CN109632339A - A kind of automatic driving vehicle traffic coordinating real steering vectors system and method - Google Patents
A kind of automatic driving vehicle traffic coordinating real steering vectors system and method Download PDFInfo
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- CN109632339A CN109632339A CN201811653182.7A CN201811653182A CN109632339A CN 109632339 A CN109632339 A CN 109632339A CN 201811653182 A CN201811653182 A CN 201811653182A CN 109632339 A CN109632339 A CN 109632339A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The present invention relates to a kind of automatic driving vehicle traffic coordinating real steering vectors system and methods, corresponding interactive testing scene is arranged according to testing requirement by testing on square in closed test road or flexibility, automatic driving vehicle is tested main body, cooperate manned or programming Control background vehicle or balloon vehicle, carry out more vehicle interaction scenarios simulations, carry out more scene automatic driving vehicle traffic coordinating tests, it in the process will be using corresponding equipment to all tested vehicles, the motion profile of traffic participant is acquired and records, the subjective judgement of tested vehicle occupant and other traffic participants will also be recorded, physical signs relevant to interaction comfort and riding comfort index, to realize that automatic driving vehicle traffic coordinating is tested, with verify automatic driving vehicle whether have in the process of moving with other traffic participants carry out Well interactive ability, coordinated control of the present invention is strong, and data are unified to be acquired, and provides good data and supports.
Description
Technical field
The present invention relates to automatic driving vehicle the field of test technology, more particularly, to a kind of automatic driving vehicle traffic coordinating
Property real steering vectors system and method.
Background technique
With the continuous upgrading of technology and product and universal, autonomous driving vehicle will be present in visible future and driven with the mankind
The vehicle that the person of sailing drives travels the situation on road simultaneously, this will have an impact existing traffic condition.Due to driving automatically
The decision rule mode for sailing automobile necessarily has a certain difference with human driver, this will be so that autonomous driving vehicle and the mankind
It is mutually inadaptable to behavior each other to drive vehicle, in turn results in traffic coordinating problem.Automatic Pilot vehicle is tested in real steering vectors
Carry out test in the form of vehicle, the practical manifestation of the software and hardware of each level can be really reflected in test result, this survey
Examination mode can more realistically reflect the feature of the traffic coordinating level of autonomous driving vehicle entirety, more be able to satisfy vehicle grade
Verifying demand.It is therefore desirable to carry out by way of real steering vectors to the traffic coordinating problem of autonomous driving vehicle vehicle
Test.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of automatic driving vehicles
Traffic coordinating real steering vectors system and method.
The purpose of the present invention can be achieved through the following technical solutions:
The present invention relates to a kind of automatic driving vehicle traffic coordinating real steering vectors system, which is based on figure Sentos and thinks,
The system includes test scene library, background vehicle, driving simulator, test site, vehicle-mounted sensing equipment, vehicle outer monitoring device, data
Acquire equipment, physical signs monitoring device, questionnaire survey system, background PC computer, system administration and data processing software.
The test scene library is for instructing the test site to be built according to testing requirement and simulating corresponding interactive testing
Scene；Test scene library contain there are many traffic coordinating typical test scene, the existence form in the test scene library include but
It is not limited to table, database etc., the content in the test scene library includes but is not limited to static elements, quasi-static element, dynamically wants
Element etc..
Other traffic participants that the background vehicle is used to play the part of during the test in test scene come and tested vehicle
It interacts；The driving simulator be used in the biggish test of the security risks such as high-speed working condition, can allow tester with
Balloon vehicle of driver's viewing angle control as background vehicle；Test road needed for the test site is capable of providing test；The vehicle
Sensing equipment is carried to be used to measure the state parameter in vehicle travel process；The data acquisition equipment is for recording vehicle-mounted and ground
The test data of equipment outflow；The physical signs monitoring device is used to measure tested vehicle occupant and other traffic participants
The relative physiologic index of driver；The questionnaire survey system is tested for distributing and being recycled questionnaire, statistics
The subjective feeling of participant；The background PC computer is for storing test data and coordinating to the work of each equipment.
