CN112327797B - Test method and system for ultrasonic radar vehicle control strategy and storage medium - Google Patents
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Abstract
The invention discloses a method, a system and a storage medium for testing an ultrasonic radar vehicle control strategy, wherein the method comprises the following steps: acquiring detection information of an ultrasonic radar arranged on a vehicle to be detected; building a vehicle model and an environment model of a vehicle to be tested, wherein the vehicle model is built according to the actual vehicle condition of the vehicle to be tested; based on the vehicle model, acquiring the whole vehicle information of the vehicle to be tested when the vehicle is in the environment model, and testing the ECU function of the vehicle to be tested according to the whole vehicle information and the detection information of the ultrasonic radar to generate control decision information; and sending the control decision information to a vehicle model for execution so as to analyze the ECU function according to the execution result. According to the method, the ultrasonic radar vehicle control strategy is tested based on the built vehicle model, the built environment model and the detection information obtained by the real ultrasonic radar, so that the research and development cost is reduced, the research and development period is shortened, the influence of unpredictable factors of the real vehicle on vehicle control is reduced, and the problem that noise points are difficult to add is solved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a test method of an ultrasonic radar vehicle control strategy, a test system of the ultrasonic radar vehicle control strategy and a computer readable storage medium.
Background
At present, the test of the ultrasonic radar vehicle control strategy is to control the vehicle through a wire control modified vehicle according to a simulated ultrasonic radar detection signal so as to realize the test according to a vehicle control result. However, virtual detection signals obtained by establishing an ultrasonic radar model cannot simulate real ultrasonic radar noise points, and a radar processing algorithm cannot correctly process real ultrasonic radar information, so that a great number of problems occur in the subsequent process of switching the real ultrasonic radar. And the wire-controlled modified vehicle is used as an execution mechanism, the manufacturing cost is high in the modification process, the modification period is long, the research and development period is increased, and the wire-controlled modified vehicle has many unforeseeable factors as a real execution structure and is not beneficial to compiling the vehicle control algorithm at the initial stage of algorithm development.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first objective of the present invention is to provide a method for testing an ultrasonic radar vehicle control strategy, so as to reduce development cost, shorten development cycle, reduce the influence of unpredictable factors of real vehicles on vehicle control, and solve the problem of difficulty in adding noise.
A second object of the invention is to propose a computer-readable storage medium.
The third purpose of the invention is to provide a test system for the ultrasonic radar vehicle control strategy.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for testing an ultrasonic radar vehicle control strategy, where the method includes the following steps: acquiring detection information of an ultrasonic radar arranged on a vehicle to be detected; building a vehicle model and an environment model of the vehicle to be tested, wherein the vehicle model is built according to the actual vehicle condition of the vehicle to be tested; acquiring whole vehicle information of the vehicle to be tested when the vehicle to be tested is in the environment model based on the vehicle model, and testing the ECU function of the vehicle to be tested according to the whole vehicle information and the detection information of the ultrasonic radar to generate control decision information; and sending the control decision information to the vehicle model for execution so as to analyze the ECU function according to an execution result.
According to the test method of the ultrasonic radar vehicle control strategy, the ultrasonic radar vehicle control strategy is tested based on the built vehicle model, the environment model and the detection information obtained by the real ultrasonic radar, the research and development cost is reduced, the research and development period is shortened, the influence of unpredictable factors of the real vehicle on vehicle control is reduced, and the problem that noise points are difficult to add is solved.
In order to achieve the above object, a second aspect of the present invention provides a computer-readable storage medium, on which a test program of an ultrasonic radar vehicle control strategy is stored, and the test program of the ultrasonic radar vehicle control strategy, when executed by a processor, implements the above-mentioned test method of the ultrasonic radar vehicle control strategy.
According to the computer-readable storage medium of the embodiment of the invention, when the test program of the ultrasonic radar vehicle control strategy stored on the computer-readable storage medium is executed by the processor, the research and development cost can be effectively reduced, the research and development period is shortened, the influence of unpredictable factors of real vehicles on a vehicle control algorithm or an ECU (electronic control unit) is reduced, and the problem that noise points are difficult to add is effectively solved.
