自动驾驶虚拟仿真测试技术研究进展

Research and development of autonomous driving virtual simulation technology

随着自动驾驶技术的快速迭代,对自动驾驶汽车进行测试的需求更加急迫。虚拟仿真测试作为构成自动驾驶汽车测试的基础测试技术之一,近年来受到了汽车行业的广泛关注。通过对大量自动驾驶虚拟仿真测试技术文献的梳理和分析,综述了自动驾驶虚拟仿真测试的研究进展。概述了自动驾驶虚拟仿真测试软件平台,主要包括传统仿真测试平台和新兴仿真测试平台。在此基础上,对比分析了虚拟仿真测试硬件平台,梳理了硬件在环(hardware-in-the-loop,HiL)、驾驶员在环(driver-in-the-loop,DiL)、整车在环(vehicle-in-the-loop,ViL)等硬件平台的技术特点。在仿真测试场景方面,介绍了测试场景的数据来源,归纳了场景构建手段。在仿真测试方法方面,从评价指标的角度对仿真测试方法进行了比较与分析,指出当前方法的不足。最后,对仿真测试技术的发展趋势进行了展望与分析。研究结果表明:自动驾驶虚拟仿真测试是自动驾驶车辆落地的必由之路,未来应着力于自动驾驶标准场景库、仿真测试加速技术、仿真模型验证标准等研究,建立仿真测试标准体系。

With the rapid iteration of autonomous driving technology,the need to test autonomous vehicles has become more urgent.Virtual simulation testing is one of the basic testing technologies which constitute autonomous vehicle testing.In recent years,it has received extensive attention from the automotive industry.Through the analysis of a large number of automated driving virtual simulation technical literature,the research progress of autonomous driving virtual simulation testing was summarized.An overview of the automated driving virtual simulation test software platform was conducted,including traditional virtual simulation platforms and emerging simulation platforms.On this basis,the virtual simulation test hardware platform was compared and analyzed,and the technical characteristics of hardware platforms such as hardware-in-the-loop(HiL),driver-in-the-loop(DiL),and vehicle-in-the-loop(ViL)were organized.In terms of simulation test scenarios,the data sources of test scenarios were introduced,and the means of scenario construction were summarized.In terms of simulation test methods,the simulation test methods were compared and analyzed from the perspective of evaluation indicators,and the shortcomings of the current method were pointed out.Furthermore,the development trend of simulation testing technology was prospected and analyzed.The obtained results indicate that automated driving virtual simulation testing is essential for autonomous vehicles to be realized.In the future,we should focus on the research of automatic driving standard scene database,simulation test acceleration technology,simulation model verification standards,and establishment of simulation standard system.