after the driving scene simulation is performed by the driving simulation software to obtain the driving simulation data corresponding to the simulation system format, the method further includes: obtaining an evaluation index, and calculating the driving simulation data or the conversion simulation data according to the evaluation index to obtain an index value corresponding to the evaluation index; and generating an evaluation report according to the evaluation index and the index value corresponding to the evaluation index.
Optionally, calculating the driving simulation data or the conversion simulation data according to the evaluation index to obtain an index value corresponding to the evaluation index, including: the evaluation index comprises at least one of an operation index, a safety index and a comfort index; performing data extraction on the driving simulation data or the conversion simulation data according to the operation index to obtain an operation parameter corresponding to the operation index, and calculating the operation parameter according to a preset operation index formula to obtain an index value corresponding to the operation index, wherein the operation parameter comprises at least one of driving mileage, simulation duration and terminal point arrival state; performing data extraction on the driving simulation data or the conversion simulation data according to the safety index to obtain a safety parameter corresponding to the safety index, and calculating the safety parameter according to a preset safety index formula to obtain an index value corresponding to the safety index, wherein the safety parameter comprises at least one of vehicle collision times, vehicle reverse running times, courier pedestrian times, red light running times, overspeed times, lane keeping times, line compaction times, too large vehicle distance times and too small vehicle distance times; according to the comfort level index is right drive simulation data or conversion simulation data carries out data extraction, obtains the comfort level parameter that the comfort level index corresponds is right according to the comfort level index formula of predetermineeing the comfort level parameter is calculated, obtains the index numerical value that the comfort level index corresponds, wherein, the comfort level parameter includes at least one kind in sharp brake number of times, sharp acceleration number of times, sharp turn to number of times, the steady number of times of starting.
The invention discloses an automatic driving simulation system, which comprises: the system comprises an acquisition module, a data conversion module and a data conversion module, wherein the acquisition module is used for acquiring driving simulation software, an automatic driving algorithm and a data adaptation rule, and the data adaptation rule is used for realizing data conversion between a simulation system format and a vehicle machine universal format; the driving simulation module is used for simulating a driving scene through the driving simulation software to obtain driving simulation data corresponding to the simulation system format; the algorithm module is used for calculating the conversion simulation data according to the automatic driving algorithm to obtain a vehicle control instruction corresponding to the vehicle-mounted machine general format; the adaptation module is used for converting the driving simulation data into the vehicle-mounted machine universal format according to the data adaptation rule to obtain the conversion simulation data; converting the vehicle control instruction into the simulation system format according to the data adaptation rule to obtain a conversion control instruction; and sending the conversion control instruction to the driving simulation software to control the virtual vehicle in the monitoring simulation software to automatically drive.
The invention discloses an electronic device, comprising: a processor and a memory; the memory is used for storing computer programs, and the processor is used for executing the computer programs stored by the memory so as to make the electronic equipment execute the method.
The invention discloses a computer-readable storage medium, on which a computer program is stored: which when executed by a processor implements the method described above.
The invention has the beneficial effects that:
the driving simulation data output by the driving simulation software is converted into a vehicle machine universal format according to the data adaptation rule by acquiring the driving simulation software, the automatic driving algorithm and the data adaptation rule, then calculation is carried out according to the automatic driving algorithm, and a vehicle control command of the automatic driving algorithm is converted into a simulation system format according to the data adaptation rule and then sent to the driving simulation software. Therefore, data communication between the automatic driving algorithm and the driving simulation software is realized through the data adaptation rule, the receiving and sending data of the automatic driving algorithm are in a vehicle-mounted machine general format consistent with that of a real vehicle, the automatic driving simulation environment is closer to the real environment, the test accuracy of the automatic driving simulation test result is improved, and the automatic driving algorithm in the test is transplanted to the real vehicle-mounted machine more smoothly.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic flow diagram of an automated driving simulation method in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of an evaluation index in an embodiment of the invention;
FIG. 3 is a schematic flow diagram of another automated driving simulation method in accordance with an embodiment of the present invention;
FIG. 4 is a schematic flow diagram of an autopilot simulation system in accordance with an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device in an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that, in the following embodiments and examples, subsamples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring embodiments of the present invention.
