CN115408779A - Simulation test method, device and storage medium for passenger-riding parking algorithm - Google Patents
Simulation test method, device and storage medium for passenger-riding parking algorithm Download PDFInfo
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Abstract
The invention relates to a simulation test method, a simulation test device and a storage medium for a passenger-assistant parking algorithm, which belong to the field of automatic driving, and the method comprises the following steps: on the basis of a vehicle dynamics model, carrying out three-dimensional modeling according to real vehicle parameters to construct a simulated vehicle, and constructing a simulated sensor of the simulated vehicle; creating a simulation scene according to the scene configuration parameters; calling a passenger-assistant parking algorithm to be tested, and controlling a simulated vehicle to run to a parking garage position in a simulation scene according to map data corresponding to the simulation scene and sensing data of the simulation scene sensed by a simulation sensor; determining a simulation test result of a passenger-riding parking algorithm according to the running condition of the simulated vehicle in the simulation scene; and adjusting the parameters of each functional module of the valet parking algorithm according to the capability indexes of the plurality of functional modules corresponding to the valet parking algorithm in the simulation test result. The reliability of the passenger-replacing parking algorithm can be effectively tested, the testing efficiency is improved, and the testing cost is greatly reduced.
Description
Technical Field
The disclosure relates to the field of automatic driving, in particular to a passenger-assistant parking algorithm simulation test method, a passenger-assistant parking algorithm simulation test device and a storage medium.
Background
At present, the passenger car parking algorithm test is still carried out in an actual field, and the test is carried out by using standard barriers and design scenes, but the current test method adopting manual scene construction has long time consumption, and the test cannot be completed quickly and effectively under the condition of more test scenes. In addition, because the test is influenced by factors such as site weather manpower and material resources, the test efficiency is lower.
Disclosure of Invention
In order to overcome the problems in the related art, the disclosure provides a method, a device and a storage medium for simulation test of a passenger-riding parking algorithm.
According to a first aspect of the embodiments of the present disclosure, a method for simulation test of a passenger car parking algorithm is provided, including:
on the basis of a vehicle dynamics model, carrying out three-dimensional modeling according to real vehicle parameters to construct a simulated vehicle, and constructing a simulated sensor of the simulated vehicle;
creating a simulation scene according to the scene configuration parameters;
calling a passenger-assistant parking algorithm to be tested, and controlling the simulated vehicle to run to a parking garage position in the simulated scene according to the map data corresponding to the simulated scene and the sensing data of the simulated scene sensed by the simulation sensor;
determining a simulation test result of the passenger-riding parking algorithm according to the running condition of the simulated vehicle in the simulation scene;
and adjusting the parameters of each functional module of the passenger-riding parking algorithm according to the capability indexes of the functional modules corresponding to the passenger-riding parking algorithm in the simulation test result.
Optionally, the method further comprises:
acquiring real-time coordinate parameters of the simulated vehicle relative to the simulated scene;
and performing visual rendering on the simulation scene and the simulation vehicle according to the observation visual angle parameter corresponding to the simulation scene and the real-time coordinate parameter, and displaying a rendering result through a visual interface.
Optionally, the creating a simulation scene according to the scene configuration parameters includes:
determining a second scene configuration parameter according to a first scene configuration parameter configured in advance in a simulation scene library and an editing parameter of a worker on the first scene configuration parameter according to a test requirement;
and creating a simulation scene according to the second scene configuration parameters.
Optionally, the simulation test result includes capability indexes of the valet parking algorithm corresponding to a plurality of functions, and the method includes:
generating a test report according to the capability indexes corresponding to the multiple functions in the simulation test result;
and adjusting parameters of the passenger-riding parking algorithm according to the test report.
Optionally, the capability indicators of the plurality of function modules corresponding to the valet parking algorithm include one or more of the following: and designing a first capacity index of the function module corresponding to the track, determining a second capacity index of the function module corresponding to the library position, and corresponding to a third capacity index of the obstacle avoidance function module.