In order to achieve the above object, a third aspect of the present invention provides a system for testing an ultrasonic radar vehicle control strategy, including an upper computer and a lower computer, where the upper computer and the lower computer perform network communication, and the lower computer is configured to obtain detection information of an ultrasonic radar arranged on a vehicle to be tested, and send the detection information of the ultrasonic radar to the upper computer; the upper computer is used for building a vehicle model and an environment model of the vehicle to be tested, wherein the vehicle model is built according to the actual vehicle condition of the vehicle to be tested; the upper computer is further used for acquiring the whole vehicle information of the vehicle to be tested when the vehicle to be tested is in the environment model based on the vehicle model, testing the ECU function of the vehicle to be tested according to the whole vehicle information and the detection information of the ultrasonic radar to generate control decision information, and sending the control decision information to the vehicle model for execution so as to analyze the ECU function according to an execution result.
According to the test system of the ultrasonic radar vehicle control strategy, the ultrasonic radar vehicle control strategy is tested based on the built vehicle model, the environment model and the detection information obtained by the real ultrasonic radar, the research and development cost is reduced, the research and development period is shortened, the influence of unpredictable factors of the real vehicle on vehicle control is reduced, and the problem that noise points are difficult to add is solved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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FIG. 1 is a flow chart of a method of testing an ultrasonic radar vehicle control strategy according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of an overall architecture for testing an ultrasound radar vehicle control strategy according to an embodiment of the present invention;
FIG. 3 is a block diagram of a system for testing an ultrasound radar vehicle control strategy according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a method, a system, and a storage medium for testing an ultrasonic radar vehicle control strategy according to an embodiment of the present invention with reference to the drawings.
FIG. 1 is a flow chart of a method for testing an ultrasonic radar vehicle control strategy according to one embodiment of the present invention. Referring to fig. 1, the test method includes the steps of:
and S101, acquiring detection information of the ultrasonic radar arranged on the vehicle to be detected.
In this embodiment, can adopt real ultrasonic radar to detect the vehicle information that awaits measuring. Specifically, the ultrasonic radar may be directly attached to an unmodified vehicle to be tested through the adhesive support for test calibration, and after the test calibration, the information of the vehicle to be tested is detected, and then the detected information is sent to the outside through a CAN (Controller Area Network) output interface.
S102, building a vehicle model and an environment model of the vehicle to be tested, wherein the vehicle model is built according to the actual vehicle condition of the vehicle to be tested.
In one embodiment of the invention, the vehicle model and the environment model can be respectively built according to simulation software in the upper computer.
Specifically, an ideal vehicle dynamic model can be built as a control execution mechanism through simulation software according to a vehicle to be tested, and an environment model can be built through the simulation software. As an example, the environment model may include a lane, a central axis of the lane, and a parking area, wherein the parking area may be an area extending a distance (e.g., 10m) to both sides of the lane with the central axis of the lane as a position reference line.
S103, acquiring the whole vehicle information of the vehicle to be tested when the vehicle is in the environment model based on the vehicle model, and testing the ECU (Electronic Control Unit) function of the vehicle to be tested according to the whole vehicle information and the detection information of the ultrasonic radar to generate Control decision information.
Specifically, the upper computer can obtain the whole vehicle information of the vehicle to be tested when the vehicle is in the environment model based on the vehicle model, obtain the detection information of the ultrasonic radar from the lower computer, and then test the ECU function of the vehicle to be tested according to the whole vehicle information and the detection information of the ultrasonic radar to generate the control decision information. Of course, the ECU controller may also test the ECU function of the vehicle to be tested according to the entire vehicle information and the detection information of the ultrasonic radar acquired from the lower computer to generate the control decision information.
And S104, sending the control decision information to the vehicle model for execution so as to analyze the ECU function according to the execution result.