The terms "first," "second," and the like in the description and in the claims, and the above-described drawings of embodiments of the present disclosure, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged as appropriate for the embodiments of the disclosure described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
The term "plurality" means two or more unless otherwise specified.
In the embodiment of the present disclosure, the character "/" indicates that the preceding and following objects are in an or relationship. For example, A/B represents: a or B.
The term "and/or" is an associative relationship that describes objects, meaning that three relationships may exist. E.g., a and/or B, represents: a or B, or A and B.
Firstly, it should be noted that, in the related art of the automatic driving simulation Test, a relatively real simulation environment is usually formed by mutually matching a plurality of third-party software, and the third-party software includes a VTD (Virtual Drive Test) simulation platform, a CARSIM (simulation software specially for vehicle dynamics), a SIMULINK (a visual simulation tool) tool, an ROS (Robot Operating System) platform, etc., wherein, the VTD simulation platform is used for establishing a multi-scenario iterative Test, the CARSIM software is used for simulating actual vehicle dynamics, the SIMULINK tool is used for realizing a cross-platform communication interface, the ROS platform is used for algorithm integration, driving scenario simulation is performed on an automatic driving algorithm by matching a plurality of third-party software, and a Test is performed according to the collected simulation data, but the software such as the SIMULINK interface cannot be used actually, the reality of the simulation environment is greatly compromised.
Referring to fig. 1, an embodiment of the present disclosure provides an automatic driving simulation method, including:
step S101, acquiring driving simulation software, an automatic driving algorithm and a data adaptation rule;
the data adaptation rule is used for realizing data conversion between a simulation system format and a vehicle-mounted machine universal format;
step S102, driving scene simulation is carried out through driving simulation software, and driving simulation data corresponding to a simulation system format are obtained;
step S103, converting the driving simulation data into a vehicle-mounted machine universal format according to a data adaptation rule to obtain conversion simulation data;
step S104, calculating the conversion simulation data according to an automatic driving algorithm to obtain a vehicle control instruction corresponding to the vehicle-mounted machine general format;
step S105, converting the vehicle control instruction into a simulation system format according to the data adaptation rule to obtain a conversion control instruction;
and step S106, sending the conversion control instruction to the driving simulation software so as to control the virtual vehicle in the monitoring simulation software to automatically drive.
By adopting the automatic driving simulation method provided by the embodiment of the disclosure, the driving simulation data output by the driving simulation software is converted into the vehicle-mounted machine general format according to the data adaptation rule by acquiring the driving simulation software, the automatic driving algorithm and the data adaptation rule, then the calculation is carried out according to the automatic driving algorithm, and the vehicle control command of the automatic driving algorithm is converted into the simulation system format according to the data adaptation rule and then sent to the driving simulation software. Therefore, data communication between the automatic driving algorithm and the driving simulation software is realized through the data adaptation rule, the receiving and sending data of the automatic driving algorithm are in a vehicle-mounted machine general format consistent with that of a real vehicle, the automatic driving simulation environment is closer to the real environment, the test accuracy of the automatic driving simulation test result is improved, and the automatic driving algorithm in the test is transplanted to the real vehicle-mounted machine more smoothly.
In some embodiments, the driving simulation software includes a VTD simulation platform; the VTD simulation platform is used for simulating driving scenes and sensors through Opendrive (a high-precision map format) format files and OpenScenario (a dynamic scene planning format) format files;
in some embodiments, the simulation system format includes an RDB (Runtime Data Bus) format that describes the current state of each participant in the simulation via different packet formats. Third party components typically interact with the simulation engine using RDB in the simulation run.
