CN110719214A - Internet of vehicles safety test oriented experimental platform and test method - Google Patents
Internet of vehicles safety test oriented experimental platform and test method Download PDFInfo
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- CN110719214A CN110719214A CN201910961425.1A CN201910961425A CN110719214A CN 110719214 A CN110719214 A CN 110719214A CN 201910961425 A CN201910961425 A CN 201910961425A CN 110719214 A CN110719214 A CN 110719214A
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/50—Testing arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
An experimental platform and a testing method for Internet of vehicles safety testing comprise a simulation monitoring system, an intelligent traffic miniature sand table, an intelligent miniature vehicle, an indoor positioning system and a mobile control end. The parts are connected through a wifi network to realize data transmission, and a local area network communication system is formed. The invention integrates the Internet of things technology, the virtual simulation technology, the image recognition positioning technology and the vehicle dynamics technology, builds the intelligent Internet-connected automobile safety test road scene, can realize the algorithm and the network safety test of the intelligent Internet-connected automobile, and simultaneously builds the simulation monitoring system to visually display the data in the test process, thereby reducing the test cost, simplifying the test flow, improving the test safety and overcoming various risks and limitations faced by the intelligent Internet-connected automobile actual road scene safety test.
Description
Technical Field
The invention belongs to the technical field of intelligent networking automobile safety testing, and particularly relates to an experimental platform and a testing method for Internet of vehicles safety testing.
Background
With the continuous progress of information technology, the internet era has come to the third revolution taking cloud computing as the core, and a new round of scientific and technological revolution represented by technologies such as mobile interconnection, big data and cloud computing is not made, so that the intelligent internet automobile can provide a safer, more energy-saving, more environment-friendly and more convenient travel mode and comprehensive solution, and is an internationally recognized future development direction and focus of attention.
The intelligent networking automobile safety test is a field which is aroused along with the development of an intelligent networking technology, comprises intelligent networking automobile perception, decision, control technology verification and vehicle network safety risk test, and is an important channel for linking intelligent networking automobile research and development and commercialization. However, the real-vehicle test of the intelligent networked automobile has the disadvantages of high test risk, high cost, limited test range and the like, and meanwhile, as a new technology, the intelligent networked technology has risks in the aspect of network security, once network attack occurs, fatal faults of the automobile can occur, and irreparable loss is caused to the social and personal security. Therefore, a miniature smart city scene is built in the indoor space, the intelligent networking technology and the safety thereof are tested by combining miniature vehicles with the same functions as the actual intelligent networking automobile, and the test process and data are dynamically output and displayed in real time, so that the intelligent networking technology is a preoccupation in development.
The invention aims to provide a simulation test platform for intelligent networking automobile safety test, which is used for intelligent networking automobile perception decision control technology verification and vehicle network safety risk test.
Disclosure of Invention
The invention aims to provide an experimental platform and a testing method, and particularly provides the experimental platform and the testing method which are simple in structure, convenient to operate, low in testing risk, low in cost, wide in testing range and suitable for verification of intelligent networked automobile perception decision control technology and vehicle network security risk testing and are oriented to the vehicle networking security testing.
In order to solve the technical problems, the invention adopts the technical scheme that: an experimental platform for car networking safety test, which comprises a simulation monitoring system, an intelligent traffic miniature sand table, an intelligent miniature car, an indoor positioning system and a mobile control end,
the simulation monitoring system monitors the intelligent traffic miniature sand table, the intelligent miniature vehicles and the indoor positioning system in real time, sends monitored information to the mobile control end to realize state monitoring and control scheduling of the whole intelligent traffic system, and visually displays data on a screen;
the intelligent traffic miniature sand table is constructed by referring to urban road scenes 1: x, sand table intelligent hardware is arranged in the micro traffic system, and the sand table intelligent hardware is communicated with the simulation monitoring system to form an intelligent traffic ecological model;
the intelligent miniature vehicle is characterized in that the reference real vehicle is 1: the X scale is reduced, the driving performance of the intelligent traffic micro sand table is the same as that of a real vehicle, and the intelligent traffic micro sand table is matched with the X scale for use, so that unmanned driving algorithm testing and network attack and defense experiments are realized;
the indoor positioning system is used for positioning the running process of the intelligent miniature vehicle, communicating with the intelligent miniature vehicle in real time and assisting the vehicle to find a way, is communicated with the simulation monitoring system and visually displays the position information of the vehicle through the simulation monitoring system;
the mobile control end is used for controlling the stroke of the intelligent miniature vehicle and the intelligent sand table hardware to realize different test environments.
