CN109324539A - The intelligent control platform and method of a kind of automatic Pilot closed test field - Google Patents
The intelligent control platform and method of a kind of automatic Pilot closed test field Download PDFInfo
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- CN109324539A CN109324539A CN201810987906.5A CN201810987906A CN109324539A CN 109324539 A CN109324539 A CN 109324539A CN 201810987906 A CN201810987906 A CN 201810987906A CN 109324539 A CN109324539 A CN 109324539A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The present invention relates to automatic Pilot technical fields, and in particular to the intelligent control platform and method of a kind of automatic Pilot closed test field.A kind of intelligent control platform of automatic Pilot closed test field, including display layer, control layer, data Layer, the display layer is for showing complete test process and test data in checkout area；The control layer is controlled and is managed to display layer and data Layer for realizing the test of automatic Pilot, and the data Layer is analyzed and evaluated test data, and generate test report for the storage to traffic scene data and test data.It present invention can be directly applicable to designing and implementing for automatic Pilot closed test field control centre, and intelligent and unmanned solution be provided for the control system of automatic Pilot checkout area.
Description
Technical field
The present invention relates to automatic Pilot technical fields, specifically, being related to a kind of intelligence of automatic Pilot closed test field
Control platform and method.
Background technique
Support and development with China to intelligent network connection technology, the country has multiple city open routes and tests and issue
Automatic Pilot drive test licence plate.In April, 2018, the Ministry of Industry and Information Technology of China, the Ministry of Public Security, Department of Transportation, which combine, has printed and distributed " intelligence
Connection trap for automobile test and management specification (tentative) can be netted ", it is desirable that automatic driving vehicle, be in conjunction with each before carrying out road test
Ground actual conditions carry out sufficient real steering vectors in closing place, and obtain the third party testing agency that country or provinces and cities are approved
The Function for Automatic Pilot consignment report provided.Currently, prefectures and cities begin setting up automatic Pilot closed test field, but field one after another
Ground construction and test evaluation have no mature standard.
The problem of being primarily present is:
1. current automatic Pilot closing field test continues to use the device and method of DAS (Driver Assistant System) (ADAS), control mostly
The intelligence degree of system is lower, to the control Shortcomings of automatic Pilot test.Many test items still use artificial scene
Operation, such as the control of dummy and false vehicle, it is more demanding to the profession of tester, and the person peace of tester can be injured
Entirely.
2. Dynamic Traffic Flow (test equipment vehicle and dummy etc.) used in current automatic Pilot closed test field is less,
It is main to be tested by constructing simple traffic scene, it is more difficult to realize complicated traffic scene and testing scheme.
Summary of the invention
In order to solve the above technical problems, the intelligent control platform and method of a kind of automatic Pilot closed test of the invention field,
Main includes the system architecture and overall structure of control platform.By control centre's centerized fusion, the nothing of automatic Pilot is realized
Peopleization test, ensure that the safety of personnel.And by automatically generating testing scheme, data acquisition and test evaluation, realize certainly
The dynamic intelligent test for driving closed test field.It present invention can be directly applicable to automatic Pilot closed test field control centre
It designs and implements, and intelligent and unmanned solution is provided for the control system of automatic Pilot checkout area.
The invention adopts the following technical scheme:
A kind of intelligent control platform of automatic Pilot closed test field, including display layer, control layer, data Layer, it is described aobvious
Show layer for showing complete test process and test data in checkout area；The control layer for realizing automatic Pilot survey
Examination, is controlled and is managed to display layer and data Layer, and the data Layer is for depositing traffic scene data and test data
Storage, is analyzed and evaluated test data, and generate test report.
The control layer includes:
Testing scheme generation module, for generating the global path of testing scheme and automatic driving vehicle by control system
Planning；
The testing scheme includes, according to the travel route of test purpose and automatic driving vehicle, carrying out test equipment
Choose the local paths planning with mobile test equipment.
