CN109632332B - Automatic parking simulation test system and test method - Google Patents
Automatic parking simulation test system and test method Download PDFInfo
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- CN109632332B CN109632332B CN201811517768.0A CN201811517768A CN109632332B CN 109632332 B CN109632332 B CN 109632332B CN 201811517768 A CN201811517768 A CN 201811517768A CN 109632332 B CN109632332 B CN 109632332B
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Abstract
The invention discloses an automatic parking simulation test system and a test method. The test system comprises a simulation host, an ultrasonic radar controller and an ultrasonic signal processing device; the simulation host is used for generating an automatic parking virtual scene, wherein the scene comprises a simulated vehicle and a simulated obstacle; the ultrasonic signal processing device is used for receiving the transmitted ultrasonic signal sent by the ultrasonic radar controller and generating a reflected ultrasonic signal after simulating an obstacle; the system is also used for simulating the propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal in real time according to the automatic parking virtual scene; the ultrasonic radar controller is used for sending out an emitted ultrasonic signal, receiving a reflected ultrasonic signal and calculating the distance between the simulated vehicle and the simulated obstacle; the simulation host is used for acquiring the distance and parking when the distance reaches a preset distance range. According to the technical scheme, the automatic parking simulation test is realized, the manpower and material resources are effectively saved, the cost is reduced, and the test efficiency is greatly improved.
Description
Technical Field
The embodiment of the invention relates to the field of simulation technology and intelligent driving, in particular to an automatic parking simulation test system and a test method.
Background
An automatic parking system is a driver assistance system that can assist a driver in parking a vehicle in a parking space. The automatic parking system is used as an intelligent configuration for replacing a driver to actively control a vehicle to turn, shift gears, control the speed of the vehicle and control braking, and the reliability of the system is particularly important.
The ultrasonic radar utilizes the ultrasonic ranging principle, and an ultrasonic radar probe fixed on a vehicle can receive ultrasonic waves emitted by the ultrasonic radar probe and reflected back by an obstacle, so that the distance between the vehicle and the obstacle is calculated. And when the ultrasonic radar detects that the distance between the vehicle and the obstacle is within the preset range, parking of the vehicle is completed.
Currently, automatic parking systems are routinely performed in actual sites, and standard obstacle tests are utilized, so that during the tests, collision risks possibly occur due to system failure, and potential safety hazards exist. The scene constructed manually has the disadvantage that each scene reproduction is controlled by a person, and the scene arrangement is unlikely to be identical each time, so that errors exist. The existing test method for setting up scenes manually consumes a relatively long time, and cannot be completed rapidly and effectively under the condition of more test scenes. In addition, the testing efficiency is lower because the testing is influenced by factors such as site weather manpower and material resources.
Disclosure of Invention
The embodiment of the invention provides an automatic parking simulation test system and a test method, which are used for realizing automatic parking simulation test, effectively saving manpower and material resources, reducing cost and greatly improving test efficiency.
In a first aspect, an embodiment of the present invention provides an automatic parking simulation test system, including a simulation host, an ultrasonic radar controller, and an ultrasonic signal processing device;
the simulation host is used for generating an automatic parking virtual scene, and the automatic parking virtual scene comprises a simulated vehicle and a simulated obstacle;
the ultrasonic signal processing device is respectively connected with the simulation host and the ultrasonic radar controller and is used for receiving the transmitted ultrasonic signal sent by the ultrasonic radar controller and generating a reflected ultrasonic signal of the transmitted ultrasonic signal after passing through the simulation obstacle; the ultrasonic signal processing device is also used for simulating the transmission process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the automatic parking virtual scene;
the ultrasonic radar controller is used for sending an emitted ultrasonic signal to the ultrasonic signal processing device, receiving a reflected ultrasonic signal returned by the ultrasonic signal processing device, and calculating the distance between the simulated vehicle and the simulated obstacle according to the emitted ultrasonic signal and the reflected ultrasonic signal;
the simulation host is connected with the ultrasonic radar controller and is used for acquiring the distance between the simulated vehicle and the simulated obstacle calculated by the ultrasonic radar controller and parking when the distance between the simulated vehicle and the simulated obstacle reaches a preset distance range.