Furthermore, the simulation monitoring system, the intelligent traffic miniature sand table, the intelligent miniature vehicle, the indoor positioning system and the mobile control end are connected through a wifi network, so that data transmission is realized, and a local area network communication system is formed.
Furthermore, the simulation monitoring system comprises a display interface and a control background, wherein the display interface is used for displaying monitoring information, and the control background is used for controlling the state of the intelligent sand table hardware.
Furthermore, the display interface comprises a simulation monitoring interface and a data monitoring interface, the simulation monitoring interface is used for monitoring the running state of the intelligent miniature vehicles in the intelligent traffic miniature sand table, and the data monitoring interface is used for displaying the running state parameters of the intelligent traffic miniature sand table, the intelligent miniature vehicles and the indoor positioning system in real time.
Furthermore, the simulation monitoring interface displays a sand table three-dimensional model and a vehicle three-dimensional model, the simulation monitoring system acquires the running position information of the intelligent miniature vehicle on the intelligent sand table hardware of the intelligent traffic miniature sand table in real time through the indoor positioning system, synchronizes the information into the vehicle three-dimensional model of the simulation monitoring interface, realizes the linkage of the vehicle three-dimensional model and the intelligent miniature vehicle and the visualization of the running process, and displays vehicle collision animation when the intelligent miniature vehicle is collided by network attack, thereby compensating the collision effect which cannot be displayed in an actual test scene.
Furthermore, the intelligent sand table hardware comprises a traffic light system which is used for transmitting a traffic light ID identification number and running state information to the simulation monitoring system and receiving a state control instruction sent by the simulation monitoring system; the parking lot gate system is used for identifying a vehicle ID number through a radio frequency tag and transmitting the vehicle ID number and the vehicle entrance time to the simulation monitoring system, and the simulation monitoring system issues a command of whether to start a gate to the parking lot gate system according to the number of remaining parking spaces of the parking lot stored in a background; and the parking space monitoring system is used for monitoring the number of the remaining parking spaces in the parking lot and sending the remaining parking space information and the prompt information to the parking lot display screen.
Further, indoor positioning system includes infrared camera, infrared camera is a plurality of, and is a plurality of infrared camera evenly distributed hang in on the ceiling around the little sand table of wisdom traffic.
Furthermore, the invention also provides a test method of the experimental platform for the car networking safety test, which comprises the following steps,
s1: the mobile control end sets a vehicle running terminal;
s2: the intelligent miniature vehicle carries out route planning by using dijkstra algorithm;
s3: the intelligent miniature vehicle runs to the terminal according to the planned path and the real-time position;
s4: the simulation monitoring system, the intelligent traffic miniature sand table, the intelligent miniature vehicle, the indoor positioning system and the mobile control end are in real-time data communication;
s5: the sand table intelligent hardware interaction;
s6: and when the intelligent miniature vehicle reaches the terminal, the vehicle stops running.
Further, the S4 includes the following steps,
s41: the indoor positioning system sends the real-time position of the vehicle to the simulation monitoring platform and the intelligent miniature vehicle; the intelligent traffic miniature sand table sends the traffic light system, the parking lot gate system and the parking position state information to the simulation monitoring platform; the intelligent miniature vehicle sends running state information to the simulation monitoring platform;
s42: the simulation monitoring platform synchronizes a screen monitoring interface vehicle position according to the vehicle real-time position information; the simulation monitoring platform displays the vehicle speed and corner data information and triggers collision animation when the vehicle collides.
Further, the S5 includes the following steps,
s51: the intelligent miniature vehicle arrives at a parking lot gate port or an ECT gate port or a vehicle arrives at a crossing to judge the state of a traffic light;
s52: the gate uploads the vehicle ID, the gate ID and the time;
s53: the simulation monitoring platform sends a gate opening/closing instruction and gate port display content; red stop/green go on.
