CN-121995783-A - Multi-vehicle mixed-knitting test simulation system and method for unmanned vehicle

CN121995783ACN 121995783 ACN121995783 ACN 121995783ACN-121995783-A

Abstract

The application is applicable to the technical field of computer application, and provides a multi-vehicle mixed-knitting test simulation system and method of an unmanned vehicle, wherein the system comprises a scene definition regulation and control module, a virtual environment perception module and a virtual vehicle control module, wherein the scene definition regulation and control module is used for responding to scene configuration operation of a user, generating scene information and sending the scene information to the virtual environment perception module and the virtual vehicle control module; the system comprises a virtual environment sensing module, a virtual vehicle control module and a virtual vehicle control module, wherein the virtual environment sensing module is used for receiving scene information, generating sensing fusion information according to the scene information and sending the sensing fusion information to the virtual vehicle control module, and the virtual vehicle control module is used for receiving the scene information and the sensing fusion information, generating virtual signals according to the scene information and the sensing fusion information, and controlling and planning the unmanned vehicle according to the virtual signals. Therefore, by the system, the mixed-knitting test of a plurality of unmanned vehicles in a scene containing the background traffic flow is realized, the test cost is saved, the test efficiency is improved, and the test risk is reduced.

Inventors

HU SIBO
YANG FENGFAN
LI KANG
YANG YI
SUN WENBIN
WU QIYU
XU XIAOKANG
LI WENXUAN
HUANG LU
TAN XIAO
Gong Qiubo

Assignees

希迪智驾科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20241031

Claims (11)

1. The multi-vehicle mixed-editing test simulation system of the unmanned vehicle is characterized by comprising a scene definition regulation and control module, a virtual environment sensing module and N virtual vehicle control modules, wherein N is an integer greater than 1; The scene definition regulation and control module is used for responding to scene configuration operation of a user, generating scene information and sending the scene information to the virtual environment sensing module and the virtual vehicle control module, wherein the scene information comprises configuration information of N unmanned vehicles, background traffic flows, obstacles and task equipment; the ith virtual vehicle control module is used for receiving the scene information sent by the scene definition regulation and control module and the perception fusion information sent by the virtual environment perception module, generating a virtual signal according to the scene information and the perception fusion information, and controlling and planning the ith unmanned vehicle according to the virtual signal, wherein the perception fusion information comprises all vehicle information and barrier information in the perception range of the ith unmanned vehicle, and i is an integer which is greater than or equal to 1 and less than or equal to N; The virtual environment sensing module is used for receiving the scene information sent by the scene definition regulation and control module, generating sensing fusion information according to the scene information, and sending the sensing fusion information to the virtual vehicle control module.
2. The unmanned vehicle multi-vehicle hybrid test simulation system of claim 1, wherein the virtual vehicle control module comprises a virtual vehicle movement module and an unmanned system, the virtual vehicle movement module configured to: Receiving a vehicle control instruction sent by the unmanned system and the scene information sent by the scene definition regulation and control module, generating unmanned vehicle real-time information according to the scene information and the vehicle control instruction, sending the unmanned vehicle real-time information to the virtual environment sensing module, receiving sensing fusion information sent by the virtual environment sensing module, generating a virtual signal according to the scene information, the vehicle control instruction and the sensing fusion information, and sending the virtual signal to the unmanned system; the unmanned system is used for: The vehicle control instruction is sent to the virtual vehicle movement module, the virtual signal sent by the virtual vehicle movement module is received, and the unmanned vehicle is controlled and planned according to the virtual signal; the virtual environment sensing module is further configured to: And receiving the real-time information of the unmanned vehicle sent by the virtual vehicle movement module, and generating the perception fusion information according to the real-time information of the unmanned vehicle and the scene information.
3. The multi-vehicle hybrid test simulation system of the unmanned vehicle according to claim 2, wherein the virtual signals comprise a virtual positioning signal, a virtual floor signal, a virtual vehicle-to-vehicle V2V signal and a virtual perception signal, and the virtual vehicle motion module is specifically configured to: Inputting the scene information and the vehicle control instruction into a preset vehicle dynamics model of the virtual vehicle motion module to generate the virtual positioning signal and the virtual bottom layer signal; and generating the virtual V2V signal and the virtual sensing signal according to the sensing fusion information.
4. The multi-vehicle hybrid test simulation system of the unmanned vehicle according to claim 1, further comprising a computing power resource allocation module; The scene definition regulation and control module is further used for: sending the scene information to the computing power resource allocation module; The computing power resource allocation module is used for: And receiving the scene information, generating computing power resource allocation information according to the scene information, and determining computing power equipment corresponding to each unmanned vehicle according to the computing power resource allocation information, wherein the computing power equipment corresponding to the unmanned vehicle is used for carrying a virtual vehicle control module corresponding to the unmanned vehicle.
5. The multi-vehicle hybrid test simulation system of the unmanned vehicle according to claim 1, further comprising a data dynamic monitoring module; the data dynamic monitoring module is used for: and displaying the input and output data of the virtual vehicle control module and the state data of the background traffic flow, the obstacle and the task equipment through a visual interface.
6. The unmanned vehicle multi-vehicle hybrid test simulation system of claim 1, wherein the scenario information further comprises job task information, the virtual vehicle control module further configured to: And according to the job task information, sending the unmanned vehicle real-time information and a job task application to the task equipment, receiving an agreeing job signal sent by the task equipment, generating a job task instruction, controlling a job vehicle in the job task information to execute a task, and receiving an ending job signal sent by the task equipment.
7. The multi-vehicle hybrid test simulation system of the unmanned vehicle according to claim 6, wherein the job task information includes loading task information, crushing task information and energy charging task information, the task equipment includes loading equipment, crushing equipment and energy charging equipment, and the virtual vehicle control module is specifically further configured to: And controlling the working vehicle to execute a loading task according to the loading task information, controlling the working vehicle to execute a crushing task according to the crushing task information after receiving a loading completion task signal sent by the loading equipment, and controlling the working vehicle to execute a charging task according to the charging task information after receiving a crushing completion task signal sent by the crushing equipment, and receiving a charging completion task signal sent by the charging equipment.
8. The multi-vehicle mixed-knitting test simulation system of the unmanned vehicle according to claim 1, wherein the multi-vehicle mixed-knitting test simulation system of the unmanned vehicle further comprises a multi-vehicle collaborative mixed-knitting algorithm module; the virtual vehicle control module is further configured to: The real-time information of the unmanned vehicles is sent to the multi-vehicle cooperative hybrid algorithm module, and vehicle control instructions sent by the multi-vehicle cooperative hybrid algorithm module are received; The multi-vehicle cooperative mixed-coding algorithm module is used for: And receiving the real-time information of the unmanned vehicle, generating the vehicle control instruction according to the real-time information of the unmanned vehicle, and sending the vehicle control instruction to the virtual vehicle control module.
9. The multi-vehicle mixed-knitting test simulation method for the unmanned vehicle is applied to a virtual vehicle control module and is characterized by comprising the following steps of: Receiving scene information sent by a scene definition regulation module and perception fusion information sent by a virtual environment perception module, wherein the scene information comprises configuration information of a plurality of unmanned vehicles, background traffic flows, obstacles and task equipment, and the perception fusion information comprises all vehicle information and obstacle information in a perception range of the unmanned vehicles; Generating a virtual signal according to the scene information and the perception fusion information; And controlling and planning the unmanned vehicle according to the virtual signal.
10. The method of claim 9, wherein the scenario information further comprises job task information, the method further comprising: According to the operation task information, sending the unmanned vehicle real-time information and an operation task application to the task equipment; receiving an agreeing operation signal sent by the task equipment and generating an operation task instruction; and controlling the work vehicle in the work task information to execute the task, and receiving an end work signal sent by the task equipment.
11. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by an electronic device, implements the method of any one of claims 9 to 10.