Optionally, after the simulation scene is created according to the scene configuration parameters, the method further includes:
randomly creating an obstacle target according to pre-configured obstacle parameters, wherein the obstacle target comprises a moving target and/or a static target;
and determining the motion trail of the moving target and/or the coordinate parameter of the static target according to a pre-configured obstacle creating rule.
According to a second aspect of the embodiments of the present disclosure, there is provided a valet parking algorithm simulation device, including:
the vehicle simulation module is configured to build a simulation vehicle through three-dimensional modeling according to real vehicle parameters based on a vehicle dynamics model, and build a simulation sensor of the simulation vehicle;
the scene simulation module is configured to create a simulation scene according to the scene configuration parameters;
the passenger-assistant parking algorithm module is configured to call a passenger-assistant parking algorithm to be tested, and control the simulated vehicle to drive to a parking garage position in the simulated scene according to the map data corresponding to the simulated scene and the sensing data of the simulated scene sensed by the simulation sensor;
the simulation test result determining module is configured to determine a simulation test result of the passenger-riding parking algorithm according to the running condition of the simulated vehicle in the simulation scene;
and the adjusting module is configured to adjust parameters of each functional module of the passenger-riding parking algorithm according to the capability indexes of the functional modules corresponding to the passenger-riding parking algorithm in the simulation test result.
Optionally, the apparatus further comprises:
an acquisition module configured to acquire real-time coordinate parameters of the simulated vehicle relative to the simulated scene;
and the simulation visualization module is configured to perform visual rendering on the simulation scene and the simulation vehicle according to the observation visual angle parameter corresponding to the simulation scene and the real-time coordinate parameter, and display a rendering result through a visual interface.
According to a third aspect of the embodiments of the present disclosure, there is provided a passenger car parking algorithm simulation device, including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the steps of the method of any one of the first aspect of the present disclosure.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of any one of the first aspects of the present disclosure.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the method comprises the steps of establishing a simulation vehicle based on a vehicle dynamics model, establishing a simulation scene, controlling the simulation vehicle based on a passenger parking algorithm to be tested in the simulation scene, obtaining the passenger parking capability of the passenger parking algorithm according to the driving condition of the simulation vehicle in the simulation scene, effectively testing the reliability of the passenger parking algorithm without manually establishing a scene to test in an actual field, effectively improving the testing efficiency and greatly reducing the testing cost, adjusting parameters of different corresponding functional modules in the passenger parking algorithm according to various capability indexes in a simulation testing result, effectively optimizing the passenger parking algorithm in a targeted manner, and improving the reliability of the passenger parking algorithm.
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 disclosure.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a flow chart illustrating a method for simulation testing of a valet parking algorithm, according to an exemplary embodiment.
FIG. 2 is a schematic diagram illustrating a valet parking algorithm simulation test system in accordance with an exemplary embodiment.
Fig. 3 is a block diagram illustrating a valet parking algorithm simulation test setup, according to an exemplary embodiment.
Fig. 4 is a block diagram illustrating another valet parking algorithm simulation test device in accordance with an exemplary embodiment.
Fig. 5 is a block diagram illustrating yet another valet parking algorithm simulation test device in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
An autonomous Valet Parking system (Automated Valet Parking, hereinafter referred to as AVP) function definition: a driver issues an instruction from a designated passenger point through a key or a mobile phone application program, and a vehicle can automatically drive to a parking space of a parking lot without monitoring by the driver; the vehicle can automatically drive to the designated pick-up point from the parking space after receiving the instruction; and a plurality of vehicles receive the parking instruction at the same time, and the dynamic automatic waiting for entering the parking space is realized.
At present, AVP algorithm test is still carried out in an actual field, and standard obstacles and design scenes are used for testing, but the current test method adopting manual scene construction has long time consumption, and the test can not be completed quickly and effectively under the condition of more test scenes. In addition, because the test is influenced by factors such as site weather manpower and material resources, the test efficiency is lower.
In order to solve the problems in the related art, the disclosure provides a simulation test method, a simulation test device and a storage medium for a passenger-riding parking algorithm.