The invention has the advantages and positive effects that:
according to the invention, by using the simulation experiment platform for the intelligent internet automobile safety test, the forward-edge fields of future intelligent traffic, intelligent internet automobiles and the like are focused, the design of a highly intelligent simulation experiment platform is realized by referring to a real city model and assisting with automatic driving of miniature vehicles, an internet of things system, a positioning system, a simulation monitoring system and the like, the shapes and the working principles of all the participating elements of the future intelligent traffic are highly restored, and the miniature future intelligent traffic ecological prototype is created.
The intelligent networking automobile safety test simulation experiment platform can be used for testing intelligent networking automobile perception, decision and control algorithms, excavating automobile system safety loopholes, visually displaying data and principles in the test process, overcoming the defects of high test risk, high cost, limited test range and the like in the intelligent networking automobile real automobile test, facilitating optimization of intelligent networking automobile algorithms and finding and repairing of intelligent traffic network safety loopholes, and solving the problems of intelligent traffic networks and operation safety.
The intelligent networking automobile safety test simulation experiment platform is a key tool for improving the development speed of the current intelligent networking technology and solving the safety of intelligent traffic networks, and has an important promoting effect on the development of the intelligent networking automobile technology.
Drawings
Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.
Fig. 2 is an overall flow chart of an embodiment of the present invention.
In the figure:
1. simulation monitoring system 2, intelligent traffic miniature sand table 3 and indoor positioning system
4. Intelligent miniature car 5, mobile control end.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Embodiments of the invention are further described below with reference to the accompanying drawings:
as shown in fig. 1, an experimental platform for car networking safety test comprises a simulation monitoring system 1, a smart traffic miniature sand table 2, a smart miniature car 4, an indoor positioning system 3 and a mobile control terminal 5. The simulation monitoring system 1, the intelligent traffic miniature sand table 2, the intelligent miniature vehicle 4, the indoor positioning system 3 and the mobile control terminal 5 are connected through a wifi network, so that data transmission is realized, and a local area network communication system is formed.
The simulation monitoring system 1 carries out real-time monitoring on the intelligent traffic miniature sand table 2, the intelligent miniature vehicle 4 and the indoor positioning system 3, sends monitored information to the mobile control terminal 5, is used for realizing state monitoring and control scheduling of the whole intelligent traffic system, and carries out visual display on data on a screen.
Specifically, the simulation monitoring system 1 includes a display interface for displaying monitoring information and a control background for controlling the state of the intelligent sand table hardware. The display interface comprises a simulation monitoring interface and a data monitoring interface. The simulation monitoring interface is used for monitoring the running state of the intelligent miniature vehicles 4 in the intelligent traffic miniature sand table 2, wherein the simulation monitoring interface visually displays the overall appearance of the sand table, the real-time running positions of the intelligent miniature vehicles 4 and vehicle collision animations. The control background can send an intelligent hardware control instruction to control the states of traffic lights of the sand table, the opening of gates of the parking lot and the highway and the display content of the display screen of the parking lot and the highway according to the data information transmitted by the intelligent traffic miniature sand table 2.
Specifically, the simulation monitoring interface displays a sand table three-dimensional model and a vehicle three-dimensional model corresponding to an actual intelligent traffic miniature sand table 2 entity and an intelligent miniature vehicle 4 entity 1:1, the simulation monitoring system 1 acquires running position information of the intelligent miniature vehicle 4 on intelligent sand table hardware of the intelligent traffic miniature sand table 2 in real time through the indoor positioning system 3, synchronizes the information into the vehicle three-dimensional model of the simulation monitoring interface, realizes linkage of the vehicle three-dimensional model and the intelligent miniature vehicle 4 and visualization of a running process, displays vehicle collision animation when the intelligent miniature vehicle 4 is collided by network attack, and compensates for collision effect which cannot be displayed in an actual test scene.
