CN108766096A - A kind of automatic Pilot human-computer interaction emulation test system based on driving simulator - Google Patents
A kind of automatic Pilot human-computer interaction emulation test system based on driving simulator Download PDFInfo
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- CN108766096A CN108766096A CN201810233196.7A CN201810233196A CN108766096A CN 108766096 A CN108766096 A CN 108766096A CN 201810233196 A CN201810233196 A CN 201810233196A CN 108766096 A CN108766096 A CN 108766096A
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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
- G09B9/05—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles the view from a vehicle being simulated
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Abstract
The present invention relates to intelligent automobile automatic Pilot technical fields,Refer in particular to a kind of automatic Pilot human-computer interaction emulation test system based on driving simulator,Cockpit is manipulated including automobile driving simulator,Computer end data acquisition module,Computer end drive simulation simulation software,Drive simulating scene shows equipment,Computer end Function for Automatic Pilot analog module,Programmable touch screen human-computer interaction interface and computer end auto-manual handover module,The output end of automobile driving simulator manipulation cockpit is connected to the input terminal of computer end data acquisition module by CAN controller,The output end of computer end data acquisition module is connected to the input terminal of computer end drive simulation simulation software,The output end one of computer end drive simulation simulation software is connected to drive simulating scene and shows equipment,The output end two of computer end drive simulation simulation software is connected to computer end Function for Automatic Pilot analog module by control module,And control module is connected to programmable touch screen human-computer interaction interface by CAN controller.
Description
Technical field
The present invention relates to intelligent automobile automatic Pilot technical fields, refer in particular to a kind of automatic Pilot people based on driving simulator
System is tested in machine interactive simulation.
Background technology
Autonomous driving vehicle (Autonomous Vehicles) is to realize unpiloted intelligence by computerized control system
The tier definition of automatic Pilot is L0-L5 grades by automobile, SAE (AIAE American institute of automobile engineers), and L0 ranks are completely manual drive
It sails；L1 ranks are that auxiliary drives, such as adaptive cruise (ACC), autobrake system (AEB), Lane Keeping System etc.；L2
Grade is partial automation, i.e. vehicle learner driver is accustomed to, and realizes part autonomous control acceleration and deceleration and steering；L3 ranks are to have item
Part automatic Pilot can realize monitoring road and environment and adjust speed and spacing, and drive on the basis of partial automation
The person of sailing being capable of take over vehicle at any time；L4 grades be advanced automatic Pilot, i.e., on the basis of L3 grades, system can to accident into
Row certain judgement and processing, can also ensure traffic safety well in the case where driver has little time reaction；L5 grades are complete
Automatic Pilot can carry out automatic Pilot in the place that anyone can drive.Intelligent automobile on the market has been accomplished at present
Automatic Pilot of L2 ranks, such as tesla model X, Audi Q7, Volvo XC90 etc., the current newest model of tesla
Vehicle has accomplished L3 ranks, and numerous Internet companies such as Google, apple, Baidu all put into automatic Pilot control and calculation in addition
In the research of method.Automatic Pilot also achieves many achievements in research as current very popular research field, such as sends out
Bright patent CN107329482A discloses a kind of method that autonomous driving vehicle man-machine harmony drives, and establishes man-machine coordination driving
System designs driving path, realizes the automatic Pilot of detour barrier；Patent of invention CN107499258A discloses a kind of application
In the control method of autonomous driving vehicle, running car is automatically controlled by sensor and Area Network bus realization.The present invention
Based on L3 grades of automatic Pilot algorithms, a kind of automatic Pilot human-computer interaction emulation testing system based on driving simulator has been invented in design
Hardware and software can be combined and automatic Pilot algorithm is tested and emulated by system, for being driven during research automatic Pilot
The take over performance for the person of sailing and experience driver have important meaning in face of the judgement and its driving behavior of dangerous situation.It tests simultaneously
System can carry out the improvement of automatic Pilot algorithm according to the test result of algorithm and do further exploitation, and research is driven automatically
It sails with great application value.