Car networking communication module, for communicating between vehicle and control platform, the vehicle location obtained from each node vehicle is believed
Breath in real time shows track of vehicle in the display layer by coordinate conversion, map match；
Test equipment remote control module, for the long-range control of test equipment vehicle and dummy, by using drive simulation
Device completes the local path planned in testing scheme to control test equipment vehicle, and dummy's completion is similarly controlled using remote control device
The local path of planning, and the test data of autonomous driving vehicle is recorded in the process of moving；
More vehicle formation control modules use multiple driving simulators for control system, according to the global path planning,
More test equipment vehicles are controlled simultaneously, simulate complicated traffic scene；
High accuracy positioning module, including static high accuracy positioning and dynamic high precision positioning.
The data Layer includes:
Traffic scene database acquires the database that telecommunication flow information is established according to Chinese practice traffic environment, covers comprehensively
Lid drives naturally, dangerous working condition, traffic accident, man-machine drives data, road traffic interaction and real vehicle drive test data altogether；
Data analysis module, for carrying out data mining according to the test data of roadside device and mobile unit acquisition, from
In extract validity test information for evaluation, the test data mainly includes data flow, image stream and video stream data；
Appraisement system module, according to the validity test information, from intelligence, safety, comfort and running efficiency four
A aspect evaluates the performance of autonomous driving vehicle；
Report generation module and is given according to the evaluation as a result, automatically generate digitlization and patterned test report
Improved suggestion out；
The testing scheme generation module includes:
Test scene collection forms unit, for selecting corresponding test item according to test assignment, and from the traffic field
Representational scene composition test scene collection is selected in scape database；
Test content forms unit, for the test scene that the test scene is concentrated, selects Dynamic Traffic Flow, institute
Stating Dynamic Traffic Flow includes test equipment vehicle and dummy；
Global path planning unit determines one test for carrying out global path planning for autonomous driving vehicle
Test data needed under scene；
The global path planning is, according to all vehicle original states, checkout area environment and terminal target, to drive automatically
It sails vehicle and plans a path from initial point to terminal, be made of the sequence of points of connection source position and final position.
The display layer includes:
3D simulating scenes display module establishes emulation 3D according to the truthful data of closed test field high-precision map and scene
Environment shows travel situations of the various vehicles in checkout area, and records entire test process；
2D high-precision map display module, for high-precision traffic information needed for showing automatic Pilot, and in the 2D
The global path planning of automatic driving vehicle is shown on high-precision map；
Drive test camera head monitor display module, by be mounted on the camera of trackside to each fixed area in checkout area into
Row monitoring；
Vehicle-mounted camera display module carries out mobile prison to checkout area by the camera being mounted on test equipment vehicle
Control；
Test data display module shows the significant data in current test process, is the control of test process
Reference is provided.
The display layer uses liquid crystal large-screen splicing unit, and the concatenation unit is respectively used to 3D simulating scenes and shows
Module, 2D high-precision map display module, drive test camera head monitor display module and vehicle-mounted camera display module and test number
According to the display of display module.
The data Layer hardware includes:
Cloud computing server calculates service by using long-range cloud, is able to carry out deep learning calculating, and avoid
The problem of in terms of environment configurations, deployment and Version Control；
Local server, for carrying out the storage and backup of traffic scene data and test data；
MEC server is associated with for the edge calculations in car networking with LTE base station, mobile unit and roadside device is adopted
The video stream data of collection carries out video analysis and processing before being uploaded to server, reduces the data volume uploaded onto the server.
A kind of intelligent control method of automatic Pilot closed test field, comprising:
It generates testing scheme and carries out the global path planning of automatic Pilot vehicle；
It is communicated using car networking, shows position and the state of all vehicles on the screen；
Test equipment vehicle and dummy are remotely controlled, the testing scheme of setting is completed；
Control system uses multiple driving simulators, according to the global path planning, while controlling more test equipments
Vehicle simulates complicated traffic scene；
Using roadside device and mobile unit collecting test data, the test data is analyzed, stored, is uploaded,
And the test data is shown on the screen；
Test terminates, and evaluates the test data, generates test report.