The data monitoring interface is used for displaying the running state parameters of the intelligent traffic miniature sand table 2, the intelligent miniature vehicle 4 and the indoor positioning system 3 in real time. The method comprises the step of displaying vehicle running state parameter information, sand table intelligent hardware state parameter information and indoor positioning system 3 state parameter information through a data monitoring interface. The control background can send an intelligent hardware control instruction to control the states of the traffic lights of the sand table, the opening of gates of the parking lot and the highway, the display contents of the display screens of the parking lot and the highway, the number of remaining vehicles in the parking lot, the positions of the vehicles, the turning angles of the vehicles, the rotating speeds of the vehicles and the states of equipment of the positioning system according to data information transmitted by the intelligent traffic miniature sand table 2.
The smart traffic miniature sand table 2 is constructed by referring to urban road scenes 1: and in the X miniature traffic system, sand table intelligent hardware is arranged in the miniature traffic system and is communicated with the simulation monitoring system 1 to form an intelligent traffic ecological model.
Specifically, the smart traffic miniature sand table 2 comprises miniature scene models such as urban buildings, urban road networks, expressways, traffic light systems and parking lots, real urban road scenes are highly restored, and intelligent hardware such as traffic lights, parking lot gates, parking lot display screens, building lights and scene lights in the scene can transmit data with the simulation monitoring system 1 through a wifi network to form a miniature future smart traffic ecological prototype.
The intelligent sand table hardware comprises a traffic light system and is used for transmitting a traffic light ID identification number and running state information to the simulation monitoring system 1 and receiving a state control instruction sent by the simulation monitoring system 1, wherein the instruction comprises that a red light is on or a green light is on or a yellow light is on.
The parking lot gate system is used for identifying a vehicle ID number through a radio frequency tag and transmitting the vehicle ID number and the vehicle entrance time to the simulation monitoring system 1, the simulation monitoring system 1 sends an instruction whether to start a gate to the parking lot gate system according to the number of the remaining parking spaces in the parking lot stored in the background, and sends the remaining parking space information and the prompt information to the parking lot display screen.
And the parking space monitoring system is used for monitoring the number of remaining parking spaces in the parking lot and sending the remaining parking space information and the prompt information to the parking lot display screen.
The intelligent miniature vehicle 4 is based on the real vehicle 1: the scale of X is reduced, the driving performance of the intelligent traffic micro sand table is the same as that of a real vehicle, and the intelligent traffic micro sand table 2 is matched for use to realize unmanned driving algorithm testing and network attack and defense experiments.
Specifically, the intelligent miniature vehicle 4 integrates a vehicle chassis, a steering engine, an ultrasonic sensor, a laser radar, a vision sensor and a photoelectric sensor, the size is designed to be 40mm to 20mm, the size is extremely small compared with that of a real vehicle, but the intelligent miniature vehicle has the same driving performance as that of a real vehicle, can realize functions of global path planning, active obstacle avoidance, obstacle stopping, overtaking, traffic sign/traffic light identification, active braking, network communication and the like, and can be used for a user to test unmanned driving algorithms and network attack and defense experiments.
The indoor positioning system 3 positions the running process of the intelligent miniature vehicle 4, communicates with the intelligent miniature vehicle 4 in real time, assists the vehicle to find a road, is communicated with the simulation monitoring system 1, and visually displays the vehicle position information through the simulation monitoring system 1.
Specifically, indoor positioning system 3 includes infrared camera, and infrared camera is a plurality of, and a plurality of infrared camera evenly distributed hang on the ceiling around 2 miniature sand tables of wisdom traffic, and the camera quantity is decided according to the sand table area. Indoor positioning system 3 adopts many cameras image dynamic capture technique to realize the millimeter level location to intelligent miniature car 4 driving process to through wifi network and emulation monitored control system 1 and the real-time communication of intelligent miniature car 4, the automatic function of seeking ways of supplementary vehicle, and carry out visual show with vehicle position information at emulation monitored control system 1 front end interface.
The mobile control end 5 is used for controlling the travel of the intelligent miniature vehicle 4 and intelligent sand table hardware to realize different test environments.
