KR-20260066891-A - VALIDATION METHOD AND DEVICE FOR REALITY-VIRTUAL INTEGRATION OF AUTONOMOUS VEHICLES BASED ON SATELLITE NAVIGATION SIGNAL SENSOR

Abstract

A vehicle control PC device for testing an autonomous vehicle according to an embodiment of the present disclosure may include a communication device, a sensor for detecting motion information of an autonomous vehicle, a processor that transmits motion information to a simulator PC device using the communication device, receives virtual environment information around a virtual vehicle updated based on motion information within a simulator program of the simulator PC device, and transmits motion information that changes based on virtual environment information to the simulator PC device, and an interface device that displays motion information based on the control of the processor.

Inventors

• 원종훈
• 이용하

Assignees

• 인하대학교 산학협력단

Dates

Publication Date

20260512

Application Date

20241105

Claims (20)

1. In a vehicle control PC device for testing an autonomous vehicle, communication device; A sensor for detecting motion information of the above-mentioned autonomous vehicle; The above communication device is used to transmit the above exercise information to the simulator PC device, and In the simulator program of the above simulator PC device, virtual environment information around the virtual vehicle updated based on the motion information is received, and A processor that transmits the motion information, which varies based on the virtual environment information, to the simulator PC device; and An interface device that displays the motion information based on the control of the above processor, PC device for vehicle control.
2. In paragraph 1, The above sensor includes a satellite navigation signal sensor and an inertial navigation signal sensor, PC device for vehicle control.
3. In paragraph 1, The above processor is, Run the autonomous driving program, Characterized by updating the autonomous driving program based on the above motion information, PC device for vehicle control.
4. In paragraph 3, The communication device is characterized by transmitting the exercise information to the simulator PC device via a user-defined protocol over Ethernet and receiving the virtual environment information. PC device for vehicle control.
5. In paragraph 1, The above processor is, Characterized by displaying the above exercise information in the form of a GG-diagram, PC device for vehicle control.
6. In paragraph 5, The above processor is, Characterized by displaying the acceleration performance range of the autonomous vehicle within the above GG-diagram, PC device for vehicle control.
7. In paragraph 6, The above processor is, Characterized by displaying the forward acceleration performance range, rear acceleration performance range, and lateral acceleration performance range of the autonomous vehicle within the GG-diagram. PC device for vehicle control.
8. In a method for a vehicle control PC device to test an autonomous vehicle, A step in which a sensor of the above vehicle control PC device detects motion information of the above autonomous driving vehicle; The communication device of the above vehicle control PC device transmits the motion information to the simulator PC device; A processor of the above vehicle control PC device receives virtual environment information around a virtual vehicle updated based on the motion information within the simulator program of the above simulator PC device; The above processor transmits the motion information, which varies based on the virtual environment information, to the simulator PC device; and The interface device of the above vehicle control PC device includes the step of displaying the motion information, method.
9. In paragraph 8, The above motion information includes satellite navigation signal information and inertial navigation signal information, method.
10. In paragraph 8, Steps for implementing an autonomous driving program, and A step comprising updating the autonomous driving program based on the above motion information, method.
11. In Paragraph 10, The step of transmitting the exercise information to the simulator PC device via a user-defined protocol over Ethernet, and A method comprising the step of receiving the virtual environment information via the Ethernet or a user-defined protocol. method.
12. In paragraph 8, A method comprising the step of displaying the above exercise information in the form of a GG-diagram, method.
13. In Paragraph 12, A step comprising displaying the acceleration performance range of the autonomous vehicle within the above GG-diagram, method.
14. In Paragraph 13, A step comprising displaying the forward acceleration performance range, the rear acceleration performance range, and the lateral acceleration performance range of the autonomous vehicle within the GG-diagram. method.
15. In a simulator PC device for testing autonomous vehicles, A communication device that receives motion information of the above-mentioned autonomous vehicle from a vehicle control PC device; Run the simulator program, and Based on the above motion information, the motion information of the virtual vehicle is updated within the above simulator program, and A processor that transmits virtual environment information surrounding the updated virtual vehicle to the vehicle control PC device using the above communication device; and including an interface device that displays motion information of the above-mentioned autonomous vehicle, Simulator PC device.
16. In paragraph 15, The above exercise information is, including satellite navigation position information regarding the above-mentioned autonomous vehicle, Simulator PC device.
17. In Paragraph 16, The above satellite navigation position information is, including the x, y, and z coordinates of the above-mentioned autonomous vehicle, Simulator PC device.
18. In paragraph 15, The above motion information includes inertial navigation direction information, Simulator PC device.
19. In paragraph 15, The above inertial navigation direction information is, including yaw, roll, and pitch values for the above-mentioned autonomous vehicle, Simulator PC device.
20. In paragraph 15, The above virtual environment information is, Information regarding other vehicles around the autonomous vehicle, information regarding pedestrians around the autonomous vehicle, and road information around the autonomous vehicle, Simulator PC device.

