CN111459121A - Vehicle driving assistance test system and method - Google Patents
Vehicle driving assistance test system and method Download PDFInfo
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- CN111459121A CN111459121A CN201910048241.6A CN201910048241A CN111459121A CN 111459121 A CN111459121 A CN 111459121A CN 201910048241 A CN201910048241 A CN 201910048241A CN 111459121 A CN111459121 A CN 111459121A
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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
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
Abstract
The invention relates to a vehicle driving assistance test system and a vehicle driving assistance test method. The vehicle driving assistance test system includes: the vehicle parameter determination module is used for acquiring the performance parameters of the tested vehicle; a vehicle simulation unit configured to: the VR system includes a vehicle simulation unit configured to run a vehicle simulation model of a vehicle under test and control operating parameters of the vehicle simulation model based on performance parameters of the vehicle under test and VR scenario information, and a VR scenario unit coupled to the vehicle simulation unit and configured to generate VR scenario information and change the VR scenario information based on the operating parameters of the vehicle simulation model.
Description
Technical Field
The invention relates to the field of automatic driving of automobiles, in particular to a vehicle auxiliary driving test system and a vehicle auxiliary driving test method.
Background
In an autonomous vehicle, a vehicle driving assistance system (also referred to as a vehicle autonomous driving system, a vehicle active safety system, or the like) plays an important safety role. The vehicle assistant driving system collects environmental object information of the outside of the vehicle using sensors (e.g., millimeter wave radar, laser radar, camera, ultrasonic sensor, etc.) mounted on the vehicle during driving of the vehicle. Meanwhile, the vehicle interconnection communication module is used for collecting the external infrastructure information and background information of the vehicle, and a high-precision map and a positioning system are used for collecting the map information. Therefore, the central controller in the vehicle auxiliary driving system can judge potential danger in the driving process and deal with various emergencies through calculation and analysis of various information, so as to automatically control the vehicle to run, remind personnel on the vehicle of possible potential danger before the danger occurs and help the driver to apply steering or braking when the danger occurs.
At present, the test means of the vehicle auxiliary driving system mainly comprises two types of real vehicle test and simulation test. However, the repeatability test of the real vehicle test on dangerous scenes and scenes difficult to reproduce is difficult to realize, and the test risk and the cost are high; the simulation test can not ensure the consistency of the vehicle dynamics model in the test system and the actual vehicle in response performance, can not perform interactive communication information test between the controller and the actuator (including steering, driving and braking), and can not provide real experience for the environment in the vehicle for the tested vehicle passengers.
Disclosure of Invention
Therefore, a technical scheme is needed for not only realizing the function verification and objectivity evaluation of the vehicle assistant driving system on a real vehicle, but also realizing the repeatability test of a test scene difficult to reproduce in the driving process, and performing adaptive adjustment on the vehicle assistant driving system according to the feedback information of the tested vehicle passengers.
To achieve one or more of the above objects, the present invention provides the following technical solutions.
According to a first aspect of the present invention, there is provided a vehicle driving assistance test system comprising: the vehicle parameter determination module is used for acquiring the performance parameters of the tested vehicle; a vehicle simulation unit configured to: the method includes running a vehicle simulation model of a vehicle under test and controlling running parameters of the vehicle simulation model based on performance parameters of the vehicle under test and VR scenario information, and a VR scenario unit coupled with the vehicle simulation unit and configured to change the VR scenario information and based on the running parameters of the vehicle simulation model.
The vehicle driving assistance test system according to an embodiment of the present invention further includes a vehicle body control unit configured to change an operation parameter of the vehicle under test based on an operation parameter of the vehicle simulation model.
The vehicle driving assistance test system according to an embodiment of the invention or any one of the above embodiments, wherein the vehicle simulation unit is further configured to: a vehicle simulation model is improved based on experience information of a tested vehicle occupant.
The vehicle driving assistance test system according to an embodiment of the invention or any one of the above embodiments, wherein the VR scene unit is further configured to: VR scene information is set and/or changed based on experience information and/or preference selections of a tested vehicle occupant.