Specifically, mobile control end 5 contains sand table three-dimensional model and vehicle three-dimensional model, and the user can select sand table three-dimensional model somewhere as the vehicle operation terminal point at mobile control end 5's APP interface to give intelligent miniature car 4 with terminal point information transmission, and mobile control end 5 can the opening and closing of building lamp, street lamp, afforestation lamp among the remote control intelligent miniature sand table 2 simultaneously, realizes the switching of different light test scenes, thereby the test environment of real time control simulation daytime/night.
As shown in fig. 2, the invention further provides a testing method of an experimental platform for vehicle networking safety testing, which comprises the following steps,
s1: the movement control terminal 5 sets a vehicle travel terminal.
S2: the intelligent miniature vehicle 4 utilizes dijkstra algorithm to plan the route.
S3: and the intelligent miniature vehicle 4 drives to the terminal according to the planned path and the real-time position.
S4: the simulation monitoring system 1, the intelligent traffic miniature sand table 2, the intelligent miniature vehicle 4, the indoor positioning system 3 and the mobile control terminal 5 are in real-time data communication.
S41: the indoor positioning system 3 sends the real-time position of the vehicle to the simulation monitoring system 1 and the intelligent miniature vehicle 4; the intelligent traffic miniature sand table 2 sends traffic light system, parking lot gate system and parking position state information to the simulation monitoring system 1; the intelligent miniature vehicle 4 sends the running state information to the simulation monitoring system 1.
S42: the simulation monitoring system 1 synchronizes a screen monitoring interface vehicle position according to the vehicle real-time position information; the simulation monitoring system 1 displays the vehicle speed and corner data information and triggers collision animation when the vehicle collides.
S5: and (4) sand table intelligent hardware interaction.
S51: the intelligent miniature vehicle 4 arrives at a gate of a parking lot or an ECT gate or the vehicle arrives at a crossing to judge the state of the traffic light.
S52: the gate uploads the vehicle ID, gate ID and time.
S53: the simulation monitoring system 1 sends a gate opening/closing instruction and gate port display content; red stop/green go on.
S6: and when the intelligent miniature vehicle 4 reaches the terminal, the vehicle stops running.
The specific operation flow is as follows:
when the car networking safety test experiment platform starts, the APP of emulation monitored control system 1, the miniature sand table 2 traffic lights system of wisdom traffic, parking area floodgate machine system, parking stall monitored control system, indoor positioning system 3, the miniature car 4 of intelligence, mobile control end 5 all opens. An APP interface of the mobile control end 5 displays a 1:1 simulation three-dimensional model of the intelligent traffic miniature sand table 2, and a vehicle driving terminal point can be set by clicking a certain area of the sand table on the APP interface. The vehicle driving terminal is sent to the intelligent miniature vehicle 4 through the wifi network, the intelligent miniature vehicle 4 calculates the shortest path from the vehicle starting point to the terminal by using dijkstra algorithm, and the vehicle drives from the starting point to the terminal according to the planned path and the real-time position information transmitted by the indoor positioning system 3.
The display interface of the simulation monitoring system 1 comprises a simulation monitoring interface and a data monitoring interface, the simulation monitoring interface displays a sand table three-dimensional model and a vehicle three-dimensional model which are drawn according to the actual intelligent traffic miniature sand table 2 and the intelligent miniature vehicle 4 according to a ratio 1:1, and the position of the vehicle three-dimensional model in the sand table three-dimensional model is synchronous with the position of the intelligent miniature vehicle 4 in the intelligent traffic miniature hardware sand table 2 in real time; the data monitoring interface displays the vehicle running state parameter information, the sand table intelligent hardware state parameter information and the indoor positioning system 3 state parameter information in real time. In the vehicle driving process, carry out data communication and hardware interaction in real time between emulation monitored control system 1, indoor positioning system 3, the miniature car of intelligence 4, the miniature sand table of wisdom traffic 2, include:
