CN-122015802-A - Ethernet-based data injection type positioning navigation simulation method and system

CN122015802ACN 122015802 ACN122015802 ACN 122015802ACN-122015802-A

Abstract

The invention belongs to the field of automatic driving, in particular to a data injection type positioning navigation simulation method and system based on Ethernet, which simulate an intelligent driving scene in a virtual traffic scene to obtain positioning information and vehicle posture information of a simulated vehicle, so that the generation of positioning data is directly derived from map data and the simulation scene, the consistency among positioning information, road structures and running conditions is ensured from the source, so that various running environments and abnormal conditions can be flexibly constructed under the condition that real roads and vehicles are not needed to participate, and the problem of high cost caused by dependence on real vehicles or special test sites is avoided.

Inventors

Ru Naiyu
JI QINGHUI
GUO YANLING

Assignees

奇瑞汽车股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260120

Claims (11)

1. The Ethernet-based data injection type positioning navigation simulation method is characterized by comprising the following steps of: constructing a virtual traffic scene, and simulating an intelligent driving scene in the virtual traffic scene to obtain positioning information and vehicle posture information of a simulated vehicle; converting the positioning information and the vehicle posture information of the simulated vehicle into GNSS data and IMU data, packaging the GNSS data and the IMU data, and transmitting the GNSS data and the IMU data through an Ethernet; And verifying the received packaged GNSS data and IMU data, and converting the packaged GNSS data and IMU data into a target format after the received GNSS data and IMU data pass the verification.
2. The ethernet-based data injection type positioning navigation simulation method of claim 1, wherein a virtual traffic scene is constructed, and an intelligent driving scene is simulated in the virtual traffic scene, and the specific method for obtaining positioning information and vehicle posture information of a simulated vehicle is as follows: map data are acquired, and a virtual traffic scene is constructed according to the map data; And simulating the intelligent driving scene in the virtual traffic scene, and acquiring positioning information and vehicle posture information of a simulated vehicle in real time, wherein the vehicle posture information comprises yaw angle parameters, pitch angle parameters and roll angle parameters of the vehicle.
3. The ethernet-based data injection type positioning navigation simulation method of claim 1, wherein the positioning information and the vehicle posture information of the simulated vehicle are converted into GNSS data and IMU data, the GNSS data and the IMU data are packaged, and the specific method for transmitting the GNSS data and the IMU data through the ethernet is as follows: acquiring positioning information and vehicle posture information of a simulated vehicle, performing coordinate conversion processing on the positioning information and the vehicle posture information of the simulated vehicle, converting the positioning information of the simulated vehicle into longitude and latitude data meeting the requirements of a GNSS data format, and converting the vehicle posture information into posture data meeting IMU data fields as the GNSS data; introducing disturbance to GNSS data and IMU data, and respectively packaging the GNSS data and the IMU data after the disturbance is introduced into data messages with the same output format as the sensor; And sending the encapsulated data message to a target address through the Ethernet according to the preset IP address and TCP port.
4. The ethernet-based data injection positioning navigation simulation method of claim 1, wherein the specific method for verifying the received encapsulated GNSS data and IMU data, and converting the encapsulated GNSS data and IMU data into the target format after the verification is passed is as follows: acquiring packaged GNSS data and IMU data, and performing validity detection and timestamp verification on the packaged GNSS data and IMU data; when the row validity detection result is valid and the time stamp verification is passed, the packaged GNSS data and IMU data are converted into intermediate data formats required by a downstream automatic driving algorithm and sent through a middleware interface.
5. The Ethernet-based data injection type positioning navigation simulation system is characterized by comprising the following components: the simulation module is used for constructing a virtual traffic scene, simulating the intelligent driving scene in the virtual traffic scene and obtaining positioning information and vehicle posture information of a simulated vehicle; the encapsulation module is used for converting the positioning information and the vehicle posture information of the simulated vehicle into GNSS data and IMU data, encapsulating the GNSS data and the IMU data and transmitting the GNSS data and the IMU data through the Ethernet; and the data conversion module is used for verifying the received packaged GNSS data and IMU data, and converting the packaged GNSS data and IMU data into a target format after the verification is passed.
6. The ethernet-based data injection type positioning navigation simulation system of claim 5, wherein the function of the simulation module is implemented by: map data are acquired, and a virtual traffic scene is constructed according to the map data; And simulating the intelligent driving scene in the virtual traffic scene, and acquiring positioning information and vehicle posture information of a simulated vehicle in real time, wherein the vehicle posture information comprises yaw angle parameters, pitch angle parameters and roll angle parameters of the vehicle.
7. The ethernet-based data injection type positioning navigation simulation system of claim 5, wherein the function of the encapsulation module is implemented by: acquiring positioning information and vehicle posture information of a simulated vehicle, performing coordinate conversion processing on the positioning information and the vehicle posture information of the simulated vehicle, converting the positioning information of the simulated vehicle into longitude and latitude data meeting the requirements of a GNSS data format, and converting the vehicle posture information into posture data meeting IMU data fields as the GNSS data; introducing disturbance to GNSS data and IMU data, and respectively packaging the GNSS data and the IMU data after the disturbance is introduced into data messages with the same output format as the sensor; And sending the encapsulated data message to a target address through the Ethernet according to the preset IP address and TCP port.
8. The ethernet-based data injection type positioning navigation simulation system of claim 5, wherein the data conversion module function is implemented by: acquiring packaged GNSS data and IMU data, and performing validity detection and timestamp verification on the packaged GNSS data and IMU data; when the row validity detection result is valid and the time stamp verification is passed, the packaged GNSS data and IMU data are converted into intermediate data formats required by a downstream automatic driving algorithm and sent through a middleware interface.
9. The Ethernet-based data injection type positioning navigation simulation system is characterized by comprising the following components: The upper computer is used for constructing a virtual traffic scene, simulating the intelligent driving scene in the virtual traffic scene to obtain positioning information and vehicle posture information of a simulated vehicle, converting the positioning information and the vehicle posture information of the simulated vehicle into GNSS data and IMU data, packaging the GNSS data and the IMU data, and transmitting the intelligent driving domain controller through the Ethernet; And the intelligent driving domain controller is used for acquiring actual GNSS data and IMU data, checking the packaged GNSS data and IMU data, and converting the packaged GNSS data and IMU data into a target format after the checking.
10. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the ethernet-based data injection type positioning navigation simulation method of any of claims 1 to 4 when the computer program is executed.
11. A storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the ethernet-based data injection type positioning navigation simulation method of any of claims 1 to 4.

