CN107886798B - Driving skill identification device and method based on driving simulation system - Google Patents
Driving skill identification device and method based on driving simulation system Download PDFInfo
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- CN107886798B CN107886798B CN201711119070.9A CN201711119070A CN107886798B CN 107886798 B CN107886798 B CN 107886798B CN 201711119070 A CN201711119070 A CN 201711119070A CN 107886798 B CN107886798 B CN 107886798B
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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
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Abstract
The invention discloses a driving skill identification device and a method based on a driving simulation system, wherein the identification device comprises a seat, a steering wheel assembly, a pedal assembly, a support, a screen and an industrial personal computer, wherein the steering wheel assembly is fixed on the support, the pedal assembly is assembled below the support, the screen is arranged in front of the steering wheel assembly and the support, the seat is arranged corresponding to the steering wheel assembly, a connecting plate and a bottom plate are arranged below the seat, an electric cylinder is assembled between the top surface of the connecting plate and the bottom of the seat, an electric cylinder is also assembled between the rear side of the connecting plate and the rear end plate of the bottom plate, the electric cylinders are connected with an electric cylinder control system and controlled by the electric cylinder control system to work, and the identification method comprises the following steps: step one, setting a known training set; step two, constructing and solving an optimization problem; step three, judging the driving skill condition of the driver; identifying the driving skill condition of a driver; has the advantages that: the cost is reduced while the driving feeling is simulated appropriately.
Description
Technical Field
The present invention relates to a driving skill identification device and method, and more particularly, to a driving skill identification device and method based on a driving simulation system.
Background
In recent years, with the development of smart cars, research on the driving skills and the driving styles of drivers has been advanced, and many researchers have started to focus on the recognition of the driving skills of drivers. Considering the factors of loss, energy waste, danger and the like of a real vehicle, many scholars begin to explore a driving skill characterization method of a driver based on a driving simulator.
The driving skill identification device based on the driving simulation system can analyze driving data based on the algorithm model on the premise of ensuring enough safety, and then identify the driving skill condition of a driver. At present, a driving skill identification device which can achieve certain identification precision and is realized based on a driving simulation system with a multi-degree-of-freedom dynamic seat and an intelligent algorithm model is not developed, and belongs to a new research and development and innovation highland in the field of automobiles.
Disclosure of Invention
The invention aims to provide a driving skill identification device and a driving skill identification method based on a driving simulation system for identifying the driving skill condition of a driver.
The invention provides a driving skill identification device based on a driving simulation system, which comprises a seat, a steering wheel assembly, a pedal assembly, a support, a screen and an industrial personal computer, wherein the steering wheel assembly is fixed on the support, the pedal assembly is assembled below the support, the screen is arranged in front of the steering wheel assembly and the support, the seat is arranged corresponding to the steering wheel assembly, a connecting plate and a bottom plate are arranged below the seat, an electric cylinder is assembled between the top surface of the connecting plate and the bottom of the seat, an electric cylinder is also assembled between the rear side of the connecting plate and the rear end plate of the bottom plate, the electric cylinders are all connected with an electric cylinder control system and controlled by the electric cylinder control system to work, the steering wheel assembly, the pedal assembly, the screen and the electric cylinder control system are connected with the industrial personal computer, and the steering wheel assembly, the pedal assembly, the screen, the industrial personal, universal wheels are assembled between the bottom surface of the connecting plate and the top surface of the bottom plate.
The top surface of the support is provided with a sound box, the sound box is connected with the industrial personal computer through a USB cable, and the sound box is used for simulating sound in the real driving process.
The steering Wheel assembly is connected with the industrial personal computer through a CAN line, the steering Wheel assembly adopts a SENSO-Wheel steering Wheel assembly, the steering Wheel assembly provides freely programmable and adjustable rigidity, damping and torque, steering feeling experience CAN be realized, a steering Wheel corner sensor is integrated in the steering Wheel assembly, the corner sensor collects a steering Wheel corner signal, and the corner signal is sent to the industrial personal computer in a CAN message mode and is used for a vehicle dynamics model in the industrial personal computer to operate.
