CN109975035B - Whole-vehicle-level in-loop test bench system of L3-level automatic driving vehicle - Google Patents
Whole-vehicle-level in-loop test bench system of L3-level automatic driving vehicle Download PDFInfo
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- CN109975035B CN109975035B CN201910325252.4A CN201910325252A CN109975035B CN 109975035 B CN109975035 B CN 109975035B CN 201910325252 A CN201910325252 A CN 201910325252A CN 109975035 B CN109975035 B CN 109975035B
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Abstract
The invention provides a whole-vehicle-level on-loop test bench system of an L3-level automatic driving automobile, which comprises a chassis dynamometer which is positioned in the center of an annular screen, wherein a first vehicle is arranged on the chassis dynamometer, the first vehicle comprises a first vehicle body and a first vehicle controller, at least one vehicle-mounted camera is arranged on the first vehicle body, the image data signal output end of each vehicle-mounted camera is connected with the image data signal input end of the first vehicle controller, and the vehicle-mounted camera is used for acquiring a continuity test scene displayed on the annular screen. The invention can realize the change of the lane line state in the test process, and realize the whole vehicle-level continuity loop test of the L3-level automatic driving vehicle through the real-time synchronous change of the moving target (such as other vehicles, bicycles and pedestrians), the lane line and the surrounding environment.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a complete automobile-level in-loop test bench system of an L3-level automatic driving automobile.
Background
With the rapid development of the automatic driving technology, more and more automatic driving automobiles with ADAS function (grade L1/L2) are already put into mass production, and even more and more automobile enterprises begin to plan the marketization process of the automatic driving automobiles of grade L3. Mass production vehicles with level L3 autopilot functionality are expected to enter the market in 2020. For the test of the automatic driving automobile, the safety of the system can be ensured only by predicting that an average testing mileage of 130 ten thousand miles is required for one automatic driving automobile, so that the traditional field test and road test can not meet the testing requirement of the automatic driving automobile. In view of the above difficulties, the in-loop test mode is adopted to perform the test in the development and verification stages of the automatic driving automobile, so that not only can the time and the cost be greatly solved, but also some dangerous test working conditions which cannot be realized in the actual field or road test can be developed, and the in-loop test is an essential link for the test and verification of the automatic driving automobile.
Currently, there are several methods for in-loop testing, from Software In Loop (SiL), Model In Loop (MiL), Hardware In Loop (HiL), to vehicle in loop (VeHiL); different methods have different authenticity and economy, and form different stages of the automatic driving in-loop test, wherein the finished automobile in-loop test has relatively higher authenticity, and the method is an important stage between hardware in-loop and site test links.
Aiming at the on-loop test of the whole automobile level of an automatic driving automobile, different whole automobile on-loop test bench systems are sequentially designed by units such as Dutch TNO, Korea KATECH and the like, and the ADAS function of a test vehicle is tested by placing the test vehicle on a hub rotating dynamometer (also called a chassis dynamometer) and carrying a target object by utilizing a traction sliding rail around the vehicle or carrying the target object by a moving platform. In the testing process, the testing vehicle is fixed on the hub dynamometer to run, and the relative motion state of the moving target object and the testing vehicle is changed through the motion of the moving target object (carried by a traction sliding rail or a moving platform vehicle) so as to complete the testing of the ADAS related test case.
However, the class L3 autonomous vehicle can completely replace a human driver to complete driving operation within a certain designed operation range, so compared with the class L1 and L2 ADAS autonomous vehicles in terms of function, the class L3 autonomous vehicle can complete all operation tasks in the longitudinal and transverse directions of the vehicle within the designed operation range.
The L3 level automatic driving automobile is characterized in that:
recognition of lane line status is the basis for the implementation of level L3 autopilot functions (e.g., turn, lane keeping);
various sensors with large quantity are generally arranged around the body of an L3-grade automatic driving automobile:
for example, a camera: a tele camera, a wide-angle camera, a 360-degree panoramic camera, and the like; radar: millimeter wave radar, laser radar, ultrasound radar, and the like.
In the existing scheme of the whole vehicle-in-loop rack system, because the state of a physical lane line around a test vehicle cannot be changed, and the test of the test vehicle on the related functions based on lane line identification cannot be realized, the existing related scheme can only meet part of test requirements of an L1-L2-level ADAS automatic driving vehicle and cannot meet the whole vehicle-level in-loop test requirements of an L3-level automatic driving vehicle.
Disclosure of Invention
The invention aims to at least solve the technical problems in the prior art, and particularly creatively provides a whole-vehicle-level in-loop test bench system of an L3-level automatic driving automobile.
