In-loop simulation method and platform for vehicle-road cooperative system

Abstract

The invention relates to an in-loop simulation method for a vehicle-road cooperative system. The in-loop simulation method comprises the steps that a central service module obtains simulation environment data; the central service module transmits simulation environment data to the roadside control decision module; the roadside control decision module controls the infrastructure state and distributes the local simulation environment data and the roadside control instruction to the vehicle control module; the vehicle control module obtains fusion information; the vehicle control module obtains aplanned trajectory, controls the vehicle to track the planned trajectory, and obtains vehicle driving data after control is completed; the vehicle control module transmits the vehicle driving data tothe roadside control decision module; the roadside control decision module transmits the vehicle driving data to the central service module, and the central service module transmits the vehicle driving data to the simulation module; and the simulation module updates the simulation environment data. Compared with the prior art, an overall testing framework for the center, the road side and the vehicle-mounted part is constructed, and in-loop testing can be conducted on the whole vehicle-road cooperation system.

Description

technical field [0001] The invention relates to the application field of vehicle-road coordination and intelligent networked vehicle simulation testing, in particular to an in-the-loop simulation method and platform of a vehicle-road coordination system. Background technique [0002] With the development of society and the continuous advancement of science and technology, cars have gradually become a "must-have" for every household. As of the end of 2017, the number of motor vehicles in the country reached 310 million. There are 33.52 million vehicles, including 28.13 million newly registered vehicles, all of which are record highs. The increasing number of vehicles has caused road congestion, environmental pollution, road safety and many other problems. According to statistics, the annual economic loss due to traffic congestion in Beijing reaches 700 million. In the United States, the annual waste of fuel and time caused by traffic congestion exceeds 72 billion US dollars. ...

AI Technical Summary

Problems solved by technology

[0004] 1. The on-site experiment of intelligent networked vehicles requires a large number of vehicles and experimenters, and the installation of a large number of communication equipment, the cost of the experiment is relatively high;

[0005] 2. The risk factor of field experiments is high, and the environment in which the experimenters live is too dangerous;

[0006] 3. The test scenarios are complex and changeable, not exhaustive, and the test efficiency is relatively low;

[0007] 4. Field test conditions can neither be precisely controlled nor reproduced

However, pure system simulation also has the following deficiencies: firstly, the virtual simulation process is relatively ideal, while the real traffic environment is more random, and the vehicle state is unstable, resulting in low accuracy of the driving plan; secondly These driving schemes must be applied to real vehicles to achieve effective testing, otherwise there will be a large error between the simulation results and the actual situation, and the significance of simulation software for real traffic simulation will be lost

Existing problems: It only involves the simulation of the communication system, there is no overall test framework for the center, roadside, and vehicle, and it is not an in-the-loop simulation

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