CN107871418A - It is a kind of to be used to evaluate the man-machine experiment porch for driving reliability altogether - Google Patents
It is a kind of to be used to evaluate the man-machine experiment porch for driving reliability altogether Download PDFInfo
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- CN107871418A CN107871418A CN201711440380.0A CN201711440380A CN107871418A CN 107871418 A CN107871418 A CN 107871418A CN 201711440380 A CN201711440380 A CN 201711440380A CN 107871418 A CN107871418 A CN 107871418A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
- G09B9/052—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles characterised by provision for recording or measuring trainee's performance
Abstract
It is used to evaluate the present invention relates to one kind man-machine to drive failtests platform altogether, based on Matlab platforms collocation in the market be seen everywhere containing accelerator pedal and brake pedal steering wheel built it is a kind of evaluate it is man-machine drive altogether for experimental system, devise automatic Pilot module and human-computer interaction interface, failure generation and control switch detection module are constructed, a whole set of is formd and man-machine drives failtests method altogether.Compare existing driving simulator and do not possess man-machine the problems such as driving high function, automated driving system fault simulating function, cost, exploitability difference altogether, the present invention have it is simple in construction, easy to operate, be easily installed, dependable performance, price low the advantages of being easy to popularization, and there is good secondary development, there is important application value for the man-machine research for driving reliability altogether.
Description
Technical field
The invention belongs to automatic Pilot simulating experiment technique field, it is more particularly related to which a kind of be used to evaluate
The man-machine experiment porch for driving reliability altogether.
Background technology
With the development of automotive engineering, a unmanned inexorable trend for already turning into automotive field.But to realize
Fully automated driving is to need a process, and automatic driving vehicle before this can not completely disengage people.On the one hand,
Current automatic Pilot technology is ripe not enough, for example perceives the limitation of operative sensor, and also or decision part control is calculated
Method imperfection；On the other hand, the actual roadway experiment data volume of automatic Pilot is also far from enough.It is complete unmanned realizing
Before, automatic driving vehicle is all by the man-machine stage driven altogether.Due to the complexity and reliability and automatic Pilot car of people
The difference of automaticity and reliability, causes man-machine drive altogether to be extremely complex, it is difficult to passes through Simple Theory and calculates and determines
Its reliability, so corresponding man-machine drive experiment altogether and be particularly important, it is necessary to develop the experiment porch of correlation.
Car steering experiment is broadly divided into two kinds of roadway experiment and virtual experimental.In automatic Pilot test phase, vehicle
Reliability is not yet protected, and at this moment if tested on the road of reality, can not only have very big potential safety hazard also
Need to put into substantial amounts of cost.Can be fine using virtual experimental (driver carries out virtual driving experiment on driving simulator)
Ground solves this problem, but existing driving simulator is also without the man-machine function of driving altogether, also former without automated driving system
Hinder the function of simulation, which prevent the man-machine development for driving experiment altogether, have impact on the man-machine exploitation for driving type intelligent vehicle altogether.Therefore, originally
Invention proposition is a kind of to be used for the man-machine people driven altogether in ring Virtual Experiment Platform Based.
The content of the invention
It is proposed by the present invention it is a kind of be used to evaluating it is man-machine drive failtests platform altogether, arranged in pairs or groups market based on Matlab platforms
On be seen everywhere containing accelerator pedal and brake pedal steering wheel built it is a kind of evaluate it is man-machine drive altogether for experimental system, if
Automatic Pilot module and human-computer interaction interface have been counted, failure generation and control switch detection module has been constructed, forms a whole set of
It is man-machine to drive failtests method altogether.Compare existing driving simulator and do not possess and man-machine drive function, automated driving system failure altogether
The problems such as analog functuion, cost are high, exploitability difference, the present invention have it is simple in construction, easy to operate, be easily installed, performance can
Lean on, price low the advantages of being easy to popularization, and there is good secondary development, have for the man-machine research for driving reliability altogether
Important application value.