In order to achieve the above object, the present invention provides a whole vehicle-level in-loop test bench system of an L3-level automatic driving vehicle, comprising a chassis dynamometer, a first vehicle and an annular screen, wherein the chassis dynamometer is arranged in a first area; the chassis dynamometer is located in the center of the annular screen, the first vehicle is arranged on the chassis dynamometer and comprises a chassis dynamometer body and a chassis dynamometer controller, the first vehicle comprises a first vehicle body and a first vehicle controller, the annular screen comprises an annular screen body and an annular screen controller, at least one vehicle-mounted camera is arranged on the first vehicle body, the image data signal output end of each vehicle-mounted camera is connected with the image data signal input end of the first vehicle controller, and the vehicle-mounted camera is used for acquiring a continuity test scene displayed on the annular screen;
the second vehicle and the moving target object are arranged in a second area, the second vehicle and the first vehicle are vehicles with the same or different configurations and/or the same or different placement positions, the second vehicle comprises a second vehicle body and a second vehicle controller, the moving target object comprises a moving target object body and a moving target object controller, at least one vehicle-mounted radar is arranged on the second vehicle body, a radar data signal output end of each vehicle-mounted radar is connected with a radar data signal input end of the first vehicle controller, and the vehicle-mounted radar is used for acquiring running data between the moving target object and the second vehicle; the first wireless transceiving unit is arranged in the mobile target object body, and a transceiving signal end of the first wireless transceiving unit is connected with a transceiving signal end of the mobile target object controller;
the system also comprises a master controller and a second wireless transceiving module;
the first vehicle control signal output end of the master controller is connected with the control signal input end of the first vehicle controller, and the first vehicle acquisition signal input end of the master controller is connected with the acquisition signal output end of the first vehicle controller;
the chassis dynamometer control signal output end of the master controller is connected with the control signal input end of the chassis dynamometer controller, and the chassis dynamometer acquisition signal input end of the master controller is connected with the acquisition signal output end of the chassis dynamometer controller;
the video signal end of the annular screen of the master controller is connected with the video signal end of the annular screen controller;
the receiving and transmitting signal end of the master controller is connected with the receiving and transmitting signal end of the second wireless receiving and transmitting module;
during testing, the master controller sends continuity test scene data to the annular screen, the continuity test scene is displayed on the annular screen, the master controller sends a control signal to the moving target object to control the moving target object to be consistent with the moving target object displayed in the annular screen, and the master controller sends a control signal to the chassis dynamometer to control the chassis dynamometer to provide road conditions displayed in the annular screen for the first vehicle;
and after the vehicle-mounted camera acquires the continuity test scene displayed on the annular screen and the driving data of the moving target object acquired by the vehicle-mounted radar, the first vehicle performs corresponding operation.
In the present patent application, the vehicle-mounted radar and the vehicle-mounted camera are tested in different areas (a first area and a second area) to prevent interference during the test (for example, if a moving object moves in front of the test vehicle, the recognition of a test scene, environmental information, and the like on a screen by the vehicle-mounted camera is affected). Thus two identical test vehicles (a first vehicle, which is shown in fig. 1, and a second vehicle) are required during the test, the first vehicle being placed on the hub dynamometer (also called the chassis dynamometer) (in the middle of the ring screen), and the second vehicle being placed in the side zone (second zone); after the vehicle-mounted radar interfaces on the two vehicles are completely disconnected, all the vehicle-mounted radars on the second vehicle are connected to the radar signal transmission interface on the first vehicle in a one-to-one correspondence mode, and therefore the regional test of the vehicle-mounted radars and the vehicle-mounted camera is achieved.
In a preferred embodiment of the present invention, the vehicle further comprises a GPS signal converter, a GPS signal input terminal of the GPS signal converter is connected to a GPS signal output terminal of the general controller, and a GPS signal output terminal of the GPS signal converter is connected to a GPS signal input terminal of the first vehicle. The master controller converts the latitude and longitude information input into the continuous test scene into a virtual GNSS signal through the GPS signal converter, inputs the virtual GNSS signal into the first vehicle controller, and provides a real-time synchronous virtual GPS signal for the first vehicle.
In a preferred embodiment of the present invention, the at least one vehicle-mounted camera includes one or any combination of a vehicle-mounted first camera, a vehicle-mounted second camera, a vehicle-mounted third camera, a vehicle-mounted fourth camera, and a vehicle-mounted fifth camera;
the vehicle-mounted first camera is arranged on the left side of the head of the first vehicle, and the image data signal output end of the vehicle-mounted first camera is connected with the image data first signal input end of the first vehicle controller; the vehicle-mounted second camera is arranged on the right side of the head of the first vehicle, and an image data signal output end of the vehicle-mounted second camera is connected with an image data second signal input end of the first vehicle controller; the vehicle-mounted third camera is arranged on the left side of the tail of the first vehicle, and an image data signal output end of the vehicle-mounted third camera is connected with an image data third signal input end of the first vehicle controller; the vehicle-mounted fourth camera is arranged on the right side of the tail of the first vehicle, and an image data signal output end of the vehicle-mounted fourth camera is connected with an image data fourth signal input end of the first vehicle controller; the vehicle-mounted fifth camera is hung in the first vehicle and close to the front windshield, and an image data signal output end of the vehicle-mounted fifth camera is connected with an image data fifth signal input end of the first vehicle controller. The continuity test scene displayed on the annular screen is collected, and the dead angle is prevented.