Invention content
In view of the above problems, the present invention provides a kind of automatic Pilot human-computer interaction emulation testing based on driving simulator
System carries out drive simulating on the driving simulator based on real car, can obtain true driving experience, and directly
The control system test automatic Pilot algorithm of connection real vehicles is very helpful for exploitation autonomous driving vehicle tool, uses
The man-machine interaction mode of touch screen so that driver can obtain the information reminding in driving procedure, man-machine interaction effect in time
Well, it is compact-sized, adaptable so that entire test emulation system has for integrated and software end the modularization of hardware system
With the advantage of the repeatable design Dynamic trigger scene of the multifarious feature of testing algorithm and drive simulating simulation software so that this
Test system can play critically important effect in developing and improving automatic Pilot algorithm.
To achieve the goals above, the technical solution adopted by the present invention is as follows：
A kind of automatic Pilot human-computer interaction emulation test system based on driving simulator, including automobile driving simulator behaviour
It controls cockpit, computer end data acquisition module, computer end drive simulation simulation software, drive simulating scene and shows equipment, computer end
Function for Automatic Pilot analog module, programmable touch screen human-computer interaction interface and computer end auto-manual handover module, automobile
The output end of driving simulator manipulation cockpit is connected to the input terminal of computer end data acquisition module, computer by CAN controller
The output end of end data acquisition module is connected to the input terminal of computer end drive simulation simulation software, the emulation of computer end drive simulation
The output end one of software is connected to drive simulating scene and shows that equipment, the output end two of computer end drive simulation simulation software pass through
Control module is connected to computer end Function for Automatic Pilot analog module, and control module be connected to by CAN controller it is programmable
Touch screen human-computer interaction interface.
Furthermore, the automobile driving simulator manipulation cockpit includes that the human-computer interaction material object of simulated automotive operation is flat
Platform, and the control signal of the throttle in practical car steering, the control signal of brake, the control signal of steering wheel are passed through into CAN
Controller exports.
Furthermore, the computer end data acquisition module acquires automobile driving simulator by capture card and manipulates cockpit
Control signal, the control signal of brake, the data of the control signal of steering wheel of output throttle are acquired and handle, and send
Drive simulating is realized to drive simulation simulation software.
Furthermore, computer end drive simulation simulation software includes design for automatic Pilot test of heuristics
Drive simulating scene, realizes software simulation automatic Pilot and dangerous scenario triggered, is tested under the non-hazardous environment of safety automatic
Drive function.
Furthermore, the computer end Function for Automatic Pilot analog module includes using automatic Pilot algorithm model, can
Speed and following distance are automatically controlled and adjust, automatic identification front vehicles, lane line and ambient enviroment are based on algorithm pair
Throttle, brake and the steering wheel longitudinally operated carries out automatically controlling, and realizes the function of automatic Pilot.
Furthermore, the programmable touch screen human-computer interaction interface includes speed, range information display interface, front
Danger early warning information display interface, automatic Pilot and manual drive switching interface and takeover request interface.
Furthermore, the computer end auto-manual handover module can send out takeover request according to drive simulating scene simultaneously
It automatically switches to and drives history person's manual drive pattern, and will take over request and be sent to programmable touch in the form of acousto-optic warning information
Screen human-computer interaction interface is shown, reminds driver's take over vehicle, and set take over countdown, request hair according to different danger classes
Start countdown when going out, countdown terminates to discharge Function for Automatic Pilot, is switched to driver's manual drive pattern.
Furthermore, the drive simulating scene shows that equipment can extend the Driving Scene of drive simulating simulation software
To set on driver's seat front position projector apparatus and show very set on the high-definition display screen of left and right position of rear view mirror
Left and right mirror field of view in real driving.
Advantageous effect of the present invention：
The present invention can obtain true driving using drive simulating is carried out on the driving simulator based on real car
Experience, and the control system test automatic Pilot algorithm for being directly connected to real vehicles has very exploitation autonomous driving vehicle
Big help uses the man-machine interaction mode of touch screen so that and driver can obtain the information reminding in driving procedure in time,
Man-machine interaction effect is good, and integrated and software end the modularization of hardware system makes entire test emulation system have structure tight
It gathers, the multifarious feature of adaptable and testing algorithm and drive simulating simulation software repeat design Dynamic trigger scene
Advantage so that this test system can play critically important effect in developing and improving automatic Pilot algorithm.