Preferably, the test scene library contains the typical test scene there are many traffic coordinating, the test scene library
Existence form include but is not limited to table, database etc., the content in the test scene library includes but is not limited to static elements, standard
Static elements, dynamic key element etc..
Preferably, the background vehicle can artificially manipulate or default programming by way of in checkout area by certain
Route, concrete form include but is not limited to conventional truck and the disassembled balloon vehicle that is equipped on mobile plate；
Preferably, the conventional truck includes compact car, in-between car and large car；The acquisition pattern of the balloon vehicle includes
But it is not limited to commercial product and self-developing.
Preferably, when background vehicle selects balloon vehicle, the driving simulator can allow tester to regard with driver
Angle controls balloon vehicle, which includes but is not limited to analog control equipment, VR equipment, motion simulation device, PC machine, display etc.
Equipment；
Preferably, the test site can provide test road close to true road conditions to test, test site include but
It is not limited to straight way, bend, crossroad, T-shaped road junction, ring road etc., form is not limited to special test lane or flexibility test
Square.
Preferably, the test site should be able to provide the road surface of one or more single attachment coefficients；The test road should have
Reasonable trackside buffer area；The bend includes but is not limited to minimum according to the various grade roads of road construction standard setting
Turning radius.
Preferably, the vehicle-mounted sensing equipment can acquire vehicle running state supplemental characteristic on demand, the vehicle-mounted sensing
Device includes but is not limited to the equipment such as positioning device, video camera, millimetre-wave radar, inertance element.The type of the sensor is not
It is limited to contact or contactless.
Preferably, the positioning device is for measuring the information such as speed, the track of vehicle driving, and form includes but unlimited
In RTK, UWB；The video camera is used for outside vehicle and interior viewing angles vehicle driving situation, record test data and in real time life
At the VR scene of driving simulator；The millimetre-wave radar is used to obtain the relative positional relationship of vehicle Yu other objects；It is described
It is equivalent that inertance element is used to measure acceleration, yaw velocity in vehicle travel process.
Preferably, the outer monitoring device of the vehicle can shoot the video image of vehicle testing process by video camera,
Arrangement form is not limited to the fixed bracket in ground, ground moving bracket, unmanned plane etc..
Preferably, the data acquisition equipment can acquire what monitoring device outside vehicle-mounted sensing equipment and vehicle was passed in real time
Data, and can will be stored after all data unified time axis, composition includes but is not limited to communication equipment, data recording equipment
Deng.
Preferably, the physical signs monitoring device can pass through sensor measurement tested vehicle occupant and other traffic
The relative physiologic index of the driver of participant, including but not limited to brain electricity index, electrocardiographicdata data, blood pressure, heart rate etc.；
Preferably, the questionnaire survey system has questionnaire topic library, can be generated according to test content corresponding
Questionnaire for test participant fill in, and automatically carry out result summarize.
Preferably, the software of background PC computer operation includes but is not limited to data processing software, test management software
Deng for storing, handling test data and coordinate to the work of each equipment.
Preferably, the system administration and data processing software can record and save test data in real time, processing is surveyed
Examination data simultaneously achieve, and form includes but is not limited to existing business software, based on independently developed software of Open Source Platform etc..
A kind of automatic driving vehicle traffic coordinating real steering vectors method, this method are based on above-mentioned automatic driving vehicle traffic
Harmony real steering vectors system, this method include the testing procedure of automatic driving vehicle traffic coordinating:
S1, required test scene is selected from test scene library, and complete necessary scene in test site and set
Standby arrangement and debugging efforts.
S2, it wears to play the part of the tester of tested vehicle occupant and opens physical signs monitoring device, while making the survey
Examination personnel and tested vehicle security official await orders in tested vechicle vehicle passenger cabin jointly.
