PDF
Full
Outline
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.
PDF
336
148
| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
关闭全屏
No. 86 Xueyuan South Road, Haidian District, Beijing
010-62199257
qkjq@cast.org.cn
Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House