The global path planning for generating testing scheme and carrying out automatic Pilot vehicle, comprising the following steps:
Step (1): corresponding test item is selected according to test assignment, and selection has representative from traffic scene database
Property scene form test scene collection；
Step (2): the test scene concentrated for the test scene selects Dynamic Traffic Flow, and the dynamic is handed over
Through-flow includes test equipment vehicle and dummy；
Step (3): global path planning is carried out for automatic driving vehicle, determines required test under one test scene
Data；
Step (4): return step (2), until the global path for all test scenes that the test scene is concentrated
Planning and required test data all determine that testing scheme generates.
It is described that test equipment vehicle and dummy are remotely controlled, the testing scheme of setting is completed, implementation process includes:
Step (1): it according to the test equipment remotely controlled required for testing scheme selection, and is wirelessly connected；
Step (2): test equipment vehicle is controlled using driving simulator and completes the local path planned in testing scheme；
Step (3): if you need to use dummy to test, then dummy is controlled by remote control device and completes testing scheme planning
Local path；
Step (4): the test data of record autonomous driving vehicle in the process of moving；
Step (5): a testing scheme is completed, and such as continues to test, return step 1.
The invention has the following advantages:
Intelligent control platform and method of the invention, may be implemented by operator in control centre to automatic driving vehicle
Long-range test is carried out, testing efficiency is improved, test site does not need staff, ensure that personnel safety.And by certainly
It is dynamic to generate testing scheme, data acquisition and test evaluation, realize the intelligent test of automatic Pilot closed test field.The present invention
It may be directly applied to designing and implementing for automatic Pilot closed test field control centre, and be the control of automatic Pilot checkout area
System provides intelligent and unmanned solution.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
The structure chart of intelligent control platform Fig. 1 of the invention
Mosaic screen Fig. 2 of the invention shows layout structure figure
Control layer functional structure chart Fig. 3 of the invention
Data Layer server system architecture figure Fig. 4 of the invention
The whole structural scheme schematic diagram of intelligent control platform Fig. 5 of the invention
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Main vehicle (HV, Host Vehicle): refer to tested automatic driving vehicle, also referred to as automatic Pilot vehicle.
Test equipment vehicle (EV, Equipment Vehicle): refer to the test equipment vehicle in simulation traffic scene, also referred to as
For test carriage.
Dummy: the pedestrian in simulation traffic scene has the manikin for the mobile device that can remotely control for bottom
Test equipment.
As background technique is introduced, the traffic scene and testing scheme of complexity relatively difficult to achieve exists in the prior art
Deficiency, in order to solve technical problem as above, present applicant proposes a kind of intelligent control platforms of automatic Pilot closed test field
And method, its system architecture and organization plan are provided, can be applied to designing and implementing for closed test field control centre.
In a kind of typical embodiment of the application, a kind of intelligent control platform of automatic Pilot closed test field is first
The system architecture of intelligent control platform is first established as shown in Figure 1, including display layer, control layer and data Layer, can be to drive automatically
The control centre for sailing closed test field establishes offer scheme.
(1) display layer
Display layer is the outermost layer of control platform, is completely tested by one piece of large-screen splicing screen to show in checkout area
Process.The content of display include entire test process the display in 3D simulating scenes, the monitoring information in closed test field and
Real-time data parameters information in test process, specifically includes with lower module:
3D simulating scenes display module is using Unity 3D game engine, according to closed test field high-precision map
Truthful data and scene establish emulation 3D environment, can really show travel situations of the various vehicles in checkout area, and remember
Record entire test process.
2D high-precision map display module is mainly used to high-precision traffic information needed for showing automatic Pilot, such as vehicle
Diatom, barrier etc., and show on 2D map the global path planning of automatic driving vehicle.
Trackside camera head monitor display module, the camera by being mounted on trackside carry out the fixed area in checkout area
Monitoring.
Vehicle-mounted camera monitors display module, is moved by the camera being mounted on test equipment vehicle to checkout area
Monitoring.
