Research On The Construction Of Unmanned Vehicle Test Environment Based On Virtual Reality

In recent years,unmanned driving has been a research hotspot in the automotive field,which is one of the development trends in the future automotive industry.Unmanned driving has the functions that include environmental awareness,decision-making planning and controls.It involves a variety of advanced technologies,including vehicle networking,artificial intelligence,sensor technology,image recognition,positioning and navigation,automatic control and so on.In the development process of UAV,the safety of UAV can not be validated effectively,which requires a lot of experiments to test the algorithm stability and intelligence of UAV.At present,most of the tests of unmanned vehicles at home and abroad are carried out on unmanned vehicles in the construction of actual test sites.However,the road conditions for unmanned vehicles test are relatively high,which requires a large amount of investment,a huge amount of manpower and material resources,as well as some uncontrollable natural environmental factors.In view of the limitations of the test above,it is a great significance to construct a safe,effective,economical and stable testing environment for unmanned vehicles.According to the characteristics above,so a test environment for unmanned vehicle based on virtual reality is studied in this paper.The test environment includes some modules,which are virtual reality scene,micro traffic simulation,virtual reality interaction,network system and unmanned vehicle.The unmanned vehicle on the test bench makes corresponding behavior decisions by receiving the virtual scene data,and then transfers these behavior decision data to the virtual unmanned vehicle in the virtual scene through network communication.The virtual unmanned vehicle runs in the virtual scene after obtaining the speed,heading angle,brake and other data.The state of the real unmanned vehicle is expressed by the running state,so as to verify the intelligence of the real unmanned vehicle.The test environment of unmanned vehicle provides a convenient and efficient mechanism for the test of unmanned vehicle.The research contents mainly include the following aspects:1.Three-dimensional scene modeling.One of the basic conditions of unmanned vehicle testing is the test scenario,which uses virtual reality technology to construct a test scenario consistent with the real test site.Scene modeling includes static environment modeling(terrain,buildings,roads)and dynamic environment modeling(traffic,pedestrians,weather,lighting).These test scenarios provide experimental support for UAV testing.2.The overall framework design and implementation of virtual test environment for unmanned vehicle.The functions of UAV test environment are analyzed,the technologies involved are integrated,the system framework is designed,and a closed-loop test environment of "vehicle-environment" is formed.Implementing System Module Function.This paper connects real UAV and virtual UAV through network communication technology and interacts with each other.Constructing microcosmic traffic simulation and driving simulation to realize interference test function for unmanned vehicle test environment,and driving virtual vehicle through vehicle dynamics simulation.3.Pavement parameters testing.This paper implements a semi-physical testing environment construction method for unmanned vehicle.The real unmanned vehicle is placed on the test bench.The test bench has three degrees of freedom characteristics,namely steering,pitching and rolling.In the course of driving,not only the vehicle is on the flat road,but also the pitch angle and roll angle of the vehicle will change in bumpy and uphill sections.By transmitting the data of road parameters in the virtual scene to the test bench,the bench will make the corresponding degree of freedom changes according to the received data,and restore a real driving state.In this paper,a virtual reality-based test environment for unmanned vehicle is proposed.The virtual reality technology is used to simulate the real test environment.The virtual scene data are collected in the virtual environment and sent to the control system of the real unmanned vehicle.The unmanned vehicle makes behavior decision and degree of freedom change on the test bench.Behavior decision-making is to send the real UAV behavior data to the virtual UAV in real time,and control the operation of the virtual UAV in the virtual environment.The change of degree of freedom is to transfer the road parameters data of virtual scene to the test bench,control the roll angle and pitch angle of the bench,and restore the real driving state.Real-time interaction between virtual UAV and real UAV is realized.In the virtual environment,the weather,lighting and test scenarios can be changed according to the requirements,which makes the test of unmanned vehicle more convenient and efficient.