Fig. 1 is a flowchart illustrating a simulation test method for a valet parking algorithm according to an exemplary embodiment, where the method may be applied to a computer device, which may be a user terminal, a server, or the like, and the disclosure is not limited thereto, and as shown in fig. 1, the method includes:
s101, on the basis of a vehicle dynamic model, performing three-dimensional modeling according to real vehicle parameters to construct a simulated vehicle, and constructing a simulation sensor of the simulated vehicle.
The step S101 may be implemented by adding a vehicle dynamics model based on vehicle dynamics model software CarSim according to various vehicle parameters of a real vehicle, and adding a perfect sensor model to the simulated vehicle. The simulation sensor comprises a camera, a laser radar, a millimeter wave radar, an ultrasonic radar and the like.
In addition, a plurality of simulated vehicles can be constructed corresponding to the same valet parking algorithm to be tested according to different real vehicle parameters so as to test the generalization capability of the valet parking algorithm deployed on different vehicles.
And S102, creating a simulation scene according to the scene configuration parameters.
The simulation scene can include examples such as roads, obstacles, pedestrians, library positions and the like, the scene configuration parameters can include configuration information such as three-dimensional coordinates of the examples in the simulation scene, and the scene configuration parameters can be obtained by relevant workers through simulation scene construction and parameter generalization configuration through an editing function, and can also be obtained from a pre-configured simulation test scene library.
S103, calling a passenger-riding parking algorithm to be tested, and controlling the simulated vehicle to run to a parking garage position in the simulated scene according to the map data corresponding to the simulated scene and the sensing data of the simulated scene sensed by the simulation sensor.
Specifically, the sensing data of the simulation scene sensed by the simulation sensor can be used as the input of the valet parking algorithm, so that the valet parking algorithm processes the sensed sensing data to obtain and output a control instruction of the vehicle, and the simulated vehicle can run in the simulation scene according to the control instruction output by the valet parking algorithm.
In addition, road information, storage position information and the like in a simulation scene can be sent to the passenger-riding parking algorithm, so that the passenger-riding parking algorithm can plan a parking path. And, on the planned route, controlling the vehicle according to the perception data of the simulation sensor.
The map data may be generated in advance based on the simulation scene and sent to the valet parking algorithm to be tested by calling parameters, and the parking space may be determined by the valet parking algorithm according to the map data of the simulation scene. Specifically, the passenger-riding algorithm may determine a parking lot around the simulated vehicle in the simulated scene based on the map data, control the simulated vehicle to travel to the parking lot in the simulated scene, determine a parking space in the parking lot according to other function modules of the passenger-riding algorithm, and control the vehicle to drive into the parking space.
And S104, determining a simulation test result of the passenger car parking algorithm according to the running condition of the simulated vehicle in the simulation scene.
And S105, adjusting the parameters of each functional module of the passenger-riding parking algorithm according to the capability indexes of the functional modules corresponding to the passenger-riding parking algorithm in the simulation test result.
The driving condition may include information such as parking completion time, parking path planning, parking space recognition result, whether collision occurs, and the like. In addition, the simulation test result may be obtained through analysis of an automated analysis algorithm, and the simulation test result may include the deficiency and the improvement direction of the valet parking algorithm, for example, the simulation test result may indicate that the path planning capability of the valet parking algorithm is insufficient, and parameters related to path planning in the valet parking algorithm need to be adjusted.
Wherein the capability indicators for the corresponding plurality of functional modules include one or more of: and designing a first capacity index of the function module corresponding to the track, determining a second capacity index of the function module corresponding to the library position, and corresponding to a third capacity index of the obstacle avoidance function module.
For example, each capability index may be embodied by a score, for example, if a first capability index of the trajectory design function module represents that a score corresponding to the function module is 100 full scores, it may be determined that the function module corresponding to the trajectory plan of the valet parking algorithm is strong and does not need to be adjusted, and if a second capability index of the parking space determination function module represents that a score corresponding to the function module is 50 scores, it may be determined that the parking space determination function module of the valet parking algorithm is weak and needs to be parameter adjusted. It can be understood that different functional modules correspond to different parameters in the valet parking algorithm, and the specific adjustment mode of the parameters may be determined by a preconfigured algorithm, which is not limited in the present disclosure.
