CN107807542A - Automatic Pilot analogue system - Google Patents
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- CN107807542A CN107807542A CN201711139905.7A CN201711139905A CN107807542A CN 107807542 A CN107807542 A CN 107807542A CN 201711139905 A CN201711139905 A CN 201711139905A CN 107807542 A CN107807542 A CN 107807542A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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Abstract
This disclosure relates to a kind of automatic Pilot analogue system, the system include：Running environment emulation module, vehicle power emulation module, control module, the vehicle power emulation module are used to provide emulation vehicle；The running environment emulation module is used for the running environment that emulation is provided for the emulation vehicle, and simulated sensor is provided for the emulation vehicle, the simulated sensor is used to detect emulation vehicle caused transducing signal during the running environment downward driving of the emulation；The control module is used to, according to the transducing signal, generate control instruction；The vehicle power emulation module is used to perform the control instruction, to control traveling of the emulation vehicle under the running environment of the emulation.By such scheme, the testing cost of automatic Pilot is reduced, fully exploitation is realized and tests the technique effect of automatic Pilot, the assessment to automatic Pilot is more comprehensive.
Description
Technical field
This disclosure relates to automobile technical field, in particular it relates to a kind of automatic Pilot analogue system.
Background technology
Autonomous driving vehicle is that one kind realizes unpiloted intelligent automobile by computer system, can be brought to the mankind all
Traffic accident is such as reduced, traffic congestion is reduced, saves the energy, allows people to possess many benefits of more free times, is not
Carry out the developing direction of automobile.
In the development process of autonomous driving vehicle, it is necessary to using corresponding test system to the performance of automatic driving vehicle
Assessed and tested.Test in correlation technique to automatic driving vehicle is tested usually using actual vehicle, cost
It is higher, and easily limited by road test scene and traffic environment, therefore automatic driving vehicle can not be tested comprehensively
Performance.
The content of the invention
To overcome problem present in correlation technique, the disclosure provides a kind of automatic Pilot analogue system, the system bag
Include：
Running environment emulation module, vehicle power emulation module, control module；
The vehicle power emulation module is used to provide emulation vehicle；
The running environment emulation module is used for the running environment that emulation is provided for the emulation vehicle, and is imitated to be described
True vehicle provides simulated sensor, and the simulated sensor is used to detect the emulation vehicle under the running environment of the emulation
Caused transducing signal during traveling；
The control module is used to, according to the transducing signal, generate control instruction；
The vehicle power emulation module is used to perform the control instruction, to control the emulation vehicle in the emulation
Running environment under traveling.
Alternatively, the running environment emulation module includes：
Road simulation submodule, for according to road parameters, establishing road model；
Traffic environment emulates submodule, for according to traffic environment parameter, establishing traffic environment model；
Weather emulates submodule, for according to weather parameters, establishing synoptic model；
Sensor Simulation submodule, for according to sensor parameters, establishing sensor model.
Alternatively, the system also includes：
Data import modul, it is connected with the running environment emulation module, for the data or predetermined number for inputting user
The running environment emulation module is imported according to the data in storehouse.
Alternatively, the sensor model include it is following one or more：Image head model, laser radar model, millimeter
Ripple radar mockup, location navigation model.
Alternatively, the system also includes：
Transducing signal identification module, it is arranged between the running environment emulation module and the control module, for root
According to the transducing signal, one or more of information is determined：The positional information of the emulation vehicle, the row of the emulation vehicle
Car parameter information, the positional information of other vehicles of the emulation vehicle periphery, the traffic parameter information of other vehicles, institute
State the road information of emulation vehicle current driving；
The control module is used to, according to one or more information, generate control instruction.
Alternatively, the emulation vehicle includes one or more of model：Vehicle body dynamic property model, engine thermodynamics
Model, engine mockup, tire model, PWTN model, brake system model, cooling system model, electrical system mould
Type.
Alternatively, the running environment emulation module is entered with the vehicle power emulation module by way of shared drive
Row associative simulation, to emulate the process that the emulation vehicle travels in the environment of the emulation.
Alternatively, the control module is connected with the vehicle power emulation module, for being imitated by the vehicle power
True module determines the dynamics of the emulation vehicle；
The control module is used for the dynamics according to the transducing signal and the emulation vehicle, described in generation
Control instruction.
Alternatively, the running environment emulation module and vehicle power emulation module configuration are in simulation computer system
On system.
Alternatively, the system time of the simulation computer system, the running environment for emulating vehicle in the emulation
The simulation time of downward driving is synchronous with the actual time of real world.
