With the promotion of policies and the continuous development of artificial intelligence, autonomous vehicle have gained more and more attention. The environment perception system is the key to realize the real-time interaction between the vehicle and the external environment. It is also the first step to realize automatic driving, and plays an important role in the safe driving of autonomous vehicle. The development and application of the environmental perception algorithms cannot be separated from testing and evaluation. The test evaluation can effectively verify the accuracy and stability of the environment perception algorithm, and provide reliable input for the decision-making and control of the auto drive system. This article establishes a perception algorithm testing system based on data playback, and proposes a testing and evaluation method for perception algorithms based on the environmental information requirements of decision control systems, in order to improve the development efficiency of environmental perception algorithms.
With faster transmission speed and lower latency of information, V2X is gaining more and more public attention. V2X mainly interacts with vehicle-vehicle, vehicle-road, vehicle-person and so on to build real-time information map of vehicle networking. Due to cost and technology constraints, the integration of vehicle intelligence and V2X intelligence will be the main trend of the development of auto-driving. Virtual simulation can not only meet the requirements of scene coverage, but also improve the security of test. It is the main means of automatic driving verification. This paper presents a simulation verification method based on VTD for the fusion of vehicle intelligence and V2X networking. The main purpose of this method is to make up for the limitations of vehicle intelligence in perception by using V2X networking characteristics. In the simulation software, the simulation of the fusion of vehicle intelligence and V2X networking is carried out to verify the advantages and disadvantages of the auto-driving algorithm. The simulation validation method makes up for the singularity of the conventional simulation. It can verify the repeatability and security of the fusion technology several times before it is applied to the ground, and improve the test efficiency and accuracy.
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