CN105741635A - Multifunctional road experiment vehicle platform - Google Patents
Multifunctional road experiment vehicle platform Download PDFInfo
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- CN105741635A CN105741635A CN201610115542.2A CN201610115542A CN105741635A CN 105741635 A CN105741635 A CN 105741635A CN 201610115542 A CN201610115542 A CN 201610115542A CN 105741635 A CN105741635 A CN 105741635A
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Abstract
The invention discloses a multifunctional road experiment vehicle platform, comprising a vehicle platform which is a small automobile, a lane line identification module used for collecting the information of the ahead lane lines, a laser radar module used for collecting the information of the ahead obstacles, a GPS/inertial navigation module used for collecting the moving state of the vehicles, a CAN module used for collecting the information of the vehicle, a vehicle-mounted industrial personal computerused for synchronically collecting and processing the information, a collection module used for monitoring the state of the cockpit, and a display module used for monitoring the collection state. The road experiment platform can synchronically collect the environment of the vehicle, the vehicle moving state and the driving information of the driver, provides the functions of data storage and analysis, has few transformation on the vehicle and less interference on the driver, and can be used for the experiment targeting the driving behavior.
Description
Technical field
The present invention relates to vehicle platform, particularly relate to a kind of all-purpose road laboratory vehicle platform.
Background technology
Current China road fatalities ranks first in the world, and vehicle accident remains high, and whole nation Road Safety Status is severe.By the risk factor of China's road traffic accident is analyzed it can be seen that vehicle accident produce main reason is that driver.Therefore, the life security of pedestrian in living in order to ensure traffic, about the reciprocal effect mechanism of people-Che-Lu, this has been carried out extensive and deep research by the whole world.And in vehicle travel process, real-time, stable collection, process and the analysis of vehicle oneself state information, driver's operational status information and external environment information becomes the key precondition of all problems research.Therefore, for more efficient, accurate, safe collection people's-Che-Lu information data, the exploit person-Che-Lu information acquisition systems such as computer technology, sensor technology, data processing technique are utilized to have important practical significance.
Summary of the invention
The technical problem to be solved in the present invention is in that for defect of the prior art, a kind of all-purpose road laboratory vehicle platform is provided, this all-purpose road laboratory vehicle platform is in driving path is tested, the information such as vehicle environmental, state of motion of vehicle and driver's operation can be carried out synchronous acquisition, storage, exploitation important role to the relevant drive assist system of the research of driving path secure context and automobile, practical, reliability is high.
The technical solution adopted for the present invention to solve the technical problems is: a kind of all-purpose road laboratory vehicle platform, and described all-purpose road laboratory vehicle platform is arranged on a car as in the vehicle platform of carrier, including:
Lane detection module, for according to the front video of camera collection and image information, adopting Hough algorithm, identifies lane line, and calculates vehicle relative to left-lane line, the distance of right lane line and angle based on the installation site of photographic head and goniometer；Above-mentioned information is exported to vehicle-mounted industrial computer by Lane detection module by CAN；
Laser radar module, is used for gathering preceding object thing information；
GPS and inertial navigation module, for collection vehicle kinestate；The GPS position information of vehicle, 3-axis acceleration and three axis angular rate information are obtained by GPS/INS blending algorithm；The output of above-mentioned data message is stored to vehicle-mounted industrial computer by this module by CAN；
CAN module, is used for the collection to car CAN message and parsing；
Vehicle-mounted industrial computer, for being received the information of Lane detection module and GPS and inertial navigation module by CAN, and is received laser radar module and CAN module information, and carries out synchronizing storage to the data received；
Acquisition module, is used for monitoring driving cabin state；Described acquisition module is made up of minisize pick-up head and DVR；Wherein, minisize pick-up head is installed on the A post of copilot side, and driver's general status is monitored, directly stores the video of collection to DVR；
Display module, for monitoring the data acquisition state of each module；Described display module is connected with vehicle-mounted industrial computer.
By such scheme, described Lane detection module is embedded system.
By such scheme, described GPS and inertial navigation module are merge the subsystem that single-chip microcomputer, GPS locating module and inertial navigation chip are constituted.