Optionally, the automatic parking simulation test system further includes:
the environment sensor is connected with the simulation host computer and used for measuring current environment data and transmitting the current environment data to the simulation host computer;
the simulation host is also used for calculating the propagation parameters of the transmitted ultrasonic signals and the reflected ultrasonic signals under the current environment data according to the current environment data, and transmitting the propagation parameters to the ultrasonic signal processing device;
the ultrasonic signal processing device is also used for simulating the propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the propagation parameters of the transmitted ultrasonic signal and the reflected ultrasonic signal under the current environmental data.
Optionally, the environmental sensor includes a temperature sensor, a humidity sensor, and an atmospheric pressure sensor.
Optionally, the ultrasonic signal processing device comprises an analog-to-digital conversion module, a digital-to-analog conversion module and a processing module;
the analog-to-digital conversion module is respectively connected with the transmitting end of the ultrasonic radar controller and the processing module, and is used for receiving the transmitted ultrasonic signals sent by the ultrasonic radar controller, converting the transmitted ultrasonic signals into digital signals and transmitting the digital signals to the processing module;
the processing module is used for generating a reflected ultrasonic signal of the transmitted ultrasonic signal after passing through the simulation obstacle and simulating the propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulation vehicle and the simulation obstacle in real time;
the digital-to-analog conversion module is respectively connected with the receiving end of the ultrasonic radar controller and the processing module and is used for receiving the reflected ultrasonic signals, converting the reflected ultrasonic signals into analog signals and transmitting the analog signals to the ultrasonic radar controller.
Optionally, the processing module is configured to simulate, in real time, a propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle according to a propagation time delay of the transmitted ultrasonic signal and the reflected ultrasonic signal.
Optionally, the processing module is configured to simulate, in real time, a propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle according to the propagation amplitude attenuation of the transmitted ultrasonic signal and the reflected ultrasonic signal.
Optionally, the processing module includes a field programmable gate array FPGA.
Optionally, the simulation host further includes a display device, configured to display the automatic parking virtual scene.
In a second aspect, an embodiment of the present invention further provides an automatic parking simulation test method, which is executed by using the above automatic parking simulation system, including:
the simulation host generates an automatic parking virtual scene, wherein the automatic parking virtual scene comprises a simulated vehicle and a simulated obstacle;
the ultrasonic signal processing device receives the transmitted ultrasonic signal sent by the ultrasonic radar controller and generates a reflected ultrasonic signal of the transmitted ultrasonic signal after passing through the simulated obstacle;
the ultrasonic signal processing device simulates the transmission process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the automatic parking virtual scene;
the ultrasonic radar controller sends out an emission ultrasonic signal to the ultrasonic signal processing device, receives a reflection ultrasonic signal returned by the ultrasonic signal processing device, and calculates the distance between the simulated vehicle and the simulated obstacle according to the emission ultrasonic signal and the reflection ultrasonic signal;
the simulation host acquires the distance between the simulated vehicle and the simulated obstacle calculated by the ultrasonic radar controller, and parks when the distance between the simulated vehicle and the simulated obstacle reaches a preset distance range.
Optionally, the automatic parking simulation test system further comprises an environment sensor; the automatic parking simulation test method further comprises the following steps:
the environment sensor measures current environment data and transmits the current environment data to the simulation host;
the simulation host calculates propagation parameters of the transmitted ultrasonic signals and the reflected ultrasonic signals under the current environment data according to the current environment data, and transmits the propagation parameters to the ultrasonic signal processing device;
the ultrasonic signal processing device simulates the propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the propagation parameters of the transmitted ultrasonic signal and the reflected ultrasonic signal under the current environmental data.
