The embodiment of the invention provides an unmanned driving test system and an unmanned vehicle. The unmanned driving test system comprises an unmanned driving domain control system and a simulator, the unmanned driving domain control system comprises a perception fusion module, a decision planning module, a motion control module and a positioning module. The perception fusion module is used for carrying out perception fusion processing on a real scene around the test vehicle and sending obtained real target object information to the simulator; the simulator is used for determining an analog signal based on a virtual scene constructed for testing and sending the analog signal to the decision planning module; the risk area is detected according to the real target object information, and a response is made when the risk area is detected; the decision planning module is used for making a behavior decision in real time based on the analog signal and the test vehicle positioning information provided by the positioning module; and the motion control module is used for controlling the test vehicle according to the behavior decision. The single-vehicle response performance of the unmanned vehicle can be tested and verified.

    本公开实施例提供了一种无人驾驶测试系统及无人驾驶车辆,包括:无人驾驶域控制系统和仿真模拟器;无人驾驶域控制系统包括:感知融合模块、决策规划模块、运动控制模块、和定位模块;感知融合模块,用于对测试车辆周边的真实场景进行感知融合处理,并将得到的真实目标物信息发送给仿真模拟器;仿真模拟器,用于基于为测试构建的虚拟场景确定模拟信号,并发送给决策规划模块;以及根据真实目标物信息对风险区域进行检测,并在检测到风险区域时进行响应;决策规划模块,用于基于模拟信号以及定位模块提供的测试车辆定位信息实时做出行为决策;运动控制模块,用于根据行为决策对测试车辆进行控制。能够对无人驾驶车辆单车响应性能进行测试验证。


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    Titel :

    Unmanned driving test system and unmanned vehicle


    Weitere Titelangaben:

    一种无人驾驶测试系统及无人驾驶车辆


    Beteiligte:
    ZHAO XINQUAN (Autor:in)

    Erscheinungsdatum :

    2023-10-17


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen



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