In the embodiment of the disclosure, a simulated vehicle is constructed based on a vehicle dynamics model, a simulated scene is created, the simulated vehicle is controlled based on a passenger parking algorithm to be tested in the simulated scene, the passenger parking capability of the passenger parking algorithm is obtained according to the driving condition of the simulated vehicle in the simulated scene, the reliability of the passenger parking algorithm can be effectively tested, the scene does not need to be manually built for testing in an actual field, the testing efficiency is effectively improved, the testing cost is greatly reduced, in addition, through the capability indexes corresponding to a plurality of functions in the simulation testing result, the parameters corresponding to different functional modules in the passenger parking algorithm are adjusted according to each capability index, the passenger parking algorithm can be effectively optimized in a targeted manner, and the reliability of the passenger parking algorithm is improved.
In some optional embodiments, the method further comprises:
acquiring real-time coordinate parameters of the simulated vehicle relative to the simulated scene;
and performing visual rendering on the simulation scene and the simulation vehicle according to the observation visual angle parameter corresponding to the simulation scene and the real-time coordinate parameter, and displaying a rendering result through a visual interface.
The viewing angle parameter may be understood as a camera position in the simulated scene, for example, at the top of the simulated scene, so that the rendered image may view the entire simulated scene, or may be at the top of the simulated vehicle, moving with the simulated vehicle, and viewing the simulated scene in a range of 270 degrees ahead of the vehicle.
It is understood that the simulation scene and the simulation vehicle can be visually rendered into a visual image by the rendering engine based on the real-time coordinate parameters and the three-dimensional modeling parameters of each instance of the simulation scene and the simulation vehicle, and the visual image is displayed to the relevant staff through the visual interface.
By adopting the scheme, the whole simulation process of the test of the passenger-riding parking algorithm is visually rendered and displayed on the interface, so that related workers can more visually observe the whole process of controlling the vehicle to run in the simulation scene based on the passenger-riding parking algorithm, and further more visually observe the capability of the passenger-riding parking algorithm.
In some optional embodiments, the creating a simulation scenario according to the scenario configuration parameters includes:
determining a second scene configuration parameter according to a first scene configuration parameter configured in advance in a simulation scene library and an editing parameter of a worker on the first scene configuration parameter according to a test requirement;
and creating a simulation scene according to the second scene configuration parameters.
The simulation scene library may store first scene configuration parameters corresponding to one or more pre-configured standard simulation scenes, where the standard simulation scenes may be acquired based on actual data of the passenger car parking scene, for example, a test vehicle may be provided, on which a plurality of sensing devices, such as a camera and a laser radar, are arranged, a parking operation is performed in a real scene, and the first scene configuration parameters of the standard simulation scenes are obtained according to a preset algorithm according to data acquired by the sensing devices on the test vehicle.
In addition, the editing parameters may include editing weather parameters, editing illumination parameters, random obstacle generation probability parameters, and the like in the first scene parameters, and the disclosure is not limited thereto, and how to set the editing parameters may be set by a worker based on a test requirement.
By adopting the scheme, the first scene configuration parameters corresponding to the standard test scene are collected from the simulation scene library, the simulation scene is created after the first scene configuration parameters are modified according to actual requirements, a worker does not need to perform complex configuration on the scene configuration parameters again according to the test requirements, the configuration efficiency of the simulation scene is effectively improved, different scenes can be tested according to the test requirements, and the test robustness of the passenger-riding parking algorithm is effectively improved.
In some optional embodiments, the method comprises:
generating a test report according to the capability indexes of the plurality of functional modules corresponding to the valet parking algorithm in the simulation test result;
and sending the test report to a worker, so that the worker can manually adjust the parameters of the passenger-assistant parking algorithm according to the test report.
In addition, in response to the report export operation of the staff, the test report can be exported in a pdf format, an XML format or the like for the user to download and view.
