CN103335853B - A kind of automatic driving vehicle Cognitive Aptitude Test system and method - Google Patents
A kind of automatic driving vehicle Cognitive Aptitude Test system and method Download PDFInfo
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Abstract
The invention discloses a kind of automatic driving vehicle Cognitive Aptitude Test system, this system comprises automatic driving vehicle and vehicle-mounted recording equipment, the two carries out wired connection by communication interface, wherein, vehicle-mounted recording equipment is used for automatic driving vehicle input Cognitive Aptitude Test task, and receives and store the data of automatic driving vehicle Cognitive Aptitude Test output; After automatic driving vehicle receives test assignment by test assignment loading routine, re-establish serial ports to connect, opening corresponding program outputs test data in vehicle-mounted recording equipment, the test assignment input of automatic driving vehicle Cognitive Aptitude Test and test data export and adopt unified interface, parameter and data transmission format, but the concrete form of data content is different; Described communication interface adopts RS-232 interface.
Description
Technical field
The present invention relates to Vehicular intelligent system regions, be specifically related to a kind of automatic driving vehicle Cognitive Aptitude Test system and method.
Background technology
Automatic driving vehicle integrates the functions such as environment sensing, cognition, decision rule and Driving control, can independently, safety, reliably travel in certain circumstances.Along with the development of automatic driving vehicle technology in recent years, academia and industry member all need to design a kind of intelligent method of test and evaluation automatic driving vehicle.
On the basis that each research institution and enterprise independently conduct a research to automatic driving vehicle, the U.S., Europe and China start 2004,2006 and 2009, under unified test environment, content measurement or judgment criteria, in an organized way to hold automatic driving vehicle race respectively separately.Main race comprises: U.S. DARPA holds two GrandChallenge and Urban Challenge respectively at 2004,2005 and 2007; Europe from 2006 so far continuous six organize ELROB to compete; NSFC has held four China " intelligent vehicle Challenges for Future " match so far continuously from 2009.
But, no matter be domestic and international organized automatic driving vehicle contest, or the self testing of the autonomous driving vehicle of Google, although these races and test define some corresponding test orders, these rules also all can not comprehensively, system, how on earth reflect the cognitive ability level of automatic driving vehicle objectively; The automatic driving vehicle of separately research and development is tested and the relevant environment that designs and method although each research unit also has, but these designs are all customized according to the automatic driving vehicle feature of himself, therefore these tests lack of standardization, not system often.
Summary of the invention
In order to the cognitive ability of comprehensive, system, objectively test and evaluation automatic driving vehicle, make the automatic driving vehicle through test on urban road, intercity highway and backroad, have basic autonomous driveability, the present invention proposes a kind of automatic driving vehicle Cognitive Aptitude Test system and method.
According to an aspect of the present invention, propose a kind of automatic driving vehicle Cognitive Aptitude Test system, this system comprises automatic driving vehicle and vehicle-mounted recording equipment, the two carries out wired or wireless connections by communication interface, wherein, vehicle-mounted recording equipment is used for automatic driving vehicle input Cognitive Aptitude Test task, and receives and store the data of automatic driving vehicle Cognitive Aptitude Test output; After automatic driving vehicle receives test assignment by test assignment loading routine, re-establish serial ports to connect, opening corresponding program outputs test data in vehicle-mounted recording equipment, the test assignment input of automatic driving vehicle Cognitive Aptitude Test and test data export and adopt unified interface, parameter and data transmission format, but the concrete form of data content is different, wherein, test assignment comprises basic cognitive ability test event, higher level cognitive capacity test event and integrative cognitive faculties test event.。
According to a further aspect in the invention, also proposed a kind of automatic driving vehicle Cognitive Aptitude Test method, the method comprising the steps of: vehicle-mounted recording equipment is used for automatic driving vehicle input Cognitive Aptitude Test task, and receives and store the data of automatic driving vehicle Cognitive Aptitude Test output; After automatic driving vehicle receives test assignment by test assignment loading routine, re-establish and be connected with the serial ports of vehicle-mounted recording equipment, opening corresponding program outputs test data in vehicle-mounted recording equipment, the test assignment input of automatic driving vehicle Cognitive Aptitude Test and test data export and adopt unified interface, parameter and data transmission format, but the concrete form of data content is different, wherein, test assignment comprises basic cognitive ability test event, higher level cognitive capacity test event and integrative cognitive faculties test event.。
The present invention, by testing automatic driving vehicle in the test environment of specification and evaluating, can verify security that automatic driving vehicle runs, reliability, stability and intelligent.