In some embodiments, the automatic driving algorithm is used for planning and deciding the driving path of the simulated vehicle in the driving simulation software according to the converted simulation data, and controlling dynamic parameters of the driven vehicle in the driving simulation software through vehicle control commands, wherein the dynamic parameters comprise one or more of steering wheel turning angle, vehicle speed acceleration and the like.
In some embodiments, the in-vehicle universal format includes one or more of C language, C + +, protocol buffer (structured language data), and the like, where the protocol is a mixed language data standard, and the structured data is serialized (serialized) to obtain a language-independent, platform-independent, extensible serialized structured data format in the fields of communication protocols, data storage, and the like.
Optionally, the driving scene simulation is performed through driving simulation software to obtain driving simulation data corresponding to the simulation system format, and the method includes: allocating physical ports to the driving simulation software to obtain a first port and a second port corresponding to the driving simulation software; sending a preset simulation starting instruction to driving simulation software, and triggering the driving simulation software to simulate a driving scene; receiving state parameters for describing a virtual vehicle and scene parameters for describing a virtual scene through a first port, and receiving sensor parameters for describing a vehicle sensor through a second port, wherein the vehicle sensor is arranged on the virtual vehicle; and determining the state parameters, the scene parameters and the sensor parameters as driving simulation data.
In some embodiments, the VTD simulation platform outputs the driving simulation data in RDB format data streams with acquisition frequencies of 60-120Hz, such as 60 Hz.
In some embodiments, the status parameters include one or more of vehicle speed information, direction information, and the like; the scene parameters comprise one or more of surrounding vehicle information, pedestrian information, signal light information and the like; the sensor information includes one or more of lane line sensing information, pedestrian sensing information, road object sensing information, and the like.
Optionally, the simulation starting instruction is obtained by the following method: acquiring a scene file, and determining simulation information according to the scene file, wherein the simulation information comprises at least one of destination information, simulation ending conditions and a sensor starting state; and generating a simulation starting instruction according to the scene file and the simulation information.
In some embodiments, the destination information includes one or more of an X-coordinate of the destination, a Y-coordinate of the destination, a destination error radius, and the like.
In some embodiments, the simulation end condition is used to control whether the driving simulation software stops simulating after the virtual vehicle reaches the end point.
Optionally, the sending a preset simulation starting instruction to the driving simulation software includes at least one of: the driving simulation software comprises a display interface, receives a selection instruction corresponding to the display interface, and executes the selection instruction through the display interface to obtain a simulation starting instruction corresponding to the selection instruction; and distributing a physical port to the driving simulation software to obtain a third port corresponding to the driving simulation software, and sending a preset simulation starting instruction to the third port.
Therefore, simulation can be started through the display interface, and the driving simulation software can be triggered to start simulation through the physical port, so that the flexibility of starting the simulation driving module is improved.
In some embodiments, the VTD simulation platform has no requirement on whether or not there is a presentation interface; selecting a scene file through a display interface and clicking a start button to start simulation; sending a scene setting instruction and a Simulation starting instruction in an SCP (Simulation Control Protocol) format through a third port, wherein the Simulation Control Protocol is used for controlling a Simulation process by a third-party component under a non-real-time condition, so as to start Simulation; and starting sensors carried by the VTD simulation platform to identify the road objects and the lane lines in the simulation environment by the simulation simulator.
Optionally, the sending the conversion control instruction to the driving simulation software includes: and sending the conversion control instruction to a first port of the driving simulation software.
Therefore, the secondary development of the driving simulation software is realized by setting the physical interface for the driving simulation software, receiving and sending data through the first port and the second port and receiving the simulation starting instruction through the third port, compared with the driving simulation software through various third-party simulation software, the driving simulation software through the secondary development only depends on the VTD simulation platform, the simulation complexity is reduced, the number of the simulation software is reduced, and the use cost of the software is reduced.
In some embodiments, the VTD emulation platform is deployed in a server, and opens a physical interface of the server to the VTD emulation platform, wherein a first port of the VTD emulation platform is a 48190 port, a second port of the VTD emulation platform is an 48195 port, and a third port of the VTD emulation platform is a 48179 port.
