阅读说明：本技术 面向弱势道路使用者避撞决策的自动驾驶仿真系统及方法 (Automatic driving simulation system and method for collision avoidance decision of weak road user ) 是由 袁泉 司响 许庆 王建强 于 2021-08-04 设计创作，主要内容包括：本申请公开了一种面向弱势道路使用者避撞决策的自动驾驶仿真系统及方法,其中,该方法包括：采集弱势交通参与者的第一运动状态信息并输出；根据第一运动状态信息对预先编写的脚本文件进行修改以得到第二运动状态信息并生成虚拟传感器感知信息并输出虚拟传感器感知信息；根据预先存储的避撞决策和获取的拟传感器感知信息生成对应的操控指令并输出操控指令；执行操控指令,并输出与操控指令对应的响应结果；根据响应结果生成车辆运动状态信息,根据车辆运动状态信息,在虚拟交通环境中实现避撞决策仿真测试。该方法在自动驾驶测试中引入真实的弱势交通参与者,车辆和行人的运动信息则通过实时仿真系统进行关联,实时仿真交通状况。(The application discloses an automatic driving simulation system and method for a collision avoidance decision of a user on a weak road, wherein the method comprises the following steps: collecting and outputting first motion state information of the vulnerable traffic participants; modifying the pre-written script file according to the first motion state information to obtain second motion state information, generating virtual sensor sensing information and outputting the virtual sensor sensing information; generating a corresponding control instruction according to a pre-stored collision avoidance decision and the acquired sensing information of the pseudo sensor and outputting the control instruction; executing the control instruction and outputting a response result corresponding to the control instruction; and generating vehicle motion state information according to the response result, and realizing collision avoidance decision simulation test in the virtual traffic environment according to the vehicle motion state information. The method introduces real weak traffic participants in an automatic driving test, and the motion information of vehicles and pedestrians is correlated through a real-time simulation system to simulate traffic conditions in real time.)

1. An automated driving simulation system for collision avoidance decisions for users of vulnerable roads, wherein the simulation environment comprises a first area and a second area, wherein a driving simulator is located in the first area and wherein vulnerable traffic participants are located in the second area, the simulation system comprising:

the sensor is used for acquiring first motion state information of the vulnerable traffic participants in the first area and sending the first motion state information to the client;

the client is provided with a simulation platform, the simulation platform is used for modifying a script file which is compiled in advance according to the first motion state information to obtain second motion state information, generating virtual sensor sensing information according to the second motion state information, and sending the virtual sensor sensing information to an industrial personal computer, and the script file comprises the built motion state information of the vulnerable traffic participants in different scenes;

the industrial personal computer is used for storing a collision avoidance decision, generating a corresponding control instruction according to the collision avoidance decision and the information perceived by the pseudo sensor, and sending the control instruction to the driving simulator;

the driving simulator is used for executing the control instruction and outputting a response result corresponding to the control instruction to the simulation platform;

the simulation platform is further used for generating vehicle motion state information according to the response result and realizing collision avoidance decision simulation test in a virtual traffic environment according to the vehicle motion state information.

2. The automated driving simulation system for vulnerable road user collision avoidance decisions of claim 1, wherein said vulnerable road traffic participants comprises one of pedestrians, cyclists, said driving simulator is used to simulate automobile driving.

3. The automated driving simulation system for vulnerable road user collision avoidance decisions of claim 2, wherein said sensor comprises one or more of an image sensor for collecting images of said vulnerable traffic participants and identifying targets in said images, an acceleration sensor for collecting speed information of said vulnerable traffic participants, and a GPS sensor for collecting location information of said vulnerable traffic participants.

4. The automated driving simulation system for the collision avoidance decision for the vulnerable road user of claim 3, wherein the response result comprises one or more of steering wheel angle information, throttle information, brake information and gear information of the car.

5. The automatic driving simulation system for the collision avoidance decision of the users facing the vulnerable road according to any one of claims 1 to 4, wherein the simulation platform further comprises a vehicle dynamics model, the vehicle dynamics model is used for receiving and processing the response result, and the vehicle motion state information corresponding to the response result is obtained through CarSim packaging.

6. The automated driving simulation system for a collision avoidance decision for a vulnerable road user of claim 1, wherein the sensor is further configured to pre-collect first motion state information of a vulnerable traffic participant in the first area, store the first motion state information as a data set, use the data set for repeated experiments during simulation, and test the performance of the collision avoidance decision while ensuring that the simulation environment is unchanged.