Accompanying drawing explanation
Fig. 1 is automatic driving vehicle Cognitive Aptitude Test system and method the general frame of the present invention;
Fig. 2 is I-testing scheme schematic diagram;
Fig. 3 is the scheme of M-test;
Fig. 4 is M-test scene example schematic;
Fig. 5 is that track keeps wheelpath schematic diagram;
Fig. 6 is intersection stop line parking schematic diagram;
Fig. 7 is change lane schematic diagram;
Fig. 8 is by crossing schematic diagram;
Fig. 9 is for performing U-Turn turning schematic diagram;
Figure 10 is the hardware structure diagram of vehicle-mounted recording equipment of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Automatic driving vehicle Cognitive Aptitude Test system of the present invention is made up of a whole set of hardware and software platform, and it obtains its cognitive information by carrying out wired or wireless connection with automatic driving vehicle, thus realizes the test to automatic driving vehicle cognitive ability.
Fig. 1 is the general frame of automatic driving vehicle Cognitive Aptitude Test system.
Owing to should have basic autonomous driveability on urban road, intercity highway and backroad through the automatic driving vehicle of test, therefore, the present invention is from four factor (people, car, road and the traffic signals) of roadnet, and suppose beyond road, do not affect the pedestrian of automatic driving vehicle traveling, object, shade tree and buildings etc. not within limit of consideration of the present invention.
On the basis of above-mentioned hypothesis and analysis, test event of the present invention comprises basic cognitive ability test event, higher level cognitive capacity test event and integrative cognitive faculties test event.
1) basic cognitive ability test event
Be that automatic driving vehicle is set out on a journey and travelled prerequisite basic cognitive ability to traffic signals, the cognitive ability that travels lamp signal and whistling (summarizing it with " audio visual information " below), therefore this project is mainly tested the cognitive traffic signals of automatic driving vehicle and is travelled the ability of lamp signal and whistling.This partial test content belongs to static test, is divided into B-test and I-to test two kinds of forms according to the difference of complexity.
B-test refers to that tested vehicle remains static, the audio visual information of criterion of identification, require that automatic driving vehicle exports and represent the image of corresponding audio visual information, word, symbol or sound, main examination index is for correctly identifying the number of audio visual information and the time needed for identifying.The audio visual information of standard comprises following content:
Traffic signals comprise the commander of traffic sign, traffic marking, traffic lights and traffic-police, see GB GB5768-2009 and GB14887-2003.
Traffic sign is divided into main mark and the large class of auxiliary sign two.Standard GB/T 5768-2009 " road signs and graticule ", though be applicable to highways and streets and allow the place of social autos only in unit compass of competency, comprises traffic sign and graticule that all kinds of roads such as the place that square, Public Parking etc. pass through for the public are arranged.Traffic sign and the graticule of the setting such as place, parking lot of other autos only can refer to execution.Main mark comprises: 1. warning notice (54 kinds); 2. prohibitory sign (48 kinds); 3. Warning Mark (39 kinds); 4. fingerpost (87 kinds); 5. tourist district's mark (17 kinds); 6. indication marking (for operation area be masked as warning notice, prohibitory sign, Warning Mark and fingerpost); 7. bulletin mark (8 kinds).Prohibitory sign and Warning Mark are the mark that road user must be observed; Other mark only provides information, as fingerpost, tourist district's mark.Auxiliary sign (19 kinds) is under being attached to main mark, it is carried out to the mark of aid illustration.
Traffic marking is by executing the means of transportation drawn or be installed on various lines, arrow, word, pattern and object marking on road, entity indicia, protuberant guide post and delineator etc. and form.Traffic marking is divided into following three classes by function: 1) indicate graticule (35 kinds); 2) graticule (21 kinds) is forbidden; 3) graticule (9 kinds) is warned.
Traffic lights can be divided into motor vehicle signal lamp, bicycle signal lamp, pedestrian crosswalk signal lamp, lane signal lamp, direction instruction signal lamp, flashing, alarming signal lamp, grade crossing signal lamp by function.Some road traffic signal lamps may be furnished with countdown nixie display.Automatic driving vehicle may be subject to the impact of putting in order of signal lamp and installation site to the cognition of traffic lights, the traffic lights that the present invention adopts put in order and the information of installation site asks for an interview standard GB/T 14886-2006 " road traffic signal lamp is arranged and installation specification ", this standard is applicable to the installation of urban road and Highway intersections (hereinafter referred to as crossing), urban road and highway section (hereinafter referred to as section), urban road and highway and railway plane crossing (hereinafter referred to as road junction) place signal lamp.Standard GB/T 14887-2003 " road traffic signal lamp " is applicable to the signal lamp used on road.Crossing mainly can be divided into by shape: cruciform, oblique, T-shaped, Y shape, dislocation T-shaped, dislocation Y shape, multichannel and road circuits.
The commander of traffic-police comprises traffic police's gesture (11 kinds).
Travel lamp signal and refer to that vehicle is at the light participating in using in traffic process, the light often used in driving mainly comprises steering indicating light, headlamp, rear lamp, clearance lamps, Brake lamp etc.Whistling refers to the sound that vehicle sends at the warning horn participated on loudspeaker in traffic process or special vehicle, and special vehicle mentioned here mainly comprises police car, fire truck, ambulance and breakdown lorry etc.