Technical scheme is as follows：
One kind be used for evaluate it is man-machine drive failtests platform altogether, by virtual scene display screen, equipped with based on Matlab/3D
The PC in animation tool boxes and containing the steering wheel of throttle and brake pedal form；
The display screen：It is virtual in vehicle travel process for being driven with driver visual angle to experiment human pilot displaying
Peripheral path scene；
The steering wheel containing throttle and brake pedal：Button is included on steering wheel, data signal can be sent and be used to drive
Member switches between automatic driving mode and manual drive pattern, while sends driver to PC available under manual drive pattern
The input signal to vehicle performance；
It is described that the PC based on Matlab/3D animation tool boxes is housed：Vehicle is handled for real time execution program
Operation information and driver's input paramete information；By traffic scene module, intelligent vehicle module and driving behavior management module
Composition；Described driving behavior data management module includes data recordin module and collision detection module；Described intelligent vehicle mould
Block includes manual drive module, automatic Pilot module, driving model handover module, dynamics of vehicle module and failure input mould
Block；Described traffic scene module is connected with data recordin module；Described manual drive module and the brake pedal of steering wheel
Signal connects；Described automatic Pilot module is connected with traffic scene module, and the information obtained from traffic scene module is according to setting
Fixed automatic Pilot control algolithm provides control signal；Described automatic Pilot module is connected with failure input module, and event occurs
The direction of output is differentiated by driving model according to the control signal of the fault mode output error set, control signal during barrier
Disk corner and accelerator pedal brake pedal signal input dynamics of vehicle module；The vehicle dynamic model and traffic scene
Module connects, and described driving model handover module is used to switch automatic driving mode and control of the manual drive pattern to vehicle amount
System power, is connected with automatic Pilot module, manual drive module and dynamics of vehicle module；Described data recordin module is used to remember
Record it is man-machine drive vehicle operation data and driver operational data in experimentation altogether, with traffic scene module, failure input mould
Block, manual drive module, collision detection module connection；Described collision detection module is obtained in dynamic virtual scene threedimensional model
Information so as to differentiate whether intelligent vehicle collides, be connected with data recordin module, traffic scene module.
Described traffic scene module includes static virtual scene threedimensional model and dynamic virtual scene threedimensional model, static
Virtual scene threedimensional model includes road, lane line, Sign Board and surrounding enviroment；Dynamic virtual scene threedimensional model includes master
Vehicle, traffic flow and unexpected incidents.Described traffic flow model is made up of GM following-speed models and Gipps lane-change models.
Described failure input module describes the failure behaviour of automated driving system with three-parameter Weibull distribution, and it loses
Effect probability is expressed as：Test start when according to be evenly distributed produce one 0 to 1 between it is random
Number, carries it into failure probability inverse function F-1, the mileage of intelligent vehicle automated driving system failure is simulated, it is total when travelling
Mileage reaches the fare register, judges that automated driving system breaks down, and by changing the parameter of Weibull distribution, can simulate certainly
The different failure behaviour of dynamic control loop.
The workflow of the experiment porch is as follows：
A. test driver and the main vehicle of experiment is driven by steering wheel, accelerator pedal and brake pedal；
B. when testing beginning, this laboratory vehicle is simulated according to the intelligent vehicle failure probability distributions being previously set from the background
The distance travelled that the appearance of automated driving system is failed.
C. driver is tested after vehicle driving stability to switch to vehicle driving model automatically by the button on steering wheel
Driving model, now driver does not control vehicle movement, but the moment remains the monitoring to intelligent vehicle transport condition；
D. unexpected incidents module stochastic simulation crosses pedestrian (event automatic Pilot system of highway during automatic Pilot
System None- identified), it is necessary to which driver needs the control of adapter vehicle.
E. when experiment vehicle traveling total kilometrage reaches the failure fare register simulated in step c, automatic Pilot can not be just
The traveling of vehicle really is controlled, now driver needs the control by steering wheel and accelerator pedal brake pedal again adapter vehicle
System power.
F. the relevant information of driving behavior management module records accident and automated driving system failure occur when
Between and adapter during driver input steering wheel angle, accelerator pedal and brake pedal depth, vehicle driving parameters with
And whether the information such as collided with other vehicles.