The vehicle driving assistance test system according to an embodiment of the invention or any one of the above embodiments, wherein the vehicle simulation model includes: one or more of an ultrasonic sensor simulation model, a millimeter wave radar simulation model, a laser radar simulation model, a camera simulation model, a vehicle interconnection communication simulation model and a high-precision positioning simulation model.
According to an embodiment of the invention or any embodiment above, the vehicle auxiliary driving test system comprises a vehicle parameter determination module and a vehicle auxiliary driving test module, wherein the vehicle parameter determination module comprises a vehicle-mounted communication terminal to acquire performance parameters of a tested vehicle.
According to a second aspect of the present invention, there is provided a vehicle driving assistance test method, comprising the steps of: acquiring performance parameters of a tested vehicle; generating VR scene information; operating a vehicle simulation model of the tested vehicle; controlling the operation parameters of the vehicle simulation model based on the performance parameters of the tested vehicle and the VR scene information; and changing the VR scene information based on the operating parameters of the vehicle simulation model.
According to the vehicle auxiliary driving test method, the operation parameters of the tested vehicle are changed based on the operation parameters of the vehicle simulation model.
The vehicle driving assistance test method according to an embodiment of the invention or any one of the above embodiments, further comprising: a vehicle simulation model is improved based on experience information of a tested vehicle occupant.
The vehicle driving assistance test method according to an embodiment of the invention or any one of the above embodiments, further comprising: VR scene information is set and/or changed based on experience information and/or preference selections of a tested vehicle occupant.
The vehicle driving assistance test method according to an embodiment of the invention or any one of the above embodiments, wherein the vehicle simulation model includes: one or more of an ultrasonic sensor simulation model, a millimeter wave radar simulation model, a laser radar simulation model, a camera simulation model, a vehicle interconnection communication simulation model and a high-precision positioning simulation model.
According to one embodiment of the invention or any embodiment of the invention, the vehicle auxiliary driving test method comprises the step of collecting performance parameters of a tested vehicle by utilizing the vehicle-mounted communication terminal.
Drawings
The above and/or other aspects and advantages of the present invention will become more apparent and more readily appreciated from the following description of the various aspects taken in conjunction with the accompanying drawings, in which like or similar elements are designated with like reference numerals. In the drawings:
FIG. 1 is a schematic block diagram of a vehicle assisted driving test system according to an embodiment of the invention;
FIG. 2 is a flow chart of a vehicle assisted driving test method according to an embodiment of the invention; and
FIG. 3 is a schematic block diagram illustrating a fully functional system in accordance with an embodiment of the present invention.
Detailed Description
In this specification, the invention is described more fully with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. This invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. The embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Words such as "comprising" and "comprises" mean that, in addition to having elements or steps which are directly and unequivocally stated in the description and the claims, the solution of the invention does not exclude other elements or steps which are not directly or unequivocally stated. Terms such as "first" and "second" do not denote an order of the elements in time, space, size, etc., but rather are used to distinguish one element from another.
The present invention is described below with reference to flowchart illustrations, block diagrams, and/or flow diagrams of methods and systems according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block and/or flow diagram block or blocks.
The computer program instructions may be loaded onto a computer or other programmable data processor to cause a series of operational steps to be performed on the computer or other programmable processor to produce a computer implemented process such that the instructions which execute on the computer or other programmable processor provide steps for implementing the functions or acts specified in the flowchart and/or block diagram block or blocks. It should also be noted that, in some alternative implementations, the functions/acts noted in the blocks may occur out of the order noted in the flowcharts. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
Fig. 1 is a block diagram of a vehicle assisted driving testing system 100 according to an embodiment of the invention. The vehicle assisted driving test system 100 includes a vehicle parameter determination module 110, a vehicle simulation unit 120, a VR (virtual reality) scene unit 130, and a vehicle body control unit 140.
The vehicle parameter determination module 110 includes an on-board communication terminal coupled to the vehicle under test, which may be connected to the vehicle's control system and/or data storage module via a vehicle CAN (control area network) bus to collect performance parameters (e.g., power performance, braking performance, handling stability performance, etc.) of the vehicle under test. The in-vehicle communication terminal may also be coupled to various sensors (e.g., ultrasonic sensors, radar sensors, cameras, etc.) loaded on the vehicle under test, so as to acquire performance parameters and/or sensed data parameters of the in-vehicle sensors. These parameters are subsequently sent to the vehicle simulation unit and the VR scene unit for use in generating and modifying the generated VR scene information to arrive at a test environment that best matches the actual parameters of the vehicle under test. These parameters are also used to control the operating parameters of the vehicle simulation model to achieve the vehicle simulation model closest to the vehicle under test.
