CN-115981271-B - Automatic driving simulation test system, method, equipment and storage medium

CN115981271BCN 115981271 BCN115981271 BCN 115981271BCN-115981271-B

Abstract

The invention provides an automatic driving simulation test system, an automatic driving simulation test method, automatic driving simulation test equipment and a storage medium, wherein the automatic driving simulation test system comprises a virtual module assembly, a test module and a test module, wherein the virtual module assembly comprises a plurality of virtual modules, and the virtual modules correspond to all functional modules of a tested automatic driving system; the simulation system comprises a virtual module component, a virtual control module, a simulation core module and a simulation module, wherein the virtual module component is used for combining a designated virtual module in the virtual module component with a tested function module of a tested automatic driving system, simulating a control flow of the tested automatic driving system, acquiring a vehicle control instruction output by the designated virtual module and/or the tested function module, and the simulation core module is used for receiving simulation data and the vehicle control instruction which are input from the outside, updating a simulation model and issuing state information observed by the simulation model. According to the invention, the automatic driving simulation test system with light weight and flexible strain is provided, so that the test method can be flexibly adjusted according to the test requirement.

Inventors

Jiang Kangyun
YU MINGQI

Assignees

上海西井信息科技有限公司

Dates

Publication Date: 20260505
Application Date: 20221206

Claims (11)

1. An autopilot simulation test system, comprising: the virtual module assembly comprises a plurality of virtual modules, and the virtual modules correspond to all functional modules of the tested automatic driving system; The virtual control module is used for combining a designated virtual module in the virtual module assembly with a tested function module of the tested automatic driving system to obtain all modules required by a control flow of the automatic driving system, wherein the designated virtual module and the tested function module respectively correspond to each node of the control flow of the automatic driving system, simulate the control flow of the tested automatic driving system, control the data flow direction of the designated virtual module and the tested function module according to the control flow of the automatic driving system, take output data of a module corresponding to a previous node as input data of a current module, output the input data of the current module to a module corresponding to a next node, and take output data of a module corresponding to a last node of the control flow as a vehicle control instruction; The simulation core module is used for receiving simulation data and vehicle control instructions which are input from outside, updating the simulation models and issuing state information obtained by observing the simulation models, and further comprises a time accelerator used for controlling the simulation time speed of each simulation model in the simulation core module.
2. The automated driving simulation test system of claim 1, wherein the simulation model comprises a vehicle model, an object model, and a traffic signal model; The simulation core module includes: the vehicle model management unit is used for receiving simulation data and vehicle control instructions which are input from the outside and updating the vehicle model; The object model management unit is used for receiving simulation data input from the outside and updating the object model; And the traffic signal model management unit is used for receiving simulation data input from the outside and updating the traffic signal model.
3. The autopilot simulation test system of claim 2 wherein the simulation data includes one or more of simulation control instructions, vehicle trajectory data, object trajectory data, and environmental change data.
4. The autopilot simulation test system of claim 1 wherein the simulation core module includes: A vehicle state observer for observing and distributing state information of the vehicle model; The point cloud observer is used for observing and distributing point cloud data; The positioning observer is used for observing and distributing positioning information of the vehicle model; and the object observer is used for observing and distributing object information of the object model.
5. The autopilot simulation test system of claim 1 wherein the virtual control module is configured to: if the module corresponding to the last node of the control flow is a designated virtual module, acquiring output data of the designated virtual module corresponding to the last node as a vehicle control instruction; And if the module corresponding to the last node in the control flow is a tested function module, acquiring output data of the tested function module corresponding to the last node from the tested automatic driving system as a vehicle control instruction.
6. The automated driving simulation test system of claim 1, further comprising a test evaluation module configured to generate a test evaluation result according to the state information and a preset test evaluation index issued by the simulation core module and observed by the simulation model.
7. An autopilot simulation test method employing the autopilot simulation test system of any one of claims 1 to 6, the method comprising the steps of: In each simulation running period, the virtual control module combines a designated virtual module in the virtual module assembly with a tested function module of the tested automatic driving system to simulate the control flow of the tested automatic driving system; the virtual control module sends a vehicle control instruction acquired during the simulation control flow to the simulation core module; The simulation core module acquires simulation data and vehicle control instructions which are input from outside, updates a simulation model, and issues state information obtained by observing the simulation model; The virtual control module combines a designated virtual module in the virtual module assembly with a tested function module of the tested automatic driving system to simulate the control flow of the tested automatic driving system, and the method comprises the following steps: The virtual control module controls the data flow direction of the appointed virtual module and the tested function module according to the control flow of the automatic driving system, and for each module, the output data of the module corresponding to the previous node is used as the input data of the current module, and the input data of the current module is output to the module corresponding to the next node; and the virtual control module takes the output data of the module corresponding to the last node of the control flow as a vehicle control instruction.
8. The automated driving simulation test method of claim 7, wherein, before the virtual control module combines the appointed virtual module in the virtual module assembly with the tested function module of the tested automatic driving system, the method further comprises the following steps: the virtual module component sets the control module of the selected designated virtual module to enable.
9. The autopilot simulation test method of claim 7 wherein the virtual module assembly further comprises the steps of, prior to setting the control module of the selected designated virtual module to enable: Determining a virtual module corresponding to a functional module of the tested automatic driving system according to the type of the tested automatic driving system, and taking the virtual module as an alternative virtual module; And selecting a virtual module corresponding to the non-tested function module from the alternative virtual modules according to the tested function module of the tested automatic driving system, and taking the virtual module as the selected appointed virtual module.
10. An automatic driving simulation apparatus, characterized by comprising: A processor; A memory having stored therein executable instructions of the processor; wherein the processor is configured to perform the steps of the autopilot simulation test method of any one of claims 7 to 9 via execution of the executable instructions.
11. A computer-readable storage medium storing a program, characterized in that the program when executed by a processor implements the steps of the automated driving simulation test method according to any one of claims 7 to 9.