I-test refers to that tested vehicle remains static, in following three kinds of situations: 1. on the cognition of non-type audio visual information (the audio visual information of standard be subject to shade, stained, block, tilt, fuzzy-expose to the weather after fade, illumination, the disturbing factor such as distortion impact); 2. under the condition with feature binding to the extraction of corresponding audio visual information object and cognition; 3. the extraction of required audio visual information object and cognition under multiple information condition, the image, word, symbol or the sound that require automatic driving vehicle to export to represent corresponding audio visual information.I test main examination index for correctly identify audio visual information number and identify needed for time, testing scheme schematic diagram is as shown in Figure 2.
2) higher level cognitive capacity test
This content measurement belongs to dynamic test, on the basis of basic cognitive ability test, under automatic driving vehicle is in relative motion state with tested audio visual information, test automatic driving vehicle to the cognitive ability of traffic environment and traffic behavior, is called for short M-test in certain traffic scene.
This partial test content is tested one or several traffic scene and traffic behavior inside shorter distance, and main examination index is identify the number of audio visual information and identify the performance (comprising perception target, speed, position, time, behavior etc.) of required time, appointed task.
M-test specifically can be divided into two large classes: audio visual information is dynamic and automatic driving vehicle is motionless and audio visual information is motionless and automatic driving vehicle is dynamic.Audio visual information is herein dynamic mainly refers to that audio visual information source (or target source) far and near position (longitudinal direction) variation is larger, and right position (transverse direction) changes relatively little situation, and (this and real road situation compare and conform to, vehicle distances audio visual information source always draws near or from the close-by examples to those far off, namely longitudinally change greatly, and be subject to the restriction of road width and setting position, horizontal change is relatively little); Automatic driving vehicle is dynamic refers to that automatic driving vehicle is in transport condition.M testing scheme schematic diagram as shown in Figure 3.
Here traffic scene comprises crossing, rotary island, city expressway ring road, expressway ring road, parking areas, tunnel, viaduct, overpass, zig zag road, upward trend, downhill path, has the road etc. of transverse pitch angle; Concrete traffic behavior comprise turn to, change, overtake other vehicles, meeting, move backward, turn around, converge car, park, intersection, viaduct are current, railway crossing is current, current at the bottom of viaduct and railway bridge bridge, brake hard, pedestrian dodge, stationary obstruction etc. on cargoes from scattering, road.
3) integrative cognitive faculties test
This content measurement belongs to dynamic test, and on the basis of basic cognitive ability and higher level cognitive capacity test, main test automatic driving vehicle, to the ability of the integrative cognitive faculties of traffic scene and autonomous driving and intelligent navigation, is called for short S-test.
S-tests relative complex, mainly be divided into the road environment towards urban road environment, intercity highway environment, backroad environment and triplicity, in the distance of a fixed length, automatic driving vehicle needs cognitive disorders thing, traffic signals, traveling lamp signal, whistling, traffic infrastructure and traffic behavior etc., and completing autonomous driving and intelligent navigation as requested, main examination index is identify the number of audio visual information and identify the performance (comprising perception target, speed, position, time, behavior etc.) of required time, appointed task.Such as: in the normal traffic flows such as intercity highway and downtown roads, require that automatic driving vehicle can and have between people's steering vehicle and automatic driving car group, carry out based on audio visual information (traffic signals, driving lamp signal and whistling) that the mutual and automatic driving vehicle of many cars is collaborative to be driven, realize many automatic driving cars and unworthily move and to travel in normal Intercity Transportation stream; City in a big way in and complicated traffic flow condition under, require that automatic driving vehicle can independently travel, under being included in the rule prerequisite that observes traffic laws and realize the detection and indentification of basic traffic sign in controlled real driving environment, the speed of a motor vehicle in different traffic environment controls, track keeps, dynamically overtake other vehicles, quiet dynamic barrier is dodged and the autonomous parking in regulation region, and at controlled multiple downtown roads (intensive road, urban loop, circle highway etc.) realize autonomous driving under environment.
In order to be reached the object of the Cognitive Aptitude Test to automatic driving vehicle by above-mentioned test event, test scene of the present invention is not the simple combination of scene and sensing, measurement, computing equipment, but for static, dynamically and complete the complicated test scene of test assignment under Uncertain environments.The minimal set that the present invention constructs a traffic environment and traffic behavior is: traffic scene comprises crossing, rotary island, city expressway ring road, expressway ring road, parking areas, tunnel, viaduct, overpass, zig zag road, upward trend, downhill path, has the road etc. of transverse pitch angle; Traffic behavior comprise turn to, change, overtake other vehicles, meeting, move backward, turn around, converge car, park, intersection, viaduct are current, road junction is current, current at the bottom of viaduct and railway bridge bridge, stop line parking, brake hard, pedestrian dodge, stationary obstruction etc. on cargoes from scattering, road.