By adopting the scheme, the test report can be generated according to the capability indexes of the functional modules of the passenger-riding parking algorithm in the simulation test result for the relevant workers to check, so that the relevant workers can more intuitively know the defects of the passenger-riding parking algorithm, and further the parameters of the passenger-riding parking algorithm can be adjusted and optimized in a targeted manner, so that the reliability of the passenger-riding parking algorithm is improved.
In some embodiments, after the creating a simulation scenario according to the scenario configuration parameters, the method further includes:
randomly creating an obstacle target according to a pre-configured obstacle parameter, wherein the obstacle target comprises a moving target and/or a static target;
and determining the motion trail of the moving target and/or the coordinate parameter of the static target according to a pre-configured obstacle creating rule.
The obstacle parameter may include a creation probability parameter, which may represent a probability of creating a random obstacle of 70% every 1 second, the obstacle may be a pedestrian, a vehicle, or a fixed obstacle, and the probabilities of the pedestrian, the vehicle, and the fixed obstacle may be 50%, 30%, and 20%, respectively.
The movement tracks of moving objects such as pedestrians and vehicles can be configured in advance, and the positions of static objects which may exist are configured to obtain corresponding barrier creation rules, so that the situation that the movement tracks of the pedestrians and the vehicles do not accord with a real scene and the situation that the positions of the barriers do not accord with the real scene, for example, the situation that the movement speed of the pedestrians reaches 80km/h or a cone bucket appears in the middle of a road, and the like, are avoided.
By adopting the scheme, the simulation scene can be closer to a real driving scene by randomly creating the obstacle target through the pre-configured obstacle parameters, and the movement track and the position of the obstacle are determined according to the obstacle creating rule, so that the created obstacle can be prevented from being inconsistent with the real scene, and the reliability of the passenger-assistant parking algorithm test is effectively improved.
Based on the above inventive concept, the simulation test method for the passenger parking algorithm may be implemented based on a simulation test system for the passenger parking algorithm, fig. 2 is a schematic diagram of a simulation test system for the passenger parking algorithm according to an exemplary embodiment, and referring to fig. 2, the simulation test system for the passenger parking algorithm includes:
the system comprises a vehicle simulation module, a simulation scene module, a passenger-riding parking algorithm module, a simulation visualization module and a simulation result evaluation module.
The passenger parking algorithm simulation test system can be a system deployed in a user terminal or a server, each module can be a software function module in the system, and the function modules can transmit data through interfaces.
The vehicle simulation module can use vehicle dynamics model software Carsim, add a vehicle dynamics model according to all vehicle parameters of a real vehicle, add a perfect sensor model such as a camera, a laser radar, a millimeter wave radar and an ultrasonic radar, and construct a simulated vehicle by creating a 3D model of the vehicle.
The simulation scene module can create a simulation scene, and design and modify the simulation scene, including functions of creating and modifying parking space parameters, creating various traffic participants and behavior designs, barrier designs and parameter modifications, various scene combination designs and the like.
The passenger-riding parking algorithm module is used for calling a passenger-riding parking algorithm and performing signal interaction with the simulation scene module so as to control the simulation vehicle in the simulation scene.
The simulation visualization module is used for performing three-dimensional visualization presentation on the whole simulation process of the passenger-riding parking algorithm, the simulation test system of the passenger-riding parking algorithm collects simulation input required by the rear end, and starts a rendering engine, and rendering results are displayed on an interface in real time.
The simulation result evaluation module is used for automatically analyzing the algorithm test result, automatically generating interactive test reports, facilitating the test engineers to perform subsequent analysis and greatly improving the test efficiency.