Optionally, before calculating the converted simulation data according to the autopilot algorithm, the method further comprises: and establishing an algorithm port corresponding to the automatic driving algorithm according to the vehicle-mounted general format, wherein the algorithm port is used for transmitting the conversion simulation data and the vehicle control command.
Therefore, the simulation data are received and converted and the vehicle control command is sent through the uniform interface of the automatic driving algorithm, the simulation environment and the real environment do not need to be distinguished, the testing accuracy of the automatic driving simulation test result is improved, and the automatic driving algorithm in the test is transplanted to a real vehicle machine to be smoother.
In some embodiments, because the automatic driving algorithm has multiple algorithm languages, the algorithm ports corresponding to the automatic driving algorithm are designed and defined through the Protobuf technology, codes of various programming language types can be automatically identified, and data is filled, issued and received under the algorithm port definition of the identified codes in a unified manner, so that the simulation and the real vehicle can use the same interface definition.
In some embodiments, the algorithmic interface transmits the conversion simulation data and the vehicle Control instructions based on TCP (Transmission Control Protocol) technology.
Optionally, after the driving scene simulation is performed by the driving simulation software to obtain the driving simulation data corresponding to the simulation system format, the method further includes: obtaining an evaluation index, and calculating the driving simulation data or the conversion simulation data according to the evaluation index to obtain an index value corresponding to the evaluation index; and generating an evaluation report according to the evaluation index and the index value corresponding to the evaluation index.
In some embodiments, the driving simulation data in the RDB signal format is read through the first port, analyzed according to a format provided by a VTD official document, and an index value corresponding to an evaluation index is obtained according to the analyzed driving simulation data, where the analyzed driving simulation data includes one or more of vehicle information, vehicle speed information, lane line information, pedestrian information, traffic light information, and the like, and the evaluation index includes one or more of the average speed, total mileage, number of vehicle collisions, whether an end point is reached, lane keeping, speed limit, solid line pressing, driving smoothness, and the like of the host vehicle.
In some embodiments, the review report is output in HTML (HyperText Mark-up Language), PDF (Portable Document Format), or DOC (Document Format) Format for viewing by algorithm developers or simulation testers.
Referring to fig. 2, calculating the driving simulation data or the converted simulation data according to the evaluation index to obtain an index value corresponding to the evaluation index includes: the evaluation index comprises at least one of an operation index 201, a safety index 202, a comfort index 203 and the like; performing data extraction on the driving simulation data or the conversion simulation data according to the operation index to obtain an operation parameter corresponding to the operation index, and calculating the operation parameter according to a preset operation index formula to obtain an index value corresponding to the operation index, wherein the operation parameter comprises at least one of driving mileage, simulation duration, terminal point arrival state and the like; data extraction is carried out on the driving simulation data or the conversion simulation data according to the safety indexes to obtain safety parameters corresponding to the safety indexes, the safety parameters are calculated according to a preset safety index formula to obtain index values corresponding to the safety indexes, wherein the safety parameters comprise at least one of vehicle collision times, vehicle reverse running times, courtesy pedestrian times, red light running times, overspeed times, lane keeping times, compaction line times, too large vehicle distance times, too small vehicle distance times and the like; and carrying out data extraction on the driving simulation data or the conversion simulation data according to the comfort level index to obtain a comfort level parameter corresponding to the comfort level index, and calculating the comfort level parameter according to a preset comfort level index formula to obtain an index value corresponding to the comfort level index, wherein the comfort level parameter comprises at least one of sudden braking times, sudden acceleration times, sudden steering times, stable starting times and the like.