[test scene specification]
Automatic driving vehicle recognition tests standards system of the present invention is tested by basic cognitive ability, higher level cognitive capacity is tested and integrative cognitive faculties test forms, relate to four content measurements altogether, from the easier to the more advanced, go from the simple to the complex, be followed successively by from low to high: B-test, I-test, M-test and S-test, first two belong to static test, and latter two belong to dynamic test.In order to be described in more detail the content of the present invention at concrete test scene design aspect, respectively four content measurements are specifically described respectively below.
B-test and I-test scene: for static test, because tested automatic driving vehicle remains static, so corresponding test scene is relatively simple, can according to actual the needs surveying content, choose arbitrarily relatively broad space, also can according to dynamic test the test scene selected and determining.
M-test and S-test scene: for dynamic test, because tested automatic driving vehicle is in transport condition, be in safe consideration on the one hand; Another aspect technical progress is an incremental process, before also there is no special test site, the real road environment (such as driving school's checkout area) of relative closure is chosen in suggestion as much as possible, or built be not yet open to traffic or urban road, intercity highway or backroad environment that the built magnitude of traffic flow is very little for more suitable, then on this basis, carry out choosing, designing the traffic environment meeting M-test and S-test needs accordingly according to actual content measurement.Below M-test and S-test are illustrated.
M-tests citing:
At the crossroad of as shown in Figure 4 and peripheral path thereof, automatic driving vehicle must identify the information of roadside traffic sign in the process travelled along road, and the instruction of the traffic direction sign bound according to number enters corresponding track, and according to the instruction of traffic lights, observe traffic rules and regulations, smoothly pass crossing.
Note: the Cognitive contents of the basic cognitive ability test aspect examined in this example comprises: the binding of traffic sign, feature, traffic lights, traffic marking and crossroad; The content of higher level cognitive capacity test aspect examined: keep lanes, change, stop line stops, passes through crossing.
With regard to this example, whether can also to be interfered the impact of factor by arranging mark, road there is clear, whether increase pedestrian's street crossing graticule at crossing, whether have pedestrian to pass through, whether road has other have people to drive or unpiloted vehicle, the dense degree of vehicle how, whether there will be multiple information etc. in the visual field of automatic driving vehicle, design and increase content and the difficulty of test.
S-tests citing:
In whole test process, require automatic driving vehicle according on road traffic sign instruction travel, following operation must be performed in the process completing schedules: track keep traveling, stop line parking, change lane, by crossing, U-turn etc.Concrete test request is as follows:
1. track keeps travelling: automatic driving vehicle travels on structured road, and except performing turning, overtaking other vehicles, keeping away except the actions such as barrier, U-Turn, vehicle can not leave track, should remain in track and travel.The transition curve of crossing should be the smooth curve in connection two sections, and Fig. 5 is that automatic driving vehicle is at the wheelpath schematic diagram by keeping track during crossing that turns left.
2. stop line stops: require that automatic driving vehicle can identify stop line and perform parking.Automatic driving vehicle in the process of moving, runs into when being provided with stop sign or stop line, should be parked in the place (as shown in Figure 6) within distance stop line one meter.Automatic driving vehicle can not be crossed stop line and stop in intersection.
3. change lane: when finding that there is mobile object in front, requires that automatic driving vehicle changes track (as shown in Figure 7) in the scope of distance front mobile object certain distance.
4. pass through crossing: during by crossing, the instruction must pressing traffic lights travels; Meet when crossing traffic blocks and must not enter crossing; When turning left by crossing, must by turning (as shown in Figure 8) on the left of the central point of crossing.
5. U-Turn: automatic driving vehicle should meet traffic law when performing U-Turn, must not hinder normal other vehicles and pedestrians (as shown in Figure 9) travelled.
[communication interface and communication protocol design illustrate] test assignment in order to provide it to identify to automatic driving vehicle, must input to automatic driving vehicle the assignment file that it can identify, communication interface of the present invention and communication protocol define transmission equipment to the mode of automatic driving vehicle test transmission task and form.Simultaneously, in order to evaluate the cognitive ability of automatic driving vehicle exactly, quantitatively evaluating index, accomplish to have good grounds, ensure " fair, just and open " of test, the present invention must possess effective recording unit, gathers and store the state of automatic driving vehicle and the cognitive result to target in real time.Based on above-mentioned consideration, the present invention devises vehicle-mounted recording equipment, and this equipment has the function of transmission equipment and recording unit: to automatic driving vehicle input Cognitive Aptitude Test task; Receive and store the data that automatic driving vehicle Cognitive Aptitude Test exports.