By such scheme, described display module is for touching display screen, and display module is connected with vehicle-mounted industrial computer by USB, VGA or HDMI.
By such scheme, described acquisition module, it is made up of minisize pick-up head and DVR；Minisize pick-up head is installed on the A post of copilot side, and driver's general status is monitored, directly stores the video of collection into DVR.
By such scheme, described Lane detection module is arranged in driver's cabin centre position above front windshield；Described laser radar module is arranged on air inlet fence centre position；Described CAN module is arranged in car boot；Described vehicle-mounted industrial computer is arranged on car boot, and is fixed on the flat board with vibration-damping function；Described acquisition module is arranged on the A post of copilot side；Described display module is arranged in car back seat or boot.
By such scheme, described GPS, inertial navigation module are arranged on vehicle centroid position.
By such scheme, described vehicle-mounted industrial computer includes LAN interface, bnc interface, CAN interface and serial ports.
The beneficial effect comprise that: the present invention can the information such as synchronous acquisition vehicle environmental, state of motion of vehicle and driver's operation, vehicle remoulding and driver are disturbed less by platform, can effectively be applied in the scientific research of driving path secure context, to the exploitation of associated vehicle DAS (Driver Assistant System), develop and have important theory, checking supporting role.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the structural representation of the embodiment of the present invention；
The stage apparatus position that Fig. 2 is the embodiment of the present invention arranges schematic diagram；In figure: 1-car, 2-Lane detection module, 3-laser radar module, 4-GPS module, 5-inertial navigation module, 6-display module, the vehicle-mounted industrial computer of 7-, 8-acquisition module, 9-CAN module.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
As it is shown in figure 1, a kind of all-purpose road laboratory vehicle platform, using a car as vehicle platform, including: Lane detection module, laser radar module, GPS/ inertial navigation module, CAN module, vehicle-mounted industrial computer, acquisition module and display module.
As in figure 2 it is shown, Lane detection module 2 is arranged in driver's cabin centre position above front windshield；Laser radar module 3 is arranged on air inlet fence centre position；CAN module 9 is arranged in car boot；Vehicle-mounted industrial computer 7 is arranged on car boot, and is fixed on the flat board with vibration-damping function；The described acquisition module 8 for monitoring driving cabin state is arranged on copilot side A post；The described display module 6 for monitoring each module acquisition state is arranged in car back seat or boot, and GPS module 4 and inertial navigation module 5 are arranged on vehicle centroid position.At roadway experiment car 1 in the process of moving, first pass through Operation display module 6 and open each data information acquisition module: Lane detection module 2, laser radar module 3, GPS module 4, inertial navigation module 5, acquisition module 8, make it into duty, acquiescence is set also dependent on needs and automatically starts operational module, treat that laboratory vehicle enters under steady working condition automatically into duty.
Specific as follows:
The laser radar module 3 laser scanning preceding object thing by launching, carries out data acquisition automatic storage extremely vehicle-mounted industrial computer 7 with the frequency set.Laser radar module is a line or multi-line laser radar, store to vehicle-mounted industrial computer with a cloud form output initial data, and can with the use of coagulation hierarchical clustering algorithm, preceding object thing target can be carried out clustering recognition, can tenacious tracking from the minimum target of car fore-and-aft distance with from the minimum obstacle target of car lateral separation.
Lane detection module 2 detects and identifies road surface lane line in real time by its photographic head, and the laboratory vehicle 1 left and right side-play amount relative to lane line and angle are acquired by the sample frequency of setting and are stored to industrial computer.
Lane detection module 2, according to the front video of camera collection and image information, adopts Hough algorithm, identifies lane line, and calculates vehicle relative to left-lane line, the distance of right lane line and angle based on the installation site of photographic head and goniometer；Lane detection module is by CAN by above-mentioned information output extremely vehicle-mounted industrial computer, and information output frequency is not less than 10Hz；Further, this module can also pass through the video information handled by AV terminal or the output of BNC terminal, for the storage of front video recording；
GPS and inertial navigation module include GPS navigation module 4 and inertial navigation module 5；GPS navigation module 4 is passed through the positional information of the sample frequency Real-time Collection laboratory vehicle 1 of setting and stores to industrial computer, inertial navigation module 5 is by sample frequency Real-time Collection laboratory vehicle 1 3-axis acceleration set and three axis angular rate information, and output to industrial computer stores.
