Research On Virtual Traffic Scenario Construction With Configuration Language Description

In the current unmanned vehicle inspection method,the vehicle is mainly placed in a specific test road section for detection,such detection needs a certain space,and consumes a lot of manpower,material resources and time.Due to the above limitations,the test of unmanned vehicle began to adopt the way of vehicle in the loop test.In this paper,a virtual traffic scene matching with the whole vehicle in the loop test platform is constructed.The scene provide a test environment for the unmanned vehicle to detect whether the unmanned vehicle can recognize and respond.The virtual traffic scene development platform is Unity3 D.In the scene,3ds Max is used to model the traffic model,and the corresponding script is added to make the model have motion effect.Based on the modeling of traffic elements,a method of generating virtual traffic scene by configuration language is constructed.This scenario enables people to generate corresponding traffic elements by loading different configuration files,and the generated traffic elements constitute the basic scenario.This method can not only avoid the complex and heavy work of making the virtual unmanned vehicle communicate with the bench for many times in a large number of basic test scenarios,but also more freely construct the traffic environment that the tester wants.At present,the scene of the whole vehicle in the ring test bench is basically carried out by simulating the real test site,but there is a lack of traffic sign test,traffic signal test,and some unexpected situations,such as the sudden rush in of pedestrians,the driving of other vehicles,non motor vehicle driving,etc.It is necessary to generate the traffic scene which the tester wants in a simple and direct way.This paper mainly includes the following aspects:1.Overall framework and implementation of traffic elements.Analyze the function of each traffic element,and observe the movement mode or action mode of the real world traffic element.Through 3dsmax,traffic models of vehicles,bicycles,pedestrians,lights,signs and so on are built.The movement and action of the models are realized by the code of unity3 d components and scripts.2.Through the description of the configuration file,the automatic construction of the road is realized.Road is one of the most basic elements in the traffic scene.The corresponding road(line,arc,intersection)is generated by the way of optional configuration file.The API of the road plug-in obtains the road information described in the configuration file to realize the automatic generation of the road.The road provides the most basic support for traffic scenes.3.The automatic construction of virtual traffic scene is realized by description of configuration file.The scene elements are marked by the configuration file,and the information such as the location,moving heading point,model orientation and motion parameters of the traffic elements are transferred to the script of the traffic model.The script of the traffic elements makes the model appear in the corresponding position and move accordingly by reading the information of the configuration file.This paper proposes a configuration language description to build a virtual traffic scene,and generates the corresponding road and traffic elements by selecting the configuration file.For building a basic test scenario with a single traffic element,the function of reading the configuration file is associated with the selection interface to trigger the script in the traffic model to read the configuration file and generate the model in the scenario.The function of control model motion is judged,and the corresponding motion of traffic model is realized by selecting the motion state of interface.The configuration file of the road adopts the OpenDRIVE specification,and the configuration file of the traffic model adopts the OpenSCENARIO specification.