The beneficial effects of the present invention are：
1. the present invention has merged manual drive and Function for Automatic Pilot, overcome driving simulator and do not possess and man-machine drive work(altogether
The limitation of energy.
2. the present invention can simulate the man-machine failure behaviour for driving type intelligent vehicle automated driving system altogether.
3. the hardware device of the present invention includes PC, display screen and USB interface accelerator pedal, brake pedal and direction
Disk, it is cheap；3D Animation tool box of the software platform based on Matlab is realized, with Simulink slitless connections, is compiled
Journey is convenient.This allow user by more energy put into it is man-machine drive altogether with failtests sheet, be easy to engineer and
Scientific research personnel uses.
In summary：Perfect in shape and function of the present invention, cost is low, is easy to popularize, and reliability reality is driven altogether for novel intelligent car is man-machine
Test data acquisition and provide a kind of experiment porch conveniently, safely.
Brief description of the drawings
Fig. 1 is that the man-machine of the present invention drives schematic diagram altogether；
Fig. 2 is that the man-machine of the present invention drives virtual experimental system overall framework figure altogether.
Specific implementation method
Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings.
The present invention provide it is a kind of be used to evaluating it is man-machine drive failtests platform altogether, by virtual scene display screen, equipped with base
Formed in the PC in Matlab/3D animation tool boxes and containing the steering wheel of throttle and brake pedal；Described display
Screen：For the virtual peripheral path scene in vehicle travel process to be driven to experiment human pilot displaying with driver visual angle；Institute
The PC stated：Operation program processing vehicle operating information and driver's input paramete information during for Real-time；Described contains
The steering wheel of throttle and brake pedal：Button is included on steering wheel, data signal can be sent and be used for driver in automatic Pilot mould
Switch between formula and manual drive pattern, at the same available under manual drive pattern to PC send driver to vehicle performance
Input signal；It is described to include traffic scene module, intelligent vehicle mould equipped with the PC based on Matlab/3D animation tool boxes
Block and driving behavior management module；The traffic scene module includes static virtual scene and dynamic virtual scene three-dimensional mould
Type, called for automatic Pilot module in 3D Animation tool boxes, while supply data recordin module record information.It is wherein static
Virtual scene mainly includes：Road, lane line, Sign Board and surrounding enviroment；Dynamic virtual scene mainly includes：Main vehicle,
Traffic flow and unexpected incidents.In experimentation in order that driver and intelligent vehicle are in a more real traffic
In environment, so needing to design a kind of traffic flow scene to tally with the actual situation.The traffic flow model of the test platform by
GM following-speed models and Gipps lane-changes model composition.The intelligent vehicle module includes manual drive module, automatic Pilot module, driven
Sail mode switch module, dynamics of vehicle module and failure input module；Described manual drive module is to be based on Matlab
3D Animation tool boxes Joystick Input modules directly read driver and operate steering wheel accelerator pedal brake pedal
Signal；Described automatic Pilot module is given from the information that traffic scene module obtains according to the automatic Pilot control algolithm of setting
Go out control signal, while merge failure input module, if fault-free, then export correct control signal, if breaking down, then
According to the control signal for the fault mode output error being previously set, control signal differentiates the steering wheel of output by driving model
Corner and accelerator pedal brake pedal signal input dynamics of vehicle module, calculate the current vehicle body position ginseng of intelligent vehicle
Number, traffic scene module are shown according to the vehicle body location parameter calculated to update the image of virtual scene；The driving model
Handover module is used to switch control of the automatic driving mode with manual drive pattern to vehicle amount；Described dynamics of vehicle mould
Block is used for simulating the event occurred under intelligent vehicle automatic driving mode using the failure input module described in the five degree of freedom model of automobile
The scene of barrier, and fault-signal is sent to data recordin module；The intelligent vehicle automated driving system failure input module is with three
Parameters of Weibull describes the failure behaviour of automated driving system, and its failure probability is expressed as：
Test start when according to be evenly distributed produce one 0 to 1 between random number, carry it into failure probability inverse function F-1, simulation
Go out the mileage of intelligent vehicle automated driving system failure, when traveling total kilometrage reaches the fare register, judgement automatic Pilot system
System breaks down, and by changing the parameter of Weibull distribution, can simulate the different failure behaviour of automated driving system.It is described to drive
Sail behavioral data management module：Including data recordin module and collision detection module, the data recordin module is used for recorder
Machine drives vehicle operation data and driver operational data in experimentation altogether, and reliability is driven altogether for analysis is man-machine；It is described
Collision detection module obtain the information in dynamic virtual scene threedimensional model and whether collide so as to differentiating intelligent vehicle and will
Signal passes to data recordin module.