Test data display module on the screen shows the significant data in current test process, to test
Process control provides reference.
The layout structure that mosaic screen is shown is as shown in Figure 2.
(2) control layer
Control layer is the core layer of intelligent control platform, and display layer and data Layer are controlled and managed by control system
Reason, realizes the test function of automatic Pilot.The main modular of the control layer includes high accuracy positioning, testing scheme generation, vehicle
Connected network communication, test equipment remotely control and more vehicle formation controls.Control layer principal functional structure is as shown in Figure 3.
High accuracy positioning, including static high accuracy positioning and dynamic high precision position two aspects, static high accuracy positioning
It is the high-precision map by closed test field, high-precision positioning is carried out to object of reference and reference point fixed in checkout area.
Dynamic high precision positioning is by differential GPS and Inertial Measurement Unit IMU, to the automatic Pilot vehicle moved in checkout area and test
Equipment vehicle carries out high-precision positioning.It is positioned by dynamic high precision, real-time display is various on 3D the and 2D map of display layer
The exact position and running track of move vehicle and equipment.
Testing scheme generates, and the global path planning of testing scheme and automatic Pilot vehicle is generated by control system；
The testing scheme includes, according to the travel route of test purpose and automatic driving vehicle, carrying out test equipment
Choose the local paths planning with mobile test equipment.
Testing scheme generation module includes:
Test scene collection forms unit, for selecting corresponding test item according to test assignment, and from the traffic field
Representational scene composition test scene collection is selected in scape database；
Test content forms unit, for the test scene that the test scene is concentrated, selects Dynamic Traffic Flow, institute
Stating Dynamic Traffic Flow includes test equipment vehicle and dummy；
Global path planning unit determines one test for carrying out global path planning for autonomous driving vehicle
Test data needed under scene；
Automatic Pilot test item, at present 14 surveys in main " automatic Pilot test procedure " using Ministry of Communications's publication
Examination project tests the performance of autonomous driving vehicle.
When testing scheme generates, include the following steps:
Step (1): selecting corresponding test item according to test assignment first, and selects from database representational
Scene forms test scene collection.
Step (2): concentrating a test scene for test scene, selects Dynamic Traffic Flow according to scene and difficulty of test
(false vehicle, dummy etc.).
Step (3): global path planning is carried out for main vehicle, the test data needed for determining under the scene.
Step (4): return step (2), until the path planning of all test scenes and required data all determine, test side
Case generates.
The global path planning refers in all vehicle original states, checkout area environment and terminal target to be known
In the case where, a path from initial point to terminal is planned for automatic driving vehicle, by connection source position and final position
Sequence of points composition.
Car networking communication, is primarily referred to as communicating between vehicle and control centre, i.e. V2C (Vehicle to Center) communication,
It is realized using LTE-V.The vehicle position information obtained from each node vehicle, by coordinate conversion, map match etc. in real time by vehicle
Track is shown in 3D the and 2D map of display screen.
Test equipment remotely controls, and for the long-range control of test equipment vehicle and dummy, is come by using driving simulator
Control test equipment vehicle completes the local path planned in testing scheme, and dummy is similarly controlled using remote control device and completes planning
Path, and in the process of moving record autonomous driving vehicle test data；
More vehicle formation controls refer to that multiple driving simulators can be used in control system, according to precalculated path,
More test equipment vehicles are controlled simultaneously, simulate complicated traffic scene.
(3) data Layer
Data Layer is the bottom of intelligent control platform, is mainly made of various servers, including cloud computing server, local
Server and MEC server.The major function of data Layer is the storage and calculating of big data, not only needs to carry out traffic scene number
According to the storage with test data, also test data is analyzed and evaluated, and ultimately generate test report.
Cloud computing server calculates service by using long-range cloud, can carry out high-performance deep learning calculating, and
And the problem of avoiding environment configurations, deployment and Version Control aspect.
Local server is substantially carried out the storage and backup of certain significant datas, such as: test evaluation as a result, and
Record the data of test process.