Description

Ethernet-based data injection type positioning navigation simulation method and system Technical Field The invention belongs to the field of automatic driving, and particularly relates to a data injection type positioning navigation simulation method and system based on Ethernet. Background Along with the rapid development of technology, the automatic driving technology is gradually changed from theoretical research to engineering application, and becomes an important technical direction for promoting the intelligent change of traffic systems. The automatic driving system depends on the cooperative operation of a plurality of key technologies, wherein the positioning technology is a basic link for realizing the sensing of the vehicle environment, path planning and safety control, and the accuracy and the reliability of the positioning technology directly influence the running safety and the running efficiency of the vehicle in a complex traffic environment. As one of the most widely used positioning means at present, the Global Navigation Satellite System (GNSS) can provide accurate geographic position information for vehicles, and plays an important role in the process of testing and implementing communication (V2V) between vehicles, communication (V2I) between vehicles and infrastructure, and automatic driving functions, so that the positioning information provided by the GNSS has become an essential basic data source for automatic driving systems. In the development and verification process of the automatic driving technology, a simulation test is used as one of key technical links, and has important significance for improving the safety and reliability of an automatic driving system. Compared with the closed field real vehicle test and the actual road test, the simulation test has the remarkable advantages of high efficiency, strong repeatability, capability of simulating extreme or high risk scenes and the like, capability of making up the defects of the traditional test mode to a certain extent and remarkably shortening the research and development period of the automatic driving system. By constructing a virtual scene with a height close to the real traffic environment and injecting various scene data into the automatic driving system, the automatic driving algorithm and the system can be comprehensively tested under the condition of no actual external target object. For example, performance of the vehicle positioning system under severe weather conditions such as heavy rain, dense fog and the like can be simulated in a simulation environment, and emergency working conditions such as sudden obstacles and the like in the high-speed running process of the vehicle can be constructed so as to verify the coping strategy and the safety performance of the automatic driving system. However, the requirements of the automatic driving system on safety and reliability are extremely high, so that the automatic driving system not only needs to stably operate under normal working conditions, but also needs to have fault tolerance capability under abnormal or fault conditions so as to ensure that the system can take effective emergency measures. In the existing simulation and fault injection technology, when the related sensor data are simulated and positioned, GNSS and IMU data are generated in a hardware simulation mode, the scheme generally depends on special hardware equipment for data construction and injection, the hardware cost is high, the development period is long, and certain limitations still exist in the aspects of data flexibility and simulation precision. Because positioning sensors such as GNSS, IMU and the like are more complex in terms of data structure and physical characteristics than cameras, ultrasonic radars and the like, the simulation accuracy of the positioning sensors has a significant influence on the test result of an automatic driving system, so that the simulation is carried out by simply relying on a hardware mode, and the cost, the efficiency and the simulation effect are difficult to be simultaneously considered. Disclosure of Invention The invention aims to solve the problems of high cost, complex realization, insufficient flexibility and difficulty in accurately simulating complex environments and abnormal working conditions in a positioning data simulation and fault injection method of the existing automatic driving simulation technology, and provides a data injection type positioning navigation simulation method and system based on the Ethernet. In order to achieve the above purpose, the invention adopts the following technical scheme: in a first aspect, the present invention provides an ethernet-based data injection type positioning navigation simulation method, including the following steps: constructing a virtual traffic scene, and simulating an intelligent driving scene in the virtual traffic scene to obtain positioning information and vehicle posture information of a simula