Description

Validation Method and Device for Reality-Virtual Integration of Autonomous Vehicles Based on Satellite Navigation Signal Sensor The present disclosure relates to a method for testing an autonomous vehicle and a PC device and method for testing an autonomous vehicle. An autonomous vehicle refers to a vehicle capable of operating on its own without operation by a driver or passengers. Autonomous vehicles recognize their surrounding environment and their own location using various types of sensors (e.g., lidar, cameras, radar, ultrasonic sensors, etc.) and Vehicle-to-Everything (V2X) communication. Furthermore, they refer to vehicles that control themselves by determining driving situations without driver intervention, based on position information from Global Navigation Satellite Systems (GNSS) and precise road data. Autonomous driving can be classified into levels according to the degree of supported functions. In the case of autonomous vehicles, the Society of Automotive Engineers International (SAE International) classified autonomous driving levels into six stages in the SAE J3016 standard. With the rapid advancement of autonomous driving technology and its partial commercialization, there is a growing demand for efficient verification and evaluation technologies for autonomous driving and active driver assistance systems. Accordingly, vehicle simulators are continuously developing technologies to provide simulation environments that include sensors such as LiDAR, cameras, radar, and GNSS used in autonomous driving. Furthermore, to systematically evaluate autonomous driving and active driver assistance systems, Euro-NCAP, a European automotive performance evaluation organization, is developing performance evaluation protocols for driver assistance systems. Additionally, ASAM (Association for Standardization of Automation and Measuring System), a reputable standards-setting organization for vehicles, is developing technologies regarding standards and evaluation criteria for vehicle simulator sensor data. Globally, technological development for evaluating the driving capability and safety of autonomous vehicles is accelerating. However, there is a disadvantage in that, in order to test the performance or driving ability of an autonomous vehicle, the vehicle must be operated on actual roads or in places where dangerous situations exist. In addition, if the test is conducted using only a vehicle simulator to overcome these dangerous situations, there is a disadvantage in that the test is conducted without reflecting the precise motion information (e.g., position information or attitude angle information) of the actual autonomous vehicle. FIG. 1 illustrates an autonomous vehicle according to an embodiment of the present disclosure. FIG. 2 illustrates the configuration of a real environment and a virtual environment according to an embodiment of the present disclosure. FIG. 3 is a flowchart illustrating an autonomous vehicle test method of a PC device for controlling an autonomous vehicle according to an embodiment of the present disclosure. FIG. 4 is a block diagram showing the configuration of a PC device for controlling an autonomous driving vehicle according to an embodiment of the present disclosure. FIG. 5 is a flowchart illustrating an autonomous driving vehicle test method of a simulator PC device according to an embodiment of the present disclosure. FIG. 6 is a block diagram showing the configuration of a simulator PC device according to an embodiment of the present disclosure. FIG. 7 illustrates information shared between a simulator PC and a PC for controlling an autonomous vehicle in an embodiment of the present disclosure. FIG. 8 illustrates an example of displaying motion information of an autonomous vehicle provided according to an embodiment of the present disclosure. [Explanation of Terms in This Specification] All embodiments described below are provided by way of example to aid in understanding the present disclosure and may be implemented in various forms with modifications different from the embodiments described herein. Furthermore, in describing the present disclosure, if it is determined that a detailed description of related known functions or known components might unnecessarily obscure the essence of the present disclosure, such detailed description will be omitted. The attached drawings are not drawn to actual scale to aid in understanding the disclosure, and the dimensions of some components may be exaggerated. When assigning reference numbers to each component, the same component is indicated by the same symbol whenever possible, even if it appears in different drawings. Additionally, terms such as first, second, A, B, (a), (b), etc., may be used to describe the components of the embodiments of the present disclosure. These terms are intended merely to distinguish the components from other components, and the nature, order, or sequence of the components is not limited by these term