The invention relates to a simulation test method and device for roads and scenes in automatic driving. Firstly, real vehicle CSV data are obtained, and a signal data table is generated; according to road related signals in the signal data table, a road is segmented into combinations of multiple arc segments and straight line segments, the attribute of each road track segment is written into an xodr file, and a complete opendrive file is constructed; determining movement track coordinates of the vehicle and the target vehicle according to the road track attributes, and writing the movement track coordinates of the vehicle and the target vehicle into a vtd-xml file; scene actions and action starting time contained in the simulation scene are determined according to simulation requirements, simulation attributes of all the scene actions are determined according to the movement track coordinates and the action starting time of the self vehicle and the target vehicle, and the simulation attributes of all the scene actions are written into a vtd-xml file and an openscenario file; and performing a simulation test by using the generated opendrive file, the generated vtd-xml file and the generated openscenio file. According to the invention, the efficiency of simulation work is greatly improved, and manpower and time costs are greatly saved.
本发明涉及一种自动驾驶中道路和场景的仿真测试方法及装置。首先获取实车CSV数据,生成信号数据表;根据所述信号数据表中的道路相关信号,将道路切分成多条弧段和直线段的组合,将每段道路轨迹的属性写入xodr文件中,构建完整的opendrive文件;根据道路轨迹属性确定自车和目标车的运动轨迹坐标,将自车与目标车的运动轨迹坐标写入vtd‑xml文件中;根据仿真需求确定仿真场景所包含的场景动作及动作起始时间,根据自车和目标车的运动轨迹坐标及动作起始时间,确定各场景动作的仿真属性,并将各场景动作的仿真属性写入vtd‑xml文件和openscenario文件中;利用生成的opendrive文件、vtd‑xml文件和openscenario文件进行仿真测试。该发明大大提高了仿真工作的效率,极大节省了人力和时间成本。
Simulation test method and device for road and scene in automatic driving
一种自动驾驶中道路和场景的仿真测试方法及装置
2023-08-01
Patent
Electronic Resource
Chinese
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