Specifically, the control decision information can be sent to the vehicle model in the environment model scene for execution, so that the completeness and effectiveness of the function realization of the ECU control algorithm and the ECU controller can be analyzed according to the execution result of the vehicle model.
In one embodiment of the invention, when the upper computer virtualizes the ECU of the vehicle to be tested through a control algorithm, the whole vehicle information acquired based on the vehicle model and the detection information of the ultrasonic radar uploaded by the lower computer are input to the virtual ECU, so that the virtual ECU generates control decision information and directly sends the control decision information to the vehicle model for execution.
Referring to fig. 2, the upper computer comprises a vehicle model, an environment model and an upper computer ECU algorithm for virtualizing the vehicle to be tested through a control algorithm. The upper computer can acquire the whole vehicle information of the vehicle based on the vehicle model, can receive the detection information of the ultrasonic radar uploaded by the lower computer, then inputs the acquired whole vehicle information and the detection information of the ultrasonic radar into an ECU (electronic control unit) algorithm of the upper computer to generate control decision information, and sends the control decision information to an executing mechanism, namely the vehicle model, for execution.
In one embodiment of the invention, when the virtualized ECU of the vehicle to be tested is replaced by the ECU controller of the vehicle to be tested, the upper computer sends the whole vehicle information obtained based on the vehicle model to the lower computer, wherein the ECU controller obtains the detection information of the ultrasonic radar through the lower computer, receives the whole vehicle information sent by the upper computer through the lower computer, generates the control decision information according to the whole vehicle information and the detection information of the ultrasonic radar, and sends the control decision information to the vehicle model through the lower computer for execution.
Referring to fig. 2, the lower computer includes a real-time information integration unit, and the real-time information integration unit acquires detection information of the ultrasonic radar through the CAN card and receives the entire vehicle information transmitted by the upper computer through a network connection between the lower computer and the upper computer, so as to synchronize the detection information of the ultrasonic radar and the entire vehicle information transmitted by the upper computer. When the virtualized ECU of the vehicle to be tested is replaced by the ECU controller of the vehicle to be tested, the real-time information integration unit CAN send the synchronized detection information of the ultrasonic radar and the whole vehicle information issued by the upper computer to the ECU controller through the CAN card. And the ECU controller generates control decision information according to the whole vehicle information and the detection information of the ultrasonic radar, and sends the control decision information to the vehicle model for execution through the lower computer.
According to the test method of the ultrasonic radar vehicle control strategy, the ECU function of the vehicle to be tested is tested according to the whole vehicle information acquired by the vehicle model and the detection information acquired by the ultrasonic radar to generate the control decision information, and the control decision information is sent to the vehicle model to be executed, so that the method for analyzing the ECU function according to the execution result can effectively reduce the research and development cost, shorten the research and development period, reduce the influence of unpredictable factors of real vehicles on the vehicle control algorithm or the ECU, and solve the problem that noise points are difficult to add.
Furthermore, the invention also provides a computer readable storage medium, on which a test program of the ultrasonic radar vehicle control strategy is stored, and when the test program of the ultrasonic radar vehicle control strategy is executed by a processor, the test method of the ultrasonic radar vehicle control strategy is realized.
According to the computer-readable storage medium of the embodiment of the invention, when the test program of the ultrasonic radar vehicle control strategy stored on the computer-readable storage medium is executed by the processor, the research and development cost can be effectively reduced, the research and development period is shortened, the influence of unpredictable factors of real vehicles on a vehicle control algorithm or an ECU (electronic control unit) is reduced, and the problem that noise points are difficult to add is effectively solved.
Furthermore, the invention also provides a test system for the ultrasonic radar vehicle control strategy. FIG. 3 is a block diagram of a system for testing an ultrasonic radar vehicle control strategy according to an embodiment of the present invention. As shown in fig. 3, the test system 100 for the ultrasonic radar vehicle control strategy includes an upper computer 101 and a lower computer 102. The upper computer 101 and the lower computer 102 communicate with each other through a network, and the lower computer 102 communicates with the ultrasonic radar 103 and the ECU controller 104 through a CAN card. Wherein the content of the first and second substances,
the lower computer 102 is used for acquiring detection information of the ultrasonic radar 103 arranged on the vehicle to be detected and sending the detection information of the ultrasonic radar 103 to the upper computer 101.