S3, driver to play the part of other traffic participants tester wear and open physical signs monitoring device,
It is set to await orders on background vehicle driver's seat or in driving simulator simultaneously.
S4, tested vehicle and background vehicle start, and respectively accelerate within stipulated time and predetermined distance by the acceleration of setting
To preset vehicle speed and the speed is maintained, while starting all the sensors and data acquisition equipment start recording data.
S5, keep respective predetermined speed simultaneously after test initial position when tested vehicle and background vehicle, permission quilt
Measuring car changes driving trace within the scope of test road according to itself decision system, while allowing background vehicle driver according to quilt
The interbehavior of measuring car changes the driving trace of background vehicle.
S6, when there are unsafe incidents in tested vehicle, or when completing the scheduled interactive task of test scene, stop surveying
Examination, while saving the Various types of data recorded in test process.
Preferably, unsafe incidents include but is not limited to that tested vehicle breaks down, accident, tested vechicle occur for tested vehicle
Deviate test road or there are when risk of collision by security official manually adapter tube vehicle control weigh.
S7, it transfers to play the part of tested vehicle occupant and its from questionnaire survey system generation questionnaire corresponding with test content
The tester of the driver of his traffic participant fills in, and recycles questionnaire and carry out result treatment.
S8, the data and archive for handling all acquisitions.
Preferably, the data of archive include but is not limited to participating in comprising all traffic including tested vehicle for macroscopic perspective
Motion trace data, speed data, acceleration information, time headway data of person etc., the tested vehicle occupant of microcosmic angle and
The items interaction comfort relative physiologic index and questionnaire statistical result of the driver of other traffic participants.
The invention has the benefit that
One, the present invention effectively by monitoring device outside test scene library, background vehicle, test site, vehicle-mounted sensing equipment, vehicle,
Data acquisition equipment, physical signs monitoring device, questionnaire survey system, background PC computer, system administration and data processing software melt
Together in a system, it is conducive to coordinated control, data are unified to be acquired, and is mentioned to carry out the evaluation of automatic driving vehicle vehicle traffic coordinating
Good data have been supplied to support；
Two, the present invention is based on turing test thought, tester is efficiently introduced into test environment, realizes and includes
The test of the multi-angle of view at passenger visual angle and driver visual angle, can effectively carry out and comment the traffic coordinating subjectivity of tested vehicle vehicle
Valence；
Three, since tested automatic driving vehicle carries out test in the form of vehicle, the practical manifestation of the software and hardware of each level is equal
It can really be reflected in test result, therefore the test based on real vehicle will more realistically reflect autonomous driving vehicle entirety
Traffic coordinating is horizontal, can meet the verifying demand of vehicle grade；
Four, the method for the present invention will use tester by driving mould in the biggish test of the security risks such as high-speed working condition
The balloon vehicle of quasi- device control is interacted as testing background vehicle with tested vehicle, and guarantees that tester's is heavy by VR equipment
Leaching sense, this method can be effectively reduced tester and test the empirical risk of vehicle；
Five, the present invention has effectively filled up the blank of automatic driving vehicle vehicle traffic coordinating testing field, can be used in
The design of the decision rule system of automatic driving vehicle is verified, help improves other mankind's traffic participants to tested automatic Pilot
The acceptance level of vehicle.
Detailed description of the invention
Fig. 1 is test scene schematic diagram selected by present system in embodiment and method；
Fig. 2 is the hardware composition schematic diagram for the automatic driving vehicle real steering vectors system thought in embodiment based on figure Sentos；
Fig. 3 is the software group for the automatic driving vehicle traffic coordinating real steering vectors system thought in embodiment based on figure Sentos
At schematic diagram；
Fig. 4 is to test the test lane schematic diagram being arranged in square in flexibility in embodiment；
Fig. 5 is that the data in embodiment between driving simulator and balloon vehicle transmit schematic diagram；
Fig. 6 is that the data in embodiment in test macro between each test equipment pass schematic diagram.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.Obviously, described embodiment is this
A part of the embodiment of invention, rather than whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, all should belong to the scope of protection of the invention.