Based on the same inventive concept, fig. 3 is a block diagram illustrating a passenger parking algorithm simulation test device according to an exemplary embodiment, and as shown in fig. 3, the first passenger parking algorithm simulation test device 30 includes:
a vehicle simulation module 31 configured to build a simulated vehicle by performing three-dimensional modeling according to real vehicle parameters based on a vehicle dynamics model, and build a simulated sensor of the simulated vehicle;
a scene simulation module 32 configured to create a simulation scene according to the scene configuration parameters;
the passenger-assistant parking algorithm module 33 is configured to call a passenger-assistant parking algorithm to be tested, and control the simulated vehicle to drive to a parking garage position in the simulated scene according to the map data corresponding to the simulated scene and the sensing data of the simulated scene sensed by the simulation sensor;
a simulation test result determination module 34 configured to determine a simulation test result of the valet parking algorithm according to the driving condition of the simulated vehicle in the simulation scene;
and the adjusting module 35 is configured to adjust parameters of each functional module of the valet parking algorithm according to the capability indexes of the plurality of functional modules corresponding to the valet parking algorithm in the simulation test result.
Optionally, the first passenger parking algorithm simulation testing device 30 further includes:
an acquisition module configured to acquire real-time coordinate parameters of the simulated vehicle relative to the simulated scene;
and the simulation visualization module is configured to perform visualization rendering on the simulation scene and the simulation vehicle according to the observation visual angle parameter corresponding to the simulation scene and the real-time coordinate parameter, and display a rendering result through a visualization interface.
Optionally, the scene simulation module 32 is configured to:
determining a second scene configuration parameter according to a first scene configuration parameter pre-configured in a simulation scene library and an edit parameter of a worker on the first scene configuration parameter according to a test requirement;
and creating a simulation scene according to the second scene configuration parameters.
Optionally, the first passenger parking algorithm simulation testing device 30 includes:
the generating module is configured to generate a test report according to the capability indexes of the plurality of functional modules corresponding to the passenger parking algorithm in the simulation test result;
the sending module is configured to send the test report to a worker, so that the worker manually adjusts the parameters of the passenger parking algorithm according to the test report.
Optionally, the capability indicators of the plurality of function modules corresponding to the valet parking algorithm include one or more of the following: and designing a first capacity index of the function module corresponding to the track, determining a second capacity index of the function module corresponding to the library position, and designing a third capacity index of the function module corresponding to the obstacle avoidance.
Optionally, the first passenger parking algorithm simulation testing device 30 includes:
the system comprises a creating module, a simulation module and a control module, wherein the creating module is configured to randomly create an obstacle target according to obstacle parameters configured in advance after a simulation scene is created according to scene configuration parameters, and the obstacle target comprises a moving target and/or a static target;
a determination module configured to determine a motion trajectory of the moving object and/or coordinate parameters of the static object according to a pre-configured obstacle creation rule.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the valet parking algorithm simulation test method provided by the present disclosure.
Fig. 4 is a block diagram illustrating a valet parking algorithm simulation test device in accordance with an exemplary embodiment. For example, the second valet parking algorithm simulation test device 400 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.
Referring to fig. 4, the second passenger parking algorithm simulation testing device 400 may include one or more of the following components: a first processing component 402, a first memory 404, a first power component 406, a multimedia component 408, an audio component 410, a first input/output interface 412, a sensor component 414, and a communication component 416.
The first processing component 402 generally controls the overall operation of the second valet parking algorithm simulation test device 400, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The first processing component 402 may include one or more processors 420 to execute instructions to perform all or a portion of the steps of the method described above. Further, the first processing component 402 may include one or more modules that facilitate interaction between the first processing component 402 and other components. For example, the first processing component 402 may include a multimedia module to facilitate interaction between the multimedia component 408 and the first processing component 402.
The first memory 404 is configured to store various types of data to support simulating operation of the test device 400 at the second valet parking algorithm. Examples of such data include instructions for any application or method operating on the second valet parking algorithm simulation test device 400, contact data, phone book data, messages, pictures, videos, and the like. The first memory 404 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The first power component 406 provides power to the various components of the second valet parking algorithm simulation test device 400. The first power component 406 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the second valet parking algorithm simulation test device 400.
