一种基于混合现实的自动驾驶车辆测试方法

doi:10.3976/j.issn.1002-4026.2022.02.011

山东科学 ›› 2022, Vol. 35 ›› Issue (2): 89-95.doi: 10.3976/j.issn.1002-4026.2022.02.011

一种基于混合现实的自动驾驶车辆测试方法

车晓波(),李超,张子辉

齐鲁工业大学(山东省科学院) 山东省科学院自动化研究所,山东济南 250014

收稿日期:2021-03-24 出版日期:2022-04-20 发布日期:2022-04-07
作者简介:车晓波(1980—),男,硕士,副研究员,研究方向为智能网联车感知与控制。E-mail: che_0531@163.com
基金资助:
国家自然科学基金(52072214);山东省重大科技创新工程项目(2019JZZY010443)

A test method for self-driving vehicle based on mixed reality

CHE Xiao-bo(),LI Chao,ZHANG Zi-hui

Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences),Jinan 250014, China

Received:2021-03-24 Online:2022-04-20 Published:2022-04-07

摘要/Abstract

摘要：

针对自动驾驶汽车在复杂环境下的安全性测试问题,提出一种基于混合现实的自动驾驶车辆测试方法。该方法将仿真环境中的虚拟场景映射到真实的测试环境,通过传感器和数据融合快速收集自动驾驶测试车的智能感知和行为决策等性能指标,然后基于混合现实测试场景、控制中心、测试车辆构建闭环测试系统。通过案例验证,说明该方法可满足在多种场景下自动驾驶车辆的测试要求。

关键词: 混合现实, 自动驾驶, 测试方法, 测试场景, 背景车, 控制中心, 整车在环

Abstract:

In this work, focusing on self-driving vehicle safety testing in a complex environment, a mixed-reality-based self-driving vehicle testing method is proposed. This method maps the virtual scene in the simulation environment to the real test environment. Then, performance indexes such as intelligent perception and the behavioral decision of the self-driving test vehicle are rapidly estimated using a sensor and data fusion to establish a closed-loop test system. This system involves the mixed-reality test scene, control center, and test vehicle. Finally, based on the verification of a case study, the proposed method is found to meet the test requirements of self-driving vehicles in various scenarios.

Key words: mixed reality, self-driving, test methods, test scene, background vehicle, control center, vehicle-in-the-loop

中图分类号:

TP206⁺.1

车晓波,李超,张子辉. 一种基于混合现实的自动驾驶车辆测试方法[J]. 山东科学, 2022, 35(2): 89-95.

CHE Xiao-bo,LI Chao,ZHANG Zi-hui. A test method for self-driving vehicle based on mixed reality[J]. Shandong Science, 2022, 35(2): 89-95.

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参考文献 14

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序号	主车速度/(km·h^-1)	背景车速度/(km·h^-1)	车间时距/s	切入横向速度/(km·h^-1)
1	50	30	2~3	3.6~7.2
2	50	60	2~3	3.6~7.2
3	80	60	2~3	3.6~7.2

参数	切入前		切入后
参数	主车	背景车	主车	背景车
位置坐标	(508 972.73,4 115 213.67)	(509 006.01, 4 115 220.25)	(509 135.96,4 115 230.50)	(509 166.34, 4 115 233.75)
道路半径/m	>500	>500	>500	>500
航向角/(°)	83.3	86.7	84.1	84.3
速度/(km·h^-1)	52.12	30.24	26.56	30.74
加速度/(m·s^-2)	0.004	0.002	-0.6	0.01
最小车间时距/s	2.3	2.3	2.1	2.1
最大纵向中心线横向偏差/cm	—	—	6	314
控制模式	自动	自动	自动	自动
是否脱离自动	否	否	否	否
是否主动制动	—	—	是	—
是否自动切换档位	—	—	是	—

一种基于混合现实的自动驾驶车辆测试方法

A test method for self-driving vehicle based on mixed reality

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