论文标题
虚拟环境中的车辆（VVE）方法
Vehicle in Virtual Environment (VVE) Method
论文作者
论文摘要
需要对自动驾驶汽车（AV）算法进行广泛的测试，以确保车辆和乘客在实施后使用时将是安全的。在现实世界中测试这些算法创造了另一个重要的安全点。现实世界的测试还受到限制，例如将车辆带到某个位置的逻辑限制。为此，广泛使用了循环（HIL）模拟中的硬件（HIL）模拟以及诸如Carla和LG SVL之类的虚拟环境。本文讨论了一种将真实车辆与虚拟世界相结合的方法，该方法在虚拟环境（VVE）中称为车辆。这种方法将车辆位置投射并进入虚拟世界进行所需的测试，并将信息从虚拟世界中的传感器传递到车辆。结果，当车辆在现实世界中移动时，它同时在虚拟世界中移动，并通过多个虚拟传感器获得情境意识。这将允许在安全的环境中使用真实车辆进行测试，同时为车辆动力学，物流限制和乘客体验测试提供一些其他好处。本文还展示了一个示例研究，其中路径以下和虚拟传感器用于测试基于雷达的停止算法。
Autonomous vehicle (AV) algorithms need to be tested extensively in order to make sure the vehicle and the passengers will be safe while using it after the implementation. Testing these algorithms in real world create another important safety critical point. Real world testing is also subjected to limitations such as logistic limitations to carry or drive the vehicle to a certain location. For this purpose, hardware in the loop (HIL) simulations as well as virtual environments such as CARLA and LG SVL are used widely. This paper discusses a method that combines the real vehicle with the virtual world, called vehicle in virtual environment (VVE). This method projects the vehicle location and heading into a virtual world for desired testing, and transfers back the information from sensors in the virtual world to the vehicle. As a result, while vehicle is moving in the real world, it simultaneously moves in the virtual world and obtains the situational awareness via multiple virtual sensors. This would allow testing in a safe environment with the real vehicle while providing some additional benefits on vehicle dynamics fidelity, logistics limitations and passenger experience testing. The paper also demonstrates an example case study where path following and the virtual sensors are utilized to test a radar based stopping algorithm.