The automatic parking simulation test system provided by the embodiment of the invention comprises a simulation host, an ultrasonic radar controller and an ultrasonic signal processing device; generating an automatic parking virtual scene comprising a simulated vehicle and a simulated obstacle through a simulation host, receiving an emitted ultrasonic signal sent by an ultrasonic radar controller through an ultrasonic signal processing device, and generating a reflected ultrasonic signal after the emitted ultrasonic signal passes through the simulated obstacle; simulating the transmission process of the transmitted ultrasonic signals and the reflected ultrasonic signals between the simulated vehicle and the simulated obstacle in real time according to the automatic parking virtual scene through the ultrasonic signal processing device; transmitting an emitted ultrasonic signal to an ultrasonic signal processing device through an ultrasonic radar controller, receiving a reflected ultrasonic signal returned by the ultrasonic signal processing device, and calculating the distance between the simulated vehicle and the simulated obstacle according to the emitted ultrasonic signal and the reflected ultrasonic signal; and the distance between the simulated vehicle and the simulated obstacle calculated by the ultrasonic radar controller is acquired through the simulation host, and parking is carried out when the distance between the simulated vehicle and the simulated obstacle reaches a preset distance range. The automatic parking simulation test is realized without building an actual test scene, so that manpower and material resources can be effectively saved, the cost is reduced, and the test efficiency is greatly improved.
Drawings
FIG. 1 is a schematic diagram of an automatic parking simulation test system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of several exemplary parking virtual scenarios built by a simulation host provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of another automated parking simulation test system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a configuration of yet another automated parking simulation test system provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a configuration of yet another automated parking simulation test system provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of a further automated parking simulation test system provided by an embodiment of the present invention;
fig. 7 is a schematic flow chart of an automatic parking simulation test method according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1 is a schematic structural diagram of an automatic parking simulation test system according to an embodiment of the present invention. Referring to fig. 1, the automatic parking simulation test system includes a simulation host 10, an ultrasonic radar controller 20, and an ultrasonic signal processing device 30; the simulation host 10 is used for generating an automatic parking virtual scene, wherein the automatic parking virtual scene comprises a simulated vehicle and a simulated obstacle; the ultrasonic signal processing device 30 is respectively connected with the simulation host 10 and the ultrasonic radar controller 20, and is used for receiving the transmitted ultrasonic signal sent by the ultrasonic radar controller 20 and generating a reflected ultrasonic signal after the transmitted ultrasonic signal passes through the simulation obstacle; the ultrasonic signal processing device 30 is further used for simulating the transmission process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the automatic parking virtual scene; the ultrasonic radar controller 20 is configured to send a transmission ultrasonic signal to the ultrasonic signal processing device 30, receive a reflection ultrasonic signal returned from the ultrasonic signal processing device 30, and calculate a distance between the simulated vehicle and the simulated obstacle according to the transmission ultrasonic signal and the reflection ultrasonic signal; the simulation host 10 is connected to the ultrasonic radar controller 20, and is configured to obtain the distance between the simulated vehicle and the simulated obstacle calculated by the ultrasonic radar controller 20, and park the vehicle when the distance between the simulated vehicle and the simulated obstacle reaches a preset distance range.
The simulation host 10 may be embedded with software for developing an automatic parking scene, such as Prescan, for generating an automatic parking virtual scene, and fig. 2 is a schematic diagram of several typical parking virtual scenes built by the simulation host according to the embodiment of the present invention, where (a) is a horizontal parking space parking scene; (b) a vertical parking space parking scenario; (c) a horizontal parking scene for pedestrians; (d) a vertical parking scene for pedestrians; (e) is a curbstone parking scenario. The simulation host 10 is further configured to provide the ultrasonic signal processing device 30 with data of the simulated vehicle and the simulated obstacle in the automatic parking virtual scene in real time, so that the ultrasonic signal processing device 30 simulates a positional relationship between the simulated vehicle and the simulated obstacle, the ultrasonic signal processing device 30 receives the transmitted ultrasonic signal sent from the ultrasonic radar controller 20, and then simulates a propagation process of the transmitted ultrasonic signal between the simulated vehicle and the simulated obstacle according to the positional relationship between the simulated vehicle and the simulated obstacle, and generates a reflected ultrasonic signal after the transmitted ultrasonic signal is reflected by the simulated obstacle, which returns to the propagation process of the simulated vehicle, and sends the reflected ultrasonic signal back to the ultrasonic radar controller 20. The ultrasonic radar controller 20 may calculate the distance between the simulated vehicle and the simulated obstacle in real time according to the principle of ultrasonic ranging by transmitting ultrasonic signals and reflecting ultrasonic signals, and feed back the calculated distance to the simulated vehicle in the simulation host 10, and park the vehicle when the distance between the simulated vehicle and the simulated obstacle reaches a preset distance range. For example, when the distance between the vehicle and the obstacle is 0.1m-0.3m during automatic parking, the vehicle is easy to collide with the obstacle and must be parked, so that the vehicle is a dangerous area; when the distance between the vehicle and the obstacle is 0.3-0.8 m, the vehicle is a proper area; the distance between the vehicle and the obstacle is 0.8 m-1.5 m, and the vehicle is a safe area. The parking distance can thus be preset to a range of 0.1m to 0.3m.