7. An automated driving simulation method for collision avoidance decision-making for vulnerable road users, the method comprising:

collecting first motion state information of a vulnerable traffic participant, and outputting the first motion state information;

modifying a pre-programmed script file according to the first motion state information to obtain second motion state information, generating virtual sensor perception information according to the second motion state information, and outputting the virtual sensor perception information, wherein the script file comprises the built motion state information of the vulnerable traffic participants in different scenes;

generating a corresponding control instruction according to a pre-stored collision avoidance decision and the acquired sensing information of the pseudo sensor, and outputting the control instruction;

executing the control instruction and outputting a response result corresponding to the control instruction;

and generating vehicle motion state information according to the response result, and realizing collision avoidance decision simulation test in a virtual traffic environment according to the vehicle motion state information.

8. The automated driving simulation method for vulnerable road user collision avoidance decision-making according to claim 7, wherein said collecting first motion state information of the vulnerable traffic participants comprises: and acquiring the image of the vulnerable traffic participant, identifying a target in the image, and acquiring the speed information and the position information of the vulnerable traffic participant.

9. The automatic driving simulation method for the collision avoidance decision of the vulnerable road user according to claim 7, wherein the executing of the control command is simulating the driving of an automobile, and the outputting of the response result corresponding to the control command includes one or more of steering wheel angle information, throttle information, brake information and gear information of the automobile.

10. The automated driving simulation method for vulnerable road user collision avoidance decision-making according to claim 7, wherein said method further comprises:

and collecting first motion state information of the vulnerable traffic participants in advance, storing the first motion state information as a data set, using the data set to repeat experiments during simulation, and testing the performance of the collision avoidance decision while ensuring that the simulation environment is unchanged.

Technical Field

The invention relates to the technical field of automatic driving simulation tests, in particular to an automatic driving simulation system and method for a collision avoidance decision of a user on a weak road.

Background

At present, weak road users mainly comprise weak road traffic participants such as pedestrians and cyclists, and statistical data shows that in China, traffic accidents including the weak road users account for more than half of the accidents, and the casualties are high in severity, so that the weak road users are key collision avoidance objects for the safety test of the automatic driving vehicle.

The existing collision avoidance decision-making experiments between automatic driving vehicles and users of weak roads such as pedestrians are basically carried out in a test field through computer simulation or between real vehicles and dummy. And at present, the automatic driving simulation test lacks real traffic participants, and the test scene is limited, so that repeated construction is often needed.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, an object of the present invention is to provide an automatic driving simulation system for a collision avoidance decision of a user on a vulnerable road, which introduces real vulnerable traffic participants in an automatic driving test, controls a vehicle in combination with the collision avoidance decision, and associates motion information of the vehicle and pedestrians by a real-time simulation system to simulate traffic conditions in real time.

Another objective of the present invention is to provide an automatic driving simulation method for collision avoidance decision of users facing weak roads.

In order to achieve the above object, an embodiment of an aspect of the present invention provides an automatic driving simulation system for a user collision avoidance decision on a vulnerable road, where a simulation environment includes a first area and a second area, a driving simulator is located in the first area, and a vulnerable traffic participant is located in the second area, and the system includes: the sensor is used for acquiring first motion state information of the vulnerable traffic participants in the first area and sending the first motion state information to the client; the client is provided with a simulation platform, the simulation platform is used for modifying a script file which is compiled in advance according to the first motion state information to obtain second motion state information, generating virtual sensor sensing information according to the second motion state information, and sending the virtual sensor sensing information to an industrial personal computer, and the script file comprises the built motion state information of the vulnerable traffic participants in different scenes; the industrial personal computer is used for storing a collision avoidance decision, generating a corresponding control instruction according to the collision avoidance decision and the information perceived by the pseudo sensor, and sending the control instruction to the driving simulator; the driving simulator is used for executing the control instruction and outputting a response result corresponding to the control instruction to the simulation platform; the simulation platform is further used for generating vehicle motion state information according to the response result and realizing collision avoidance decision simulation test in a virtual traffic environment according to the vehicle motion state information.

The automatic driving simulation system for the collision avoidance decision of the weak road user, provided by the embodiment of the invention, introduces real traffic participants in an automatic driving test, introduces the real weak traffic participants in the automatic driving test, controls vehicles by combining the collision avoidance decision, associates motion information of the vehicles and pedestrians through a real-time simulation system, simulates traffic conditions in real time, tests different scenes through different behaviors of the real traffic participants, and tests a collision avoidance decision model and algorithm of automatic driving under the condition of ensuring safety.

In addition, the automatic driving simulation system facing the collision avoidance decision of the weak road users according to the above embodiment of the present invention may further have the following additional technical features:

further, in one embodiment of the present invention, the vulnerable road traffic participant comprises one of a pedestrian and a cyclist, and the driving simulator is used for simulating the driving of a car.