In a more preferred embodiment of the present invention, the vehicle-mounted first camera, the vehicle-mounted second camera, the vehicle-mounted third camera, the vehicle-mounted fourth camera, and the vehicle-mounted fifth camera are one of or any combination of a telephoto camera, a wide angle camera, and a 360 ° panoramic camera.
In a preferred embodiment of the present invention, the at least one vehicle-mounted radar includes one or any combination of a vehicle-mounted first radar, a vehicle-mounted second radar, a vehicle-mounted third radar and a vehicle-mounted fourth radar;
the vehicle-mounted first radar is arranged at the head of the second vehicle, and a radar data signal output end of the vehicle-mounted first radar is connected with a radar data first signal input end of the first vehicle controller; the vehicle-mounted second radar is arranged at the tail of the second vehicle, and the radar data signal output end of the vehicle-mounted second radar is connected with the radar data second signal input end of the first vehicle controller; the vehicle-mounted third radar is arranged on the left side face of the second vehicle, and a radar data signal output end of the vehicle-mounted third radar is connected with a radar data third signal input end of the first vehicle controller; the vehicle-mounted fourth radar is arranged on the right side face of the second vehicle, and a radar data signal output end of the vehicle-mounted fourth radar is connected with a radar data fourth signal input end of the first vehicle controller. The distance between the moving target object and the front, back, left and right positions of the moving target object is measured.
In a preferred embodiment of the present invention, the vehicle-mounted first radar, the vehicle-mounted second radar, the vehicle-mounted third radar, and the vehicle-mounted fourth radar are one of or any combination of a millimeter wave radar, a laser radar, and an ultrasonic radar.
In a preferred embodiment of the present invention, the vehicle further comprises one or any combination of a first vehicle speed sensor, a first vehicle torque sensor, a first vehicle speed sensor, a first vehicle rotation angle sensor disposed in the first vehicle body;
the rotating speed signal output end of the first vehicle rotating speed sensor is connected with the rotating speed signal input end of the first vehicle controller; the torque signal output end of the first vehicle torque sensor is connected with the torque signal input end of the first vehicle controller; the speed signal output end of the first vehicle speed sensor is connected with the speed signal input end of the first vehicle controller; the corner signal output end of the first vehicle corner sensor is connected with the corner signal input end of the first vehicle controller. And acquiring the parameter information of the rotating speed, the torque, the speed and the corner of the first vehicle in real time, and adjusting the parameter information of the first vehicle in real time.
In a preferred embodiment of the present invention, the device further comprises one or any combination of a chassis dynamometer rotation speed sensor, a chassis dynamometer torque sensor, a chassis dynamometer speed sensor, and a chassis dynamometer rotation angle sensor, which are arranged in the chassis dynamometer body;
the rotating speed signal output end of the rotating speed sensor of the chassis dynamometer is connected with the rotating speed signal input end of the chassis dynamometer controller; the torque signal output end of the chassis dynamometer torque sensor is connected with the torque signal input end of the chassis dynamometer controller; the speed signal output end of the chassis dynamometer speed sensor is connected with the speed signal input end of the chassis dynamometer controller; and a corner signal output end of the chassis dynamometer corner sensor is connected with a corner signal input end of a chassis dynamometer controller. And acquiring the parameter information of the rotating speed, the torque, the speed and the corner of the chassis dynamometer in real time, and adjusting the parameter information of the chassis dynamometer in real time.
In a preferred embodiment of the present invention, the system further comprises one or any combination of a moving target rotational speed sensor, a moving target torque sensor, a moving target speed sensor, and a moving target rotation angle sensor, which are arranged in the moving target body;
the rotating speed signal output end of the moving target object rotating speed sensor is connected with the rotating speed signal input end of the moving target object controller; the torque signal output end of the moving target object torque sensor is connected with the torque signal input end of the moving target object controller; the speed signal output end of the moving target object speed sensor is connected with the speed signal input end of the moving target object controller; and a corner signal output end of the moving target object corner sensor is connected with a corner signal input end of the moving target object controller. And acquiring the parameter information of the rotating speed, the torque, the speed and the corner of the moving target object in real time, and adjusting the parameter information of the moving target object in real time.
In a preferred embodiment of the present invention, the total controller converts latitude and longitude information in the continuity test scenario into a virtual GNSS signal through the signal converter, and inputs the virtual GNSS signal into the first vehicle controller.
In summary, due to the adoption of the technical scheme, the invention can realize the change of the lane line state in the test process, and realize the complete vehicle-level continuity in-loop test of the L3-level automatic driving vehicle through the real-time synchronous change of the moving target (such as other vehicles, bicycles and pedestrians), the lane line and the surrounding environment.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic connection block diagram of the system of the present invention.