According to the technical scheme, an automatic parking virtual scene comprising a simulated vehicle and a simulated obstacle is generated through a simulation host, an emitted ultrasonic signal sent by an ultrasonic radar controller is received through an ultrasonic signal processing device, and a reflected ultrasonic signal after the emitted ultrasonic signal passes through the simulated obstacle is generated; simulating the transmission process of the transmitted ultrasonic signals and the reflected ultrasonic signals between the simulated vehicle and the simulated obstacle in real time according to the automatic parking virtual scene through the ultrasonic signal processing device; transmitting an emitted ultrasonic signal to an ultrasonic signal processing device through an ultrasonic radar controller, receiving a reflected ultrasonic signal returned by the ultrasonic signal processing device, and calculating the distance between the simulated vehicle and the simulated obstacle according to the emitted ultrasonic signal and the reflected ultrasonic signal; and the distance between the simulated vehicle and the simulated obstacle calculated by the ultrasonic radar controller is acquired through the simulation host, and parking is carried out when the distance between the simulated vehicle and the simulated obstacle reaches a preset distance range. The automatic parking simulation test is realized without building an actual test scene, so that manpower and material resources can be effectively saved, the cost is reduced, and the test efficiency is greatly improved.
On the basis of the above technical solution, fig. 3 is a schematic structural diagram of another automatic parking simulation test system according to an embodiment of the present invention. Referring to fig. 3, optionally, the automatic parking simulation test system further includes: an environmental sensor 40 connected to the simulation host 10 for measuring current environmental data and transmitting the current environmental data to the simulation host 10; the simulation host 10 is further configured to calculate propagation parameters of the transmitted ultrasonic signal and the reflected ultrasonic signal under the current environmental data according to the current environmental data, and transmit the propagation parameters to the ultrasonic signal processing device 30; the ultrasonic signal processing device 30 is further configured to simulate the propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the propagation parameters of the transmitted ultrasonic signal and the reflected ultrasonic signal under the current environmental data.
It is understood that the speed at which ultrasonic waves propagate in air can be affected by environmental factors such as temperature, medium, local atmospheric pressure, relative humidity, saturated air pressure, etc. In addition, the sound pressure of the ultrasonic wave decays in inverse proportion to the distance, and also decays with the distance due to the absorption of air, and the magnitude of the absorption of air is related to the atmospheric pressure, the temperature, the relative humidity and the frequency. Therefore, by setting the environmental sensor 40, the simulation host 10 can calculate the propagation parameter of the ultrasonic wave in the current environment according to the current environmental data provided by the environmental temperature sensor 40, and the ultrasonic signal processing device 30 simulates the propagation of the ultrasonic wave according to the propagation parameter, so that the accuracy of ultrasonic ranging in the simulation system can be effectively improved.
Fig. 4 is a schematic structural diagram of another automatic parking simulation test system according to an embodiment of the present invention. Referring to fig. 4, the environment sensor 40 may optionally include a temperature sensor 41, a humidity sensor 42, and an atmospheric pressure sensor 43.
It can be understood that the temperature sensor 41, the humidity sensor 42 and the atmospheric pressure sensor 43 respectively measure the temperature, the humidity and the atmospheric pressure in the current environment, and the simulation host 10 calculates the propagation speed or the attenuation coefficient of the ultrasonic wave in the current environment according to these parameters, thereby improving the accuracy of ultrasonic ranging in the simulation system.