The pedal assembly is connected with the industrial personal computer through a USB (universal serial bus) wire, the pedal assembly adopts G29 series pedal components, an accelerator pedal, a brake pedal and a clutch pedal are sequentially arranged from right to left, respective pedal displacement sensors are integrally arranged in the accelerator pedal and the brake pedal, and the displacement sensors acquire corresponding pedal stroke signals and send the pedal stroke signals to the industrial personal computer to be used for running of a vehicle dynamics model in the industrial personal computer.
The screen is an annular screen, the annular screen adopts three NEC NP4100+ mainstream engineering projectors for projection, each projector forms a channel, three channels are generated in a horizontal crossing mode to be spliced and displayed, three VGA computer signals provide display content support, a hardware nonlinear geometric correction technology is adopted between the NEC NP4100+ mainstream engineering projectors of adjacent channels, and finally a good projection effect on the annular screen is achieved.
The electric cylinder control system comprises a PID controller, a D/A card and a servo amplifier, an industrial personal computer generates a speed control instruction and transmits the speed control instruction to the PID controller through a signal line, the PID controller resolves based on a PID algorithm of the PID controller to obtain a speed signal and transmit the speed signal to the D/A card, the D/A card converts the speed signal into a voltage signal and transmits the voltage signal to the servo controller, and the servo controller finally controls the movement of the electric cylinder.
Two groups of four electric cylinders are symmetrically arranged between the top surface of the connecting plate and the bottom of the seat, and two electric cylinders are arranged between the rear side of the connecting plate and the rear end plate of the bottom plate.
Four universal wheels are arranged between the bottom surface of the connecting plate and the top surface of the bottom plate.
A mainboard in an industrial personal computer adopts a porphyry mainboard aimb781, a display card of the industrial personal computer is GTX1070, a CPU of the industrial personal computer is i7, the industrial personal computer is further connected with a display, a driving skill identification system is arranged in the industrial personal computer and is realized based on computer software, specifically related software comprises PanoSim and MATLAB/Simulink, the PanoSim is an automobile virtual simulation platform provided for solving various challenges facing the intelligent technology and product development, test and verification of modern intelligent automobiles and automobiles, the simulation platform can simulate the response of the automobiles to drivers, pavements and aerodynamic input, the Simulink is a visual simulation tool in MATLAB and can realize the functions of dynamic system modeling, simulation and analysis, and the Simulink provides an integrated environment of dynamic system modeling, simulation and comprehensive analysis.
The invention provides a driving skill identification method based on a driving simulation system, which comprises the following steps:
step one, setting a known training set:
T＝{(x1，y1)，...，(xm，ym)}∈(X×Y)m
wherein x isi∈X＝Rn，yi∈Y＝{1，-1}(i＝1，2，...，m)；XiCorresponding to a feature vector, y, representing the driving data of several tested driversiA driving skill label representing a driver, 1 corresponding to an expert driver and-1 corresponding to a new-hand driver;
selecting a proper kernel function K (x, x') and a proper parameter C, and constructing and solving an optimization problem:
wherein alpha isi、αjRepresenting a variable to be updated;
obtaining an optimal solution:
selection of alpha*A positive component of 0 < alphaj *< C, and from this calculate the threshold:
constructing a decision function:
thus, training of the driving skill identification model is completed;
step three, corresponding to a driver with unknown driving skill, judging the driving skill condition of the driver by inputting driving data of the driver which drives under a double-shift working condition and an output value of a decision function, if a value of f (x) of the decision function is 1, considering the driving skill of the driver to be in an expert type, and if a value of f (x) is-1, considering the driving skill of the driver to be in a new hand type;
and step four, when a driver sits on a seat of the simulation driver, the six electric cylinders can do different actions to simulate pitching, rolling and yawing motions generated in the real vehicle driving process, the driver operates a steering wheel and a pedal to drive through a double-line-shifting working condition, and a driving skill identification system analyzes driving data to identify the driving skill condition of the driver, namely a new hand type or an expert type.