It is of the present invention that man-machine to drive mode altogether as shown in Figure 1：During the traveling of intelligent vehicle, automated driving system control
The motion state of vehicle processed.At this moment driver is not controlled directly to vehicle, but can monitor the transport condition of vehicle.It is man-machine common
In the case of driving, when two following situations occur, driver needs to switch to the situation of manual drive to have two by automatic Pilot
Kind：First, when human pilot judges that automatic Pilot breaks down, it is impossible to correctly control the traveling of vehicle, inputted here with failure
Module is simulated；Second, traffic scene its automaticity that automatic Pilot runs into complexity can not be tackled, here with sudden
Event module is simulated.The experimental system of the present invention can be used for simulating it is above-mentioned it is man-machine drive mode altogether, and gather experimental data, this
The experimental system hardware components of invention include PC, display screen, steering wheel equipped with Matlab；The described PC equipped with Matlab
Machine is used for real time execution program processing vehicle operating information and driver's input paramete information；Described display screen is used for drive
The person of sailing visual angle drives the virtual peripheral path scene in vehicle travel process to experiment human pilot displaying；Described steering wheel is adopted
With sieve skill G29 (three big components of steering wheel, pedal and gear row), the row of main vehicle is manipulated under manual drive pattern for driver
Sail；The 3D Animation tool boxes experimental system software section based on Matlab includes traffic scene module, intelligent vehicle
Module and driving behavior management module, include button on described steering wheel, data signal can be sent, by the use of this button as
The switch key of driving model；The threedimensional models such as the road of described traffic scene module, traffic flow, surrounding enviroment are experimental
Need to be established with modeling tools such as 3D max, Catia, MultiGen Creator, threedimensional model will be built up and save as wrl forms
The VR sink modules that file is supplied in 3D Animation tool boxes are called；Described intelligent vehicle module is tested human pilot and driven
The vehicle sailed includes manual drive module, automatic Pilot module, dynamics of vehicle module and failure input module；Described hand
The dynamic module that drives is can to directly read direction using the Joystick Input modules in Matlab 3D Animation tool boxes
The signal of disk accelerator pedal brake pedal, when being failed for automatic Pilot, control of the experiment driver adapter to vehicle；It is described
Automatic Pilot module include the automatic Pilot algorithm of vehicle for needing to test, such as adaptive cruise, track keep, automatic lane-change
Deng；Described dynamics of vehicle module uses existing automobile five degree of freedom model so that the motion appearance of main vehicle in motion
State is substantially close to true car；Described failure input module is used for simulating the field of the failure occurred under intelligent vehicle automatic driving mode
Scape；Described driving behavior management module is used for acquisition and recording experimental data, mainly includes vehicle travel process speed, accelerates
Whether degree, yaw angle, steering wheel angle, the parameter such as depth of accelerator pedal brake pedal and main vehicle occur with nearby vehicle
The detection of collision.
The failure behaviour of automated driving system is described with three-parameter Weibull distribution, its failure probability is expressed as：
Test start when according to be evenly distributed produce one 0 to 1 between random number, by its band
Enter the inverse function F of failure probability-1, simulate the mileage that the intelligent vehicle automated driving system breaks down.When traveling total kilometrage reaches
To the fare register, judge that automated driving system breaks down.By changing the parameter of Weibull distribution, automatic Pilot can be simulated
The different failure behaviour of system.When judging that automated driving system breaks down, then automated driving system can not perceive surrounding
Vehicle, so as to will be travelled according to its desired speed.