Further, in one embodiment of the present invention, the sensor includes: the image sensor is used for acquiring the image of the vulnerable traffic participant and identifying a target in the image; the acceleration sensor is used for acquiring the speed information of the vulnerable traffic participants; and the GPS sensor is used for acquiring the position information of the vulnerable traffic participants.

Further, in an embodiment of the present invention, the response result includes: one or more of steering wheel angle information, accelerator information, brake information and gear information of the automobile.

Further, in an embodiment of the present invention, the simulation platform further includes: and the vehicle dynamics model is used for receiving and processing the response result, and the vehicle motion state information corresponding to the response result is obtained through the CarSim packaging.

Further, in an embodiment of the present invention, the sensor is further configured to collect first motion state information of the vulnerable traffic participant in the first area in advance, store the first motion state information as a data set, use the data set to repeat an experiment during simulation, and test the performance of the collision avoidance decision while ensuring that the simulation environment is unchanged.

In order to achieve the above object, an embodiment of another aspect of the present invention provides an automatic driving simulation method for a collision avoidance decision for a user on a weak road, including the following steps: collecting first motion state information of a vulnerable traffic participant, and outputting the first motion state information; modifying a pre-programmed script file according to the first motion state information to obtain second motion state information, generating virtual sensor perception information according to the second motion state information, and outputting the virtual sensor perception information, wherein the script file comprises the built motion state information of the vulnerable traffic participants in different scenes; generating a corresponding control instruction according to a pre-stored collision avoidance decision and the acquired sensing information of the pseudo sensor, and outputting the control instruction; executing the control instruction and outputting a response result corresponding to the control instruction; and generating vehicle motion state information according to the response result, and realizing collision avoidance decision simulation test in a virtual traffic environment according to the vehicle motion state information.

According to the automatic driving simulation method for the collision avoidance decision of the user facing the weak road, the real weak traffic participants are introduced into the automatic driving test, the vehicle is controlled by combining the collision avoidance decision, and the motion information of the vehicle and the pedestrian is correlated through the real-time simulation system to simulate the traffic condition in real time.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of an automatic driving simulation system for collision avoidance decision of users on a weak road according to an embodiment of the present invention.

Fig. 2 is a block diagram of an automatic driving simulation platform system for collision avoidance decision of users on a weak road according to an embodiment of the invention.

Fig. 3 is a schematic diagram of an automatic driving simulation platform for collision avoidance decision of users on a weak road according to an embodiment of the invention.

Fig. 4 is a flowchart of an automatic driving simulation method for collision avoidance decision of users on a weak road according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

The automatic driving simulation system and method for the collision avoidance decision of the users on the weak road according to the embodiment of the present invention will be described below with reference to the accompanying drawings, and first, the automatic driving simulation system for the collision avoidance decision of the users on the weak road according to the embodiment of the present invention will be described with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of an automatic driving simulation system for a collision avoidance decision of a user on a weak road according to an embodiment of the present invention.

As shown in fig. 1, the simulation system 10 includes: sensor 100, client 200, industrial personal computer 300, and driving simulator 400.

It will be appreciated that the simulated environment of the present invention includes a first area within which the driving simulator 400 is located and a second area within which the vulnerable traffic participants are located. The sensor 100 is configured to collect first motion state information of a vulnerable traffic participant in a first area, and send the first motion state information to the client 200. The client 200 is provided with a simulation platform, the simulation platform is used for modifying a pre-programmed script file according to the first motion state information to obtain second motion state information, generating virtual sensor sensing information according to the second motion state information, and sending the virtual sensor sensing information to the industrial personal computer 300, wherein the script file comprises the built motion state information of the vulnerable traffic participants in different scenes. The industrial personal computer 300 is configured to store a collision avoidance decision, generate a corresponding control instruction according to the collision avoidance decision and the information sensed by the pseudo sensor, and send the control instruction to the driving simulator 400. The driving simulator 400 is configured to execute the control command and output a response result corresponding to the control command to the simulation platform. And the simulation platform is also used for generating vehicle motion state information according to the response result and realizing collision avoidance decision simulation test in the virtual traffic environment according to the vehicle motion state information.

It can be understood that the system 10 according to the embodiment of the present invention divides the driving simulator and the real vulnerable road user into two areas, and uses the real-time simulation system to construct the virtual simulation environment, the vehicle and the vulnerable road user, and the real vehicle and the real vulnerable road user, so as to interact in the virtual environment.

The simulation system 10 will be further explained with reference to the embodiments.