The working principle of the invention is as follows:
the six electric cylinders are arranged below the seat in the driving skill identification device, the six electric cylinders simulate the front-back and transverse motion of the vehicle under the control of the electric cylinder control system and the industrial personal computer, so that a driver can generate real driving feeling, and the universal wheels are arranged below the seat, so that the front-back and transverse motion can be better realized.
A steering wheel corner sensor is integrated in the steering wheel assembly, the corner sensor collects steering wheel corner signals, and the corner signals are sent to the industrial personal computer in a CAN message mode and are used for a vehicle dynamics model in the industrial personal computer to run. The electric cylinder control system comprises a PID controller, a D/A card and a servo amplifier, the industrial personal computer generates a speed control instruction and transmits the speed control instruction to the PID controller through a signal line, the PID controller resolves based on a PID algorithm of the PID controller to obtain a speed signal and transmits the speed signal to the D/A card, the D/A card converts the speed signal into a voltage signal and transmits the voltage signal to the servo controller, and the servo controller finally controls the motion of the electric cylinder. A driving skill identification system is arranged in an industrial personal computer and is realized based on computer software, specifically, the related software comprises PanoSim and MATLAB/Simulink, the PanoSim is an automobile virtual simulation platform provided for solving a plurality of challenges facing development, test and verification of intelligent technologies and products of modern intelligent automobiles and automobiles, the simulation platform can simulate the response of the automobiles to drivers, pavements and aerodynamic input, the Simulink is a visual simulation tool in the MATLAB and can realize the functions of dynamic system modeling, simulation and analysis, and the Simulink provides an integrated environment of the dynamic system modeling, simulation and comprehensive analysis. The screen is an annular screen, the annular screen adopts three NEC NP4100+ mainstream engineering projectors for projection, each projector forms a channel, three channels are generated in a horizontal crossing mode to be spliced and displayed, three VGA computer signals provide display content support, a hardware nonlinear geometric correction technology is adopted between the NEC NP4100+ mainstream engineering projectors of adjacent channels, and finally a good projection effect on the annular screen is achieved.
The invention has the beneficial effects that:
according to the driving skill identification device and method based on the driving simulation system, the connection among all components is reliable, and the detection and the maintenance are very convenient; under the condition of reasonable layout based on all components, multi-directional simulation of all motion postures in the real automobile driving process is effectively provided. The driver driving skill identification based on the double-line-shifting working condition is realized. Provides a novel tool means for scientific research and teaching, and reduces the realization cost while realizing the appropriate simulation of driving feeling.
Drawings
FIG. 1 is a schematic view of the overall structure of the device of the present invention.
Fig. 2 is a schematic view of the seat system of the present invention.
Fig. 3 is a schematic diagram of the double-shift line working condition adopted by the present invention.
Fig. 4 is a schematic view of a connection structure of the electric cylinder control system according to the present invention.
1. The device comprises a seat 2, a steering wheel assembly 3, a pedal assembly 4, a support 5, a screen 6, an industrial personal computer 7, a connecting plate 8, a bottom plate 9, an electric cylinder 10, an electric cylinder control system 11, a universal wheel 12, a sound 13, an accelerator pedal 14, a brake pedal 15, a clutch pedal 16 and a display.
Detailed Description
Please refer to fig. 1 to 4:
the invention provides a driving skill identification device based on a driving simulation system, which comprises a seat 1, a steering wheel assembly 2, a pedal assembly 3, a support 4, a screen 5 and an industrial personal computer 6, wherein the steering wheel assembly 2 is fixed on the support 4, the pedal assembly 3 is assembled below the support 4, the screen 5 is arranged in front of the steering wheel assembly 2 and the support 4, the seat 1 is arranged corresponding to the steering wheel assembly 2, a connecting plate 7 and a bottom plate 8 are arranged below the seat 1, an electric cylinder 9 is assembled between the top surface of the connecting plate 7 and the bottom of the seat 1, an electric cylinder 9 is also assembled between the rear side of the connecting plate 7 and the rear end plate of the bottom plate 8, the electric cylinders 9 are all connected with an electric cylinder control system 10 and controlled to work by the electric cylinder control system 10, the steering wheel assembly 2, the pedal assembly 3, the screen 5 and the electric cylinder control system 10 are connected with the industrial personal computer 6, the pedal assembly 3, the screen 5, the industrial personal computer 6 and the electric cylinder control system 10 are all powered by the same power supply, and universal wheels 11 are assembled between the bottom surface of the connecting plate 7 and the top surface of the bottom plate 8.
