The invention relates to the technical field of automatic driving testing, in particular to a mixed traffic flow testing method and system based on digital twinning virtual-real combination, and the method comprises the steps: collecting field data of a real test field, achieving the construction of a digital twinning virtual scene, setting the interaction between a real environment and a virtual environment, and achieving the system setting of virtual-real combination. Different styles of virtual human-driven vehicles are generated according to a system setting data set, meanwhile, a real driver generates different styles of real human-driven vehicles according to data collected by a driving simulator, and part of the virtual human-driven vehicles and part of the real human-driven vehicles jointly form human-driven vehicles with different driving styles. Acquiring states and position information of vehicles driven by different human beings; a whole set of sensing, positioning, planning, control and V2X communication methods are set for the intelligent networked vehicle according to the state and position information of the vehicle driven by the human, and automatic driving of the intelligent networked vehicle in the system is achieved. According to the invention, real-time interaction is carried out in the test process, a continuous driving scene which can be formulated and fits the actual use is generated, a virtual-real combined simulation test can be carried out, and the authenticity is higher.
本发明涉及自动驾驶测试技术领域,具体涉及一种基于数字孪生虚实结合的混合交通流测试方法及系统,包括:采集现实试验场场地数据,实现数字孪生虚拟场景的构建,设置真实环境与虚拟环境的交互,实现虚实结合的系统设置;根据系统设置数据集生成不同风格的虚拟人驾车辆,同时真实驾驶员通过驾驶模拟器采集的数据生成不同风格的真实人驾车辆,部分虚拟人驾车辆和部分真实人驾车辆共同组成具有不同驾驶风格的人类驾驶车辆,获取不同人类驾驶车辆的状态和位置信息;根据人类驾驶车辆的状态和位置信息为智能网联汽车设置全套的感知、定位、规划、控制以及V2X通信方法,实现智能网联汽车在系统中的自动驾驶。本发在测试过程中实时交互,生成连续可制定、贴合实际使用的行驶场景,可进行虚实结合的仿真测试,真实性更高。
Mixed traffic flow test method and system based on digital twinborn virtual-real combination
一种基于数字孪生虚实结合的混合交通流测试方法及系统
2024-06-18
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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