Fig. 5 is a schematic structural diagram of another automatic parking simulation test system according to an embodiment of the present invention. Referring to fig. 5, optionally, the ultrasonic signal processing apparatus 30 includes an analog-to-digital conversion module 31, a digital-to-analog conversion module 32, and a processing module 33; the analog-to-digital conversion module 31 is respectively connected with the transmitting end of the ultrasonic radar controller 20 and the processing module 33, and is used for receiving the transmitted ultrasonic signal sent by the ultrasonic radar controller 20, converting the transmitted ultrasonic signal into a digital signal and transmitting the digital signal to the processing module 33; the processing module 33 is configured to generate a reflected ultrasonic signal after the transmitted ultrasonic signal passes through the simulated obstacle, and simulate, in real time, a propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle; the digital-to-analog conversion module 32 is connected to the receiving end of the ultrasonic radar controller 20 and the processing module 33, respectively, and is configured to receive the reflected ultrasonic signal, convert the reflected ultrasonic signal into an analog signal, and transmit the analog signal to the ultrasonic radar controller 20.
It will be appreciated that the ultrasonic signal emitted by the ultrasonic radar controller 20 is an analog signal, for example, an ultrasonic signal of 44kHz, and is converted from analog to digital by the analog-to-digital conversion module 31, so as to be converted into a digital signal that can be processed by the processing module 33; when the processing module 33 analog-transmits an ultrasonic signal (digital signal) while the analog vehicle and the analog obstacle are traveling to the analog obstacle, a reflected ultrasonic signal (digital signal) is generated, and then the reflected ultrasonic signal is traveling from the analog obstacle to the analog vehicle, and the digital-to-analog conversion module 32 reconverts the reflected ultrasonic signal reflected to the analog vehicle into an analog signal and transmits it to the ultrasonic radar controller 20. The ultrasonic radar controller 20 is directly connected with the analog-to-digital conversion module 31 and the digital-to-analog conversion module 32, and a conventional ultrasonic radar probe and a conventional receiving and transmitting unit for receiving and detecting ultrasonic probe signals are not used, so that the structure of the test system can be effectively simplified, and the cost is reduced.
Optionally, the processing module 33 is configured to simulate the propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the propagation time delay of the transmitted ultrasonic signal and the reflected ultrasonic signal.
It will be appreciated that the velocity v (m/s) of ultrasonic wave propagation in air is affected by the temperature T (K), the medium, the local atmospheric pressure P (Pa), the relative humidity, the saturated air pressure Pws (Pa), as follows:
where pw=saturated air pressure of water;
the saturation pressure of water is affected by temperature and is according to the following formula (0-200) according to ISO/DIS 7183.2:
wherein: c 8 ＝-5.8002206E+03；c 9 ＝1.3914993E+00；c 10 ＝-4.8640239E-02；c 11 ＝4.1764768E-05；c 12 ＝-1.4452093E-08；c 13 =6.5459673e+00; pws represents the saturation pressure (Pa) of water; t: absolute temperature, t= °c+273.15.
Wherein the ultrasonic velocity v can be obtained by the formula (1), according to the ultrasonic ranging formulaThe distance of the simulated vehicle from the simulated obstacle can be derived, where t represents the propagation time of the ultrasonic wave between the simulated vehicle and the simulated obstacle.
Optionally, the processing module 33 is configured to simulate the propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the propagation amplitude attenuation of the transmitted ultrasonic signal and the reflected ultrasonic signal.
It will be appreciated that the intensity of an ultrasonic wave decays in inverse proportion to the transmission distance as it propagates in air. In addition, the air is attenuated with distance due to the absorption of air, and the air absorption is related to atmospheric pressure, temperature, relative humidity and frequency. According to ISO 9613-1, the method for calculating the air absorption from the air absorption attenuation coefficient is given as follows:
wherein alpha represents an acoustic attenuation coefficient in dB/m; f represents the frequency of the acoustic signal in Hz; p (P) a Atmospheric pressure is expressed in kPa; p (P) r =101.325 kPa, representing a reference atmospheric pressure; t represents the atmospheric temperature, and the unit is K; t (T) 0 =293.15K, representing the reference temperature; f (f) tO Represents the relaxation frequency of oxygen, in Hz,f tN indicating the relaxation frequency of the nitrogen, the unit is Hz>Wherein h represents the molar concentration of water vapor, < >>h r Indicating relative humidity; p (P) sat Represents saturated steam pressure in kPa; /> Wherein T is 01 = 273.16K, triple point temperature of water;
attenuation δL of sound pressure level p (f)＝αr；
Wherein alpha represents an acoustic attenuation coefficient in dB/m; r represents the frequency of the acoustic signal in m; the attenuation can be calculated by the processing module and divided by the attenuation coefficient alpha to obtain the distance between the simulated vehicle and the simulated obstacle.