The upper computer 101 is used for building a vehicle model and an environment model of the vehicle to be tested, wherein the vehicle model is built according to the actual vehicle condition of the vehicle to be tested.
The upper computer 101 is further configured to obtain vehicle information of the vehicle to be tested when the vehicle is in the environment model based on the vehicle model, test the ECU function of the vehicle to be tested according to the vehicle information and the detection information of the ultrasonic radar 103 to generate control decision information, and send the control decision information to the vehicle model for execution, so as to analyze the ECU function according to the execution result.
In this embodiment, when the upper computer 101 builds a vehicle model and an environment model according to simulation software and virtualizes the ECU of the vehicle to be detected through a control algorithm, the entire vehicle information obtained when the vehicle to be detected is in the environment model based on the vehicle model and the detection information of the ultrasonic radar 103 uploaded by the lower computer can be input to the virtual ECU, so that the virtual ECU generates control decision information.
The upper computer 101 also sends the whole vehicle information acquired based on the vehicle model to the lower computer 102, and the lower computer 102 comprises a real-time information integration unit. The real-time information integration unit acquires detection information of the ultrasonic radar 103 through a CAN card, receives whole vehicle information sent by an upper computer 101 through network communication between a lower computer 102 and the upper computer 101, synchronizes the detection information of the ultrasonic radar 103 and the whole vehicle information sent by the upper computer 101, sends the synchronized detection information of the ultrasonic radar 103 and the whole vehicle information sent by the upper computer 101 to an ECU controller 104 of a vehicle to be detected through the CAN card, so that the ECU controller 104 generates control decision information according to the whole vehicle information and the detection information of the ultrasonic radar 103, and sends the control decision information to a vehicle model through the lower computer 102 for execution.
According to the test system of the ultrasonic radar vehicle control strategy, the ECU function of the vehicle to be tested is tested according to the whole vehicle information acquired by the vehicle model and the detection information acquired by the ultrasonic radar to generate the control decision information, and the control decision information is sent to the vehicle model to be executed, so that the method for analyzing the ECU function according to the execution result can effectively reduce the research and development cost, shorten the research and development period, reduce the influence of unpredictable factors of real vehicles on the vehicle control algorithm or the ECU, and solve the problem that noise points are difficult to add.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. The method for testing the ultrasonic radar vehicle control strategy is characterized by comprising the following steps of:
acquiring detection information of an ultrasonic radar arranged on a vehicle to be tested, wherein the ultrasonic radar is a real ultrasonic radar, and the ultrasonic radar is adhered to the unmodified vehicle to be tested through an adhesive support for test calibration;
building a vehicle model and an environment model of the vehicle to be tested, wherein the vehicle model is built according to the actual vehicle condition of the vehicle to be tested, the vehicle model and the environment model are respectively built according to simulation software in an upper computer, and the upper computer comprises the vehicle model and the environment model and an upper computer ECU algorithm for virtualizing the vehicle to be tested through a control algorithm;
acquiring the whole vehicle information of the vehicle to be detected when the vehicle to be detected is in the environment model based on the vehicle model, and testing the ECU function of the vehicle to be detected according to the whole vehicle information and the detection information of the ultrasonic radar to generate control decision information, wherein the acquired whole vehicle information and the detection information of the ultrasonic radar are input to an ECU algorithm of an upper computer to generate the control decision information;
and sending the control decision information to the vehicle model for execution so as to analyze the completeness and effectiveness of the function realization of an ECU algorithm and an ECU controller of an upper computer according to the execution result.
2. The method for testing the ultrasonic radar vehicle control strategy according to claim 1, wherein when the upper computer virtualizes the ECU of the vehicle to be tested through a control algorithm, the entire vehicle information acquired based on the vehicle model and the detection information of the ultrasonic radar uploaded by the lower computer are input to the virtual ECU, so that the virtual ECU generates the control decision information and directly sends the control decision information to the vehicle model for execution.