The test assignment loading routine of automatic driving vehicle Cognitive Aptitude Test and test data written-out program two overlap independently program.After automatic driving vehicle receives test assignment by test assignment loading routine, serial ports should be re-established and connect, open corresponding program and output test data in vehicle-mounted recording equipment.Consider program ease for use, the test assignment input of automatic driving vehicle Cognitive Aptitude Test and test data export and can adopt unified interface, parameter and data transmission format, but have differentiation on the concrete form of data content.
For ensureing the reliability of automatic driving vehicle and vehicle-mounted recording devices communicating, consider the size of the desired data amount that communicates and vehicle arrangement is of a great variety, the not first-class factor of interface, the RS-232 interface that the present invention adopts versatility stronger carries out the transmission of information.Automatic driving vehicle need possess the DB9 serial port male joint being placed in car and being convenient to patch, and reserved necessary locus placement vehicle records recording apparatus.Vehicle-mounted recording equipment end uses own power supply, and provide DB9 serial port female joint, its hardware structure diagram as shown in Figure 10.
With reference to Figure 10, vehicle-mounted recording equipment comprises memory module, reserve battery, test assignment output module and test data load module further.For ensureing the working time of vehicle-mounted recording equipment, be provided with reserve battery module, this module when the electricity of current use battery is lower than certain value, can automatically switch to reserve battery.After vehicle-mounted recording equipment is started working, first after tested storing in a device of task is sent to automatic driving vehicle by task output module, taken over by test data load module afterwards, wait for the test result that automatic driving vehicle is beamed back, and result is saved in memory module.
In order to communicate with automatic driving vehicle, effective communication protocol must be set up.In whole communication system, vehicle-mounted recording equipment is responsible for transmission handshake packet and packet as main equipment; And automatic driving vehicle is as only replying handshake packet and ACK bag from equipment.The interface of Communications Interface Unit preferably adopts RS-232, is connected by wired mode.
Communication between vehicle-mounted recording equipment and automatic driving vehicle needs to meet following requirement:
Messaging parameter: baud rate 9600bps, 8 data bit, 1 position of rest, no parity.
Communication format:
| Packet type | Data length | Data content |
Packet type: Packet type comprises handshake packet, ACK bag and packet.
Handshake packet form:
Requesting party to:
0: represent that automatic driving vehicle request is to vehicle-mounted recording equipment sending data;
1: represent that vehicle-mounted recording device request sends data to automatic driving vehicle.
Reiving/transmitting state:
0: represent unripe reception or transmit data;
1: represent and be ready to receive or transmit data.
ACK packet format:
| Packet type | Data length | Data content | |
| ACK wraps | 3 | 1 byte | ACK state |
| 0 or 1 |
ACK state:
0: represent that the data that receiving end receives are wrong;
1: represent that correct receiving end receives data.
Note: wrap if do not receive receiving end (automatic driving vehicle) ACK after transmitting terminal (vehicle-mounted recording equipment) sends data 100ms, then retransmission data.
Data packet format:
Data content form:
Note: when a file starts before transmission, vehicle-mounted recording equipment according to the size of file, can calculate the file frame number of current data packet, will add in reverse order in the file frame number of each packet.After automatic driving vehicle receives a packet, the file frame number in data content should be checked, the file that subpackage transmits is stitched together; When automatic driving vehicle reception has the file frame number of repetition, the data of repetition frame number need be abandoned; After when automatic driving vehicle, to receive file frame number be the packet of 0, end of file transfer.
Automatic driving vehicle Cognitive Aptitude Test task input citing:
1. connect serial ports, judge side sends handshake packet by vehicle-mounted recording equipment to automatic driving vehicle, and putting reiving/transmitting state position is 1, and requesting party is to being 1, and request transmits assignment file;
If 2. the unripe reception data of automatic driving vehicle, then reply handshake packet, putting reiving/transmitting state position is 0, and requesting party is to being 1 ";
3. vehicle-mounted recording equipment checks whether and receives handshake packet in 100ms, if receive not yet more than 100ms, retransmits handshake packet, replys handshake packet and represents until receive automatic driving vehicle and be ready to;
4., after vehicle-mounted recording equipment receives handshake packet, start to send first packet;
5. after automatic driving vehicle receives packet, check check code, if check code is incorrect, then replying ACK is 0, represents request repeat;
If 6. check code is errorless, then first automatic driving vehicle checks the file frame number in data content, when file frame number is 0, then represents end of file transfer, and then automatic driving vehicle replys ACK is 1, and expression acknowledges receipt of.Otherwise unloading current packet data, empty buffer and prepare to receive next packet, replying ACK is 1;
If 7. vehicle-mounted recording equipment receives ACK is 0, then retransmission data bag;
If 8. vehicle-mounted recording equipment does not receive any ACK and wraps in 100ms, then retransmit this packet, until receiving the ACK that automatic driving vehicle replys is 1;
9. vehicle-mounted recording equipment receives the ACK of automatic driving vehicle reply is 1, then send next packet;
10. automatic driving vehicle continues the file frame number checking data content, when file frame number is 0, then and end of file transfer.