FIG. 2 is a schematic connection block diagram of the system of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The invention discloses a whole-vehicle-level in-loop test bench system of an L3-level automatic driving automobile, which comprises a chassis dynamometer, a first vehicle and an annular screen, wherein the chassis dynamometer is arranged in a first area; the chassis dynamometer is located in the center of the annular screen, the first vehicle is arranged on the chassis dynamometer and comprises a chassis dynamometer body and a chassis dynamometer controller, the first vehicle comprises a first vehicle body and a first vehicle controller, the annular screen comprises an annular screen body and an annular screen controller, at least one vehicle-mounted camera is arranged on the first vehicle body, the image data signal output end of each vehicle-mounted camera is connected with the image data signal input end of the first vehicle controller, and the vehicle-mounted camera is used for acquiring a continuity test scene displayed on the annular screen;
the second vehicle and the M moving target objects are arranged in a second area, the second vehicle and the first vehicle are vehicles with the same or different configurations and/or the same or different placing positions, the second vehicle comprises a second vehicle body and a second vehicle controller, the moving target objects comprise a moving target object body and a moving target object controller, at least one vehicle-mounted radar is arranged on the second vehicle body, a radar data signal output end of each vehicle-mounted radar is connected with a radar data signal input end of the first vehicle controller, and the vehicle-mounted radar is used for acquiring running data between the moving target objects and the second vehicle; the first wireless transceiving unit is arranged in the mobile target object body, and a transceiving signal end of the first wireless transceiving unit is connected with a transceiving signal end of the mobile target object controller;
the system also comprises a master controller and a second wireless transceiving module;
the first vehicle control signal output end of the master controller is connected with the control signal input end of the first vehicle controller, and the first vehicle acquisition signal input end of the master controller is connected with the acquisition signal output end of the first vehicle controller;
the chassis dynamometer control signal output end of the master controller is connected with the control signal input end of the chassis dynamometer controller, and the chassis dynamometer acquisition signal input end of the master controller is connected with the acquisition signal output end of the chassis dynamometer controller;
the video signal end of the annular screen of the master controller is connected with the video signal end of the annular screen controller;
the receiving and transmitting signal end of the master controller is connected with the receiving and transmitting signal end of the second wireless receiving and transmitting module;
during testing, the master controller sends continuity test scene data to the annular screen, the continuity test scene is displayed on the annular screen, the master controller sends a control signal to the moving target object to control the moving target object to be consistent with the moving target object displayed in the annular screen, and the master controller sends a control signal to the chassis dynamometer to control the chassis dynamometer to provide road conditions displayed in the annular screen for the first vehicle;
and after the vehicle-mounted camera acquires the continuity test scene displayed on the annular screen and the driving data of the moving target object acquired by the vehicle-mounted radar, the first vehicle performs corresponding operation.
In a preferred embodiment of the present invention, the vehicle further comprises a GPS signal converter, a GPS signal input terminal of the GPS signal converter is connected to a GPS signal output terminal of the general controller, and a GPS signal output terminal of the GPS signal converter is connected to a GPS signal input terminal of the first vehicle.
In a preferred embodiment of the present invention, the at least one vehicle-mounted camera includes one or any combination of a vehicle-mounted first camera, a vehicle-mounted second camera, a vehicle-mounted third camera, a vehicle-mounted fourth camera, and a vehicle-mounted fifth camera;
the vehicle-mounted first camera is arranged on the left side of the head of the first vehicle, and the image data signal output end of the vehicle-mounted first camera is connected with the image data first signal input end of the first vehicle controller; the vehicle-mounted second camera is arranged on the right side of the head of the first vehicle, and an image data signal output end of the vehicle-mounted second camera is connected with an image data second signal input end of the first vehicle controller; the vehicle-mounted third camera is arranged on the left side of the tail of the first vehicle, and an image data signal output end of the vehicle-mounted third camera is connected with an image data third signal input end of the first vehicle controller; the vehicle-mounted fourth camera is arranged on the right side of the tail of the first vehicle, and an image data signal output end of the vehicle-mounted fourth camera is connected with an image data fourth signal input end of the first vehicle controller; the vehicle-mounted fifth camera is hung in the first vehicle and close to the front windshield, and an image data signal output end of the vehicle-mounted fifth camera is connected with an image data fifth signal input end of the first vehicle controller. In the present embodiment, the vehicle-mounted first camera, the vehicle-mounted second camera, the vehicle-mounted third camera, the vehicle-mounted fourth camera, and the vehicle-mounted fifth camera are one of or any combination of a telephoto camera, a wide angle camera, and a 360 ° panoramic camera.
In a preferred embodiment of the present invention, the at least one vehicle-mounted radar includes one or any combination of a vehicle-mounted first radar, a vehicle-mounted second radar, a vehicle-mounted third radar and a vehicle-mounted fourth radar;
the vehicle-mounted first radar is arranged at the head of the second vehicle, and a radar data signal output end of the vehicle-mounted first radar is connected with a radar data first signal input end of the first vehicle controller; the vehicle-mounted second radar is arranged at the tail of the second vehicle, and the radar data signal output end of the vehicle-mounted second radar is connected with the radar data second signal input end of the first vehicle controller; the vehicle-mounted third radar is arranged on the left side face of the second vehicle, and a radar data signal output end of the vehicle-mounted third radar is connected with a radar data third signal input end of the first vehicle controller; the vehicle-mounted fourth radar is arranged on the right side face of the second vehicle, and a radar data signal output end of the vehicle-mounted fourth radar is connected with a radar data fourth signal input end of the first vehicle controller. In the present embodiment, the vehicle-mounted first radar, the vehicle-mounted second radar, the vehicle-mounted third radar, and the vehicle-mounted fourth radar are one of or any combination of a millimeter wave radar, a laser radar, and an ultrasonic radar.