The top surface of the support 4 is provided with a sound box 12, the sound box 12 is connected with the industrial personal computer 6 through a USB cable, and the sound box 12 is used for simulating sound in the real driving process.
The steering Wheel assembly 2 is connected with the industrial personal computer 6 through a CAN line, the steering Wheel assembly 2 adopts a SENSO-Wheel steering Wheel assembly, the steering Wheel assembly 2 provides freely programmable and adjustable rigidity, damping and torque, steering feeling experience CAN be achieved, a steering Wheel corner sensor is integrated in the steering Wheel assembly 2, the corner sensor collects a steering Wheel corner signal, and the corner signal is sent to the industrial personal computer 6 in a CAN message mode and is used for a vehicle dynamic model in the industrial personal computer 6 to operate.
The pedal assembly 3 is connected with the industrial personal computer 6 through a USB (universal serial bus) wire, the pedal assembly 3 adopts G29 series pedal components, an accelerator pedal 13, a brake pedal 14 and a clutch pedal 15 are sequentially arranged from right to left, respective pedal displacement sensors are integrated in the accelerator pedal 13 and the brake pedal 14, and the displacement sensors acquire corresponding pedal stroke signals and send the pedal stroke signals to the industrial personal computer 6 for the running of a vehicle dynamics model in the industrial personal computer 6.
The screen 5 is an annular screen, the annular screen adopts three NEC NP4100+ mainstream engineering projectors for projection, each projector forms a channel, three channels are generated in a horizontal crossing mode to be spliced and displayed, three VGA computer signals provide display content support, hardware nonlinear geometric correction technology is adopted between the NEC NP4100+ mainstream engineering projectors of adjacent channels, and finally good projection effect on the annular screen is achieved.
The electric cylinder control system 10 comprises a PID controller, a D/A card and a servo amplifier, an industrial personal computer 6 generates a speed control instruction and transmits the speed control instruction to the PID controller through a signal line, the PID controller resolves based on a PID algorithm of the PID controller to obtain a speed signal and transmit the speed signal to the D/A card, the D/A card converts the speed signal into a voltage signal and transmits the voltage signal to the servo controller, and the servo controller finally controls the movement of the electric cylinder 9.
Two groups of four electric cylinders 9 assembled between the top surface of the connecting plate 7 and the bottom of the seat 1 are symmetrically arranged, and two electric cylinders 9 assembled between the rear side of the connecting plate 7 and the rear end plate of the bottom plate 8 are arranged.
Four universal wheels 11 are arranged between the bottom surface of the connecting plate 7 and the top surface of the bottom plate 8.
The main board in the industrial personal computer 6 adopts a porphyry main board aimb781, the display card of the industrial personal computer 6 is GTX1070, the CPU of the industrial personal computer 6 is i7, the industrial personal computer 6 is further connected with a display 16, a driving skill identification system is arranged in the industrial personal computer 6 and is realized based on computer software, the specific related software comprises PanoSim and MATLAB/Simulink, the PanoSim is an automobile virtual simulation platform provided for solving the challenges of modern intelligent automobile and automobile intelligent technology and product development, test and verification, the automobile virtual simulation platform can simulate the response of the automobile to the input of drivers, pavements and aerodynamics, the Simulink is a visual simulation tool in MATLAB and can realize the functions of dynamic system modeling, simulation and analysis, and the Simulink provides an integrated environment of the dynamic system modeling, simulation and comprehensive analysis.
