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| Autonomous vehicle laboratory simulation test solution |
Program Overview
Autonomous Vehicles (Autonomous Vehicles), also known as unmanned vehicles or wheeled mobile robots, are intelligent vehicles that realize unmanned driving through intelligent electronic control systems. Since the beginning of the 21st century, with the breakthrough development of key technologies such as artificial intelligence, visual computing, radar, vehicle networking communication technology, and global positioning system, it has shown a practical trend. Autonomous driving technology has become major OEMs and technology companies competing for the future. An important R&D area of the market.
The development and application of self-driving cars require extensive engineering tests and road tests. On the evening of March 18, 2018, local time, a woman in Arizona, USA, was hit by an Uber self-driving car and died. This was the world's first self-driving vehicle road test that resulted in death. Since autonomous driving technology still needs a long time to develop, how to use effective technical means to build a laboratory development platform, establish a standardized development process, improve the safety of the development process, and minimize the casualties and economics in the actual road test Loss and avoiding harm to society and technological development have become an important technical problem.
Huahai Technology cooperates with Realtime Technologies, a world-renowned virtual simulation technology brand, to develop a set of virtual test field simulation test solutions for autonomous vehicles, which can simulate various roads, traffic scenarios and vehicles in a laboratory environment, with real vehicles I/O and CAN, Ethernet and other interfaces, through high-fidelity mathematical and physical simulation models and high-real-time software and hardware platforms, construct vehicle closed-loop testing, control system closed-loop testing, driver closed-loop testing, and scenario closed-loop testing, so that developers can Simulate various extreme scenarios and complex working conditions as realistically as possible in the laboratory environment, reproduce the scenario when the fault occurs, perform fault injection simulation, record and analyze, make the development process safer, more efficient, and lower cost.
Scheme Introduction
1) Driving scene simulation software SimCreator
As the core software of a vehicle driving simulator, SimCreator can provide a high-fidelity real-time simulation environment for it. It is a Windows-based graphical modeling software with a standard library of components for basic mathematical operations and signals. The software mainly manages the communication between all relevant subsystems, including vision, scene control, audio, motion, control loading and data collection. It has the following advantages:
• Very convenient configuration of 3D scenes and vehicle models for driving simulation
• Support the integration of any third-party vehicle model and motion platform
• Very convenient to create user-defined parts
• Equipped with various communication interfaces, such as CAN, ETHENET, etc.
2) Application scene library and control software ExACCT
ExACCT is the latest scenario and experiment building software developed by RTI. This new graphical user interface (GUI) allows researchers to quickly develop test scenarios using predefined configurable behaviors. Using ExACCT's simulation control panel, the researcher can select the desired action, and then run the scenario for verification.
a. The advantages of using ExACCT software include:
• Intuitive interface design for easy experimental verification
• Real-time interaction with the simulated map view
• Activate sports behavior at any time
• Fully support OpenDRIVE road data
• Equipped with two complete databases called "GenericWorld" and "Linear Land"
• Pre-defined action library, used to quickly build experimental scenes
b. Basic action control includes:
• Traffic environment control
• Pedestrian motion control
• Weather and time control
• Play sound
• Basic traffic light control
ExACCT software is mainly used to build traffic scenes and define the actions of things in the traffic scene, such as vehicle trajectory (lane change, overtaking, straight, etc.), bicycle trajectory (straight, falling, etc.), pedestrian movement trajectory, etc., to provide users with With a friendly human-computer interaction interface, the motion definition of traffic things can be conveniently realized through the form of mouse drag and drop.
For example, in a road scene, you can define a traffic event in which the bicycle goes straight and the car door suddenly opens, causing the bicycle to fall. The definition method is as shown in the figure below, and you can check whether the defined action meets the requirements through real-time animation:
RTI includes an additional module called SimDriver. The SimDriver module supports full longitudinal or lateral control of the main body or its own vehicle. Using SimDriver, the control transfer from automatic driving to manual driving can be realized, and the corresponding human factors can be studied, such as the reliability of automatic driving and the automation in the car. Related issues such as the availability of interfaces and automatic driving failures.
3) Virtual proving ground-hardware platform composition of driving simulator
• Cockpit and driving signal acquisition system
• Base motion control computer and steering wheel force feedback system
• Vehicle dynamics calculation computer (one or more)
• Graphics rendering computer (one or more)
• Image projection system and sound system
Typical Case
Summary
After nearly a hundred years of development in the automotive industry, news of accidents and casualties during road tests are still commonplace. With the branding process of automakers, more emphasis is placed on social responsibility and safety risk control, and there are strict requirements for the technological development process.
Due to the increasing complexity of vehicle control software, in order to avoid safety accidents and improve reliability, simulation testing technology has been widely used in the development of vehicle control software. Through simulation test technology, safety accidents and risks in the development process can be minimized. An accident may bring a fatal blow to a company or a family. Leading foreign automobile manufacturers attach great importance to adopting such technology and develop cautiously. Technology and actual road experiments, Huahai Technology hopes to work with domestic and foreign companies to promote the application of simulation test technology in the development process of autonomous vehicles, establish a laboratory development platform, standardize the development process, and make the process of technological progress more friendly and safer.
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