Technical scheme in the disclosure, provide the running environment of emulation by running environment emulation module and emulation senses
Device, emulation vehicle is provided by vehicle power emulation module, simulate the emulation vehicle under the running environment of the emulation
Traveling process, and the transducing signal during the traveling is detected by the simulated sensor, control module is according to the sensing
Signal generation control instruction, according to the transport condition of the control instruction control emulation vehicle.It can be seen that the side in the disclosure
Case being capable of traveling process of the analog simulation vehicle in running environment, and control emulation vehicle in real time according to transducing signal completely
Transport condition, on the one hand saved cost, on the other hand can realize fully exploitation and test automatic Pilot technique effect,
Assessment to automatic Pilot is more comprehensive.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool
Body embodiment is used to explain the disclosure together, but does not form the limitation to the disclosure.In the accompanying drawings：
Fig. 1 is a kind of schematic diagram of automatic Pilot analogue system shown in the exemplary embodiment of the disclosure one.
Fig. 2 is a kind of schematic diagram of automatic Pilot analogue system shown in disclosure another exemplary embodiment.
Embodiment
The embodiment of the disclosure is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explained the disclosure, is not limited to the disclosure.
As shown in figure 1, be a kind of automatic Pilot analogue system shown in the exemplary embodiment of the disclosure one, the system bag
Include：
Running environment emulation module 11, vehicle power emulation module 12, control module 13；
Vehicle power emulation module 12 is used to provide emulation vehicle；
Running environment emulation module 11 is used for the running environment that emulation is provided for the emulation vehicle, and is the emulation
Vehicle provides simulated sensor, and the simulated sensor is descending in the running environment of the emulation for detecting the emulation vehicle
Caused transducing signal during sailing；
Control module 13 is used to, according to the transducing signal, generate control instruction；
Vehicle power emulation module 12 is used to perform the control instruction, to control the emulation vehicle in the emulation
Traveling under running environment.
In the disclosure, running environment emulation module 11 can provide the running environment of a variety of emulation, including to true ring
The running environment and user-defined emulation running environment that border is emulated.The structure of the running environment of emulation can pass through
The mode of manual creation is built, and can also be built, can also built by other means by way of data importing,
The disclosure does not limit.The running environment of the emulation can include：Traffic route, surrounding vehicles, pedestrian, geographical environment, friendship
Logical mark, signal lamp, weather, roadside buildings etc..
In order to simulate various traffic scenes, the vehicle traveling under various scenes is rationally controlled, running environment
Emulation module 11 is also equipped with traffic operating mode simulation capacity, for example, generation stochastic traffic stream, triggering traffic events etc..In a reality
Apply in example, running environment emulation module 11 can simulate the scene of traffic congestion.In another embodiment, running environment emulation mould
Block 11 can be with simulating vehicle rear crash event.
In addition, running environment emulation module 11 can also provide simulated sensor for the emulation vehicle, the emulation passes
Sensor can include the sensor emulated to actual sensor, and user-defined simulated sensor, emulation sensing
The type of device can be configured according to being actually needed.
Vehicle power emulation module 12 can provide the emulation vehicle of semi physical parametrization, on the one hand can will emulate vehicle
Visualization, make the traveling process of the emulation vehicle more vivid, on the one hand can obtain the vehicle parameter of the emulation vehicle,
To analyze the transport condition of the emulation vehicle.
In the disclosure, when the emulation vehicle is placed in the running environment of the emulation, the simulated sensor is real-time
Transducing signal is gathered, to perceive the running environment of the transport condition of the emulation vehicle and the emulation vehicle.Control module
13 according to transducing signal, and the operation for needing to carry out to the emulation vehicle carries out decision-making, generates control instruction, control instruction
Vehicle longitudinal control parameter and vehicle lateral control parameter can be included, vehicle longitudinal control parameter can include braking ginseng
Number, acceleration parameter etc., crosswise joint parameter can be including turn around parameters etc..Vehicle power emulation module 12 performs the control
Instruction, to complete the traveling under the running environment of the emulation.