3. The method for testing the ultrasonic radar vehicle control strategy according to claim 1, wherein when the virtualized ECU of the vehicle to be tested is replaced by an ECU controller of the vehicle to be tested, the upper computer sends the whole vehicle information obtained based on the vehicle model to a lower computer, wherein the ECU controller obtains the detection information of the ultrasonic radar through the lower computer, receives the whole vehicle information sent by the upper computer through the lower computer, generates the control decision information according to the whole vehicle information and the detection information of the ultrasonic radar, and sends the control decision information to the vehicle model through the lower computer for execution.
4. The method for testing the ultrasonic radar vehicle control strategy according to claim 3, wherein the lower computer comprises a real-time information integration unit, the real-time information integration unit acquires the detection information of the ultrasonic radar through a CAN card and receives the whole vehicle information issued by the upper computer through network connection between the lower computer and the upper computer so as to synchronize the detection information of the ultrasonic radar and the whole vehicle information issued by the upper computer.
5. The method for testing the ultrasonic radar vehicle control strategy according to claim 4, wherein the real-time information integration unit sends the synchronized detection information of the ultrasonic radar and the vehicle information sent by the upper computer to the ECU controller through a CAN card.
6. A computer-readable storage medium, on which a test program of an ultrasonic radar vehicle control strategy is stored, which when executed by a processor implements a method of testing an ultrasonic radar vehicle control strategy according to any one of claims 1 to 5.
7. The test system for the ultrasonic radar vehicle control strategy is characterized by comprising an upper computer and a lower computer, wherein the upper computer and the lower computer are in network communication, wherein,
the lower computer is used for acquiring detection information of an ultrasonic radar arranged on a vehicle to be detected and sending the detection information of the ultrasonic radar to the upper computer; the ultrasonic radar is a real ultrasonic radar, and the ultrasonic radar is adhered to an unmodified vehicle to be tested through an adhesive support to carry out test calibration;
the upper computer is used for building a vehicle model and an environment model of the vehicle to be tested, wherein the vehicle model is built according to the actual vehicle condition of the vehicle to be tested, the vehicle model and the environment model are respectively built according to simulation software in the upper computer, and the upper computer comprises the vehicle model and the environment model and virtualizes an upper computer ECU algorithm of the vehicle to be tested through a control algorithm;
the upper computer is further used for acquiring the whole vehicle information when the vehicle to be detected is in the environment model based on the vehicle model, testing the ECU function of the vehicle to be detected according to the whole vehicle information and the detection information of the ultrasonic radar to generate control decision information, and sending the control decision information to the vehicle model for execution so as to analyze the completeness and effectiveness of the function realization of the ECU algorithm and the ECU controller of the upper computer according to the execution result, wherein the acquired whole vehicle information and the detection information of the ultrasonic radar are input to the ECU algorithm of the upper computer to generate the control decision information.
8. The system for testing the ultrasonic radar vehicle control strategy according to claim 7, wherein when the upper computer virtualizes the ECU of the vehicle to be tested through a control algorithm, the entire vehicle information acquired based on the vehicle model and the detection information of the ultrasonic radar uploaded by the lower computer are input to the virtual ECU, so that the virtual ECU generates the control decision information.
9. The system of claim 7, wherein the upper computer further sends the entire car information obtained based on the car model to the lower computer, the lower computer includes a real-time information integration unit, the real-time information integration unit obtains the detection information of the ultrasonic radar through a CAN card, receives the entire car information issued by the upper computer through network communication between the lower computer and the upper computer, synchronizes the detection information of the ultrasonic radar and the entire car information issued by the upper computer, and sends the synchronized detection information of the ultrasonic radar and the entire car information issued by the upper computer to the ECU controller of the vehicle to be tested through the CAN card, so that the ECU controller generates the control decision information according to the entire car information and the detection information of the ultrasonic radar, and sending the control decision information to the vehicle model for execution through the lower computer.
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