智能网联汽车仿真测试与平行驾驶 -课件 3.1.5阿里巴巴达摩院的小蛮驴测试平台 （一）

E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3阿里巴巴达摩院的小蛮驴测试平台（一）03E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E32一、小蛮驴汽车仿真测试软件概述

阿里巴巴达摩院研发的无人车小蛮驴阿里巴巴达摩院研发的一款汽车无人车小蛮驴，仿真测试无人配送车小蛮驴，这款无人车集成了达摩院的人工智能和自动驾驶技术，具备类人认知智能，其大脑应急反应速度达到人类7倍。小蛮驴采用L4级自动驾驶技术，自动驾驶率达到了99%，是全球范围内最大体量的商用无人配送车队。2020年8月31日，阿里巴巴集团控股有限公司申请注册多项“小蛮驴”商标，2020年9月17日，2020云栖大会阿里巴巴发布第一款机器人“小蛮驴”，同时发布机器人平台，正式进军机器人赛道。E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3该软件是一款阿里巴巴公司达摩院自主研发的以物流配送为应用场景的仿真测试软件，具有较为丰富的功能和应用，包括三个功能区，分别是高精度地图任务区、平行驾驶任务区和场景仿真任务区。其登录界面如下图所示。3小蛮驴仿真软件登录界面一、小蛮驴汽车仿真测试软件概述

E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E34小蛮驴仿真软件任务区分布进入系统后能看到该系统总共分三个功能区：分别是高清地图任务区、平行驾驶任务区和场景仿真任务区。二、小蛮驴仿真软件功能区

E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3高精地图是将小蛮驴交到客户手中的关键环节，其中采图和制图工作是其中的重要工作，通过采图可以提前知道后续待行区域路况，通过制图可以把采集到的路况进行矢量化还原。该图主元素为通过路况信息采集车采集路况信息后经过处理而成的点云图，点云图上可见各种信息采集要素。5小蛮驴仿真软件高精度地图点云图1.高精度地图任务区

E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3在点云图上可以对高精地图进行编辑，主要编辑内容包括：编辑模型属性选择、ID号码编辑、要素信息编辑、截止线信息编辑、是否虚拟编辑、类型选择、灯板个数和灯板方向等内容，具体如下图所示。6小蛮驴仿真软件高精度地图编辑界面小蛮驴仿真软件高精度地图可编辑内容

E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E37在高精地图编辑界面中除了可以对编辑模型的属性进行设置外，还有其他一些功能可以进行选择，如下图为路口功能选择界面。小蛮驴仿真软件高精度地图路口功能面编辑界面小蛮驴仿真软件高精度地图路口功能面编辑界面

E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3线对象选择界面包括：ID信息的编辑、线对象要素的选择、线对象类型的选择共三个信息，如下图所示。8小蛮驴仿真软件高精度地图线对象编辑界面小蛮驴仿真软件高精度地图线对象编辑界面E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3面对象选择界面包括：ID信息的编辑、面对象要素的选择、面对象类型的选择共三个信息，如下图所示。9小蛮驴仿真软件高精度地图面对象编辑界面小蛮驴仿真软件高精度地图面对象编辑界面

E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E310人行横道对象选择界面包括：ID信息的编辑、人行横道要素的选择两个信息，如下图所示。小蛮驴仿真软件高精度地图人行横道编辑界面小蛮驴仿真软件高精度地图人行横道编辑界面

E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E311路面箭头选择界面包括：ID信息的编辑、路面箭头要素的选择、路面箭头类型的选择共三个信息，如下图所示。小蛮驴仿真软件高精度地图路面箭头编辑界面小蛮驴仿真软件高精度地图路面箭头编辑界面E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E312信号灯选择界面包括：ID信息的编辑、信号灯要素的选择、截止线的选择信息、是否虚拟的选择信息、信号灯类型、灯板个数的选择、灯板方向的选择共七个信息，如下图所示。小蛮驴仿真软件高精度地图信号灯编辑界面小蛮驴仿真软件高精度地图信号灯编辑界面E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11