the indoor positioning system 3 communicates with the simulation monitoring system 1: the indoor positioning system 3 captures position coordinate information of the intelligent miniature vehicle 4 in real time and transmits the position coordinate information to the simulation monitoring system 1 at the frequency of 240Hz/s, and the simulation monitoring system 1 synchronizes the position of a three-dimensional model of the vehicle on a platform simulation monitoring interface according to the real-time position information of the vehicle sent by the positioning system, so that the visualization of the running process of the vehicle is realized;
the traffic light system of the intelligent traffic miniature sand table 2 is communicated with the simulation monitoring system 1: the intelligent traffic sand table 2 is characterized in that a traffic light system transmits the current state of each traffic light in the sand table and the corresponding ID thereof to the simulation monitoring system 1 in real time, and a data monitoring interface of the simulation monitoring system 1 displays real-time state parameters (red light on/green light on/yellow light on) of all traffic lights; meanwhile, the simulation monitoring system 1 can send a traffic light control instruction to control an ID traffic light to jump to a specific state, and the function can be used for intelligent miniature vehicle 4 traffic light identification algorithm test or vehicle attack and defense experiments;
the intelligent traffic miniature sand table 2 parking lot gate system is communicated with the simulation monitoring system 1: when an intelligent miniature vehicle 4 drives in or drives out of the sand table parking lot system, a parking lot gate machine identifies the vehicle ID of the intelligent miniature vehicle 4 through a radio frequency identification technology and transmits vehicle ID data and vehicle driving-in/driving-out time to a simulation monitoring system 1, when the vehicle drives in, the simulation monitoring system 1 sends a control instruction whether the gate machine is started or not to the parking lot gate machine system according to the parking space occupation condition of the parking lot and transmits prompt information and parking space residual information to a parking lot display screen, when the vehicle drives out, the simulation monitoring system 1 calculates parking cost according to the vehicle ID and the vehicle driving-out time, sends parking cost information to the parking lot display screen and sends the gate machine starting control instruction to the parking lot gate machine system;
the intelligent miniature vehicle 4 is communicated with the simulation monitoring system 1: the intelligent miniature vehicle 4 sends vehicle ID and running state information including vehicle speed and turning angle to the simulation monitoring system 1 in real time, and a data monitoring interface of the simulation monitoring system 1 displays vehicle running data in real time; when the vehicle collides in the running process, the platform simulation monitoring interface triggers the vehicle collision animation to enhance the visual display effect.
The mobile control terminal 5 communicates with the intelligent traffic miniature sand table 2: the mobile control end 5 can remotely control the on and off of the building lamp, the street lamp and the greening lamp of the intelligent traffic miniature sand table 2, so that the change of a test scene is controlled in real time, and the test environment in day/night is simulated.
When the intelligent miniature vehicle 4 reaches the terminal, or the vehicle algorithm fails, or the vehicle fails due to network attack, the vehicle stops running, and the test process is finished. Various parameter records in the vehicle testing process can be checked through the simulation monitoring system 1 to assist in analyzing the whole testing process.
The invention has the advantages and positive effects that:
according to the invention, by using the simulation experiment platform for the intelligent internet automobile safety test, the forward-edge fields of future intelligent traffic, intelligent internet automobiles and the like are focused, the design of a highly intelligent simulation experiment platform is realized by referring to a real city model and assisting with automatic driving of miniature vehicles, an internet of things system, a positioning system, a simulation monitoring system and the like, the shapes and the working principles of all the participating elements of the future intelligent traffic are highly restored, and the miniature future intelligent traffic ecological prototype is created.
The intelligent networking automobile safety test simulation experiment platform can be used for testing intelligent networking automobile perception, decision and control algorithms, excavating automobile system safety loopholes, visually displaying data and principles in the test process, overcoming the defects of high test risk, high cost, limited test range and the like in the intelligent networking automobile real automobile test, facilitating optimization of intelligent networking automobile algorithms and finding and repairing of intelligent traffic network safety loopholes, and solving the problems of intelligent traffic networks and operation safety.