In a preferred embodiment of the present invention, the vehicle further comprises one or any combination of a first vehicle speed sensor, a first vehicle torque sensor, a first vehicle speed sensor, a first vehicle rotation angle sensor disposed in the first vehicle body; the rotating speed signal output end of the first vehicle rotating speed sensor is connected with the rotating speed signal input end of the first vehicle controller; the torque signal output end of the first vehicle torque sensor is connected with the torque signal input end of the first vehicle controller; the speed signal output end of the first vehicle speed sensor is connected with the speed signal input end of the first vehicle controller; the corner signal output end of the first vehicle corner sensor is connected with the corner signal input end of the first vehicle controller.
In a preferred embodiment of the present invention, the device further comprises one or any combination of a chassis dynamometer rotation speed sensor, a chassis dynamometer torque sensor, a chassis dynamometer speed sensor, and a chassis dynamometer rotation angle sensor, which are arranged in the chassis dynamometer body; the rotating speed signal output end of the rotating speed sensor of the chassis dynamometer is connected with the rotating speed signal input end of the chassis dynamometer controller; the torque signal output end of the chassis dynamometer torque sensor is connected with the torque signal input end of the chassis dynamometer controller; the speed signal output end of the chassis dynamometer speed sensor is connected with the speed signal input end of the chassis dynamometer controller; and a corner signal output end of the chassis dynamometer corner sensor is connected with a corner signal input end of a chassis dynamometer controller.
In a preferred embodiment of the present invention, the system further comprises one or any combination of a moving target rotational speed sensor, a moving target torque sensor, a moving target speed sensor, and a moving target rotation angle sensor, which are arranged in the moving target body; the rotating speed signal output end of the moving target object rotating speed sensor is connected with the rotating speed signal input end of the moving target object controller; the torque signal output end of the moving target object torque sensor is connected with the torque signal input end of the moving target object controller; the speed signal output end of the moving target object speed sensor is connected with the speed signal input end of the moving target object controller; and a corner signal output end of the moving target object corner sensor is connected with a corner signal input end of the moving target object controller.
The invention also discloses a test method of the whole-vehicle-level in-loop test bench system of the L3-level automatic driving automobile, which comprises the following steps:
s1, after the first vehicle is started, the master controller inputs one or any combination parameter information of the rotating speed, the steering angle and the aligning moment to the chassis dynamometer, and the chassis dynamometer operates according to the input power to provide one or any combination of the corresponding running resistance, the steering force and the aligning force for the first vehicle in real time;
s2, the master controller controls the moving target object to move in the form of WiFi signals after passing the running track information of the moving target object through the first transceiver module, the moving target object comprises one or any combination of cars, bicycles and pedestrians, and the moving target object moves in real time with the video signals of the annular screen in the step S3 according to one or any combination of the running path, the running horizontal/longitudinal speed, the horizontal/longitudinal acceleration and deceleration and the steering angle sent by the master controller;
s3, the master controller sends continuity test scene information to the annular screen, and the continuity test scene is displayed on the annular screen, wherein the continuity test scene comprises one or any combination of lane information, lane line information, surrounding traffic participant information and environment information;
and S4, after the vehicle-mounted camera collects the continuity test scene displayed on the annular screen and the driving data of the moving target object collected by the vehicle-mounted radar, the first vehicle performs corresponding operation.
In a preferred embodiment of the invention, the method comprises the following steps:
s11, when the vehicle-mounted camera acquires that the first vehicle runs on the highway section, the first vehicle controller judges lane information where the first vehicle is located, wherein the lane information comprises a two-lane in the same direction and an L-lane in the same direction; the number of the lanes in the same direction is L, and the number of the lanes in the same direction is not less than 3;
if the first vehicle runs in the two lanes in the same direction and is located in the right lane, if the first vehicle sensor detects that the speed of the first vehicle running is greater than or equal to a preset first running speed threshold value, the first controller controls the first vehicle to decelerate so that the speed of the first vehicle sensor detecting that the first vehicle running is smaller than the preset first running speed threshold value;
if the first vehicle runs in the two lanes in the same direction and is located in the left lane, if the first vehicle sensor detects that the speed of the first vehicle running is greater than or equal to a preset second running speed threshold value, the first controller controls the first vehicle to decelerate so that the speed of the first vehicle sensor detecting that the first vehicle running is less than the preset second running speed threshold value; the second travel speed threshold is greater than the first travel speed threshold;
if the first vehicle runs in the L lane in the same direction and is located in the right lane, if the first vehicle sensor detects that the running speed of the first vehicle is smaller than a preset third running speed threshold value; the first controller controls the first vehicle to accelerate, so that the speed of the first vehicle detected by the first vehicle sensor is greater than or equal to a preset third traveling speed threshold value, and if the speed of the first vehicle detected by the first vehicle sensor is greater than the preset fourth traveling speed threshold value; if the fourth traveling speed threshold is greater than the third traveling speed threshold, the first controller controls the first vehicle to decelerate so that the speed of the first vehicle detected by the first vehicle sensor is less than or equal to the preset fourth traveling speed threshold;