Description of the drawings
Fig. 1 is fundamental diagram of the present invention；
Fig. 2 is the hardware connection scheme of this test system；
Fig. 3 is the software package interface that Function for Automatic Pilot analog module and handover module integrate.
Specific implementation mode
Technical scheme of the present invention is illustrated with embodiment below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, a kind of automatic Pilot human-computer interaction emulation testing based on driving simulator of the present invention
System, including automobile driving simulator manipulation cockpit, computer end data acquisition module, computer end drive simulation simulation software, mould
Quasi- Driving Scene shows equipment, computer end Function for Automatic Pilot analog module, programmable touch screen human-computer interaction interface and electricity
The output end of brain end auto-manual handover module, automobile driving simulator manipulation cockpit is connected to computer end by CAN controller
The output end of the input terminal of data acquisition module, computer end data acquisition module is connected to computer end drive simulation simulation software
Input terminal, the output end one of computer end drive simulation simulation software are connected to drive simulating scene and show that equipment, computer end drive
The output end two of simulation softwares is connected to computer end Function for Automatic Pilot analog module, and control module by control module
It is connected to programmable touch screen human-computer interaction interface by CAN controller.The above constitutes basic structure of the present invention.
Current automatic Pilot is being integrated into also in the level of partial automation in the automatic Pilot algorithm of actual development
It also needs to constantly to carry out test and verification its safety, reliability and exploitativeness before real vehicle, design one kind is needed to be used for
The system of automatic Pilot test of heuristics, actually drive in due to environment can not survey and hardware facility it is not perfect, it is desirable to
Carrying out the automatic Pilot test of higher level can not possibly substantially complete, and therefore, the present invention devises a kind of based on drive simulation
The automatic Pilot human-computer interaction emulation test system of device, can test automatic Pilot algorithm, and research automatic Pilot
The effective opportunity taken over and driver's Risk Management decision have automatic Pilot take over performance research and automatic Pilot algorithm evaluation
There is important meaning, and contributes to the improvement of automatic Pilot algorithm and further improve.
Fundamental diagram of the present invention as shown in Figure 1, the man-machine friendship of the automatic Pilot of the present invention based on driving simulator
Mutual emulation test system includes two parts of hardware and software, and hardware components include the driving simulator based on a real car
Manipulate cockpit (throttle, brake, the vertical and horizontal operation signal output corresponding to steering wheel), the CAN bus based on CAN communication
Network, CAN capture cards, computer, programmable touch screen and scene show equipment (projecting apparatus and high-definition display screen), software section
Including computer end data acquisition module (acquisition of CAN bus data), computer end drive simulation simulation software (drive simulation scene and
Dynamic scene triggering design), computer end auto-manual handover module (automatic Pilot and manual drive switching) and human-computer interaction circle
Simulation testing software, exploitation plug-in unit including face (driving information is shown) and display interface, automatic Pilot and manual drive are cut
Process is changed to be stated according to signal flow direction shown in arrow in Fig. 1, when accessing automatic driving mode, Function for Automatic Pilot mould
Quasi- cabinet block access, can export operation signal automatically, and the driver of driver's cab is not necessarily to any operation, but operation data detection system
System can have data access still in working condition with whenever guarantor operates；When needing to take over, auto-manual switching
Module sends out takeover request and starts automatic Pilot release countdown, disconnects automatic Pilot switch after countdown automatically, only
The operation input for accessing people carries out manual drive；When people's actively take over vehicle, manual operation data can be directly accessed, and disconnect
Automatic Pilot operation input (whether or not in the take over timing stage) ensure that the priority that people actively takes over.
Tool stops implementation process：
One, hardware connects：CAN network is accessed based on a real car driving simulator by as shown in Figure 2, then
CAN capture cards (Kvaser Leaf) are connected with computer all the way for CAN interface connection；Another way CAN capture cards and touch screen phase
Even, touch screen is placed on steering wheel front vehicles instrument board position substitution instrument disk and shows, for showing that the high definition of home court scape projects
Instrument connects computer by HDMI interface, is placed on vehicle front, and two 10 cun of high-definition display screen turns HDMI wire and electricity by DP
Brain connects, and is placed on the position of left and right vehicle wheel rearview mirror.