Optionally, the processing module 33 comprises a field programmable gate array FPGA.
It will be appreciated that FPGA (Field-Programmable Gate Array) appears as a semi-custom circuit in the Field of Application Specific Integrated Circuits (ASIC), which addresses both the deficiencies of custom circuits and the limited number of gates in the original programmable device. Different circuit functions are realized through combination, and the FPGA can realize real-time processing of ultrasonic signals.
Fig. 6 is a schematic structural diagram of another automatic parking simulation test system according to an embodiment of the present invention. Referring to fig. 6, the simulation host 10 further includes a display device 11 for displaying the auto-park virtual scene.
By arranging the display device 11 to display the automatic parking virtual scene, the automatic parking simulation test result can be visually displayed, and the efficiency is improved.
Fig. 7 is a schematic flow chart of an automatic parking simulation test method according to an embodiment of the present invention, where the method may be executed by any one of the automatic parking simulation test systems according to the foregoing embodiments, and specifically includes the following steps:
step S110, the simulation host generates an automatic parking virtual scene, wherein the automatic parking virtual scene comprises a simulated vehicle and a simulated obstacle.
Step S120, the ultrasonic signal processing device receives the transmitted ultrasonic signal sent by the ultrasonic radar controller and generates a reflected ultrasonic signal after the transmitted ultrasonic signal passes through the simulated obstacle.
And step 130, the ultrasonic signal processing device simulates the transmission process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the automatic parking virtual scene.
And step S140, the ultrasonic radar controller sends out an emission ultrasonic signal to the ultrasonic signal processing device, receives a reflection ultrasonic signal returned by the ultrasonic signal processing device, and calculates the distance between the simulated vehicle and the simulated obstacle according to the emission ultrasonic signal and the reflection ultrasonic signal.
And S150, the simulation host acquires the distance between the simulated vehicle and the simulated obstacle calculated by the ultrasonic radar controller, and parks when the distance between the simulated vehicle and the simulated obstacle reaches a preset distance range.
The simulation host can be internally provided with software for developing an automatic parking scene, such as Prescan, and is used for generating an automatic parking virtual scene, wherein other vehicles, pedestrians, curbs and the like in the virtual scene are obstacles in parking, the simulation host provides data of the simulated vehicles and the simulated obstacles in the automatic parking virtual scene for the ultrasonic signal processing device in real time, so that the ultrasonic signal processing device simulates the position relation between the simulated vehicles and the simulated obstacles, the ultrasonic signal processing device receives the transmitted ultrasonic signals sent from the ultrasonic radar controller, and then simulates the transmission process of the transmitted ultrasonic signals between the simulated vehicles and the simulated obstacles according to the position relation between the simulated vehicles and the simulated obstacles, and generates the transmission process of the reflected ultrasonic signals back to the simulated vehicles after the transmitted ultrasonic signals are reflected by the simulated obstacles, and sends the reflected ultrasonic signals back to the ultrasonic radar controller. The ultrasonic radar controller can calculate the distance between the simulated vehicle and the simulated obstacle in real time according to the transmitted ultrasonic signal and the reflected ultrasonic signal by utilizing the ultrasonic ranging principle, and feeds the calculated distance back to the simulated vehicle in the simulated host computer, and the vehicle is parked when the distance between the simulated vehicle and the simulated obstacle reaches the preset distance range. For example, when the distance between the vehicle and the obstacle is 0.1m-0.3m during automatic parking, the vehicle is easy to collide with the obstacle and must be parked, so that the vehicle is a dangerous area; when the distance between the vehicle and the obstacle is 0.3-0.8 m, the vehicle is a proper area; the distance between the vehicle and the obstacle is 0.8 m-1.5 m, and the vehicle is a safe area. The parking distance can thus be preset to be in the range of 0.1m to 0.3m.