The present invention relates to a kind of based on the automatic driving vehicle real steering vectors system thought of figure Sentos, including test scene library,
Background vehicle, driving simulator, test site, vehicle-mounted sensing equipment, the outer monitoring device of vehicle, data acquisition equipment, physical signs monitoring
Equipment, questionnaire survey system, background PC computer, system administration and data processing software.
The test scene library is for instructing the test site to be built according to testing requirement and simulating corresponding interactive testing
Scene；Other traffic participants that the background vehicle is used to play the part of during the test in test scene to occur with tested vehicle
Interaction；The driving simulator is used in the biggish test of the security risks such as high-speed working condition, and tester can be allowed to drive
Balloon vehicle of member's viewing angle control as background vehicle；Test road needed for the test site is capable of providing test；The vehicle-mounted biography
Sense equipment is used to measure the state parameter in vehicle travel process；The data acquisition equipment is for recording vehicle-mounted and ground installation
The test data of outflow；The physical signs monitoring device is used to measure the driving of tested vehicle occupant He other traffic participants
The relative physiologic index of member；The questionnaire survey system obtains test and participates in for distributing and being recycled questionnaire, statistics
The subjective feeling of person；The background PC computer is for storing test data and coordinating to the work of each equipment.
The test scene that the present embodiment uses is constructed by simulation software, and the scene element in test scene, which derives from, to be passed through
The test scene library of Excel document storage.
Fig. 1 is the present embodiment automatic driving vehicle traffic coordinating real steering vectors according to the invention thought based on figure Sentos
Test scene schematic diagram selected by system and method.The test scene of the present embodiment is two-way traffic linear road, is divided in scene
Do not have tested vehicle A, the balloon vehicle B that is driven by tester by driving simulator it is (following to be driven for vehicle B), by tester
Sail by the vehicle C of specific speed uniform rectilinear traveling, the behavior that is driven by tester is random but does not interfere vehicle A, B, C row
Background the vehicle D and E sailed.Illumination condition is good in the test scene of the present embodiment, visibility good.
Further, vehicle A is with the initial velocity of 40Km/h in right lane only, and vehicle B is with the speed of 60Km/h in A
It is driven at a constant speed in left-hand lane at the 100m of vehicle rear, right side vehicle of the vehicle C with the speed of 30Km/h in front of the vehicle A at 50m
It is driven at a constant speed on road.
The scheduled interactive task of test scene in the present embodiment are as follows: what vehicle A did not collided with vehicle any in environment
In the case of from left-hand lane surmount vehicle C.
The test method of the automatic driving vehicle traffic coordinating real steering vectors system of the present embodiment, including automatic Pilot vehicle
The testing procedure of traffic coordinating:
S1, required test scene is selected from test scene library, and complete necessary scene in test site and set
Standby arrangement and debugging efforts；
S2, it wears to play the part of the tester of tested vehicle occupant and opens physical signs monitoring device, while making the survey
Examination personnel and tested vehicle security official await orders in the main cabin of vehicle A jointly；
S3, driver to play the part of other traffic participants tester wear and open physical signs monitoring device,
It is set to await orders on driving simulator simultaneously；
S4, all vehicle launch, respectively accelerate to predetermined vehicle by the acceleration of setting within stipulated time and predetermined distance
Speed simultaneously maintains the speed, while starting all the sensors and data acquisition equipment start recording data；
S5, keep respective predetermined speed simultaneously after test initial position when tested vehicle and background vehicle, permission vehicle
A changes driving trace within the scope of test road according to itself decision system, while allowing vehicle B driver according to vehicle A
Interbehavior change background vehicle driving trace；
S6, when vehicle trouble, collision accident occurs in tested vehicle, deviates test road or quilt situations such as there are risk of collision
Manually adapter tube vehicle control temporary, or when completing the scheduled interactive task of test scene, stops test, while saving survey to security official
The Various types of data recorded during examination；
S7, it transfers to play the part of tested vehicle occupant and its from questionnaire survey system generation questionnaire corresponding with test content
The tester of the driver of his traffic participant fills in, and recycles questionnaire and carry out result treatment；
S8, the data and archive for handling all acquisitions.The data of preservation include the movement rail of all vehicles including vehicle A
The brain electricity index of mark data, speed data, acceleration information, time headway data, vehicle A occupant and vehicle B driver, electrocardio
Index, blood pressure, heart rate, questionnaire statistical result.