GPS and inertial navigation module constitute a subsystem by merging single-chip microcomputer, GPS locating module and inertial navigation (INS) chip, can Real-time Collection state of motion of vehicle information；Output frequency is not less than 50Hz.
Meanwhile, CAN module 9 is attached the oneself state information of Real-time Collection laboratory vehicle 1 by wire, OBD-II interface and vehicle OBD II and stores to industrial computer.CAN module can be passed through to drive and SDK realizes the collection of institute's car CAN message and parsing, gathers data and is directly output to vehicle-mounted industrial computer and stores and apply relative program and process；
Vehicle-mounted industrial computer 7 carries SSD hard disk, possesses the general-purpose interfaces such as LAN interface, bnc interface, CAN interface, serial ports, and supports described device extension；It is capable of the collection to peripheral device information based on above-mentioned interface；Can the simultaneously video of collecting vehicle diatom identification module, laser radar point cloud, CAN information, and carry out data synchronizing storage；The all information with time correlation of this system, all has system clock to provide；When this system carries out data acquisition, necessary information is sent to display module；
Acquisition module 8 monitors the mode of operation of driver and by video storage to industrial computer in real time by its photographic head.Acquisition module 8 is made up of minisize pick-up head and DVR；Minisize pick-up head is installed on the A post of copilot side, and driver's general status is monitored, directly stores the video of collection to DVR；
For monitoring the display module 6 of acquisition state, including a touch display screen, display module 6 can show the duty of each module, and this screen is connected with industrial computer by USB, VGA or HDMI, and industrial computer capture program state can show on a display screen in real time.
It should be appreciated that for those of ordinary skills, it is possible to improved according to the above description or converted, and all these are improved and convert the protection domain that all should belong to claims of the present invention.
Claims (8)
1. an all-purpose road laboratory vehicle platform, described all-purpose road laboratory vehicle platform is arranged on a car as in the vehicle platform of carrier, it is characterised in that including:
Lane detection module, for according to the front video of camera collection and image information, adopting Hough algorithm, identifies lane line, and calculates vehicle relative to left-lane line, the distance of right lane line and angle based on the installation site of photographic head and goniometer；Above-mentioned information is exported to vehicle-mounted industrial computer by Lane detection module by CAN；
Laser radar module, is used for gathering preceding object thing information；
GPS and inertial navigation module, for collection vehicle kinestate；The GPS position information of vehicle, 3-axis acceleration and three axis angular rate information are obtained by GPS/INS blending algorithm；The output of above-mentioned data message is stored to vehicle-mounted industrial computer by this module by CAN；
CAN module, is used for the collection to car CAN message and parsing；
Vehicle-mounted industrial computer, for being received the information of Lane detection module and GPS and inertial navigation module by CAN, and is received laser radar module and CAN module information, and carries out synchronizing storage to the data received；
Acquisition module, is used for monitoring driving cabin state；Minisize pick-up head and DVR composition；Minisize pick-up head is installed on the A post of copilot side, and driver's general status is monitored, directly stores the video of collection to DVR；
Display module, is used for monitoring acquisition state；
Described display module is connected with vehicle-mounted industrial computer.
2. all-purpose road laboratory vehicle platform according to claim 1, it is characterised in that described Lane detection module is embedded system.
3. all-purpose road laboratory vehicle platform according to claim 1, it is characterised in that described GPS and inertial navigation module are merge the subsystem that single-chip microcomputer, GPS locating module and inertial navigation chip are constituted.
4. all-purpose road laboratory vehicle platform according to claim 1, it is characterised in that described display module is for touching display screen, and display module is connected with vehicle-mounted industrial computer by USB, VGA or HDMI.
5. all-purpose road laboratory vehicle platform according to claim 1, it is characterised in that described acquisition module, is made up of minisize pick-up head and DVR；Minisize pick-up head is installed on the A post of copilot side, and driver's general status is monitored, directly stores the video of collection into DVR.