The vehicle simulation model run by the vehicle simulation unit 120 may include one or more of an ultrasonic sensor simulation model, a millimeter wave radar simulation model, a lidar simulation model, a camera simulation model, an in-vehicle communication simulation model, and a positioning simulation model in one embodiment to provide conditions for simulating sensor devices on a vehicle under test. The vehicle simulation unit 120 receives angular velocity information (e.g., yaw velocity information) of the vehicle under test from at least an inertial navigation module located (preferably) at a centroid position of the vehicle under test and wheel speed information of the vehicle under test from an electronic brake control module included in the body control unit 140 through the vehicle CAN bus, thereby achieving synchronization of the vehicle simulation model with a motion state of the vehicle under test. After synchronization, the vehicle simulation unit 120 interacts with the VR scene unit 130 through vehicle-scene interaction information. For example, information (e.g., ultrasonic sensor target information, millimeter wave radar target information, laser radar target information, camera target information, vehicle interconnection communication peripheral object information, and the like) collected by the vehicle simulation model in the vehicle simulation unit 120 in the VR scene is transmitted to the module in the controlled-by-body unit 140 through the CAN bus and/or the vehicle interconnection communication simulation model. The vehicle simulation unit 120 is further configured to run a vehicle simulation model of the vehicle under test, and to control the operating parameters of the vehicle simulation model based on the performance parameters of the vehicle under test and the VR scenario information. The vehicle simulation unit 120 is further configured to refine the vehicle simulation model based on experience information of the tested vehicle occupant.
The VR scene unit 130 is coupled to the vehicle simulation unit and configured to generate VR scene information. The VR scene unit 130 also changes VR scene information based on operating parameters of the vehicle simulation model. VR context unit 130 is further configured to set and/or change VR context information based on experience information and/or preference selections of the tested vehicle occupant. The VR scene unit 130 may send VR scene information derived from the vehicle simulation model and other data to a display device (e.g., VR imaging glasses or a display) for a tester to observe the condition of the test scene in real time. The VR scene information may be two-dimensional or three-dimensional information.
The vehicle body control unit 140 is configured to change the operating parameters of the vehicle under test based on the operating parameters of the vehicle simulation model. In one embodiment, the body control unit 140 includes one or more of an autopilot system central controller, an electronic brake control module, an electronic steering control module, and an engine control module.
In one embodiment, the vehicle driving assistance test system 100 further includes a test management monitoring unit. The test management monitoring unit may send (e.g., via a wireless network) the vehicle assisted driving test system 100 data (e.g., test data curve, data time, etc.) to a human-computer interaction device such as a tablet computer for a tester to view. Meanwhile, the test management monitoring unit can receive external input information (such as interface switching, scene selection, start and stop of a test process and the like) to control the progress of the vehicle auxiliary driving test.
FIG. 2 is a flow diagram of a vehicle assisted driving testing method 200 according to an embodiment of the invention. The vehicle assisted driving test method 200 includes the steps of: acquiring performance parameters of a tested vehicle (step 210); generating VR scene information (step 220); running a vehicle simulation model of the vehicle under test (step 230); controlling operating parameters of the vehicle simulation model based on the performance parameters of the vehicle under test and the VR scene information (step 240); and changing the VR context information based on the operating parameters of the vehicle simulation model (step 250).
Before starting the test, the test equipment mounting work needs to be performed first. Specifically, the inertial navigation module is mounted on the vehicle to be tested, preferably at the position of the center of mass of the vehicle to be tested, so as to reflect the most real motion state of the vehicle to be tested. Additionally, a test system processor is mounted on the vehicle, which may be a processing unit of any electronic device capable of electronically processing instructions. Alternatively, the display may be mounted at the front end of the vehicle under test, below the windshield. And the router 4 may be installed on the vehicle under test if necessary.