if the first vehicle runs in the same-direction L lane and is located in an intermediate lane, wherein the intermediate lane is one of the second lane, the third lane, the fourth lane, … … and the L-2 lane, if the first vehicle sensor detects that the speed of the first vehicle is smaller than a preset fifth running speed threshold value; if the preset fifth running speed threshold is greater than or equal to the preset fourth running speed threshold, the first controller controls the first vehicle to accelerate, so that the speed detected by the first vehicle sensor when the first vehicle runs is greater than or equal to the preset fifth running speed threshold, and if the first vehicle sensor detects that the speed detected by the first vehicle when the first vehicle runs is greater than the preset sixth running speed threshold; if the sixth running speed threshold is greater than the fifth running speed threshold, the first controller controls the first vehicle to decelerate so that the speed detected by the first vehicle sensor is less than or equal to a preset sixth running speed threshold;
if the first vehicle runs in the L lane in the same direction and is located in the left lane, if the first vehicle sensor detects that the running speed of the first vehicle is smaller than a preset seventh running speed threshold value; if the preset seventh running speed threshold is greater than or equal to the preset sixth running speed threshold, the first controller controls the first vehicle to accelerate, so that the first vehicle sensor detects that the running speed of the first vehicle is greater than or equal to the preset seventh running speed threshold, and if the first vehicle sensor detects that the running speed of the first vehicle is greater than the preset eighth running speed threshold; if the eighth running speed threshold is greater than the seventh running speed threshold, the first controller controls the first vehicle to decelerate so that the speed of the first vehicle detected by the first vehicle sensor is less than or equal to the preset eighth running speed threshold;
s12, when the vehicle-mounted camera acquires that the first vehicle runs on the ordinary road section, the first vehicle controller judges the lane information where the first vehicle is located, wherein the lane information comprises a two-way two-lane; if the first vehicle sensor detects that the running speed of the first vehicle is greater than or equal to a preset ninth running speed threshold value, the first controller controls the first vehicle to decelerate so that the speed detected by the first vehicle sensor that the first vehicle runs is smaller than the preset ninth running speed threshold value; and if the first vehicle sensor detects that the speed of the first vehicle is less than or equal to a preset tenth running speed threshold value, and the tenth running speed threshold value is less than a ninth running speed threshold value, the first controller controls the first vehicle to accelerate, so that the speed of the first vehicle detected by the first vehicle sensor is greater than the preset tenth running speed threshold value.
In a preferred embodiment of the present invention, the method further comprises the steps of:
s21, if the vehicle-mounted camera acquires that the first vehicle runs on the lane line in a pressed mode, the first vehicle controller controls the first vehicle to adjust the steering angle, and the first vehicle runs in the previous lane range;
the calculation method of the steering angle comprises the following steps:
wherein (x)1,y1,z1) (x) coordinates of the position of the first vehicle currently located in the annular screen2,y2,z2) The coordinate of the position of the first vehicle in the annular screen at the next moment is shown, alpha is the steering angle of the first vehicle, when alpha is a negative value, the vehicle turns to the left, and when alpha is a positive value, the vehicle turns to the right; beta is the angle of slope between two points, v is the first vehicle speed, and t is the coordinate (x)1,y1,z1) To the coordinate (x)2,y2,z2) Theta is the lane line angle and x is the first vehicle wire length.
S22, when the first vehicle runs in the lane range, the first vehicle controller controls the first vehicle to return to the positive direction;
s23, the distance between the second vehicle and the front moving target object is detected by the vehicle-mounted radar to be S1When is, the S1If the distance is smaller than or equal to the preset first distance threshold, judging whether the difference value between the running speed of the front moving target object and the running speed of the first vehicle is smaller than or equal to the preset speed difference threshold:
if the difference value between the running speed of the front moving target object and the running speed of the first vehicle is smaller than or equal to the preset speed difference value threshold value, the first vehicle controller controls the first vehicle to decelerate; enabling a first vehicle sensor to detect that the speed of the first vehicle is less than or equal to the running speed of the front moving target object;
s24, if the vehicle-mounted radar detects that the distance between the second vehicle and the front moving target object is S2When is, the S2Is greater than S1And the distance between the rear moving target object and the second vehicle is greater than or equal to a preset first distance threshold; the first vehicle controller controls the first vehicle to change lane to the left for overtaking, and the overtaking steering angle calculation method comprises the following steps:
wherein (x)i,yi,zi) Coordinates of the position of the first vehicle passing by the loop screen, (x)i+1,yi+1,zi+1) The coordinate of the position of the first vehicle in the annular screen at the next overtaking moment, and alpha' is the steering angle of the first vehicle when overtaking; beta 'is the overtaking gradient angle between two points, v' is the speed of the first vehicle before overtaking, v 'is the speed of the first vehicle after overtaking, and t' is the coordinate (x)1,y1,z1) To the coordinate (x)2,y2,z2) When predictingAnd theta' is the angle of the overtaking lane line.