In one embodiment, the environment of the emulation includes straight-line travelling road, is arranged on straight-line travelling road
Crossroad, the traffic lights at the parting of the ways are set.The emulation vehicle carries out straight-line travelling on the straight-line travelling road,
The simulated sensor includes the vehicle-mounted camera sensor being arranged on the emulation vehicle, laser radar sensor, positioning
Navigation sensor.During the traveling of the emulation vehicle, the image of the camera sensing device collection emulation vehicle periphery
Signal, laser radar sensor are used for detecting emulation the distance between the vehicle and other objects, and location navigation sensor is used
To obtain the position signalling of the emulation vehicle.Control module 13 is used for the transducing signal according to above-mentioned simulated sensor, generation
Control instruction.For example, when the image that camera sensing device collects shows that the red light of traffic lights lights, laser radar sensor is examined
Measure the emulation vehicle front and barrier is not present, location navigation sensor detects that the positional distance of the emulation vehicle stops
Fare 10m, then the control instruction stopped after the generation of the control module 13 control emulation vehicle continuation straight-line travelling 10m, and will
The control instruction is sent to vehicle power emulation module 12, so that the emulation vehicle performs the control instruction.
It should be understood that the simulated sensor is real-time acquisition transducing signal, control module 13 is entered to transducing signal
Row processing, control instruction is generated to adjust the traveling of the emulation vehicle in real time.In addition, vehicle power emulation module 12 and control
Module 13 can be connected by wired or wireless mode, be such as attached by cable, connected by way of Ethernet, this
It is open not limit.
Alternatively, running environment emulation module 11 includes：
Road simulation submodule, for according to road parameters, establishing road model；
Traffic environment emulates submodule, for according to traffic environment parameter, establishing traffic environment model；
Weather emulates submodule, for according to weather parameters, establishing synoptic model；
Sensor Simulation submodule, for according to sensor parameters, establishing sensor model.
In the disclosure, road simulation submodule, different kinds of roads model, road can be established according to different road parameters
Road model includes but is not limited to following several：Track model, crossing model, rotary island model, ramp model, ring road model.In addition,
Road simulation submodule can also be configured to the parameter of road model, such as length, the gradient, bending, ground friction.
Traffic environment emulates submodule, can establish various traffic environment models according to different traffic environment parameters, hands over
Logical environmental model includes but is not limited to following several：Roadside buildings model, tunnel model, bridge model, identification model.Traffic ring
Border emulation submodule can also be configured to the parameter of traffic environment model, such as length, ground friction, light.
Weather emulates submodule, can establish various synoptic models according to different weather parameters, synoptic model include but
It is not limited to following several：Wind model, rain model, snow model, more cloud models, mist model.Weather emulation submodule can also be to day
The parameter of gas model is configured, such as the wind speed in wind model, grade, the rainfall grade of rain model etc..
It should be understood that the road model, the traffic environment model, the synoptic model can be according to the emulation
The passage of the running time of vehicle changes, for example, road model can be as the traveling of emulation vehicle be by linear road mould
The gradual transition of type is detour model, and the synoptic model can switch to rain model etc. by more cloud models.It can be seen that the side in the disclosure
Case can provide diversified simulated environment, realize the complete detection to automatic Pilot.
Running environment emulation module 11 also includes sensor Simulation submodule, for according to different sensor parameters, building
Stand various sensor models, the sensor model include it is following one or more：Image head model, laser radar model, milli
Metre wave radar model, location navigation model.
Imaging head model can be with the image of gathering simulation vehicle running environment, for example, track line image, road markings figure
Picture, surrounding vehicles image etc..Laser radar model can by launch emulated described in detecting laser beam vehicle and other objects it
Between distance.Millimetre-wave radar model can by launch electromagnetic wave determine it is described emulation vehicle and other objects between away from
From.Location navigation model can gather the positional information of the emulation vehicle.Certainly, except above-mentioned model, sensor Simulation
Module can also establish other models, for example, inertia measurement sensor, vehicle body sensor etc., are not just illustrated one by one here.
Alternatively, the system also includes：Data import modul, it is connected with running environment emulation module 11, for that will use
Data in the data or reservations database of family input import running environment emulation module 11.
, can be by data import modul by real map datum in order to be emulated to true environment in the disclosure
It imported into running environment emulation module 11.In addition, automatic Pilot analogue system is also provided with reservations database, predetermined number
According to default environmental model is stored with storehouse, user can Environment model be led in reservations database as needed
Enter.Running environment emulation module 11 can also combine true environment with virtual simulated environment, in one embodiment,
Real map datum is imported by data import modul, establishes real emulation running environment, meanwhile, real
The environmental model increased in running environment in reservations database is emulated, as increased the synoptic model in reservations database, with simulation
Travel conditions under different weather state.
Alternatively, as shown in Fig. 2 the system also includes：Transducing signal identification module 21, it is arranged on running environment emulation
Between module 11 and control module 13, for according to the transducing signal, determining one or more of information：The emulation car
Positional information, it is described emulation vehicle traffic parameter information, it is described emulation vehicle periphery other vehicles positional information,
The traffic parameter information of other vehicles, the road information of the emulation vehicle current driving；Control module 13 is used for basis
One or more information, generate control instruction.
