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

Abstract

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

CLC Number:

TP206⁺.1

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.

Figures/Tables 6

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References 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	—

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

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