面向车-路-图协同的分布式自动驾驶仿真平台架构及应用  

Distributed Simulation Platform Architecture and Application of Autonomous Driving for Vehicle-Road-Map Collaboration

作　　者：张佳楠 胡钊政[1,2] 孟杰[1,2] 胡华桦 左洁[1] Zhang Jianan;Hu Zhaozheng;Meng Jie;Hu Huahua;Zuo Jie(Intelligent Transportation Systems Research Center,Wuhan University of Technology,Wuhan 430000;Chongqing Research Institute of Wuhan University of Technology,Chongqing 401120)

机构地区：[1]武汉理工大学智能交通系统研究中心,武汉430000 [2]武汉理工大学重庆研究院,重庆401120

出　　处：《汽车工程》2024年第8期1335-1345,1356,共12页Automotive Engineering

基　　金：国家重点研发计划项目(2022YFB2502904);湖北省重点研发计划项目(2022BAA082);重庆市科技创新重大研发项目(CSTB2022TIAD-STX0003)资助。

摘　　要：为解决车路图协同仿真环境下的单机式测试平台效率低下、系统可扩展性不足的问题,本文提出了一种面向车-路-图协同的分布式自动驾驶仿真平台架构,并将该平台命名为VIMS(vehicle-infrastructure-map system)。VIMS平台以CARLA作为虚拟仿真引擎,通过引入真实高精地图,接入驾驶模拟器、信号机等硬件在环设备,形成了虚实结合的交通场景;考虑功能的交互作用,VIMS平台分为主世界、智能车、智能路侧和高精地图4个模块,采用ROS分布式架构实现模块内部的相对独立和模块间的互联互通;考虑到平台的计算可靠性与可用性,采用分布式计算实现4个模块间的独立计算。通过车道保持和车路图协同定位算法为例进行应用验证,通过平台实现了数据采集、传输和算法的验证测试与评价,结果表明,本文所提出的平台可以实现车、路、图协作的实时仿真,保证模块的有机运行,系统架构可扩展性高。In order to solve the problems of low efficiency and insufficient system scalability of single-machine test platforms in the vehicle-road-map collaborative simulation environment,a distributed autonomous driving simulation platform architecture for vehicle-road-map cooperative simulation is proposed in this paper,named VIMS(Vehicle-Infrastructure-Map System).The VIMS platform uses CARLA as the virtual simulation engine.By introducing in real high-definition maps and connecting the hardware-in-the-loop devices such as driving simulators and signal machines to VIMS,the virtual-real traffic scene is formed.Considering the interaction of functions,the VIMS platform is divided into four modules,namely,the main world,the intelligent vehicle,the intelligent roadside,and the high-definition map,adopting ROS distributed architecture to realize the relative independence of the modules and interconnection between the modules.Considering the computational reliability and availability of the platform,distributed computing is used to realize independent computation among the four modules.Through the lane-keeping and vehicle-road-map collaborative positioning algorithm as examples for application validation,data acquisition,transmission and algorithm validation tests and evaluation are realized through the platform.The results show that the platform proposed in this paper can realize the real-time simulation of vehicle,road,and map collaboration to ensure that the modules operate organically and that the system architecture is highly scalable.

关 键 词：车路协同 高精地图 虚实结合仿真 自动驾驶 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] U463.6[自动化与计算机技术—计算机科学与技术]