The output data-interface of automatic driving vehicle Cognitive Aptitude Test and communication protocol, this agreement defines automatic driving vehicle to the mode of vehicle-mounted recording device transmission test data and form.Automatic driving vehicle is responsible for transmission handshake packet and packet as main equipment, and vehicle-mounted recording equipment is as only replying handshake packet and ACK bag from equipment.In order to the positional information of whole process record automatic driving vehicle, automatic driving vehicle needs timing to send test data to vehicle-mounted recording equipment; Simultaneously in order to the very first time checks the result that automatic driving vehicle detects target, automatic driving vehicle needs the instant data sending detection target, and namely automatic driving vehicle need send the data content of timing data form and instant data layout two kinds of forms respectively to vehicle-mounted recording equipment.
Vehicle-mounted recording equipment carries out time statistics according to self clock to the timing data formatted data bag received, if automatic driving vehicle sends data being far smaller than in the appointed interval time, then vehicle-mounted recording equipment no longer carries out record.Therefore automatic driving vehicle should be avoided sending packet in a large number in the short time.Vehicle-mounted recording equipment carries out time and content statistics by the instant data layout packet received, and refers to instant data layout.The data content that vehicle-mounted recording equipment repeats for any package number does not repeat record.
Communication interface: RS-232, wired connection.
Messaging parameter: baud rate 9600bps, 8 data bit, 1 position of rest, no parity.
Communication format:
| Packet type | Data length | Data content |
Packet type: Packet type comprises handshake packet, ACK bag and packet.
Handshake packet form:
Requesting party to:
0: represent that automatic driving vehicle request is to vehicle-mounted recording equipment sending data;
1: represent that vehicle-mounted recording device request sends data to automatic driving vehicle.
Reiving/transmitting state:
0: represent unripe reception or transmit data;
1: represent and be ready to receive or transmit data.
ACK packet format:
ACK state:
0: represent that the data that receiving end receives are wrong;
1: represent that correct receiving end receives data.
Note: wrap if do not receive receiving end (vehicle-mounted recording equipment) ACK after transmitting terminal (automatic driving vehicle) sends data 100ms, then retransmission data.
Data packet format:
| Packet type | Data length | Data content | |
| Packet | 2 | Fixed byte | Test data |
Data content form: data content form is divided into timing data and instant data layout, distinguishes with package number.
Note: the key length in this data content form and the method for expressing of key word can be determined according to specific needs.
Timing data form: the content of timing data form is position and the temporal information of automatic driving vehicle timed sending.
Instant data layout: the content of instant data layout is the real-time information of the target detection that automatic driving vehicle sends.
Package number: the unique number being each packet.In timing data form, start with the ASCII character of T; In instant data layout, start with the ASCII character of R.
Car number: the unique code name distributing to fleet before match starts.
Time: temporal information when data send.
Place: the positional information of automatic driving vehicle when data send.
Target information: the target information that automatic driving vehicle detects.Target information form is as follows:
Object code: comprise type code and number accordingly.
Note: block for avoiding vehicle-mounted recording devices communicating and store and overflow, vehicle-mounted recording equipment within a certain period of time (as 1 second) for the packet of instant data layout that record package number repeats or object code repeats, the information only received with first time is as the criterion, the part repeatedly sent no longer is received, no longer stored, namely, after automatic driving vehicle detects target to be measured, should only send once about the data of this target.
Dbjective state: the velocity information representing measured target.
Automatic driving vehicle Cognitive Aptitude Test data export citing:
1. connect serial ports, automatic driving vehicle sends handshake packet to vehicle-mounted recording equipment, and putting reiving/transmitting state position is 1, and requesting party is to 0, and request transmits test data.
If 2. vehicle-mounted recording Not ready receives data, then reply handshake packet, putting reiving/transmitting state position is 0, and requesting party is to 0 ".
3. automatic driving vehicle checks whether and receives handshake packet in 100ms, if receive not yet more than 100ms, retransmits handshake packet.Represent be ready to until receive vehicle-mounted recording device replied handshake packet.
4., after automatic driving vehicle receives handshake packet, start to send first packet.
5. after vehicle-mounted recording equipment receives packet, if check code is incorrect, then replying ACK is 0, represents request retransmission.
If 6. check code is errorless, vehicle-mounted recording device replied ACK is 1, and expression acknowledges receipt of.
If 7. automatic driving vehicle receives ACK is 0, then retransmission data packet may.
If 8. automatic driving vehicle does not receive any ACK and wraps in 100ms, then retransmit this packet.Until the ACK receiving vehicle-mounted recording device replied is 1.