According to the technical scheme, an automatic parking virtual scene comprising a simulated vehicle and a simulated obstacle is generated through a simulation host, an emitted ultrasonic signal sent by an ultrasonic radar controller is received through an ultrasonic signal processing device, and a reflected ultrasonic signal after the emitted ultrasonic signal passes through the simulated obstacle is generated; simulating the transmission process of the transmitted ultrasonic signals and the reflected ultrasonic signals between the simulated vehicle and the simulated obstacle in real time according to the automatic parking virtual scene through the ultrasonic signal processing device; transmitting an emitted ultrasonic signal to an ultrasonic signal processing device through an ultrasonic radar controller, receiving a reflected ultrasonic signal returned by the ultrasonic signal processing device, and calculating the distance between the simulated vehicle and the simulated obstacle according to the emitted ultrasonic signal and the reflected ultrasonic signal; and the distance between the simulated vehicle and the simulated obstacle calculated by the ultrasonic radar controller is acquired through the simulation host, and parking is carried out when the distance between the simulated vehicle and the simulated obstacle reaches a preset distance range. The automatic parking simulation test is realized without building an actual test scene, so that manpower and material resources can be effectively saved, the cost is reduced, and the test efficiency is greatly improved.
On the basis of the technical scheme, the automatic parking simulation test system also comprises an environment sensor; the automatic parking simulation test method further comprises the following steps:
the environment sensor measures the current environment data and transmits the current environment data to the simulation host; the simulation host calculates propagation parameters of the transmitted ultrasonic signals and the reflected ultrasonic signals under the current environmental data according to the current environmental data, and transmits the propagation parameters to the ultrasonic signal processing device; the ultrasonic signal processing device simulates the propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the propagation parameters of the transmitted ultrasonic signal and the reflected ultrasonic signal under the current environmental data.
It is understood that the speed at which ultrasonic waves propagate in air can be affected by environmental factors such as temperature, medium, local atmospheric pressure, relative humidity, saturated air pressure, etc. In addition, the sound pressure of the ultrasonic wave decays in inverse proportion to the distance, and also decays with the distance due to the absorption of air, and the magnitude of the absorption of air is related to the atmospheric pressure, the temperature, the relative humidity and the frequency. Therefore, by arranging the environment sensor, the simulation host can calculate the propagation parameters of the ultrasonic wave in the current environment according to the current environment data provided by the environment temperature sensor, and the ultrasonic signal processing device simulates the propagation of the ultrasonic wave according to the propagation parameters, so that the accuracy of ultrasonic ranging in the simulation system can be effectively improved.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. The automatic parking simulation test system is characterized by comprising a simulation host, an ultrasonic radar controller and an ultrasonic signal processing device;
the simulation host is used for generating an automatic parking virtual scene, and the automatic parking virtual scene comprises a simulated vehicle and a simulated obstacle;
the ultrasonic signal processing device is respectively connected with the simulation host and the ultrasonic radar controller and is used for receiving the transmitted ultrasonic signal sent by the ultrasonic radar controller and generating a reflected ultrasonic signal of the transmitted ultrasonic signal after passing through the simulation obstacle; the ultrasonic signal processing device is also used for simulating the transmission process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the automatic parking virtual scene;
the ultrasonic radar controller is used for sending an emitted ultrasonic signal to the ultrasonic signal processing device, receiving a reflected ultrasonic signal returned by the ultrasonic signal processing device, and calculating the distance between the simulated vehicle and the simulated obstacle according to the emitted ultrasonic signal and the reflected ultrasonic signal;
the simulation host is connected with the ultrasonic radar controller and is used for acquiring the distance between the simulated vehicle and the simulated obstacle calculated by the ultrasonic radar controller and parking when the distance between the simulated vehicle and the simulated obstacle reaches a preset distance range.
2. The automated parking simulation test system of claim 1, further comprising:
the environment sensor is connected with the simulation host computer and used for measuring current environment data and transmitting the current environment data to the simulation host computer;
the simulation host is also used for calculating the propagation parameters of the transmitted ultrasonic signals and the reflected ultrasonic signals under the current environment data according to the current environment data, and transmitting the propagation parameters to the ultrasonic signal processing device;
the ultrasonic signal processing device is also used for simulating the propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the propagation parameters of the transmitted ultrasonic signal and the reflected ultrasonic signal under the current environmental data.