In a preferred embodiment of the present invention, the steps S1 to S4 further include that the overall controller converts latitude and longitude information in the continuity test scenario into a virtual GNSS signal through a signal converter, and inputs the virtual GNSS signal into the first vehicle controller.
In a preferred embodiment of the present invention, the method further comprises:
before the test is started, four tires of a first vehicle are respectively placed on four hubs of a chassis dynamometer, and the first vehicle is fixed to prevent the first vehicle from moving in the test process;
and adjusting the position of the annular screen according to one or any combination information of the focal length, the visual angle and the calibration position of the vehicle-mounted camera on the first vehicle so as to ensure the correct identification of the continuity test scene information displayed on the annular screen by the vehicle-mounted camera.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A whole-vehicle-level in-loop test bench system of an L3-level automatic driving automobile is characterized by comprising a chassis dynamometer, a first vehicle and an annular screen, wherein the chassis dynamometer is arranged in a first area; the chassis dynamometer is located in the center of the annular screen, the first vehicle is arranged on the chassis dynamometer and comprises a chassis dynamometer body and a chassis dynamometer controller, the first vehicle comprises a first vehicle body and a first vehicle controller, the annular screen comprises an annular screen body and an annular screen controller, at least one vehicle-mounted camera is arranged on the first vehicle body, the image data signal output end of each vehicle-mounted camera is connected with the image data signal input end of the first vehicle controller, and the vehicle-mounted camera is used for acquiring a continuity test scene displayed on the annular screen;
the second vehicle and the M moving target objects are arranged in a second area, the second vehicle and the first vehicle are vehicles with the same or different configurations and/or the same or different placing positions, the second vehicle comprises a second vehicle body and a second vehicle controller, the moving target objects comprise a moving target object body and a moving target object controller, at least one vehicle-mounted radar is arranged on the second vehicle body, a radar data signal output end of each vehicle-mounted radar is connected with a radar data signal input end of the first vehicle controller, and the vehicle-mounted radar is used for acquiring running data between the moving target objects and the second vehicle; the first wireless transceiving unit is arranged in the mobile target object body, and a transceiving signal end of the first wireless transceiving unit is connected with a transceiving signal end of the mobile target object controller;
the system also comprises a master controller and a second wireless transceiving module;
the first vehicle control signal output end of the master controller is connected with the control signal input end of the first vehicle controller, and the first vehicle acquisition signal input end of the master controller is connected with the acquisition signal output end of the first vehicle controller;
the chassis dynamometer control signal output end of the master controller is connected with the control signal input end of the chassis dynamometer controller, and the chassis dynamometer acquisition signal input end of the master controller is connected with the acquisition signal output end of the chassis dynamometer controller;
the video signal end of the annular screen of the master controller is connected with the video signal end of the annular screen controller;
the receiving and transmitting signal end of the master controller is connected with the receiving and transmitting signal end of the second wireless receiving and transmitting module;
during testing, the master controller sends continuity test scene data to the annular screen, the continuity test scene is displayed on the annular screen, the master controller sends a control signal to the moving target object to control the moving target object to be consistent with the moving target object displayed in the annular screen, and the master controller sends a control signal to the chassis dynamometer to control the chassis dynamometer to provide road conditions displayed in the annular screen for the first vehicle;
and after the vehicle-mounted camera acquires the continuity test scene displayed on the annular screen and the driving data of the moving target object acquired by the vehicle-mounted radar, the first vehicle performs corresponding operation.
2. The full vehicle class in-loop test bench system of the L3 class auto-pilot vehicle of claim 1, further comprising a GPS signal converter, wherein a GPS signal input of the GPS signal converter is connected to a GPS signal output of the master controller, and a GPS signal output of the GPS signal converter is connected to a GPS signal input of the first vehicle.
3. The full vehicle-level in-the-loop test bench system of the L3-level automatic driving vehicle of claim 1, wherein the at least one vehicle-mounted camera comprises one or any combination of a vehicle-mounted first camera, a vehicle-mounted second camera, a vehicle-mounted third camera, a vehicle-mounted fourth camera, a vehicle-mounted fifth camera;
the vehicle-mounted first camera is arranged on the left side of the head of the first vehicle, and the image data signal output end of the vehicle-mounted first camera is connected with the image data first signal input end of the first vehicle controller; the vehicle-mounted second camera is arranged on the right side of the head of the first vehicle, and an image data signal output end of the vehicle-mounted second camera is connected with an image data second signal input end of the first vehicle controller; the vehicle-mounted third camera is arranged on the left side of the tail of the first vehicle, and an image data signal output end of the vehicle-mounted third camera is connected with an image data third signal input end of the first vehicle controller; the vehicle-mounted fourth camera is arranged on the right side of the tail of the first vehicle, and an image data signal output end of the vehicle-mounted fourth camera is connected with an image data fourth signal input end of the first vehicle controller; the vehicle-mounted fifth camera is hung in the first vehicle and close to the front windshield, and an image data signal output end of the vehicle-mounted fifth camera is connected with an image data fifth signal input end of the first vehicle controller.