9. automatic driving vehicle receives the ACK of vehicle-mounted recording device replied is after 1, then sends next packet.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (24)
1. an automatic driving vehicle Cognitive Aptitude Test system, this system comprises automatic driving vehicle and vehicle-mounted recording equipment, and the two carries out wired or wireless connections by communication interface, it is characterized in that,
Vehicle-mounted recording equipment is used for automatic driving vehicle input Cognitive Aptitude Test task, and receives and store the data of automatic driving vehicle Cognitive Aptitude Test output;
After automatic driving vehicle receives test assignment by test assignment loading routine, re-establish serial ports to connect, opening corresponding program outputs test data in vehicle-mounted recording equipment, the test assignment input of automatic driving vehicle Cognitive Aptitude Test and test data export and adopt unified interface, parameter and data transmission format, but the concrete form of data content is different
Wherein, test assignment comprises basic cognitive ability test event, higher level cognitive capacity test event and integrative cognitive faculties test event.
2. system according to claim 1, is characterized in that, the ability of the cognitive traffic signals of basic cognitive ability test event test automatic driving vehicle and traveling lamp signal and whistling.
3. system according to claim 2, it is characterized in that, basic cognitive ability test comprises B-test and I-test, wherein B-test refers to that tested vehicle remains static, the audio visual information of criterion of identification, require that automatic driving vehicle exports and represent the image of corresponding audio visual information, word, symbol or sound, examination index is for correctly identifying the number of audio visual information and the time needed for identifying; I-test refers to that tested vehicle remains static, in following three kinds of situations: 1. to the cognition of non-type audio visual information; 2. under the condition with feature binding to the extraction of corresponding audio visual information object and cognition; The extraction of audio visual information object needed for 3. under multiple information condition and cognition, require that automatic driving vehicle exports and represent the image of corresponding audio visual information, word, symbol or sound, I test examination index is for correctly identifying the number of audio visual information and the time needed for identifying.
4. system according to claim 3, it is characterized in that, higher level cognitive capacity test belongs to dynamic test, on the basis of basic cognitive ability test, under automatic driving vehicle is in relative motion state with tested audio visual information, test automatic driving vehicle in certain traffic scene to the cognitive ability of traffic environment and traffic behavior.
5. system according to claim 4, is characterized in that, higher level cognitive capacity test comprises two types: a class is that audio visual information is dynamic and automatic driving vehicle is motionless, is another kind ofly that audio visual information is motionless and automatic driving vehicle moves.
6. the system according to any one of claim 1-5, it is characterized in that, integrative cognitive faculties test belongs to dynamic test, on the basis of basic cognitive ability and higher level cognitive capacity test, test automatic driving vehicle is to the ability of the integrative cognitive faculties of traffic scene and autonomous driving and intelligent navigation.
7. system according to claim 6, it is characterized in that, integrative cognitive faculties test is divided into the road environment towards urban road environment, intercity highway environment, backroad environment and triplicity, in the distance of a fixed length, automatic driving vehicle needs cognitive disorders thing, traffic signals, traveling lamp signal, whistling, traffic infrastructure and traffic behavior, and completing autonomous driving and intelligent navigation as requested, examination index is identify the number of audio visual information and identify the performance of required time, appointed task.
8. system according to claim 1, is characterized in that, when vehicle-mounted recording equipment is to automatic driving vehicle transmission data, vehicle-mounted recording equipment is responsible for transmission handshake packet and packet as main equipment; Automatic driving vehicle is as only replying handshake packet and ACK bag from equipment.
9. system according to claim 8, it is characterized in that, when a file starts before transmission, vehicle-mounted recording equipment can according to the size of file, calculate the file frame number of current data packet, will add in the file frame number of each packet in reverse order, after automatic driving vehicle receives a packet, the file frame number in data content should be checked, the file that subpackage transmits is stitched together; When automatic driving vehicle reception has the file frame number of repetition, the data of repetition frame number need be abandoned; After when automatic driving vehicle, to receive file frame number be the packet of 0, end of file transfer.
10. system according to claim 1, it is characterized in that, when automatic driving vehicle is to vehicle-mounted recording device transmission test data, automatic driving vehicle is responsible for transmission handshake packet and packet as main equipment, vehicle-mounted recording equipment is as only replying handshake packet and ACK bag from equipment, automatic driving vehicle timing sends test data to vehicle-mounted recording equipment.
11. systems according to claim 10, is characterized in that, automatic driving vehicle sends the data detecting target immediately, and namely automatic driving vehicle need send the data content of timing data form and instant data layout two kinds of forms respectively to vehicle-mounted recording equipment.
12. systems according to claim 11, it is characterized in that, vehicle-mounted recording equipment carries out time statistics according to self clock to the timing data formatted data bag received, if automatic driving vehicle sends data being far smaller than in the appointed interval time, then vehicle-mounted recording equipment no longer carries out record, vehicle-mounted recording equipment carries out time and content statistics by the instant data layout packet received, and the data content that vehicle-mounted recording equipment repeats for any package number does not repeat record.