6. all-purpose road laboratory vehicle platform according to claim 1, it is characterised in that described Lane detection module is arranged in driver's cabin centre position above front windshield；Described laser radar module is arranged on air inlet fence centre position；Described CAN module is arranged in car boot；Described vehicle-mounted industrial computer is arranged on car boot, and is fixed on the flat board with vibration-damping function；Described acquisition module is arranged on the A post of copilot side；Described display module is arranged in car back seat or boot.
7. all-purpose road laboratory vehicle platform according to claim 1, it is characterised in that described GPS, inertial navigation module are arranged on vehicle centroid position.
8. all-purpose road laboratory vehicle platform according to claim 1, it is characterised in that described vehicle-mounted industrial computer includes LAN interface, bnc interface, CAN interface and serial ports.
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| CN201610115542.2A CN105741635A (en) | 2016-03-01 | 2016-03-01 | Multifunctional road experiment vehicle platform |
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| CN201610115542.2A CN105741635A (en) | 2016-03-01 | 2016-03-01 | Multifunctional road experiment vehicle platform |
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Cited By (8)
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| CN106291535A (en) * | 2016-07-21 | 2017-01-04 | 触景无限科技（北京）有限公司 | A kind of obstacle detector, robot and obstacle avoidance system |
| CN107089192A (en) * | 2017-03-07 | 2017-08-25 | 吉利汽车研究院（宁波）有限公司 | A kind of real-time road maps instrument display system |
| CN108226951A (en) * | 2017-12-23 | 2018-06-29 | 天津国科嘉业医疗科技发展有限公司 | A kind of quick moving obstacle method for real time tracking based on laser sensor |
| CN109489713A (en) * | 2017-09-12 | 2019-03-19 | 郑州宇通客车股份有限公司 | A kind of automatic recognition system of automobile and its road deterioration extent |
| CN110865394A (en) * | 2019-09-24 | 2020-03-06 | 中国船舶重工集团公司第七0七研究所 | Target classification system based on laser radar data and data processing method thereof |
| CN110864908A (en) * | 2019-11-21 | 2020-03-06 | 中国汽车工程研究院股份有限公司 | Automatic drive car place lane line and gather dolly |
| CN114896168A (en) * | 2022-06-14 | 2022-08-12 | 合众新能源汽车有限公司 | Rapid debugging system, method and memory for automatic driving algorithm development |
| CN114896168B (en) * | 2022-06-14 | 2024-04-30 | 合众新能源汽车股份有限公司 | Quick debugging system, method and memory for automatic driving algorithm development |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106291535A (en) * | 2016-07-21 | 2017-01-04 | 触景无限科技（北京）有限公司 | A kind of obstacle detector, robot and obstacle avoidance system |
| CN106291535B (en) * | 2016-07-21 | 2018-12-28 | 触景无限科技（北京）有限公司 | A kind of obstacle detector, robot and obstacle avoidance system |
| CN107089192A (en) * | 2017-03-07 | 2017-08-25 | 吉利汽车研究院（宁波）有限公司 | A kind of real-time road maps instrument display system |
| CN109489713A (en) * | 2017-09-12 | 2019-03-19 | 郑州宇通客车股份有限公司 | A kind of automatic recognition system of automobile and its road deterioration extent |
| CN108226951A (en) * | 2017-12-23 | 2018-06-29 | 天津国科嘉业医疗科技发展有限公司 | A kind of quick moving obstacle method for real time tracking based on laser sensor |
| CN110865394A (en) * | 2019-09-24 | 2020-03-06 | 中国船舶重工集团公司第七0七研究所 | Target classification system based on laser radar data and data processing method thereof |
| CN110864908A (en) * | 2019-11-21 | 2020-03-06 | 中国汽车工程研究院股份有限公司 | Automatic drive car place lane line and gather dolly |
| CN110864908B (en) * | 2019-11-21 | 2020-10-20 | 中国汽车工程研究院股份有限公司 | Automatic drive car place lane line and gather dolly |
| CN114896168A (en) * | 2022-06-14 | 2022-08-12 | 合众新能源汽车有限公司 | Rapid debugging system, method and memory for automatic driving algorithm development |
| CN114896168B (en) * | 2022-06-14 | 2024-04-30 | 合众新能源汽车股份有限公司 | Quick debugging system, method and memory for automatic driving algorithm development |
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