MEC server is mainly associated with for the edge calculations in car networking with LTE base station, mobile unit and trackside is set
The video stream data of standby acquisition carries out video analysis and processing before being uploaded to server, reduces the data uploaded onto the server
Amount improves efficiency of transmission.Server system architecture in data Layer is as shown in Figure 4.
The main modular of data Layer includes: traffic scene database, data analysis, appraisement system, report generation.Traffic field
Scape database is to acquire the database that telecommunication flow information is established according to Chinese practice traffic environment, covers nature driving, danger comprehensively
Dangerous section's condition, man-machine drives data, road traffic interaction and many aspects such as real vehicle drive test data at traffic accident altogether.
Data analysis is that the test data obtained according to roadside device and mobile unit carries out data mining, therefrom extracts
Effective information is out for evaluation, and wherein test data mainly includes data flow, image stream and video stream data.So-called validity test
Information is targetedly mentioned from the test information of magnanimity usually according to a certain target or purpose using data mining algorithm
Take certain data or data slot.
Appraisement system, according to the validity test information extracted, from intelligence, safety, comfort and running efficiency four
A aspect evaluates the performance of autonomous driving vehicle.
Report generation and provides and changes according to test evaluation as a result, automatically generate digitlization and patterned test report
Into suggestion.
In conclusion providing automatic Pilot closed test according to every key technology of display layer, control layer and data Layer
The whole structural scheme schematic diagram of the intelligence control system platform of field, as shown in Figure 5.
The main working process of this intelligent control platform includes:
Step (1): according to testing requirement, operator selects test by the man-machine interface of control system in control centre
Project and test request, and various constraint conditions are inputted, system automatically generated testing scheme.
Step (2): in closed test field, main vehicle enters starting area according to testing scheme with test equipment vehicle, and carries out
Location position.Meanwhile being communicated by car networking, all vehicle locations and shape are shown on 3D the and 2D map of control centre's large screen
State.
Step (3): test starts, and executes global path planning by control centre's program, realizes that test equipment vehicle moves
The mobile control of dynamic long-range control, more vehicle formation controls, dummy.Local paths planning in test equipment vehicle driving process,
The driving simulator manual operation of control centre can be used.Staff passes through human-computer interaction interface or drive simulating controller
It realizes the remote testing of autonomous driving vehicle, and can realize the bicycle under different scenes and Duo Che formation control.
Step (4): roadside device and mobile unit collecting test data, by uploading to control after MEC server process
Center cloud computing server.
Step (5): control centre analyzes test data, and real-time test data is shown on large screen, for behaviour
Make personnel's reference.
Step (6): after primary test, evaluating test data, and export test report automatically, a test
It completes.Return step (1), until completing all test items.
Step (7): after the completion of all tests, retaining the test process data of important scenes, especially test crash scene,
Traffic scene database is updated simultaneously.Recommendation on improvement finally is provided for automatic driving vehicle, and is repeated for failure scene
Training and test.
By above-mentioned workflow, intelligent control platform of the invention be may be implemented by operator in control centre pair
Automatic driving vehicle carries out long-range test, improves testing efficiency, and ensure that personnel safety.
Another embodiment of the present invention, a kind of intelligent control method of automatic Pilot closed test field, comprising:
It generates testing scheme and carries out the global path planning of automatic Pilot vehicle；
It is communicated using car networking, shows position and the state of all vehicles on the screen；
Test equipment vehicle and dummy are remotely controlled, the testing scheme of setting is completed, implementation process includes the following:
Step (1): it according to the test equipment remotely controlled required for testing scheme selection, and is wirelessly connected；
Step (2): test equipment vehicle is controlled using driving simulator and completes the local path planned in testing scheme；
Step (3): being tested using dummy, then the office that dummy completes testing scheme planning is controlled by remote control device
Portion path；
Step (4): the test data of record autonomous driving vehicle in the process of moving；
Step (5): a testing scheme is completed, and such as continues to test, return step 1.