Optionally, the method further comprises: the number of automatic driving algorithms comprises a plurality; the method comprises the steps that a driving simulation module is established according to driving simulation software, and the driving simulation module is used for simulating a driving scene through the driving simulation software to obtain driving simulation data corresponding to a simulation system format; establishing an adaptation module according to the data adaptation rule, wherein the adaptation module is used for realizing data conversion between the simulation system format and the vehicle machine universal format through the data adaptation rule; establishing algorithm modules corresponding to the automatic driving algorithms, wherein the algorithm modules are used for calculating the conversion simulation data according to the automatic driving algorithms to obtain vehicle control instructions corresponding to the vehicle machine universal format; establishing a simulation test module, wherein the simulation test module is used for calculating the driving simulation data or the conversion simulation data according to the evaluation index to obtain an index value corresponding to the evaluation index, and generating an evaluation report according to the evaluation index and the index value corresponding to the evaluation index; establishing a test container corresponding to each algorithm module according to the adaptation module, the simulation test module and each algorithm module; the driving simulation software is integrated in the simulation server, and each test container is integrated in the cloud server or the local server respectively.
Therefore, the driving simulation software is integrated in the simulation server, and each test container is respectively integrated in the cloud server or the local server, so that execution of a plurality of simulation test tasks is realized, and the simulation test efficiency is improved.
Referring to fig. 3, an embodiment of the present disclosure provides an automatic driving simulation method, including:
step S301, a driving simulation module carries out driving scene simulation through driving simulation software to obtain driving simulation data corresponding to a simulation system format;
step S302, the driving simulation module sends driving simulation data to the adaptation module;
step S303, the adaptation module converts the driving simulation data into a vehicle universal format according to the data adaptation rule to obtain converted simulation data;
step S304, the adaptation module sends the conversion simulation data to the algorithm module;
s305, calculating the conversion simulation data by an algorithm module according to an automatic driving algorithm to obtain a vehicle control instruction corresponding to a vehicle-mounted machine general format;
step S306, the algorithm module sends a vehicle control instruction to the adaptation module;
step S307, the adaptation module converts the vehicle control instruction into a simulation system format according to the data adaptation rule to obtain a conversion control instruction;
step S308, the adaptation module sends a conversion control instruction to the driving simulation software;
step S309, the driving simulation module sends the driving simulation data to the simulation test module,
step S310, the simulation test module calculates the driving simulation data or the conversion simulation data according to the evaluation index to obtain an index value corresponding to the evaluation index.
By adopting the automatic driving simulation method provided by the embodiment of the disclosure, the driving simulation data output by the driving simulation software is converted into the vehicle-mounted machine general format according to the data adaptation rule by acquiring the driving simulation software, the automatic driving algorithm and the data adaptation rule, then the calculation is carried out according to the automatic driving algorithm, and the vehicle control instruction of the automatic driving algorithm is converted into the simulation system format according to the data adaptation rule and then sent to the driving simulation software, so that the automatic driving simulation method has the following advantages:
1. data communication between the automatic driving algorithm and the driving simulation software is realized through a data adaptation rule, and the receiving and sending data of the automatic driving algorithm are in a vehicle-mounted machine general format consistent with that of a real vehicle, so that the automatic driving simulation environment is closer to the real environment, the test accuracy of an automatic driving simulation test result is improved, and the automatic driving algorithm in the test is transplanted to the real vehicle-mounted machine more smoothly;
2. the secondary development of the driving simulation software is realized by arranging a physical interface for the driving simulation software, receiving and sending data through the first port and the second port and receiving a simulation starting instruction through the third port, compared with the driving simulation software which is developed secondarily through various third-party simulation software, the driving simulation software which is developed secondarily only depends on a VTD (virtual terminal device) simulation platform, so that the simulation complexity is reduced, meanwhile, the number of simulation software is reduced, and the use cost of the software is reduced;
3. simulation can be started through the display interface, and driving simulation software can be triggered through the physical port to start simulation, so that the flexibility of starting the simulation driving module is improved;
4. the conversion simulation data are received and the vehicle control command is sent through the uniform interface of the automatic driving algorithm, the simulation environment and the real environment do not need to be distinguished, the testing accuracy of the automatic driving simulation test result is improved, and the automatic driving algorithm in the test is transplanted to a real vehicle machine to be smoother;
5. the driving simulation software is integrated in the simulation server, and each test container is integrated in the cloud server or the local server respectively, so that execution of a plurality of simulation test tasks is realized, and the simulation test efficiency is improved.