The multimedia component 408 includes a screen that provides an output interface between the second valet parking algorithm simulation test device 400 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 408 includes a front facing camera and/or a rear facing camera. When the second valet parking algorithm simulation test device 400 is in an operation mode, such as a shooting mode or a video mode, the front-facing camera and/or the rear-facing camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 410 is configured to output and/or input audio signals. For example, the audio component 410 includes a Microphone (MIC) configured to receive an external audio signal when the second valet parking algorithm emulation test device 400 is in an operational mode, such as a call mode, a record mode, and a voice recognition mode. The received audio signal may further be stored in the first memory 404 or transmitted via the communication component 416. In some embodiments, audio component 410 also includes a speaker for outputting audio signals.
The first input/output interface 412 provides an interface between the first processing component 402 and a peripheral interface module, which may be a keyboard, click wheel, button, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 414 includes one or more sensors for providing various aspects of status assessment for the second valet parking algorithm simulation test setup 400. For example, the sensor component 414 may detect the on/off state of the second passenger parking algorithm simulation test device 400, the relative positioning of components, such as a display and a keypad of the second passenger parking algorithm simulation test device 400, the sensor component 414 may detect a change in position of one component of the second passenger parking algorithm simulation test device 400 or the second passenger parking algorithm simulation test device 400, the presence or absence of a user contact with the second passenger parking algorithm simulation test device 400, the orientation or acceleration/deceleration of the second passenger parking algorithm simulation test device 400, and a change in temperature of the second passenger parking algorithm simulation test device 400. The sensor assembly 414 may include a proximity sensor configured to detect the presence of a nearby object in the absence of any physical contact. The sensor assembly 414 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 414 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 416 is configured to facilitate wired or wireless communication between the second valet parking algorithm simulation test device 400 and other devices. The second generation parking algorithm simulation test device 400 can access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 416 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 416 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the second valet parking algorithm simulation testing device 400 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic components for performing the above-described valet parking algorithm simulation testing method.
In an exemplary embodiment, a non-transitory computer readable storage medium including instructions, such as the first memory 404 including instructions, executable by the processor 420 of the second valet parking algorithm simulation test device 400 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
The apparatus may be a part of a stand-alone electronic device, for example, in an embodiment, the apparatus may be an Integrated Circuit (IC) or a chip, where the IC may be one IC or a collection of multiple ICs; the chip may include, but is not limited to, the following categories: a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an SOC (System on Chip ), and the like. The integrated circuit or the chip can be used for executing executable instructions (or codes) to realize the passenger parking algorithm simulation test method. Where the executable instructions may be stored in the integrated circuit or chip or may be retrieved from another device or apparatus, for example, where the integrated circuit or chip includes a processor, a memory, and an interface for communicating with other devices. The executable instruction can be stored in the memory, and when the executable instruction is executed by the processor, the simulation test method of the passenger-assistant parking algorithm is realized; or, the integrated circuit or the chip may receive the executable instruction through the interface and transmit the executable instruction to the processor for execution, so as to implement the above-mentioned valet parking algorithm simulation test method.
In another exemplary embodiment, a computer program product is also provided, which includes a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described valet parking algorithm simulation test method when executed by the programmable apparatus.
Fig. 5 is a block diagram illustrating a valet parking algorithm simulation test device in accordance with an exemplary embodiment. For example, the third generation passenger parking algorithm simulation test device 500 may be provided as a server. Referring to fig. 5, the third generation parking algorithm simulation test setup 500 includes a second processing component 522 that further includes one or more processors and a memory resource represented by a second memory 532 for storing instructions, such as an application program, executable by the second processing component 522. The application programs stored in the second memory 532 may include one or more modules each corresponding to a set of instructions. Further, the second processing component 522 is configured to execute instructions to perform the above-described valet parking algorithm simulation test method.