Two, Software for Design：Design road scene and auto model in UC-win road softwares, setting traffic flow and
Road environment is designed to test for the dangerous Dynamic trigger scene of automatic Pilot, adjustment cab position and scene view parameter
Both reach and to coincide, according to the exploitation file (SDK files) of UC-win road softwares design CAN bus data acquisition plug-in unit and
Function for Automatic Pilot plug-in unit designs the software that Function for Automatic Pilot analog module and handover module integrate in QT design softwares and inserts
Part interface, writes Background control program (C++ programmings), realize communicated between screen and vehicle performance show (be mainly throttle,
Brake and steering wheel position state), it writes CAN bus information acquisition program and realizes and vehicle operating information collection and and UC-win
The data sharing of road softwares and model of place control (Delphi programmings), the LCD touch screen that the present embodiment uses, software are set
Meter is designed screen interface and is write corresponding background program (Java script using the design software Designer of the said firm
Programming).
Three, experimental verification：Equipment is powered, and the sparking of automobile suspension neutral gear starts, and opens Function for Automatic Pilot plug-in card program, clicks
There is plug-in interface (main, plug-in interface as shown in Figure 3) in operation, chooses " taking over input using CAN " and " sends number automatically
According to ", initial automatic Pilot speed and following distance are set, take over countdown and take over trigger position, setting throttle, side are set
To disk, brake sensitivity, UC-win road softwares are opened, CAN bus information collection plug-in unit is loaded into software, selects mould
Quasi- driving mode selects plug-in unit control, is switched to " Start " pattern, home court scape is placed on projector interface and left and right rearview mirror
Scene is placed on display screen interface on left and right two, and driver, which gets on the bus, starts drive simulating, watches front screen and observation left and right backsight attentively
Mirror, need to only control throttle, brake, steering wheel can carry out manual mode driving, drive that enter automatic Pilot after a period of time real
Section is tested, is chosen " automatic Pilot switch " in plug-in interface, you can enters automatic Pilot, face a danger field during automatic Pilot
Jing Shi, take over setting are triggered, and acousto-optic warning information is shown on the touchscreen, and enter automatic Pilot and discharge countdown, count
When at the end of automatic Pilot switch release, into manual drive pattern, driver being capable of take over vehicle in take over timing course
It is operated to avert danger.
The design of middle touch screen human-computer interaction interface according to this embodiment, setting leading vehicle distance is more than in background program
200 meters or more are safe distance, and when current vehicle is entered within the scope of 200 meters of this vehicle, the green figure that there is vehicle in front is will appear on screen
Mark, and show current vehicle away from when spacing is less than 50 meters, trolley shows red icon on screen, when spacing enters 20 meters
When in range, alarm, and red trolley flicker can be triggered, representative has risk of collision, and automatic Pilot icon is lighted on screen
Shi representatives occur taking over interface and send out alarm, simultaneously into automatic Pilot when there is the scene for needing driver to take over
Show that take over countdown is synchronous with computer software end, at the end of people has taken over vehicle or timing, can all cut automatically on screen
Change to manual drive pattern.
Embodiment shown in the present invention is only to illustrate the exploitativeness of whole system, specific component and equipment tool in system
There are convertibility and designability, it is equally applicable under other different researchs and scene, and can be in main body model of the present invention
It is modified or changes within enclosing, although some features of the present invention have been described in embodiment, for this research field
Technical staff for, moreover it is possible to carry out the modification and replacement of many equipment, program and scene etc..Therefore, the present invention is not
It is confined to above-mentioned specific implementation mode, the above mentioned embodiment is only schematical, rather than restrictive, ability
The those of ordinary skill in domain under the inspiration of the present invention, is not departing from present inventive concept and scope of the claimed protection situation
Under, many forms can be also made, within these are all belonged to the scope of protection of the present invention.