As shown in fig. 4, an embodiment of the present disclosure provides an automatic driving simulation system, including: the system comprises an acquisition module 401, a driving simulation module 402, an algorithm module 403 and an adaptation module 404, wherein the acquisition module 401 is respectively connected with the driving simulation module 402, the algorithm module 403 and the adaptation module 404, and the adaptation module 404 is respectively connected with the driving simulation module 402 and the algorithm module 403, wherein the acquisition module 401 is used for acquiring driving simulation software, an automatic driving algorithm and a data adaptation rule, wherein the data adaptation rule is used for realizing data conversion between a simulation system format and a vehicle-mounted machine general format; the driving simulation module 402 is configured to perform driving scene simulation through driving simulation software to obtain driving simulation data corresponding to a simulation system format; the algorithm module 403 is configured to calculate the conversion simulation data according to an automatic driving algorithm to obtain a vehicle control instruction corresponding to the vehicle-mounted device universal format; the adaptation module 404 is configured to convert the driving simulation data into a vehicle-mounted device universal format according to a data adaptation rule to obtain converted simulation data; converting the vehicle control instruction into a simulation system format according to the data adaptation rule to obtain a conversion control instruction; and sending the conversion control instruction to the driving simulation software to control the virtual vehicle in the monitoring simulation software to automatically drive.
By adopting the automatic driving simulation method provided by the embodiment of the disclosure, the driving simulation data output by the driving simulation software is converted into the vehicle-mounted machine general format according to the data adaptation rule by acquiring the driving simulation software, the automatic driving algorithm and the data adaptation rule, then the calculation is carried out according to the automatic driving algorithm, and the vehicle control command of the automatic driving algorithm is converted into the simulation system format according to the data adaptation rule and then sent to the driving simulation software. Therefore, data communication between the automatic driving algorithm and the driving simulation software is realized through the data adaptation rule, the receiving and sending data of the automatic driving algorithm are in a vehicle-mounted machine general format consistent with that of a real vehicle, the automatic driving simulation environment is closer to the real environment, the test accuracy of the automatic driving simulation test result is improved, and the automatic driving algorithm in the test is transplanted to the real vehicle-mounted machine more smoothly.
FIG. 5 illustrates a schematic structural diagram of a computer system suitable for use to implement the electronic device of the embodiments of the subject application. It should be noted that the computer system 500 of the electronic device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU)501, which can perform various suitable actions and processes, such as executing the method in the above-mentioned embodiment, according to a program stored in a Read-Only Memory (ROM) 502 or a program loaded from a storage portion 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for system operation are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An Input/Output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output section 507 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage portion 508 including a hard disk and the like; and a communication section 509 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The driver 510 is also connected to the I/O interface 505 as necessary. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The computer program executes various functions defined in the system of the present application when executed by a Central Processing Unit (CPU) 501.
It should be noted that the computer readable media shown in the embodiments of the present application may be computer readable signal media or computer readable storage media or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may comprise a propagated data signal with a computer-readable computer program embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The disclosed embodiments also provide a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements any of the methods in the embodiments.
The computer-readable storage medium in the embodiments of the present disclosure may be understood by those skilled in the art as follows: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The electronic device disclosed in this embodiment includes a processor, a memory, a transceiver, and a communication interface, where the memory and the communication interface are connected to the processor and the transceiver and perform mutual communication, the memory is used to store a computer program, the communication interface is used to perform communication, and the processor and the transceiver are used to run the computer program, so that the electronic device performs the steps of the above method.