3. The automated parking simulation test system of claim 2, wherein the environmental sensor includes a temperature sensor, a humidity sensor, and an atmospheric pressure sensor.
4. The automatic parking simulation test system according to claim 1, wherein the ultrasonic signal processing device comprises an analog-to-digital conversion module, a digital-to-analog conversion module and a processing module;
the analog-to-digital conversion module is respectively connected with the transmitting end of the ultrasonic radar controller and the processing module, and is used for receiving the transmitted ultrasonic signals sent by the ultrasonic radar controller, converting the transmitted ultrasonic signals into digital signals and transmitting the digital signals to the processing module;
the processing module is used for generating a reflected ultrasonic signal of the transmitted ultrasonic signal after passing through the simulation obstacle and simulating the propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulation vehicle and the simulation obstacle in real time;
the digital-to-analog conversion module is respectively connected with the receiving end of the ultrasonic radar controller and the processing module and is used for receiving the reflected ultrasonic signals, converting the reflected ultrasonic signals into analog signals and transmitting the analog signals to the ultrasonic radar controller.
5. The automated parking simulation test system of claim 4, wherein the processing module is configured to simulate in real time a propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle based on a propagation time delay of the transmitted ultrasonic signal and the reflected ultrasonic signal.
6. The automated parking simulation test system of claim 4, wherein the processing module is configured to simulate in real time a propagation of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle based on a propagation amplitude attenuation of the transmitted ultrasonic signal and the reflected ultrasonic signal.
7. The automated parking simulation test system of claim 4, wherein the processing module comprises a field programmable gate array FPGA.
8. The automated parking simulation test system of claim 1, wherein the simulation host further comprises a display device for displaying the automated parking virtual scene.
9. An automatic parking simulation test method, characterized in that the automatic parking simulation test method is executed by adopting the automatic parking simulation system according to any one of claims 1 to 8, and comprises the following steps:
the simulation host generates an automatic parking virtual scene, wherein the automatic parking virtual scene comprises a simulated vehicle and a simulated obstacle;
the ultrasonic signal processing device receives the transmitted ultrasonic signal sent by the ultrasonic radar controller and generates a reflected ultrasonic signal of the transmitted ultrasonic signal after passing through the simulated obstacle;
the ultrasonic signal processing device simulates the transmission process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the automatic parking virtual scene;
the ultrasonic radar controller sends out an emission ultrasonic signal to the ultrasonic signal processing device, receives a reflection ultrasonic signal returned by the ultrasonic signal processing device, and calculates the distance between the simulated vehicle and the simulated obstacle according to the emission ultrasonic signal and the reflection ultrasonic signal;
the simulation host acquires the distance between the simulated vehicle and the simulated obstacle calculated by the ultrasonic radar controller, and parks when the distance between the simulated vehicle and the simulated obstacle reaches a preset distance range.
10. The automated parking simulation test method of claim 9, wherein the automated parking simulation test system further comprises an environmental sensor; the automatic parking simulation test method further comprises the following steps:
the environment sensor measures current environment data and transmits the current environment data to the simulation host;
the simulation host calculates propagation parameters of the transmitted ultrasonic signals and the reflected ultrasonic signals under the current environment data according to the current environment data, and transmits the propagation parameters to the ultrasonic signal processing device;
the ultrasonic signal processing device simulates the propagation process of the transmitted ultrasonic signal and the reflected ultrasonic signal between the simulated vehicle and the simulated obstacle in real time according to the propagation parameters of the transmitted ultrasonic signal and the reflected ultrasonic signal under the current environmental data.
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| CN111562117B (en) * | 2020-06-03 | 2022-09-09 | 中国第一汽车股份有限公司 | Testing device and method for automatic parking system and storage medium |
| CN112415496B (en) * | 2020-12-02 | 2024-06-07 | 吉林大学 | Automatic parking system hardware-in-loop test bed based on ultrasonic radar |
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| CN113252366A (en) * | 2021-06-23 | 2021-08-13 | 奇瑞新能源汽车股份有限公司 | Automatic parking evaluation method and device for vehicle, vehicle and storage medium |
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| CN117971660A (en) * | 2024-01-10 | 2024-05-03 | 镁佳(北京)科技有限公司 | Method, device, system, equipment and medium for testing automatic parking auxiliary algorithm |
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