The intelligent networking automobile safety test simulation experiment platform is a key tool for improving the development speed of the current intelligent networking technology and solving the safety of intelligent traffic networks, and has an important promoting effect on the development of the intelligent networking automobile technology.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (10)
1. The utility model provides an experiment platform towards car networking safety test which characterized in that: comprises a simulation monitoring system, an intelligent traffic miniature sand table, an intelligent miniature vehicle, an indoor positioning system and a mobile control end,
the simulation monitoring system monitors the intelligent traffic miniature sand table, the intelligent miniature vehicles and the indoor positioning system in real time, sends monitored information to the mobile control end to realize state monitoring and control scheduling of the whole intelligent traffic system, and visually displays data on a screen;
the intelligent traffic miniature sand table is constructed by referring to urban road scenes 1: x, sand table intelligent hardware is arranged in the micro traffic system, and the sand table intelligent hardware is communicated with the simulation monitoring system to form an intelligent traffic ecological model;
the intelligent miniature vehicle is characterized in that the reference real vehicle is 1: the X scale is reduced, the driving performance of the intelligent traffic micro sand table is the same as that of a real vehicle, and the intelligent traffic micro sand table is matched with the X scale for use, so that unmanned driving algorithm testing and network attack and defense experiments are realized;
the indoor positioning system is used for positioning the running process of the intelligent miniature vehicle, communicating with the intelligent miniature vehicle in real time and assisting the vehicle to find a way, is communicated with the simulation monitoring system and visually displays the position information of the vehicle through the simulation monitoring system;
the mobile control end is used for controlling the stroke of the intelligent miniature vehicle and the intelligent sand table hardware to realize different test environments.
2. The Internet of vehicles safety test oriented experimental platform of claim 1, wherein: the simulation monitoring system, the intelligent traffic miniature sand table, the intelligent miniature vehicle, the indoor positioning system and the mobile control end are connected through a wifi network, data transmission is achieved, and a local area network communication system is formed.
3. The Internet of vehicles safety test oriented experiment platform according to claim 1 or 2, wherein: the simulation monitoring system comprises a display interface and a control background, wherein the display interface is used for displaying monitoring information, and the control background is used for controlling the state of the intelligent sand table hardware.
4. The Internet of vehicles safety test oriented experimental platform of claim 3, wherein: the display interface comprises a simulation monitoring interface and a data monitoring interface, the simulation monitoring interface is used for monitoring the running state of the intelligent miniature vehicles in the intelligent traffic miniature sand table, and the data monitoring interface is used for displaying the running state parameters of the intelligent traffic miniature sand table, the intelligent miniature vehicles and the indoor positioning system in real time.
5. The Internet of vehicles safety test oriented experiment platform of claim 4, wherein: the simulation monitoring interface displays a sand table three-dimensional model and a vehicle three-dimensional model, the simulation monitoring system acquires the running position information of the intelligent miniature vehicle on intelligent sand table hardware of the intelligent traffic miniature sand table in real time through the indoor positioning system, synchronizes the information into the vehicle three-dimensional model of the simulation monitoring interface, realizes the linkage of the vehicle three-dimensional model and the intelligent miniature vehicle and the visualization of the running process, displays vehicle collision animation when the intelligent miniature vehicle is collided by network attack, and compensates the collision effect which cannot be displayed in an actual test scene.
6. An experimental platform for car networking safety test according to claim 1, 2, 4 or 5, wherein: the intelligent sand table hardware comprises a traffic light system and is used for transmitting a traffic light ID identification number and running state information to the simulation monitoring system and receiving a state control instruction sent by the simulation monitoring system; the parking lot gate system is used for identifying a vehicle ID number through a radio frequency tag and transmitting the vehicle ID number and the vehicle entrance time to the simulation monitoring system, and the simulation monitoring system issues a command of whether to start a gate to the parking lot gate system according to the number of remaining parking spaces of the parking lot stored in a background; and the parking space monitoring system is used for monitoring the number of the remaining parking spaces in the parking lot and sending the remaining parking space information and the prompt information to the parking lot display screen.
7. An experimental platform for car networking safety test according to claim 1, 2, 4 or 5, wherein: indoor positioning system includes infrared camera, infrared camera is a plurality of, and is a plurality of infrared camera evenly distributed hang in on the little sand table of wisdom traffic ceiling all around.
8. The testing method of the experimental platform for the Internet of vehicles safety test according to any one of claims 1 to 7, characterized in that: comprises the following steps of (a) carrying out,
s1: the mobile control end sets a vehicle running terminal;
s2: the intelligent miniature vehicle carries out route planning by using dijkstra algorithm;
s3: the intelligent miniature vehicle runs to the terminal according to the planned path and the real-time position;
s4: the simulation monitoring system, the intelligent traffic miniature sand table, the intelligent miniature vehicle, the indoor positioning system and the mobile control end are in real-time data communication;
s5: the sand table intelligent hardware interaction;
s6: and when the intelligent miniature vehicle reaches the terminal, the vehicle stops running.