Control system uses multiple driving simulators, according to the global path planning, while controlling more test equipments
Vehicle simulates complicated traffic scene；
Using roadside device and mobile unit collecting test data, the test data is analyzed, stored, is uploaded,
And the test data is shown on the screen；
Test terminates, and evaluates the test data, generates test report.
The global path planning for generating testing scheme and carrying out automatic Pilot vehicle, comprising the following steps:
Step (1): corresponding test item is selected according to test assignment, and selection has representative from traffic scene database
Property scene form test scene collection；
Step (2): the test scene concentrated for the test scene selects Dynamic Traffic Flow, and the dynamic is handed over
Through-flow includes test equipment vehicle and dummy；
Step (3): global path planning is carried out for automatic driving vehicle, determines required test under one test scene
Data；
Step (4): return step (2), until the global path planning for all test scenes that the test scene is concentrated
It is all determined with required test data, testing scheme generates.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of intelligent control platform of automatic Pilot closed test field, which is characterized in that including display layer, control layer, data
Layer, the display layer is for showing complete test process and test data in checkout area；The control layer is for realizing automatic
The test of driving is controlled and is managed to display layer and data Layer, and the data Layer is used for traffic scene data and test
The storage of data, is analyzed and evaluated test data, and generates test report.
2. the intelligent control platform of automatic Pilot closed test as described in claim 1 field, which is characterized in that the control layer packet
It includes:
Testing scheme generation module, for being advised by the global path that control system generates testing scheme and carries out automatic Pilot vehicle
It draws；
The testing scheme includes, according to the travel route of test purpose and automatic driving vehicle, carrying out the selection of test equipment
With the local paths planning of mobile test equipment；
Car networking communication module, for being communicated between vehicle and control platform, the vehicle position information obtained from each node vehicle, warp
Coordinate conversion, map match are crossed, in real time shows track of vehicle in the display layer；
Test equipment remote control module is come for the long-range control of test equipment vehicle and dummy by using driving simulator
Control test equipment vehicle completes the local path planned in testing scheme, and the office that dummy completes planning is controlled using remote control device
Portion path, and the test data of autonomous driving vehicle is recorded in the process of moving；
More vehicle formation control modules use multiple driving simulators for control system, according to the global path planning, simultaneously
More test equipment vehicles are controlled, complicated traffic scene is simulated；
High accuracy positioning module, including static high accuracy positioning and dynamic high precision positioning.
3. the intelligent control platform of automatic Pilot closed test as described in claim 1 field, which is characterized in that the data Layer packet
It includes:
Traffic scene database acquires the database that telecommunication flow information is established according to Chinese practice traffic environment, covers comprehensively certainly
Right drivings, traffic accident, man-machine drives that data, road traffic be interactive and real vehicle drive test data at dangerous working condition altogether；
Data analysis module, for carrying out data mining, Cong Zhongti according to the test data of roadside device and mobile unit acquisition
Validity test information is taken out for evaluation, the test data mainly includes data flow, image stream and video stream data；
Appraisement system module, according to the validity test information, from four intelligence, safety, comfort and running efficiency sides
Performance in face of autonomous driving vehicle is evaluated；
Report generation module and provides and changes according to the evaluation as a result, automatically generate digitlization and patterned test report
Into suggestion.
4. the intelligent control platform of automatic Pilot closed test as claimed in claim 2 field, which is characterized in that the testing scheme
Generation module includes:
Test scene collection forms unit, for selecting corresponding test item according to test assignment, and from the traffic scene number
According to selecting representational scene composition test scene collection in library；
Test content forms unit, for the test scene that the test scene is concentrated, selects Dynamic Traffic Flow, described dynamic
State traffic flow includes test equipment vehicle and dummy；
Global path planning unit determines one test scene for carrying out global path planning for autonomous driving vehicle
Under required test data；
The global path planning is, is automatic Pilot vehicle according to all vehicle original states, checkout area environment and terminal target
Path of the planning one from initial point to terminal, is made of the sequence of points of connection source position and final position.