4. The full-vehicle-level in-the-loop test bench system of the L3-level automatic driving vehicle of claim 3, wherein the vehicle-mounted first camera, the vehicle-mounted second camera, the vehicle-mounted third camera, the vehicle-mounted fourth camera and the vehicle-mounted fifth camera are one of a telephoto camera, a wide angle camera and a 360-degree all-round looking camera or any combination thereof.
5. The full vehicle-level in-the-loop test bench system of the L3 class autopilot according to claim 1, wherein the at least one vehicle radar includes one or any combination of a vehicle first radar, a vehicle second radar, a vehicle third radar, and a vehicle fourth radar;
the vehicle-mounted first radar is arranged at the head of the second vehicle, and a radar data signal output end of the vehicle-mounted first radar is connected with a radar data first signal input end of the first vehicle controller; the vehicle-mounted second radar is arranged at the tail of the second vehicle, and the radar data signal output end of the vehicle-mounted second radar is connected with the radar data second signal input end of the first vehicle controller; the vehicle-mounted third radar is arranged on the left side face of the second vehicle, and a radar data signal output end of the vehicle-mounted third radar is connected with a radar data third signal input end of the first vehicle controller; the vehicle-mounted fourth radar is arranged on the right side face of the second vehicle, and a radar data signal output end of the vehicle-mounted fourth radar is connected with a radar data fourth signal input end of the first vehicle controller.
6. The full vehicle-level in-the-loop test bench system of the L3-level automatic driving vehicle of claim 5, wherein the vehicle-mounted first radar, the vehicle-mounted second radar, the vehicle-mounted third radar and the vehicle-mounted fourth radar are one of millimeter wave radar, laser radar and ultrasonic radar or any combination thereof.
7. The L3 class autopilot vehicle class on-board test bench system of claim 1 further comprising one or any combination of a first vehicle speed sensor, a first vehicle torque sensor, a first vehicle speed sensor, a first vehicle angle sensor disposed within the first vehicle body; the rotating speed signal output end of the first vehicle rotating speed sensor is connected with the rotating speed signal input end of the first vehicle controller; the torque signal output end of the first vehicle torque sensor is connected with the torque signal input end of the first vehicle controller; the speed signal output end of the first vehicle speed sensor is connected with the speed signal input end of the first vehicle controller; the corner signal output end of the first vehicle corner sensor is connected with the corner signal input end of the first vehicle controller.
8. The full-vehicle class in-loop test bench system of the L3 class autopilot according to claim 1, further comprising one or any combination of a chassis dynamometer rotational speed sensor, a chassis dynamometer torque sensor, a chassis dynamometer speed sensor, a chassis dynamometer rotational angle sensor disposed within the chassis dynamometer body; the rotating speed signal output end of the rotating speed sensor of the chassis dynamometer is connected with the rotating speed signal input end of the chassis dynamometer controller; the torque signal output end of the chassis dynamometer torque sensor is connected with the torque signal input end of the chassis dynamometer controller; the speed signal output end of the chassis dynamometer speed sensor is connected with the speed signal input end of the chassis dynamometer controller; and a corner signal output end of the chassis dynamometer corner sensor is connected with a corner signal input end of a chassis dynamometer controller.
9. The L3 grade autopilot vehicle class on-board test bench system of claim 1, further comprising one or any combination of a moving object rotational speed sensor, a moving object torque sensor, a moving object speed sensor, a moving object rotational angle sensor disposed within the moving object body; the rotating speed signal output end of the moving target object rotating speed sensor is connected with the rotating speed signal input end of the moving target object controller; the torque signal output end of the moving target object torque sensor is connected with the torque signal input end of the moving target object controller; the speed signal output end of the moving target object speed sensor is connected with the speed signal input end of the moving target object controller; and a corner signal output end of the moving target object corner sensor is connected with a corner signal input end of the moving target object controller.
10. The full-vehicle-level in-the-loop test bench system of the L3 level autopilot of claim 1, further comprising the master controller converting latitude and longitude information in the continuity test scenario into virtual GNSS signals via the signal converter for input to the first vehicle controller.
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| WO2021075089A1 (en) * | 2019-10-15 | 2021-04-22 | 本田技研工業株式会社 | Vehicle inspection system and alignment method |
| CN110687828A (en) * | 2019-10-28 | 2020-01-14 | 苏州智行众维智能科技有限公司 | Intelligent networking automobile simulation test system based on whole automobile hardware-in-loop |
| CN110647056B (en) * | 2019-10-28 | 2022-10-28 | 苏州智行众维智能科技有限公司 | Intelligent networking automobile environment simulation system based on whole automobile hardware-in-loop |
| CN110955158A (en) * | 2019-11-19 | 2020-04-03 | 同济大学 | Target vehicle control system and control method for intelligent vehicle whole vehicle in-loop test |
| CN110887672B (en) * | 2019-11-23 | 2021-09-03 | 同济大学 | Whole car of intelligence car is at ring test system |
| CN110954341B (en) * | 2019-12-13 | 2021-10-26 | 中国汽车工程研究院股份有限公司 | Test method and system for intelligent networking automobile test scene |
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