| 一种基于混合现实的自动驾驶车辆测试方法 |
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| 引用本文： | 一种基于混合现实的自动驾驶车辆测试方法.一种基于混合现实的自动驾驶车辆测试方法[J].山东科学,2022,35(2):89-95. |
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| 作者姓名： | 一种基于混合现实的自动驾驶车辆测试方法 |
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| 作者单位： | 齐鲁工业大学(山东省科学院) 山东省科学院自动化研究所,山东 济南 250014 |
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| 基金项目： | 国家自然科学基金(52072214);山东省重大科技创新工程项目(2019JZZY010443) |
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| 摘 要： | 针对自动驾驶汽车在复杂环境下的安全性测试问题,提出一种基于混合现实的自动驾驶车辆测试方法。该方法将仿真环境中的虚拟场景映射到真实的测试环境,通过传感器和数据融合快速收集自动驾驶测试车的智能感知和行为决策等性能指标,然后基于混合现实测试场景、控制中心、测试车辆构建闭环测试系统。通过案例验证,说明该方法可满足在多种场景下自动驾驶车辆的测试要求。
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| 关 键 词： | 混合现实 自动驾驶 测试方法 测试场景 背景车 控制中心 整车在环 |
| 收稿时间： | 2021-03-24 |
A test method for self-driving vehicle based on mixed reality |
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| CHE Xiao-bo,LI Chao,ZHANG Zi-hui.A test method for self-driving vehicle based on mixed reality[J].Shandong Science,2022,35(2):89-95. |
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| Authors: | CHE Xiao-bo LI Chao ZHANG Zi-hui |
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| Institution: | Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences),Jinan 250014, China |
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| Abstract: | In this work, focusing on self-driving vehicle safety testing in a complex environment, a mixed-reality-based self-driving vehicle testing method is proposed. This method maps the virtual scene in the simulation environment to the real test environment. Then, performance indexes such as intelligent perception and the behavioral decision of the self-driving test vehicle are rapidly estimated using a sensor and data fusion to establish a closed-loop test system. This system involves the mixed-reality test scene, control center, and test vehicle. Finally, based on the verification of a case study, the proposed method is found to meet the test requirements of self-driving vehicles in various scenarios. |
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| Keywords: | mixed reality self-driving test methods test scene background vehicle control center vehicle-in-the-loop |
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