Then, in step 210, the vehicle-mounted communication terminal is used to connect to the control system and/or the data storage module of the vehicle through the vehicle CAN bus to collect the performance parameters (e.g., dynamic performance, braking performance, handling stability, etc.) of the tested vehicle. The in-vehicle communication terminal may also be coupled to various sensors (e.g., ultrasonic sensors, radar sensors, cameras, etc.) loaded on the vehicle under test, so as to acquire performance parameters and/or sensed data parameters of the in-vehicle sensors. These parameters are subsequently sent to the vehicle simulation unit and VR scene unit for generation in step 220 and modification of the generated VR scene information in step 250 to arrive at a test environment that best matches the actual parameters of the vehicle under test. These parameters are also used to control the operating parameters of the vehicle simulation model (including one or more of an ultrasonic sensor simulation model, a millimeter wave radar simulation model, a lidar simulation model, a camera simulation model, an in-vehicle communication simulation model, and a high-precision positioning simulation model) in step 240 to achieve the vehicle simulation model and driving experience closest to the vehicle under test.
In one embodiment, when the test begins, the vehicle assisted driving test system 100 data may be sent to a human-computer interaction device such as a tablet computer for review by the tester. Meanwhile, external input information (such as interface switching, scene selection, start and stop of a test process and the like) can be received to control the progress of the vehicle auxiliary driving test, and the VR scene information can be set and/or changed based on experience information and/or preference selection of a tested vehicle passenger. VR scene information derived from the vehicle simulation model and other data may be sent to a display device (e.g., VR imaging glasses or display) for a tester to observe the condition of the test scene in real time. The VR scene information may be two-dimensional or three-dimensional information. In this case, after the test scenario is selected and the VR scenario is generated in step 220, the passenger of the vehicle under test may wear VR imaging glasses or the like to see the generated VR scenario. Meanwhile, passengers of the tested vehicle can sense the kinematic inputs of longitudinal acceleration and deceleration, lateral acceleration, yaw rate and the like of the whole vehicle corresponding to the scene in real time, and the subjective evaluation test of the automatic driving system can be conveniently carried out by a driver. In one embodiment, the tested vehicle occupant may select whether to enable the automatic driving function.
In step 230, using the vehicle parameters collected in step 210, a vehicle simulation model that conforms to the performance of the vehicle under test may be initialized and run. The tested vehicle occupant may present a VR scenario experience and experience information to the hardware experience of the tested vehicle, and the vehicle simulation model may be refined in step 240 based on the experience information of the tested vehicle occupant. In one embodiment, the operating parameters of the vehicle under test are also changed based on the operating parameters of the vehicle simulation model in step 250.
In the embodiment shown in fig. 3, the inertial navigation module 3 is installed at the centroid position of the vehicle 2 under test, the router 4 and the test processor 1 are installed on the vehicle, and the angular velocity information 34 (e.g., high-precision yaw angular velocity information) and the information related to the wheel speed information 35 sent by the electronic brake module 9 are sent to the vehicle simulation model unit 120 through the CAN bus. The vehicle body control unit 140 includes an automatic driving system central controller 8, an electronic brake control module 9, an electronic steering control module 10, and an engine control module 11. The vehicle simulation unit 120 interacts with the VR scene unit 130 through the vehicle-scene interaction information 35 after synchronizing the vehicle simulation model 13 with the motion state information of the vehicle 2 under test. The ultrasonic sensor simulation model 15, the millimeter wave radar simulation model 16, the laser radar simulation model 17, the camera simulation model 18 and the vehicle interconnection communication model 19 in the vehicle simulation model 13 respectively send the corresponding ultrasonic sensor target information 22, the millimeter wave radar target information 23, the laser radar target information 24, the camera target information 25 and the vehicle interconnection communication peripheral object information 26 acquired by the vehicle simulation model in the VR scene to the automatic driving system central controller 8 on the vehicle to be tested through a CAN bus or by using other communication modes according to the ultrasonic sensor installation position, the millimeter wave radar installation position, the laser radar installation position, the camera installation position and the vehicle interconnection communication module installation position on the corresponding vehicle to be tested. Meanwhile, the positioning simulation model 20 calculates vehicle positioning information according to the vehicle motion position and posture information and then sends the vehicle positioning information to the map module 12 on the tested vehicle. The map module 12 in turn sends map information 40 of the upcoming vehicle ahead to the autopilot system central controller 8. The autopilot system controller 8 comprehensively processes and analyzes the target detection information of all the sensors and the high-precision map information 40, and then sends a braking deceleration command 37, a steering angle command 38 and an engine torque command 39 to the electronic braking control module 9, the electronic steering control module 10 and the engine control module 11, respectively, so as to control the operating parameters (e.g., speed and steering) of the vehicle 2 under test.