It is described it is man-machine drive virtual experimental system overall framework altogether as shown in Fig. 2 be traffic scene module, intelligent vehicle module with
And driving behavior management module composition.Arrow line segment form shows the data transfer between each several part and its submodule in figure.Institute
The traffic scene module stated includes static virtual scene and dynamic virtual scene threedimensional model, in 3D Animation tool boxes
Called for automatic Pilot module, while by data recordin module record information；Described intelligent vehicle module includes manual drive mould
Block, automatic Pilot module, dynamics of vehicle module and failure input module；Described manual drive module is to utilize Matlab
Joystick Input modules in 3D Animation tool boxes directly read the letter of steering wheel, accelerator pedal and brake pedal
Number, and it is converted into vehicle front wheel angle, wheel drive torque, wheel braking moment as vehicle five according to certain ratio
The input of Degrees of Freedom Model；Described failure input module is used for simulating the field of the failure occurred under intelligent vehicle automatic driving mode
Scape, and fault-signal is sent to data recordin module；Friendship of the described automatic Pilot module from 3D Animation tool boxes
The information that logical scene module obtains provides control signal according to the automatic Pilot control algolithm of setting, while merges failure input mould
Block, if fault-free, then correct control signal is exported, it is if breaking down, then defeated according to the fault mode being previously set
The control signal to make mistake, control signal differentiate that the steering wheel angle exported and accelerator pedal and braking are stepped on by driving model
Partitioned signal inputs dynamics of vehicle module, calculates the current vehicle body location parameter of intelligent vehicle, traffic scene module is according to calculating
The vehicle body location parameter gone out shows to update the image of virtual scene；Described dynamics of vehicle module uses existing automobile five
Degrees of Freedom Model；Described driving behavior management module includes data recordin module and collision detection module, described collision inspection
Survey module and obtain whether the information in dynamic virtual scene threedimensional model collides so as to differentiating intelligent vehicle and transmit signal
To data recordin module.
When system works, automatic Pilot module obtains the information of virtual traffic scene, mainly including static virtual scene
The information such as the position of the positional information of each object and each object of dynamic scene, speed, acceleration.Automatic Pilot module according to
The information of acquisition provides control signal according to the automatic Pilot control algolithm of setting, while merges failure input module, if nothing
Failure, then correct control signal is exported, if breaking down, then according to the control for the fault mode output error being previously set
Signal processed.Driving model differentiated according to current driving model to choose current main car control signal, if automatic driving mode,
The control signal that is exported of automatic Pilot module is then chosen, if the control signal of manual drive then selected directions disk.It will drive
The steering wheel angle and accelerator pedal and brake pedal signal input vehicle dynamic model of pattern discrimination output, calculate intelligence
Can car current lateral attitude, lengthwise position and yaw angle.Virtual scene updates according to the vehicle body location parameter calculated
The image of virtual scene is shown.The position of the objects such as main vehicle, traffic flow in collision detection module acquisition dynamic virtual scene
Information is so as to differentiating whether intelligent vehicle collides.The information of each object in each emulation step of data recordin module record, mainly
Including：Position, speed, acceleration, yaw angle and the driving model of intelligent vehicle, the corner of steering wheel, accelerator pedal braking are stepped on
The signal value of plate.Man-machine reliability of driving altogether can be evaluated by the analysis to experimental data.