In this embodiment, the Memory may include a Random Access Memory (RAM), and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and subsamples of some embodiments may be included in or substituted for portions and subsamples of other embodiments. Furthermore, the words used in the specification are words of description for example only and are not limiting upon the claims. As used in the description of the embodiments and the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, the terms "comprises," "comprising," and variations thereof, when used in this application, specify the presence of stated sub-samples, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other sub-samples, integers, steps, operations, elements, components, and/or groups thereof. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other identical elements in a process, method or device comprising the element. In this document, each embodiment may be described with emphasis on differences from other embodiments, and the same and similar parts between the respective embodiments may be referred to each other. For methods, products, etc. of the embodiment disclosures, reference may be made to the description of the method section for relevance if it corresponds to the method section of the embodiment disclosure.
Those of skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software may depend upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the disclosed embodiments. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, apparatuses, etc.) may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit may be merely a division of a logical function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some subsamples may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to implement the present embodiment. In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two sequential operations or steps may in fact be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. Each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Claims (11)
1. An automated driving simulation method, comprising:
acquiring driving simulation software, an automatic driving algorithm and a data adaptation rule, wherein the data adaptation rule is used for realizing data conversion between a simulation system format and a vehicle-mounted machine universal format;
driving scene simulation is carried out through the driving simulation software to obtain driving simulation data corresponding to the simulation system format, and the driving simulation data are converted into the vehicle-mounted machine universal format according to the data adaptation rule to obtain conversion simulation data;
calculating the converted simulation data according to the automatic driving algorithm to obtain a vehicle control instruction corresponding to the vehicle-mounted machine general format, and converting the vehicle control instruction into the simulation system format according to the data adaptation rule to obtain a conversion control instruction;
and sending the conversion control instruction to the driving simulation software to control the virtual vehicle in the monitoring simulation software to automatically drive.
2. The method of claim 1, wherein the driving scene simulation is performed by the driving simulation software to obtain the driving simulation data corresponding to the simulation system format, and the method comprises:
distributing physical ports to the driving simulation software to obtain a first port and a second port corresponding to the driving simulation software;
sending a preset simulation starting instruction to the driving simulation software, and triggering the driving simulation software to simulate a driving scene;
receiving state parameters for describing a virtual vehicle and scene parameters for describing a virtual scene through the first port, and receiving sensor parameters for describing a vehicle sensor through the second port, wherein the vehicle sensor is arranged on the virtual vehicle;
determining the state parameters, the scene parameters and the sensor parameters as driving simulation data.
3. The method of claim 2, wherein the emulation open instruction is obtained by:
acquiring a scene file, and determining simulation information according to the scene file, wherein the simulation information comprises at least one of destination information, simulation end conditions and a sensor start state;
and generating a simulation starting instruction according to the scene file and the simulation information.
4. The method of claim 2, wherein sending a preset simulation turn-on command to the driving simulation software comprises at least one of:
the driving simulation software comprises a display interface, receives a selection instruction corresponding to the display interface, and executes the selection instruction through the display interface to obtain a simulation starting instruction corresponding to the selection instruction;
and distributing a physical port to the driving simulation software to obtain a third port corresponding to the driving simulation software, and sending a preset simulation starting instruction to the third port.
5. The method of claim 2, wherein sending the conversion control instructions to the driving simulation software comprises:
and sending the conversion control instruction to a first port of the driving simulation software.
6. The method of claim 1, wherein prior to calculating the transformed simulation data according to the autopilot algorithm, the method further comprises:
and establishing an algorithm port corresponding to the automatic driving algorithm according to the vehicle-mounted machine universal format, wherein the algorithm port is used for transmitting the conversion simulation data and the vehicle control command.
7. The method according to any one of claims 1 to 6, wherein after the driving scene simulation is performed by the driving simulation software to obtain the driving simulation data corresponding to the simulation system format, the method further comprises:
obtaining an evaluation index, and calculating the driving simulation data or the conversion simulation data according to the evaluation index to obtain an index value corresponding to the evaluation index;
and generating an evaluation report according to the evaluation index and the index value corresponding to the evaluation index.
