The invention relates to a vehicle-road cooperation test method, a vehicle-road cooperation test device, a vehicle-road cooperation test system and a computer readable storage medium. Test cases can be quickly expanded at low cost. The test method comprises the following steps: building a 3D twinborn scene based on a high-precision map generated according to traffic environment data collected in a closed test site, and outputting twinborn point cloud data, twinborn scene image data and simulated traffic control information; performing real-time enhancement on actually measured point cloud data acquired in real time through a road side/vehicle end laser radar sensor by using the twin point cloud data to generate enhanced point cloud data; performing image real-time enhancement on actually measured image data acquired by a roadside/vehicle end image acquisition unit in real time by using the twinborn scene image data to generate enhanced image data; and transmitting the enhanced point cloud data, the enhanced image data, and the simulated traffic control information to the test vehicle via the V2X communication system.
本公开涉及车路协同测试方法、车路协同测试装置、车路协同测试系统以及计算机可读存储介质,能够以低成本快速地扩充测试案例。测试方法包括:基于根据在封闭的测试场地采集到的交通环境数据生成的高精地图搭建3D孪生场景,并输出孪生点云数据、孪生场景图像数据以及模拟交通控制信息;利用孪生点云数据对通过路侧/车端激光雷达传感器实时获取到的实测点云数据进行实时增强,生成增强点云数据;利用孪生场景图像数据对通过路侧/车端图像获取单元实时获取到的实测图像数据进行图像实时增强,生成增强图像数据;以及经由V2X通信系统将增强点云数据、增强图像数据以及模拟交通控制信息发送到测试车辆。
Vehicle-road cooperation test method, vehicle-road cooperation test device, vehicle-road cooperation test system and computer readable storage medium
车路协同测试方法、车路协同测试装置、车路协同测试系统以及计算机可读存储介质
2023-06-20
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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