13. 1 kinds of automatic driving vehicle Cognitive Aptitude Test methods, it is characterized in that, the method comprising the steps of:
Vehicle-mounted recording equipment is used for automatic driving vehicle input Cognitive Aptitude Test task, and receives and store the data of automatic driving vehicle Cognitive Aptitude Test output;
After automatic driving vehicle receives test assignment by test assignment loading routine, re-establish and be connected with the serial ports of vehicle-mounted recording equipment, opening corresponding program outputs test data in vehicle-mounted recording equipment, the test assignment input of automatic driving vehicle Cognitive Aptitude Test and test data export and adopt unified interface, parameter and data transmission format, but the concrete form of data content is different, wherein, test assignment comprises basic cognitive ability test event, higher level cognitive capacity test event and integrative cognitive faculties test event.
14. methods according to claim 13, is characterized in that, the ability of the cognitive traffic signals of basic cognitive ability test event test automatic driving vehicle and traveling lamp signal and whistling.
15. methods according to claim 13, it is characterized in that, basic cognitive ability test comprises B-test and I-test, wherein B-test refers to that tested vehicle remains static, the audio visual information of criterion of identification, require that automatic driving vehicle exports and represent the image of corresponding audio visual information, word, symbol or sound, examination index is for correctly identifying the number of audio visual information and the time needed for identifying; I-test refers to that tested vehicle remains static, in following three kinds of situations: 1. to the cognition of non-type audio visual information; 2. under the condition with feature binding to the extraction of corresponding audio visual information object and cognition; The extraction of audio visual information object needed for 3. under multiple information condition and cognition, require that automatic driving vehicle exports and represent the image of corresponding audio visual information, word, symbol or sound, I test examination index is for correctly identifying the number of audio visual information and the time needed for identifying.
16. methods according to claim 14, it is characterized in that, higher level cognitive capacity test belongs to dynamic test, on the basis of basic cognitive ability test, under automatic driving vehicle is in relative motion state with tested audio visual information, test automatic driving vehicle in certain traffic scene to the cognitive ability of traffic environment and traffic behavior.
17. methods according to claim 15, is characterized in that, higher level cognitive capacity test comprises two types: a class is that audio visual information is dynamic and automatic driving vehicle is motionless, are another kind ofly that audio visual information is motionless and automatic driving vehicle moves.
18. methods according to any one of claim 13-17, it is characterized in that, integrative cognitive faculties test belongs to dynamic test, on the basis of basic cognitive ability and higher level cognitive capacity test, test automatic driving vehicle is to the ability of the integrative cognitive faculties of traffic scene and autonomous driving and intelligent navigation.
19. methods according to claim 13, it is characterized in that, integrative cognitive faculties test is divided into the road environment towards urban road environment, intercity highway environment, backroad environment and triplicity, in the distance of a fixed length, automatic driving vehicle needs cognitive disorders thing, traffic signals, traveling lamp signal, whistling, traffic infrastructure and traffic behavior, and completing autonomous driving and intelligent navigation as requested, examination index is identify the number of audio visual information and identify the performance of required time, appointed task.
20. methods according to claim 13, is characterized in that, when vehicle-mounted recording equipment is to automatic driving vehicle transmission data, vehicle-mounted recording equipment is responsible for transmission handshake packet and packet as main equipment; Automatic driving vehicle is as only replying handshake packet and ACK bag from equipment.
21. methods according to claim 20, it is characterized in that, when a file starts before transmission, vehicle-mounted recording equipment can according to the size of file, calculate the file frame number of current data packet, will add in the file frame number of each packet in reverse order, after automatic driving vehicle receives a packet, the file frame number in data content should be checked, the file that subpackage transmits is stitched together; When automatic driving vehicle reception has the file frame number of repetition, the data of repetition frame number need be abandoned; After when automatic driving vehicle, to receive file frame number be the packet of 0, end of file transfer.
22. methods according to claim 13, it is characterized in that, when automatic driving vehicle is to vehicle-mounted recording device transmission test data, automatic driving vehicle is responsible for transmission handshake packet and packet as main equipment, vehicle-mounted recording equipment is as only replying handshake packet and ACK bag from equipment, automatic driving vehicle timing sends test data to vehicle-mounted recording equipment.
23. methods according to claim 22, is characterized in that, automatic driving vehicle sends the data detecting target immediately, and namely automatic driving vehicle need send the data content of timing data form and instant data layout two kinds of forms respectively to vehicle-mounted recording equipment.
24. methods according to claim 23, it is characterized in that, vehicle-mounted recording equipment carries out time statistics according to self clock to the timing data formatted data bag received, if automatic driving vehicle sends data being far smaller than in the appointed interval time, then vehicle-mounted recording equipment no longer carries out record, vehicle-mounted recording equipment carries out time and content statistics by the instant data layout packet received, and the data content that vehicle-mounted recording equipment repeats for any package number does not repeat record.
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