9. The testing method of the experimental platform for the Internet of vehicles safety test as claimed in claim 8, wherein: the S4 includes the steps of,
s41: the indoor positioning system sends the real-time position of the vehicle to the simulation monitoring platform and the intelligent miniature vehicle; the intelligent traffic miniature sand table sends the traffic light system, the parking lot gate system and the parking position state information to the simulation monitoring platform; the intelligent miniature vehicle sends running state information to the simulation monitoring platform;
s42: the simulation monitoring platform synchronizes a screen monitoring interface vehicle position according to the vehicle real-time position information; the simulation monitoring platform displays the vehicle speed and corner data information and triggers collision animation when the vehicle collides.
10. The testing method of the experimental platform for the Internet of vehicles safety test as claimed in claim 8, wherein: the S5 includes the steps of,
s51: the intelligent miniature vehicle arrives at a parking lot gate port or an ECT gate port or a vehicle arrives at a crossing to judge the state of a traffic light;
s52: the gate uploads the vehicle ID, the gate ID and the time;
s53: the simulation monitoring platform sends a gate opening/closing instruction and gate port display content; red stop/green go on.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910961425.1A CN110719214A (en) | 2019-10-11 | 2019-10-11 | Internet of vehicles safety test oriented experimental platform and test method |
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| CN111737840A (en) * | 2020-06-19 | 2020-10-02 | 中汽数据(天津)有限公司 | Traffic sand table map construction and application method for automatic path planning |
| CN111935198A (en) * | 2020-10-15 | 2020-11-13 | 南斗六星系统集成有限公司 | Visual V2X network security defense method and equipment |
| CN112419840A (en) * | 2020-10-26 | 2021-02-26 | 北京市商汤科技开发有限公司 | Urban traffic education system and method, equipment and storage medium thereof |
| CN112466176A (en) * | 2020-10-29 | 2021-03-09 | 广东中才教学仪器有限公司 | Intelligent networking automobile training system |
| CN113176594A (en) * | 2021-03-12 | 2021-07-27 | 中国软件评测中心(工业和信息化部软件与集成电路促进中心) | Vehicle-mounted early warning test method and device based on sand table, computer and storage medium |
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| CN111737840A (en) * | 2020-06-19 | 2020-10-02 | 中汽数据(天津)有限公司 | Traffic sand table map construction and application method for automatic path planning |
| CN111737840B (en) * | 2020-06-19 | 2024-04-09 | 中汽数据(天津)有限公司 | Traffic sand table map construction and application method for automatic path planning |
| CN111935198A (en) * | 2020-10-15 | 2020-11-13 | 南斗六星系统集成有限公司 | Visual V2X network security defense method and equipment |
| CN112419840A (en) * | 2020-10-26 | 2021-02-26 | 北京市商汤科技开发有限公司 | Urban traffic education system and method, equipment and storage medium thereof |
| CN112466176A (en) * | 2020-10-29 | 2021-03-09 | 广东中才教学仪器有限公司 | Intelligent networking automobile training system |
| CN114547835A (en) * | 2020-11-27 | 2022-05-27 | 北京千乘科技有限公司 | Unmanned test method, equipment and storage medium based on digital twinning |
| CN113176594A (en) * | 2021-03-12 | 2021-07-27 | 中国软件评测中心(工业和信息化部软件与集成电路促进中心) | Vehicle-mounted early warning test method and device based on sand table, computer and storage medium |
| CN113542230A (en) * | 2021-06-23 | 2021-10-22 | 中汽数据(天津)有限公司 | Visual miniature display system of communication certificate |
| CN113542230B (en) * | 2021-06-23 | 2022-06-17 | 中汽数据(天津)有限公司 | Visual miniature display system of communication certificate |
| CN114677900A (en) * | 2022-04-13 | 2022-06-28 | 中国第一汽车股份有限公司 | Show sand table system |
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