In the disclosure, transducing signal identification module 21 can pass through wired or wireless side with running environment emulation module 11
Formula connects, the transducing signal collected for receiving the simulated sensor.In one embodiment, transducing signal identification module
21 can pre-process to transducing signal, filter out garbage signal.Due to the transducing signal be using the coordinate of sensor as
The signal that basis obtains, therefore, it is necessary to transducing signal progress Coordinate Conversion, be converted to signal corresponding with bodywork reference frame.
For the various transducing signals of integrated treatment, the transport condition of emulation vehicle is accurately determined, transducing signal identification module 21 can be with
Determine that attribute identical signal is merged in each transducing signal after Coordinate Conversion.For example, transducing signal includes shooting
The picture signal of head sensor collection, the distance signal that laser radar collects, wherein, show the emulation car in picture signal
Front a barrier be present, distance signal shows that the emulation vehicle front 5m places have a barrier, therefore, can general
The picture signal is merged with distance signal, determines the specifying information of the barrier jointly.
Pass through the identifying processing to transducing signal, it may be determined that following information：The positional information of the emulation vehicle, it is described
Emulate the traffic parameter information of vehicle, the positional information of other vehicles of the emulation vehicle periphery, the row of other vehicles
Car parameter information, the road information of the emulation vehicle current driving.By above- mentioned information, the emulation can be accurately obtained
The driving cycle of vehicle.
Control module 13 is used to according to above- mentioned information, determine that the emulation vehicle needs the reflection operation taken, generation control
System instruction.In one embodiment, control module 13 can be according to traffic parameter information, the positional information of vehicle, road information
With the corresponding relation of default reflection operation, determine that the emulation vehicle needs the operation taken.In another embodiment, depth is passed through
The mode of degree study establishes decision model, and control module 13 can determine that the emulation vehicle needs to take according to the decision model
Reflection operation.
Alternatively, the emulation vehicle includes one or more of model：Vehicle body dynamic property model, engine thermodynamics
Model, engine mockup, tire model, PWTN model, brake system model, cooling system model, electrical system mould
Type.
In the disclosure, vehicle power emulation module 12 can establish the vehicle body dynamic property model of semi physical parametrization, establish
The engine thermodynamics model consistent with actual internal combustion engine structure, establish and be based on tabling look-up come estimating engine torque and fuel consumption
Engine mockup, foundation can realize side force of tire under accurate simulation stable state, unsteady drying, longitudinal force, aligning torque,
The tire model of the functions such as the change of rolling resistance, establish successively from engine, clutch, gearbox, differential mechanism, drive shaft to car
The PWTN model of the traveling moment of torsion of wheel, and establish the models such as brakes, cooling system and electrical system.Certainly,
Except model above, vehicle power emulation module 12 can also establish other models as needed, just no longer schematically illustrate here.
Alternatively, running environment emulation module 11 is joined with vehicle power emulation module 12 by way of shared drive
Emulation is closed, to emulate the process that the emulation vehicle travels in the environment of the emulation.
In the disclosure, running environment emulation module 11 can deposit the model each established with vehicle power emulation module 12
Into shared drive, vehicle power emulation module 12 uses traveling without self-built road model by way of shared drive for storage
The running environment for the emulation that environmental simulation module 11 provides, realizes associative simulation.
Alternatively, control module 13 is connected with vehicle power emulation module 12, for passing through vehicle power emulation module 12
Determine the dynamics of the emulation vehicle；Control module 13 is used for according to the transducing signal and the emulation vehicle
Dynamics, generate the control instruction.
In the disclosure, emulating the dynamics of vehicle includes emulating the drive characteristic of vehicle, braking characteristic, power set
Characteristic, the lateral dynamics characteristic of tire, the Vertical Dynamic characteristic of tire, the Longitudinal Dynamical Characteristics etc. of tire.Controlling
After molding block 13 determines the reflection operation that the emulation vehicle needs are taken according to the transducing signal, generation meets the emulation
The control instruction of vehicle dynamics characteristics, so that the emulation vehicle is able to carry out the control instruction.
Alternatively, as shown in Fig. 2 running environment emulation module 11 and vehicle power emulation module 12 are configured in emulation meter
In calculation machine system.In one embodiment, the simulation computer system can will be integrated with high-performance multiprocessor/multi-core
The computer of piece group is configured with multilevel cache and high-speed internal memory as application vector.Certainly, simulation computer system
Concrete configuration can be configured according to being actually needed, and the disclosure does not limit.
