The Development of the Virtual Testing System of the Self-Driving Cleaning Truck Based on Virtual Reality Technology

With the development of autonomous driving technology, it is possible self-driving cleaning truck being driving and working automatically. However, a lot of field trials are timeconsuming and wasteful during the investigation of self-driving truck. In order to reduce lots of on-site and real vehicle tests, we construct a 3D virtual pilotless vehicle testing system for the cleaning truck based on virtual reality technology. 3DMax software is used to build virtual 3D scene static model and cleaning truck model. The established static models are imported into Unity3D to simulate different 3D scenes during cleaning truck self-driving. We designed a UI interface to build a virtual testing system of self-driving cleaning truck which is easy to realize human-computer interaction. we have achieved successfully the avoidance of obstacles and round-the-island driving. And we have successfully completed the identification of traffic lights and the pilotless driving test on crossroad virtual scene. In the virtual testing system, we can quickly experience the virtual testing scenes of the self-driving cleaning truck in various scenarios and get some kinematics information. The virtual testing system can partly replace the field tests and provide methods and theoretical guidance for field test, which can shorten the development cycle and save money, and is also unrestricted and repeatable. At the same time, the researching results provide new ideas and methods for the investigation of vehicle tests and pilotless driving.