5. the intelligent control platform of automatic Pilot closed test as claimed in claim 2 field, which is characterized in that the display layer packet
It includes:
3D simulating scenes display module establishes emulation 3D ring according to the truthful data of closed test field high-precision map and scene
Border shows travel situations of the various vehicles in checkout area, and records entire test process；
2D high-precision map display module, for high-precision traffic information needed for showing automatic Pilot, and it is high-precision in the 2D
The global path planning of automatic Pilot vehicle is shown on degree map；
Drive test camera head monitor display module, the camera by being mounted on trackside supervise each fixed area in checkout area
Control；
Vehicle-mounted camera display module carries out mobile monitoring to checkout area by the camera being mounted on test equipment vehicle；
Test data display module shows the significant data in current test process, provides for the control of test process
With reference to.
6. the intelligent control platform of automatic Pilot closed test as claimed in claim 5 field, which is characterized in that the display layer is adopted
With liquid crystal large-screen splicing unit, the concatenation unit is respectively used to 3D simulating scenes display module, 2D high-precision map denotation
The display of module, drive test camera head monitor display module and vehicle-mounted camera display module and test data display module.
7. the intelligent control platform of automatic Pilot closed test as described in claim 1 field, which is characterized in that the data Layer is hard
Part includes:
Cloud computing server calculates service by using long-range cloud, is able to carry out deep learning calculating, and avoid environment
The problem of in terms of configuration, deployment and Version Control；
Local server, for carrying out the storage and backup of traffic scene data and test data；
MEC server is associated with for the edge calculations in car networking with LTE base station, mobile unit and roadside device is acquired
Video stream data carries out video analysis and processing before being uploaded to server, reduces the data volume uploaded onto the server.
8. a kind of intelligent control method of automatic Pilot closed test field characterized by comprising
It generates testing scheme and carries out the global path planning of automatic Pilot vehicle；
It is communicated using car networking, shows position and the state of all vehicles on the screen；
Test equipment vehicle and dummy are remotely controlled, the testing scheme of setting is completed；
Control system uses multiple driving simulators, according to the global path planning, while controlling more test equipment vehicles, mould
Intend complicated traffic scene；
Using roadside device and mobile unit collecting test data, the test data is analyzed, stored, is uploaded, and
The test data is shown on screen；
Test terminates, and evaluates the test data, generates test report.
9. the intelligent control method of automatic Pilot closed test as claimed in claim 8 field, which is characterized in that the generation is surveyed
Examination scheme and the global path planning for carrying out automatic Pilot vehicle, comprising the following steps:
Step (1): selecting corresponding test item according to test assignment, and selects from traffic scene database representational
Scene forms test scene collection；
Step (2): the test scene concentrated for the test scene selects Dynamic Traffic Flow, the Dynamic Traffic Flow
Including test equipment vehicle and dummy；
Step (3): global path planning is carried out for automatic driving vehicle, determines required test number under one test scene
According to；
Step (4): return step (2), until the global path planning for all test scenes that the test scene is concentrated and institute
Test data is needed all to determine, testing scheme generates.
10. the intelligent control method of automatic Pilot closed test as claimed in claim 8 field, which is characterized in that described pair of survey
Examination equipment vehicle and dummy are remotely controlled, and the testing scheme of setting is completed, and implementation process includes:
Step (1): it according to the test equipment remotely controlled required for testing scheme selection, and is wirelessly connected；
Step (2): test equipment vehicle is controlled using driving simulator and completes the local path planned in testing scheme；
Step (3): if you need to use dummy to test, then the office that dummy completes testing scheme planning is controlled by remote control device
Portion path；
Step (4): the test data of record autonomous driving vehicle in the process of moving；
Step (5): a testing scheme is completed, and such as continues to test, return step 1.
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| CN201810987906.5A CN109324539A (en) | 2018-08-28 | 2018-08-28 | The intelligent control platform and method of a kind of automatic Pilot closed test field |
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