Composition such as Fig. 2 of the software and hardware part of the automatic driving vehicle traffic coordinating real steering vectors system of the present embodiment,
Shown in Fig. 3, further specific implementation is as follows:
In the present embodiment, 3D soft collision target vehicle body, GST Chassis are used as the balloon vehicle of testing background vehicle
The chassis Hardware hardware frame mechanism, ABD Perform System execute system, ABD Control Hardware safety
Control hardware, Chassis Communication Hardware communication hardware and its mating auxiliary device.
In the present embodiment, driving simulator is based on G29 force feedback game stearing wheel external member, VIVE glasses, self-developing
Six-freedom motion emulation seat, XPS8930 desktop PC and 38UC99-W display build.
In the present embodiment, square is tested using flexibility in test site, and one section is marked off on test square as shown in Figure 4
Wide 8.5m, long 500m two-way traffic test lane, coefficient of road adhesion 0.8, test lane include accelerating sections, test subject
Section, braking section and safe clearance section.
In the present embodiment, vehicle-mounted sensing equipment includes commercial camera, commercial mm wave radar, OxTS company
RT3000GPS/INS combines inertial navigation test macro, inertance element；The video camera, combination inertial navigation test macro exist
It is respectively mounted on vehicle A, B, C, D, E, millimetre-wave radar is only installed on vehicle A.The outer monitoring device of vehicle using the fixed bracket in ground,
The video camera of ground moving bracket and UAV flight.Data acquisition equipment includes communication equipment and data recording equipment.Physiology
Monitoring Indexes equipment uses Quik-Cap electrode cap, polygraph, XL-1A type heart rate biological respinse instrument.Questionnaire
System is based on Office Excel software development, can be realized problem screening, online distribution, result statistical function.Data processing
Software, test management software operate in background PC computer, for storing, handling test data and assist to the work of each equipment
It adjusts, the system administration and data processing software are based on the independently developed software of Open Source Platform.
Above-described embodiment is merely to illustrate the present invention, and wherein the type selecting of each section, structure, connection type etc. can be had
Variation, all same transformation and improvement carried out based on the technical solution of the present invention should not be excluded of the invention
Except protection scope.It will be appreciated by those skilled in the art that invention scope of the present invention, however it is not limited to above-mentioned technical characteristic
Specific combination made of technical solution, it is special by above-mentioned technology while in the case where be also covered by the inventive concept belonging to do not depart from
Sign or its equivalent feature carry out any combination and the other technologies scheme that is formed.Such as features described above and disclosed herein
(but being not limited to) have the technical characteristic of similar functions replaced mutually and the technical solution that is formed.It is any to be familiar with this technology neck
The staff in domain in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or substitutions, these modifications
Or replacement should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection of claim
Subject to range.
Claims (10)
1. a kind of automatic driving vehicle traffic coordinating real steering vectors system, which is characterized in that the system includes:
Test site, for test road needed for providing test；
Test scene library, for instructing the test site to be built according to testing requirement and simulating corresponding interactive testing scene；
Background vehicle is handed over for playing the part of other traffic participants in test scene during the test with tested vehicle
Mutually；
Driving simulator, in the biggish test of the security risks such as high-speed working condition, making tester with the control of driver visual angle
It is made as the balloon vehicle of background vehicle；
Vehicle-mounted sensing equipment, for measuring the state parameter in vehicle travel process；
Data acquisition equipment, for recording the test data of vehicle-mounted and ground installation outflow；
Physical signs monitoring device refers to for measuring the relevant physiological of driver of tested vehicle occupant and other traffic participants
Mark；
Questionnaire survey system, for distributing and being recycled questionnaire, statistics obtains the subjective feeling of test participant；
Background PC computer, for storing test data and coordinating to the work of each equipment.