Alternatively, the system time of the simulation computer system, the running environment for emulating vehicle in the emulation
The simulation time of downward driving is synchronous with the actual time of real world.
In the disclosure, the automatic Pilot analogue system is the time of real-time emulation system, i.e. simulation computer system
Engineer's scale, the time scale factor of the running environment downward driving of the emulation vehicle in the emulation are identical, and and real world
Actual time it is identical.Real-time simulation can be realized by real-time simulation computer, real time algorithm, or by other means
To realize.In one embodiment, the simulation computer system can be real-time simulation computer system, be configured with independently of
Mainboard, high-precision real-time clock hardware device, support no less than in 8 RTC clocks, no less than 12 extension triggering inputs
Disconnected, no less than 12 extension triggering outputs are interrupted, synchronous for local multi-task scheduling and distributing emulation system, described imitative
The scheduler that genuine computer system is also based on real-time clock carries out Real-Time Scheduling to multi-model, can also use super real-time mode
Scheduling method mathematical simulation is carried out to multi-model, realize the seamless switching of mathematical simulation and HWIL simulation.
Alternatively, the automatic Pilot analogue system in the disclosure can also include display module, for showing the emulation
Traveling process of the vehicle under the running environment of the emulation.
The preferred embodiment of the disclosure is described in detail above in association with accompanying drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical scheme of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, it can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought, it should equally be considered as disclosure disclosure of that.
Claims (10)
1. a kind of automatic Pilot analogue system, it is characterised in that the system includes：
Running environment emulation module, vehicle power emulation module, control module；
The vehicle power emulation module is used to provide emulation vehicle；
The running environment emulation module is used for the running environment that emulation is provided for the emulation vehicle, and is the emulation car
Provide simulated sensor, the simulated sensor be used for detect it is described emulation vehicle the emulation running environment downward driving
During caused transducing signal；
The control module is used to, according to the transducing signal, generate control instruction；
The vehicle power emulation module is used to perform the control instruction, to control the emulation vehicle in the row of the emulation
Sail the traveling under environment.
2. system according to claim 1, it is characterised in that the running environment emulation module includes：
Road simulation submodule, for according to road parameters, establishing road model；
Traffic environment emulates submodule, for according to traffic environment parameter, establishing traffic environment model；
Weather emulates submodule, for according to weather parameters, establishing synoptic model；
Sensor Simulation submodule, for according to sensor parameters, establishing sensor model.
3. system according to claim 2, it is characterised in that the system also includes：
Data import modul, it is connected with the running environment emulation module, for the data or reservations database for inputting user
In data import the running environment emulation module.
4. system according to claim 2, it is characterised in that the sensor model include it is following one or more：Take the photograph
As head model, laser radar model, millimetre-wave radar model, location navigation model.
5. system according to claim 1, it is characterised in that the system also includes：
Transducing signal identification module, it is arranged between the running environment emulation module and the control module, for according to institute
Transducing signal is stated, determines one or more of information：The positional information of the emulation vehicle, the driving ginseng of the emulation vehicle
Number information, the positional information of other vehicles of the emulation vehicle periphery, the traffic parameter information of other vehicles are described imitative
The road information of true vehicle current driving；
The control module is used to, according to one or more information, generate control instruction.
6. system according to claim 1, it is characterised in that the emulation vehicle includes one or more of model：
Vehicle body dynamic property model, engine thermodynamics model, engine mockup, tire model, PWTN model, brakes mould
Type, cooling system model, electrical system model.
7. system according to claim 1, it is characterised in that the running environment emulation module is imitated with the vehicle power
True module carries out associative simulation by way of shared drive, is travelled with emulating the emulation vehicle in the environment of the emulation
Process.
8. system according to claim 1, it is characterised in that the control module and the vehicle power emulation module phase
Even, for determining the dynamics for emulating vehicle by the vehicle power emulation module；
The control module is used for the dynamics according to the transducing signal and the emulation vehicle, generates the control
Instruction.
9. system according to claim 1, it is characterised in that the running environment emulation module and the vehicle power
Emulation module is configured in simulation computer system.
10. system according to claim 9, it is characterised in that the system time of the simulation computer system, described imitative
True vehicle is synchronous with the actual time of real world in the simulation time of the running environment downward driving of the emulation.
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| CN112651132B (en) * | 2020-12-29 | 2022-02-11 | 清华大学苏州汽车研究院（相城） | Expected function safety risk assessment method for misoperation of automatic driving vehicle |
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