The invention provides a driving skill identification method based on a driving simulation system, which comprises the following steps:
step one, setting a known training set:
T＝{(x1，y1)，...，(xm，ym)}∈(X×Y)m
wherein x isi∈X＝Rn，yi∈Y＝{1，-1}(i＝1，2，...，m)；XiCorresponding driving data, y, representing several tested driversiA driving skill tag representing a driver, 1 corresponding to an expert driver, -1 corresponding to a novice driver, XiIs a feature vector;
selecting a proper kernel function K (x, x') and a proper parameter C, and constructing and solving an optimization problem:
obtaining an optimal solution:
selection of alpha*A positive component of 0 < alphaj *< C, and from this calculate the threshold:
constructing a decision function:
thus, training of the driving skill identification model is completed;
step three, corresponding to a driver with unknown driving skill, judging the driving skill condition of the driver by inputting driving data of the driver which drives under a double-shift working condition and an output value of a decision function, if a value of f (x) of the decision function is 1, considering the driving skill of the driver to be in an expert type, and if a value of f (x) is-1, considering the driving skill of the driver to be in a new hand type;
and step four, when a driver sits on the seat 1 of the simulation driver, the six electric cylinders 9 can do different actions to simulate pitching, rolling and yawing motions generated in the real vehicle driving process, the driver operates a steering wheel and a pedal to drive through a double-line-shifting working condition, and the driving skill identification system analyzes driving data and then identifies the driving skill condition of the driver, namely a new hand type or an expert type.
The working principle of the invention is as follows:
the six electric cylinders 9 are arranged below the seat 1 in the driving skill identification device, the six electric cylinders 9 simulate the front-back and transverse-swing movement of a vehicle under the control of the electric cylinder control system 10 and the industrial personal computer 6, so that a driver can generate real driving feeling, and the universal wheels 11 are arranged below the seat 1, so that the front-back and transverse-swing movement can be better realized.
A steering wheel corner sensor is integrated in the steering wheel assembly 2 and used for collecting steering wheel corner signals, and the corner signals are sent to the industrial personal computer 6 in a CAN message mode and used for a vehicle dynamic model in the industrial personal computer 6 to operate. The pedal assembly 3 is connected with the industrial personal computer 6 through a USB (universal serial bus) wire, an accelerator pedal 13, a brake pedal 14 and a clutch pedal 15 are sequentially arranged from right to left, respective pedal displacement sensors are integrated in the accelerator pedal 13 and the brake pedal 14, corresponding pedal stroke signals acquired by the displacement sensors are sent to the industrial personal computer 6 for a vehicle dynamic model in the industrial personal computer 6 to operate, the electric cylinder control system 10 comprises a PID (proportion integration differentiation) controller, the industrial personal computer 6 generates a speed control command and transmits the speed control command to the PID controller through a signal line, the PID controller resolves based on a PID algorithm to obtain a speed signal and transmits the speed signal to the D/A card, the D/A card converts the speed signal into a voltage signal and transmits the voltage signal to the servo controller, and the servo controller finally controls the motion of the electric cylinder 9. The industrial personal computer 6 is internally provided with a driving skill identification system which is realized based on computer software, the specific related software comprises PanoSim and MATLAB/Simulink, the PanoSim is an automobile virtual simulation platform which is provided for solving the challenges faced by the intelligent technology and product development, test and verification of modern intelligent automobiles and automobiles, the simulation system can simulate the response of the automobile to the input of drivers, pavements and aerodynamics, the Simulink is a visual simulation tool in the MATLAB, the functions of dynamic system modeling, simulation and analysis can be realized, and the Simulink provides an integrated environment of dynamic system modeling, simulation and comprehensive analysis. The screen 5 is an annular screen, the annular screen adopts three NEC NP4100+ mainstream engineering projectors for projection, each projector forms a channel, three channels are generated in a horizontal crossing mode to be spliced and displayed, three VGA computer signals provide display content support, hardware nonlinear geometric correction technology is adopted between the NEC NP4100+ mainstream engineering projectors of adjacent channels, and finally good projection effect on the annular screen is achieved.