Description

Automatic driving simulation test system, method, equipment and storage medium Technical Field The present invention relates to the field of vehicle testing technologies, and in particular, to an automatic driving simulation testing system, method, apparatus, and storage medium. Background In the automatic driving field, a great amount of algorithm support is needed no matter the environment sensing technology, the vehicle control technology, the path planning technology and the like, the algorithm research and development is a continuous iterative process, and under the condition that the algorithm is not mature, in order to cooperate with the function and performance development of an automatic driving vehicle, and simultaneously in order to ensure the safety and stability of an automatic driving system, after the algorithm development is finished and before the algorithm actually enters a road real vehicle test, a simulation environment capable of providing a performance test is necessary. An excellent simulator can help find problems in algorithm development before the vehicle is put on hand, so that development efficiency is improved, and unnecessary test cost is saved. The existing automatic driving simulation platforms in the market are mainly aimed at the road scenes of civil vehicles, a physical engine, a high-precision map and a visual virtual environment are often provided, and various automatic driving systems (such as ADAS systems) of the whole vehicles can be accessed for simulation, but the problems of the simulator are that the use of the whole simulator is complex, the use of the whole simulator is particularly high in requirements on hardware conditions, the related algorithm logic of the simulation environment is complex, the whole complete automatic driving system is accessed, the technical problem is difficult to be effectively confirmed in specific links of the simulator or the system when the problem is encountered in the test, the condition setting of the simulator is relatively dead, and the condition setting of the simulator can not be flexibly adjusted according to different test requirements. It should be noted that the information disclosed in the foregoing background section is only for enhancement of understanding of the background of the invention and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art. Disclosure of Invention Aiming at the problems in the prior art, the invention aims to provide an automatic driving simulation test system, an automatic driving simulation test method, automatic driving simulation test equipment and a storage medium. The embodiment of the invention provides an automatic driving simulation test method, which comprises the following steps: the virtual module assembly comprises a plurality of virtual modules, and the virtual modules correspond to all functional modules of the tested automatic driving system; the virtual control module is used for combining a designated virtual module in the virtual module assembly with a tested function module of the tested automatic driving system, simulating the control flow of the tested automatic driving system and acquiring a vehicle control instruction output by the designated virtual module and/or the tested function module; the simulation core module is used for receiving simulation data and vehicle control instructions which are input from outside, updating a simulation model and issuing state information obtained by observing the simulation model. In some embodiments, the simulation model includes a vehicle model, an object model, and a traffic signal model; The simulation core module includes: the vehicle model management unit is used for receiving simulation data and vehicle control instructions which are input from the outside and updating the vehicle model; The object model management unit is used for receiving simulation data input from the outside and updating the object model; And the traffic signal model management unit is used for receiving simulation data input from the outside and updating the traffic signal model. In some embodiments, the simulation data includes one or more of simulation control instructions, vehicle trajectory data, object trajectory data, and environmental change data. In some embodiments, the simulation core module comprises: A vehicle state observer for observing and distributing state information of the vehicle model; The point cloud observer is used for observing and distributing point cloud data; The positioning observer is used for observing and distributing positioning information of the vehicle model; and the object observer is used for observing and distributing object information of the object model. In some embodiments, an enable control switch is provided in each virtual module in the virtual module assembly, and the virtual control module selects a specified virtual module participating in