Further, in one embodiment of the present invention, the sensor 100 includes: image sensors, acceleration sensors and GPS sensors.

Specifically, as shown in fig. 3, one end of the sensor 100 is connected to the vulnerable traffic participant, and the image sensor collects an image of the vulnerable traffic participant and identifies a target in the image; the acceleration sensor collects speed information of the vulnerable traffic participants; the GPS sensor collects the position information of the vulnerable traffic participants; the other end is connected with the client 200, and the sensor 100 sends the acquired first motion state information to the client 200.

It can be understood that in one area, sensors such as cameras, lidar and the like are mounted for detecting vulnerable road users. Real road users of the vulnerable road move within the area. The sensor collects the position, speed and other information of the user on the vulnerable road and transmits the information to the client.

In addition, the embodiment of the invention can be used for acquiring the first motion state information of the vulnerable traffic participants in the first area in advance through the sensor 100, storing the first motion state information as a data set, using the data set to repeat experiments during simulation, and testing the performance of the collision avoidance decision while ensuring that the simulation environment is unchanged.

The invention carries out system design in the aspect of interactive simulation between vehicles and pedestrians. An automatic driving simulation platform facing the collision avoidance decision of the weak road users is designed and constructed by utilizing the existing simulation technology. The simulation test platform established by the invention can be used for carrying out collision avoidance decision and human-vehicle interaction simulation under the condition of no safety risk based on real vehicles and real weak road users.

The invention has real weak road users and takes the driving simulator as a real automatic driving automobile. The method can safely verify the collision avoidance decision while ensuring certain authenticity.

Further, in one embodiment of the present invention, the client 200 includes: a simulation platform 500.

The simulation platform 500 is configured to modify a pre-programmed script file according to the first motion state information to obtain second motion state information, generate virtual sensor sensing information according to the second motion state information, and send the virtual sensor sensing information to the industrial personal computer 300, where the script file includes motion state information of vulnerable traffic participants in different built scenes.

Specifically, as shown in fig. 2, one end of the client 200 is connected to the sensor 100, and receives the acquired movement state information of the traffic of the vulnerable road; the middle of the system is connected with the industrial personal computer 300, the sensing information of the virtual sensor is sent to the industrial personal computer 300, the other end of the system is connected with the driving simulator 400, and the response result output by the driving simulator 400 is received and processed.

It can be understood that the virtual scene of the simulation platform 500 is built by PreScan, including roads, non-motor vehicles, pedestrians, etc., and a real map can be quickly built by OpenStreetMap, Google Earth, and Google 3D Warehouse. The PreScan can also be simulated jointly with the Simulink, and a virtual scene and a virtual sensor can be packaged into a Simulink module. The module takes the real-time state of the vehicle as input and outputs the sensing result of each virtual sensor.

It will be appreciated that the MALTAB interface of PreScan provides a way to set scene parameters and data through the MATLAB script. And changing the parameters of the vulnerable road users in the built scene by compiling the script by utilizing the acquired state information of the vulnerable road users. And the connection between the real weak road user and the simulation platform is realized.

Further, in an embodiment of the present invention, the simulation platform 500 further includes: the vehicle dynamics model 600.

It can be understood that the vehicle dynamics model 600 receives and processes the response result, and obtains the vehicle motion state information corresponding to the response result through the CarSim package.

Specifically, as shown in fig. 2, the vehicle dynamics model 600 is connected to the driving simulator at one end, and receives the response result; the other end is connected with the simulation environment, and the response result is processed by the CarSim and the vehicle motion state information is output.

It will be appreciated that the dynamic model 600 of the simulation platform is built from CarSim, which can be simulated in conjunction with Simulink. A kinetic model was established in CarSim and encapsulated into a Simulink module. The vehicle response result data of the driving simulator 400, as input to the vehicle dynamics module 600, may be passed through the CarSim to obtain the virtual vehicle real-time status.

Further, in one embodiment of the present invention, the industrial personal computer 300: for storing collision avoidance decisions.

Specifically, a corresponding control instruction is generated according to the collision avoidance decision and the information sensed by the pseudo sensor, and the control instruction is sent to the driving simulator 400.

Specifically, as shown in fig. 2, one end of the industrial personal computer 300 is connected to the virtual environment of the simulation platform, and receives the information sensed by the pseudo-sensor; the other end is connected with the driving simulator 400, generates a corresponding control instruction according to the collision avoidance decision and the information sensed by the analog sensor, and sends the control instruction to the driving simulator 400.