Claims (8)
1. a kind of automatic Pilot human-computer interaction emulation test system based on driving simulator, it is characterised in that：It is driven including automobile
Simulator manipulation cockpit, computer end data acquisition module, computer end drive simulation simulation software, drive simulating scene is sailed to show and set
Standby, computer end Function for Automatic Pilot analog module, programmable touch screen human-computer interaction interface and the switching of computer end auto-manual
The output end of module, the automobile driving simulator manipulation cockpit is connected to computer end data acquisition module by CAN controller
Input terminal, the output end of the computer end data acquisition module is connected to the input terminal of computer end drive simulation simulation software,
The output end one of computer end drive simulation simulation software is connected to drive simulating scene and shows that equipment, the computer end drive
The output end two of simulation softwares is connected to computer end Function for Automatic Pilot analog module, and control module by control module
It is connected to programmable touch screen human-computer interaction interface by CAN controller.
2. a kind of automatic Pilot human-computer interaction emulation test system based on driving simulator according to claim 1,
It is characterized in that：The automobile driving simulator manipulation cockpit includes the human-computer interaction material object platform of simulated automotive operation, and will be real
The control signal of throttle in the car steering of border, the control signal of brake, the control signal of steering wheel are defeated by CAN controller
Go out.
3. a kind of automatic Pilot human-computer interaction emulation test system based on driving simulator according to claim 1,
It is characterized in that：The computer end data acquisition module acquires automobile driving simulator by capture card and manipulates cockpit output throttle
Control signal, the control signal of brake, the data of the control signal of steering wheel are acquired and handle, and are sent to drive simulation
Simulation software realizes drive simulating.
4. a kind of automatic Pilot human-computer interaction emulation test system based on driving simulator according to claim 1,
It is characterized in that：Computer end drive simulation simulation software includes the drive simulating field for automatic Pilot test of heuristics of design
Scape realizes software simulation automatic Pilot and dangerous scenario triggered, Function for Automatic Pilot is tested under the non-hazardous environment of safety.
5. a kind of automatic Pilot human-computer interaction emulation test system based on driving simulator according to claim 1,
It is characterized in that：The computer end Function for Automatic Pilot analog module include use automatic Pilot algorithm model, can be automatically controled and
Adjust speed and following distance, automatic identification front vehicles, lane line and ambient enviroment, based on algorithm to longitudinally operating
Throttle, brake and steering wheel carry out automatically controlling, and realize the function of automatic Pilot.
6. a kind of automatic Pilot human-computer interaction emulation test system based on driving simulator according to claim 1,
It is characterized in that：The programmable touch screen human-computer interaction interface includes speed, range information display interface, danger ahead early warning letter
Cease display interface, automatic Pilot and manual drive switching interface and takeover request interface.
7. a kind of automatic Pilot human-computer interaction emulation test system based on driving simulator according to claim 1,
It is characterized in that：The computer end auto-manual handover module can send out takeover request and be automatically switched to according to drive simulating scene
History person's manual drive pattern is driven, and will take over request and be sent to programmable touch screen human-computer interaction in the form of acousto-optic warning information
Interface display reminds driver's take over vehicle, and sets take over countdown according to different danger classes, and request starts down when sending out
Timing, countdown terminate to discharge Function for Automatic Pilot, are switched to driver's manual drive pattern.
8. a kind of automatic Pilot human-computer interaction emulation test system based on driving simulator according to claim 1,
It is characterized in that：The drive simulating scene shows that equipment can expand to the Driving Scene of drive simulating simulation software set on driving
The projector apparatus of member visual field front position and show in true driving set on the high-definition display screen of left and right position of rear view mirror
Left and right mirror field of view.
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| CN109298719A (en) * | 2018-12-04 | 2019-02-01 | 奇瑞汽车股份有限公司 | Adapting method, device and the storage medium of intelligent automobile |
| CN109827786A (en) * | 2018-12-20 | 2019-05-31 | 苏州观瑞汽车技术有限公司 | A kind of intelligent driving auto-steering test device and the test method using it |
| CN110046833A (en) * | 2019-05-13 | 2019-07-23 | 吉林大学 | A kind of traffic congestion auxiliary system virtual test system |
| CN110459108A (en) * | 2019-08-14 | 2019-11-15 | 中国矿业大学 | A kind of programmable half controlled device in kind of Control-oriented class experimental teaching |
| CN110471535A (en) * | 2019-09-09 | 2019-11-19 | 北京精英智通科技股份有限公司 | A kind of drive simulating exchange method, device and equipment and storage medium |
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