Claims (4)
1. one kind is used to evaluate man-machine to drive failtests platform altogether, it is characterised in that：By virtual scene display screen, equipped with based on
The PC in Matlab/3D animation tool boxes and containing the steering wheel of throttle and brake pedal form；
Described display screen：For the virtual week in vehicle travel process to be driven to experiment human pilot displaying with driver visual angle
Side road scene；
The described steering wheel containing throttle and brake pedal：Button is included on steering wheel, data signal can be sent and be used for driver
Switch between automatic driving mode and manual drive pattern, while send driver's to PC available under manual drive pattern
To the input signal of vehicle performance；
Described is equipped with the PC based on Matlab/3D animation tool boxes：For real time execution program processing vehicle fortune
Row information and driver's input paramete information, include traffic scene module, intelligent vehicle module and driving behavior management module；
Described driving behavior data management module includes data recordin module and collision detection module；Described intelligent vehicle module includes
Manual drive module, automatic Pilot module, driving model handover module, dynamics of vehicle module and failure input module；Institute
The traffic scene module stated is connected with data recordin module；Described manual drive module and the brake pedal signal of steering wheel connect
Connect；Described automatic Pilot module is connected with traffic scene module, from the information that traffic scene module obtains according to setting from
Dynamic Driving control algorithm provides control signal；Described automatic Pilot module is connected with failure input module, when breaking down by
According to the control signal of the fault mode output error set, control signal differentiates the steering wheel angle of output by driving model
And accelerator pedal brake pedal signal input dynamics of vehicle module；The vehicle dynamic model connects with traffic scene module
Connecing, described driving model handover module is used to switch control of the automatic driving mode with manual drive pattern to vehicle amount,
It is connected with automatic Pilot module, manual drive module and dynamics of vehicle module；Described data recordin module is used for recorder
Machine drives vehicle operation data and driver operational data in experimentation altogether, and module, hand occurs with traffic scene module, failure
It is dynamic to drive module, collision detection module connection；Described collision detection module obtains the letter in dynamic virtual scene threedimensional model
Breath is connected so as to differentiate whether intelligent vehicle collides with data recordin module, traffic scene module.
2. it is as claimed in claim 1 a kind of be used to evaluating man-machine drive failtests platform altogether, it is characterised in that：Described friendship
Logical scene module includes static virtual scene threedimensional model and dynamic virtual scene threedimensional model, static virtual scene threedimensional model
Including road, lane line, Sign Board and surrounding enviroment；Dynamic virtual scene threedimensional model include main vehicle, traffic flow and
Unexpected incidents.
3. it is as claimed in claim 1 a kind of be used to evaluating man-machine drive failtests platform altogether, it is characterised in that：Described friendship
Through-flow model is made up of GM following-speed models and Gipps lane-change models.
4. it is as claimed in claim 1 a kind of be used to evaluating man-machine drive failtests platform altogether, it is characterised in that：Described event
Barrier input module describes the failure behaviour of automated driving system with three-parameter Weibull distribution, and its failure probability is expressed as：Test start when according to be evenly distributed produce one 0 to 1 between random number, carry it into failure
Probability inverse function F-1, the mileage of intelligent vehicle automated driving system failure is simulated, reaches the mileage when travelling total kilometrage
When, judge that automated driving system breaks down, by changing the parameter of Weibull distribution, automated driving system difference can be simulated
Failure behaviour.
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| CN108725453A (en) * | 2018-06-11 | 2018-11-02 | 南京航空航天大学 | Control system and its switch mode are driven altogether based on pilot model and manipulation the man-machine of inverse dynamics |
| CN108875640A (en) * | 2018-06-20 | 2018-11-23 | 长安大学 | A kind of end-to-end unsupervised scene can traffic areas cognitive ability test method |
| CN110633905A (en) * | 2019-09-06 | 2019-12-31 | 武汉理工大学 | Reliability calculation method for cloud platform of intelligent vehicle |
| CN110673590A (en) * | 2019-10-21 | 2020-01-10 | 安徽江淮汽车集团股份有限公司 | Method, device and equipment for judging reliability of automatic driving system and storage medium |
| CN111123730A (en) * | 2018-10-31 | 2020-05-08 | 百度在线网络技术（北京）有限公司 | Unmanned driving fault simulation method, device, equipment and computer readable medium |
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| CN112924185A (en) * | 2021-01-22 | 2021-06-08 | 大连理工大学 | Human-computer co-driving test method based on digital twin virtual-real interaction technology |
| CN112924185B (en) * | 2021-01-22 | 2021-11-30 | 大连理工大学 | Human-computer co-driving test method based on digital twin virtual-real interaction technology |
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| CN114384900A (en) * | 2021-12-09 | 2022-04-22 | 武汉理工大学 | Autonomous ship navigation driving method and device on inland water surface and storage medium |
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