Referring to fig. 3, the driving skill identification condition selects a double shift lineAnd (5) working conditions. During the test, each tested driver accelerates the simulated vehicle to 80km/h on the driving simulator, then drives into the tested double-line-shifting road to carry out double-line-shifting driving operation, and the tested driver treads the brake pedal 14 after the vehicle drives out of the double-line-shifting working condition until the vehicle keeps still. The dimensional parameters referred to in the figures are: l is1＝70m，L2＝30m，L3＝20m，L4＝30m，L5＝50m，L6＝4m，L7The dot corresponds to the position of the road stub, which is 3.5 m. In the test, 50 tested drivers (with a male-female ratio of 1: 1) are selected for carrying out double-line-shifting working condition driving data acquisition, the driving skill proficiency of the tested drivers is judged through main and objective evaluation according to the driving age, the driving proficiency and the like of the tested drivers, and finally, the driving skills of the 50 tested drivers are determined to be 28 in expert form and 22 in new hand form. The collected driving data comprises the following components: the average speed of the vehicle, the average acceleration of the vehicle, the standard difference of the turning angle of a steering wheel, the maximum acceleration of the vehicle and the maximum yaw rate of the vehicle are 5 parameters in total and serve as input characteristic parameters of a support vector machine model for identifying the driving skill of a driver.
Claims (1)
1. A driving skill identification method based on a driving simulation system is characterized in that: the method comprises the following steps:
step one, setting a known training set:
T＝{(x1，y1)，...，(xm，ym)}∈(X×Y)m
wherein x isi∈X＝Rn，yi∈Y＝{1，-1}(i＝1，2，...，m)；XiCorresponding to a feature vector, y, representing the driving data of several tested driversiDriving skill tag, y, representing the driveriWhen the value of (A) is 1, y is an expert driveriA value of-1 corresponds to a driver with a new hand;
selecting a proper kernel function K (x, x') and a proper parameter C, and constructing and solving an optimization problem:
wherein alpha isi、αjRepresenting a variable to be updated;
obtaining an optimal solution:
selection of alpha*A positive component of 0 < dj *< C, and from this calculate the threshold:
constructing a decision function:
thus, training of the driving skill identification model is completed;
step three, corresponding to drivers with unknown driving skills, inputting driving data of the drivers who drive the double-lane-shifting working condition, during testing, accelerating the simulated vehicle to 80km/h on a driving simulator by each driver to be tested, driving the vehicle into the tested double-lane-shifting road for double-lane-shifting driving operation, and stepping a brake pedal by the driver to be tested after the vehicle drives out of the double-lane-shifting working condition until the vehicle keeps still; the collected driving data comprises the following components: the average speed of the vehicle, the average acceleration of the vehicle, the standard difference of the turning angle of a steering wheel, the maximum acceleration of the vehicle and the maximum yaw rate of the vehicle are taken as 5 parameters in total to be used as input characteristic parameters of a support vector machine model for identifying the driving skill of a driver; judging the driving skill condition of the driver according to the output value of the decision function, if the value of f (x) of the decision function is 1, considering the driving skill of the driver to be in an expert type, and if the value of f (x) is-1, considering the driving skill of the driver to be in a new hand type;
and step four, when a driver sits on a seat of the simulation driver, the six electric cylinders can do different actions to simulate pitching, rolling and yawing motions generated in the real vehicle driving process, the driver operates a steering wheel and a pedal to drive through a double-line-shifting working condition, and a driving skill identification system analyzes driving data to identify whether the driving skill condition of the driver is novice or expert.
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| CN108961913A (en) * | 2018-09-07 | 2018-12-07 | 天津卡达克数据有限公司 | It is man-machine to drive altogether and unmanned technology and test commercial vehicle intelligent driving simulator |
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| CN206133992U (en) * | 2016-08-29 | 2017-04-26 | 浙江科信文化发展有限公司 | Vehicle simulation driving system |
| CN107067869A (en) * | 2016-12-30 | 2017-08-18 | 李伟男 | A kind of driving simulation system gathered towards driving data |
| CN106597670A (en) * | 2017-02-07 | 2017-04-26 | 钱贝贝 | Virtual reality driving simulation device |
| CN106710358A (en) * | 2017-03-15 | 2017-05-24 | 赵莉莉 | Operation precision simulation-based vehicle highly simulated operation system and model thereof |
| CN207966228U (en) * | 2017-11-14 | 2018-10-12 | 吉林大学 | A kind of novel driving efficiency device for identifying based on automobile driving simulator |
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