8. The method according to claim 7, wherein calculating the driving simulation data or the conversion simulation data according to the evaluation index to obtain an index value corresponding to the evaluation index comprises:
the evaluation index comprises at least one of an operation index, a safety index and a comfort index;
performing data extraction on the driving simulation data or the conversion simulation data according to the operation index to obtain an operation parameter corresponding to the operation index, and calculating the operation parameter according to a preset operation index formula to obtain an index value corresponding to the operation index, wherein the operation parameter comprises at least one of driving mileage, simulation duration and terminal point arrival state;
performing data extraction on the driving simulation data or the conversion simulation data according to the safety index to obtain a safety parameter corresponding to the safety index, and calculating the safety parameter according to a preset safety index formula to obtain an index value corresponding to the safety index, wherein the safety parameter comprises at least one of vehicle collision times, vehicle reverse running times, courier pedestrian times, red light running times, overspeed times, lane keeping times, line compaction times, too large vehicle distance times and too small vehicle distance times;
according to the comfort level index is right drive simulation data or conversion simulation data carries out data extraction, obtains the comfort level parameter that the comfort level index corresponds is right according to the comfort level index formula of predetermineeing the comfort level parameter is calculated, obtains the index numerical value that the comfort level index corresponds, wherein, the comfort level parameter includes at least one kind in sharp brake number of times, sharp acceleration number of times, sharp turn to number of times, the steady number of times of starting.
9. An automated driving simulation system, comprising:
the system comprises an acquisition module, a data conversion module and a data conversion module, wherein the acquisition module is used for acquiring driving simulation software, an automatic driving algorithm and a data adaptation rule, and the data adaptation rule is used for realizing data conversion between a simulation system format and a vehicle machine universal format;
the driving simulation module is used for simulating a driving scene through the driving simulation software to obtain driving simulation data corresponding to the simulation system format;
the algorithm module is used for calculating the conversion simulation data according to the automatic driving algorithm to obtain a vehicle control instruction corresponding to the vehicle-mounted machine general format;
the adaptation module is used for converting the driving simulation data into the vehicle-mounted machine universal format according to the data adaptation rule to obtain the conversion simulation data; converting the vehicle control instruction into the simulation system format according to the data adaptation rule to obtain a conversion control instruction; and sending the conversion control instruction to the driving simulation software to control the virtual vehicle in the monitoring simulation software to automatically drive.
10. An electronic device, comprising: a processor and a memory;
the memory is configured to store a computer program and the processor is configured to execute the computer program stored by the memory to cause the electronic device to perform the method of any of claims 1 to 8.
11. A computer-readable storage medium having stored thereon a computer program, characterized in that:
the computer program, when executed by a processor, implements the method of any one of claims 1 to 8.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115542772A (en) * | 2022-09-28 | 2022-12-30 | 北京百度网讯科技有限公司 | Simulation task control method and device and simulation system |
| CN115617703A (en) * | 2022-12-20 | 2023-01-17 | 北京赛目科技股份有限公司 | Method, device, system, equipment and storage medium for vehicle simulation test |
| CN116566819A (en) * | 2023-06-08 | 2023-08-08 | 禾多科技（北京）有限公司 | Simulation test communication method, simulation test communication device, electronic equipment and computer readable medium |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115542772A (en) * | 2022-09-28 | 2022-12-30 | 北京百度网讯科技有限公司 | Simulation task control method and device and simulation system |
| CN115542772B (en) * | 2022-09-28 | 2024-04-16 | 北京百度网讯科技有限公司 | Simulation task control method, device and simulation system |
| CN115617703A (en) * | 2022-12-20 | 2023-01-17 | 北京赛目科技股份有限公司 | Method, device, system, equipment and storage medium for vehicle simulation test |
| CN116566819A (en) * | 2023-06-08 | 2023-08-08 | 禾多科技（北京）有限公司 | Simulation test communication method, simulation test communication device, electronic equipment and computer readable medium |
| CN116566819B (en) * | 2023-06-08 | 2023-09-19 | 禾多科技（北京）有限公司 | Simulation test communication method, simulation test communication device, electronic equipment and computer readable medium |
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