The third generation parking algorithm simulation test device 500 may further include a second power supply component 526 configured to perform power management of the third generation parking algorithm simulation test device 500, a wired or wireless network interface 550 configured to connect the third generation parking algorithm simulation test device 500 to a network, and a second input/output interface 558. The third generation passenger parking algorithm simulation test device 500 may operate based on an operating system, such as Windows Server, stored in the second memory 532 TM ，Mac OS X TM ，Unix TM ， Linux TM ，FreeBSD TM Or the like.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A simulation test method for a passenger-riding parking algorithm is characterized by comprising the following steps:
on the basis of a vehicle dynamics model, carrying out three-dimensional modeling according to real vehicle parameters to construct a simulated vehicle, and constructing a simulation sensor of the simulated vehicle;
creating a simulation scene according to the scene configuration parameters;
calling a passenger-assistant parking algorithm to be tested, and controlling the simulated vehicle to run to a parking garage position in the simulated scene according to the map data corresponding to the simulated scene and the sensing data of the simulated scene sensed by the simulation sensor;
determining a simulation test result of the passenger-riding parking algorithm according to the running condition of the simulated vehicle in the simulation scene;
and adjusting parameters of each functional module of the valet parking algorithm according to the capability indexes of the plurality of functional modules corresponding to the valet parking algorithm in the simulation test result.
2. The method of claim 1, further comprising:
acquiring real-time coordinate parameters of the simulated vehicle relative to the simulated scene;
and performing visual rendering on the simulation scene and the simulation vehicle according to the observation visual angle parameter corresponding to the simulation scene and the real-time coordinate parameter, and displaying a rendering result through a visual interface.
3. The method of claim 1, wherein creating the simulation scenario according to the scenario configuration parameters comprises:
determining a second scene configuration parameter according to a first scene configuration parameter pre-configured in a simulation scene library and an edit parameter of a worker on the first scene configuration parameter according to a test requirement;
and creating a simulation scene according to the second scene configuration parameters.
4. The method according to claim 1, characterized in that it comprises:
generating a test report according to the capability indexes of the plurality of functional modules corresponding to the passenger-assisted parking algorithm in the simulation test result;
and sending the test report to a worker, so that the worker can manually adjust the parameters of the passenger-riding parking algorithm according to the test report.
5. The method of claim 1, wherein the capability indicators corresponding to the plurality of functional modules of the valet parking algorithm include one or more of: and designing a first capacity index of the function module corresponding to the track, determining a second capacity index of the function module corresponding to the library position, and designing a third capacity index of the function module corresponding to the obstacle avoidance.
6. The method according to any one of claims 1-5, wherein after creating the simulation scenario according to the scenario configuration parameters, the method further comprises:
randomly creating an obstacle target according to a pre-configured obstacle parameter, wherein the obstacle target comprises a moving target and/or a static target;
and determining the motion trail of the moving target and/or the coordinate parameter of the static target according to a pre-configured obstacle creating rule.
7. A passenger-riding parking algorithm simulation device is characterized by comprising:
the vehicle simulation module is configured to build a simulation vehicle through three-dimensional modeling according to real vehicle parameters based on a vehicle dynamic model, and build a simulation sensor of the simulation vehicle;
a scene simulation module configured to create a simulation scene according to the scene configuration parameters;
the passenger parking algorithm module is configured to call a to-be-tested passenger parking algorithm, and control the simulated vehicle to drive to a parking garage in the simulated scene according to the map data corresponding to the simulated scene and the sensing data of the simulated scene sensed by the simulation sensor;
the simulation test result determining module is configured to determine a simulation test result of the passenger-riding parking algorithm according to the running condition of the simulated vehicle in the simulation scene;
and the adjusting module is configured to adjust parameters of each functional module of the valet parking algorithm according to the capability indexes of the functional modules corresponding to the valet parking algorithm in the simulation test result.
8. The apparatus of claim 7, further comprising:
an acquisition module configured to acquire real-time coordinate parameters of the simulated vehicle relative to the simulated scene;
and the simulation visualization module is configured to perform visual rendering on the simulation scene and the simulation vehicle according to the observation visual angle parameter corresponding to the simulation scene and the real-time coordinate parameter, and display a rendering result through a visual interface.
9. A passenger-riding algorithm simulation device is characterized by comprising:
a first processor;
a memory for storing processor-executable instructions;
wherein the first processor is configured to perform the method of any one of claims 1-6.
10. A computer-readable storage medium, on which computer program instructions are stored, which program instructions, when executed by a second processor, carry out the steps of the method according to any one of claims 1 to 6.
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