Description

Multi-vehicle mixed-knitting test simulation system and method for unmanned vehicle Technical Field The application belongs to the technical field of computer application, and particularly relates to a multi-vehicle mixed-knitting test simulation system and method of an unmanned vehicle. Background The unmanned mine technology is used as an important component of intelligent mine construction, and has wide development prospect and important application value. With the continuous progress of technology and the collaborative development of industry chains, unmanned technology will play an increasingly important role in the mining industry, wherein testing unmanned vehicles is of great importance in the development of unmanned technology. In the related art, the unmanned vehicle can be subjected to real vehicle test, but the method has the problems of high test cost, low efficiency and high risk. Disclosure of Invention The application aims to provide a multi-vehicle mixed-knitting test simulation system and method for an unmanned vehicle, which can solve the problems of high test cost, low efficiency and high risk existing in the prior art that the unmanned vehicle is subjected to real vehicle test. The embodiment of the application provides a multi-vehicle mixed-editing test simulation system of an unmanned vehicle, which comprises a scene definition regulation and control module, a virtual environment perception module and N virtual vehicle control modules, wherein N is an integer larger than 1, the scene definition regulation and control module is used for responding to scene configuration operation of a user to generate scene information and sending the scene information to the virtual environment perception module and the virtual vehicle control module, the scene information comprises configuration information of N unmanned vehicles, background traffic flows, barriers and task equipment, the i virtual vehicle control module is used for receiving the scene information sent by the scene definition regulation and control module and perception fusion information sent by the virtual environment perception module, generating virtual signals according to the scene information and the perception fusion information, controlling and planning the i unmanned vehicle according to the virtual signals, wherein i is an integer larger than or equal to 1 and smaller than or equal to N, and the virtual environment perception module is used for receiving the scene information sent by the scene definition regulation and control module, generating the perception fusion information according to the scene information and sending the perception fusion information to the virtual vehicle control module, wherein the perception fusion information comprises all the information and the barrier information in the range of the unmanned vehicle. In a possible implementation manner of the first aspect, the virtual vehicle control module includes a virtual vehicle motion module and an unmanned system, where the virtual vehicle motion module is configured to: Receiving a vehicle control instruction sent by an unmanned system and scene information sent by a scene definition regulation and control module, generating unmanned vehicle real-time information according to the scene information and the vehicle control instruction, sending the unmanned vehicle real-time information to a virtual environment sensing module, receiving sensing fusion information sent by the virtual environment sensing module, generating a virtual signal according to the scene information, the vehicle control instruction and the sensing fusion information, and sending the virtual signal to the unmanned system; The unmanned system is used for: the vehicle control instruction is sent to the virtual vehicle movement module, a virtual signal sent by the virtual vehicle movement module is received, and the unmanned vehicle is controlled and planned according to the virtual signal; the above virtual environment sensing module is further configured to: and receiving the unmanned vehicle real-time information sent by the virtual vehicle motion module, and generating perception fusion information according to the unmanned vehicle real-time information and the scene information. Optionally, in another possible implementation manner of the first aspect, the virtual signal includes a virtual positioning signal, a virtual floor signal, a virtual vehicle-to-vehicle V2V signal, and a virtual sensing signal, and the virtual vehicle motion module is specifically configured to: Inputting scene information and a vehicle control instruction into a preset vehicle dynamics model of a virtual vehicle motion module to generate a virtual positioning signal and a virtual bottom layer signal; and generating a virtual V2V signal and a virtual sensing signal according to the sensing fusion information. Optionally, in still another possible implementation manner of the first aspect, the multi-vehicle