It can be understood that the collision avoidance decision to be verified is stored in the industrial personal computer, and is communicated with the client 200 to transmit data input and output by the decision, so that the connection with the Simulink is realized. The sensing result of the virtual sensor is used as the input of the collision avoidance decision, and after decision calculation, the sensing result outputs an instruction for controlling the automobile and controls the control equipment of the vehicle in the driving simulator 400.

Further, in one embodiment of the present invention, driving simulator 400: the method is used for simulating the running of the automobile.

Specifically, the driving simulator executes the control command and simulates the driving of the automobile, and outputs a response result corresponding to the control command to the simulation platform.

Specifically, as shown in fig. 2, one end of the driving simulator 400 is connected to the industrial personal computer 300, and executes a control command sent by the industrial personal computer 300; the other end is connected with the vehicle dynamics model 600 of the simulation platform, and a response result corresponding to the control instruction is output to the vehicle dynamics model 600 of the simulation platform.

Specifically, as shown in fig. 3, the vehicle response results include: steering wheel angle information, accelerator information, brake information, gear information and the like of the automobile.

It will be appreciated that the simulation platform uses the driving simulator 400 as a real vehicle simulation, with real interaction devices such as steering wheel, throttle, brake, etc. The interactive devices are controlled by instructions sent by an industrial personal computer, and the results of vehicle response, such as data of steering wheel angles, accelerator pedal opening degrees and the like, are transmitted to Simulink in the client 200 through communication.

In summary, the present invention provides an automatic driving simulation platform for a collision avoidance decision of a vulnerable road user, the platform divides a driving simulator and a real vulnerable road user into two areas, and a real-time simulation system is used to construct a virtual simulation environment, a vehicle and the vulnerable road user, and the real vehicle and the real vulnerable road user, so as to interact in the virtual environment. The virtual environment is constructed based on actual road data, and traffic conditions are simulated in real time according to data of traffic participants such as vehicles, pedestrians and the like. And the vehicle is controlled by combining with a collision avoidance decision according to the acquired environmental traffic information. The motion information of the vehicles and the pedestrians is correlated through a real-time simulation system, and the interaction between the vehicles and the traffic participants is realized in the virtual environment.

According to the automatic driving simulation system for the collision avoidance decision of the user facing the weak road, provided by the embodiment of the invention, the real traffic participants are introduced into the automatic driving test, different scenes can be tested through different behaviors of the real traffic participants, and the collision avoidance decision model and algorithm of automatic driving are tested under the condition of ensuring the safety. Meanwhile, the motion information of real weak road users can be collected in advance and stored as a data set. When simulation is carried out, a data set collected in advance is used, so that the experiment can be repeated, and the performance of collision avoidance decision is tested while the scene state is ensured to be unchanged. The invention can also be suitable for automatic driving automobiles (L1-L5) with different levels, and realizes driving and taking over experiments with participation of drivers or security personnel.

The automatic driving simulation method for the collision avoidance decision of the weak road users, which is provided by the embodiment of the invention, is described next with reference to the attached drawings.

Fig. 4 is a flowchart of an automatic driving simulation method for collision avoidance decision of a user on a weak road according to an embodiment of the present invention.

As shown in fig. 4, the automatic driving simulation method for the collision avoidance decision of the weak road user includes the following steps:

step S401, collecting first motion state information of a vulnerable traffic participant, and outputting the first motion state information;

step S402, modifying a pre-programmed script file according to the first motion state information to obtain second motion state information, generating virtual sensor perception information according to the second motion state information, and outputting the virtual sensor perception information, wherein the script file comprises the motion state information of the established vulnerable traffic participants under different scenes;

step S403, generating a corresponding control instruction according to a pre-stored collision avoidance decision and the acquired sensing information of the pseudo sensor, and outputting the control instruction;

step S404, executing the control command and outputting a response result corresponding to the control command;

and S405, generating vehicle motion state information according to the response result, and realizing collision avoidance decision simulation test in a virtual traffic environment according to the vehicle motion state information.

It should be noted that the explanation of the embodiment of the automatic driving simulation system for a collision avoidance decision of a user on a weak road is also applicable to the automatic driving simulation method for a collision avoidance decision of a user on a weak road of the embodiment, and the details are not repeated here.

According to the automatic driving simulation method for the collision avoidance decision of the weak road user, provided by the embodiment of the invention, real traffic participants are introduced into an automatic driving test, different scenes can be tested through different behaviors of the real traffic participants, and a collision avoidance decision model and algorithm of automatic driving are tested under the condition of ensuring the safety. Meanwhile, the motion information of real weak road users can be collected in advance and stored as a data set. When simulation is carried out, a data set collected in advance is used, so that the experiment can be repeated, and the performance of collision avoidance decision is tested while the scene state is ensured to be unchanged.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.