2. a kind of automatic driving vehicle traffic coordinating real steering vectors system according to claim 1, which is characterized in that institute
The form in the test scene library stated includes table, database, the content in test scene library include static elements, quasi-static element,
Dynamic key element.
3. a kind of automatic driving vehicle traffic coordinating real steering vectors system according to claim 1, which is characterized in that institute
The background vehicle stated includes conventional truck and the disassembled balloon vehicle that is equipped on mobile plate.
4. a kind of automatic driving vehicle traffic coordinating real steering vectors system according to claim 1, which is characterized in that institute
The driving simulator stated includes analog control equipment, VR equipment, motion simulation device, PC machine, display.
5. a kind of automatic driving vehicle traffic coordinating real steering vectors system according to claim 1, which is characterized in that institute
The test site stated includes special test lane or flexibility test square.
6. a kind of automatic driving vehicle traffic coordinating real steering vectors system according to claim 1, which is characterized in that institute
The onboard sensor stated includes positioning device, video camera, millimetre-wave radar, inertance element.
7. a kind of automatic driving vehicle traffic coordinating real steering vectors system according to claim 6, which is characterized in that institute
The physical signs monitoring device stated passes through driving for the onboard sensor measurement tested vehicle occupant and other traffic participants
The relative physiologic index for the person of sailing, including but not limited to brain electricity index, electrocardiographicdata data, blood pressure, heart rate.
8. a kind of automatic driving vehicle traffic coordinating real steering vectors system according to claim 1, which is characterized in that institute
The questionnaire survey system stated is equipped with questionnaire topic library, and the questionnaire survey system generates corresponding adjust according to test content
Volume is interrogated, and automates progress result and summarizes.
9. a kind of survey using automatic driving vehicle traffic coordinating real steering vectors system according to any one of claims 1 to 8
Method for testing, which comprises the following steps:
1) according to selecting required test scene in test scene library, and necessary scene and equipment are completed in test site
Arrangement and debugging efforts；
2) it enables tester and tested vehicle security official be co-located in tested vechicle vehicle passenger cabin, while multiplying to play the part of tested vehicle
The tester of member wears and opens physical signs monitoring device；
3) tester of the driver to play the part of other traffic participants wears and opens physical signs monitoring device, makes simultaneously
It awaits orders on background vehicle driver's seat or in driving simulator；
4) starting tested vehicle and background vehicle, accelerate to it respectively within stipulated time and predetermined distance by the acceleration of setting
Preset vehicle speed simultaneously maintains the speed, while starting all the sensors and data acquisition equipment start recording data；
5) when tested vehicle and background vehicle keep respective predetermined speed simultaneously after test initial position, permission tested vehicle
Change driving trace within the scope of test road according to itself decision system, while allowing background vehicle driver according to tested vehicle
Interbehavior change background vehicle driving trace；
6) when tested vehicle unsafe incidents occurs or completes the scheduled interactive task of test scene, stop test, protect simultaneously
Deposit the Various types of data recorded in test process；
7) questionnaire corresponding with test content is generated from questionnaire survey system, and recycles questionnaire and carries out result treatment；
8) data and archive of all acquisitions are handled.
10. a kind of test method according to claim 9, which is characterized in that the unsafe incidents include tested vechicle
Break down, tested vehicle occur accident, tested vehicle deviate test road or there are when risk of collision by safety
The artificial adapter tube vehicle control power of member.
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| WO2022246853A1 (en) * | 2021-05-28 | 2022-12-01 | 深圳市大疆创新科技有限公司 | Safety test method for vehicle system and test vehicle |
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Application publication date: 20190416 |