The configuration of the test management software can be performed while testing, that is, the data type of the monitoring data, the data recording time, the data recording curve and the like can be configured through the test management monitoring unit. In one embodiment, corresponding test data selection operations may be completed for different test scenarios for generating reports. Finally, a test report may be generated based on the recorded test data curves and data values after the test is completed.
The test system and the test method can adapt to different vehicles to be tested by changing parameters of the vehicle model and the sensor model, can be applied to a test environment of a test yard, can also be applied to a test environment of a hub test bed, and have wide test compatibility.
The embodiments and examples set forth herein are presented to best explain the embodiments in accordance with the present technology and its particular application and to thereby enable those skilled in the art to make and utilize the invention. However, those skilled in the art will recognize that the foregoing description and examples have been presented for the purpose of illustration and example only. The description as set forth is not intended to cover all aspects of the invention or to limit the invention to the precise form disclosed.
Claims (12)
1. A vehicle-assisted driving test system, characterized by comprising:
the vehicle parameter determination module is used for acquiring the performance parameters of the tested vehicle;
a vehicle simulation unit configured to:
a vehicle simulation model for running the vehicle under test, an
Controlling operating parameters of the vehicle simulation model based on the performance parameters and VR scenario information of the vehicle under test, an
A VR scene unit coupled with the vehicle simulation unit and configured to generate the VR scene information and to change the VR scene information based on the operating parameters of the vehicle simulation model.
2. The vehicle-assisted driving testing system according to claim 1, characterized by further comprising:
a body control unit configured to change an operating parameter of the vehicle under test based on the operating parameter of the vehicle simulation model.
3. The vehicle-assisted driving testing system of claim 2, wherein the vehicle simulation unit is further configured to:
improving the vehicle simulation model based on experience information of the tested vehicle occupant.
4. The vehicle-assisted driving testing system of claim 2, wherein the VR scene unit is further configured to:
setting and/or changing the VR scene information based on experience information and/or preference selections of the tested vehicle occupant.
5. The vehicle driver assistance system test system of claim 1, wherein the vehicle simulation model comprises:
one or more of an ultrasonic sensor simulation model, a millimeter wave radar simulation model, a laser radar simulation model, a camera simulation model, a vehicle interconnection communication simulation model and a high-precision positioning simulation model.
6. The vehicle assistant driving system testing system of claim 1, wherein the vehicle parameter determination module comprises an on-board communication terminal to collect the performance parameters of the vehicle under test.
7. A vehicle driving assistance test method, characterized by comprising the steps of:
acquiring performance parameters of a tested vehicle;
generating VR scene information;
running a vehicle simulation model of the vehicle under test;
controlling operating parameters of the vehicle simulation model based on the performance parameters of the vehicle under test and the VR scene information; and
changing the VR scene information based on the operating parameters of the vehicle simulation model.
8. The vehicle-assisted driving testing method according to claim 7, characterized by further comprising changing an operating parameter of the vehicle under test based on the operating parameter of the vehicle simulation model.
9. The vehicle-assisted driving testing method according to claim 8, characterized by further comprising:
improving the vehicle simulation model based on experience information of the tested vehicle occupant.
10. The vehicle-assisted driving testing method according to claim 8, characterized by further comprising:
setting and/or changing the VR scene information based on experience information and/or preference selections of the tested vehicle occupant.
11. The vehicle assistant driving system testing method according to claim 7, wherein the vehicle simulation model includes:
one or more of an ultrasonic sensor simulation model, a millimeter wave radar simulation model, a laser radar simulation model, a camera simulation model, a vehicle interconnection communication simulation model and a high-precision positioning simulation model.
12. The vehicle assistant driving system testing method according to claim 7, wherein the performance parameters of the vehicle under test are collected by using an on-board communication terminal.
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