CN110021209A - A kind of emulation test system based on driving simulator - Google Patents
A kind of emulation test system based on driving simulator Download PDFInfo
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- CN110021209A CN110021209A CN201910359746.4A CN201910359746A CN110021209A CN 110021209 A CN110021209 A CN 110021209A CN 201910359746 A CN201910359746 A CN 201910359746A CN 110021209 A CN110021209 A CN 110021209A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
- G09B9/05—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles the view from a vehicle being simulated
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
- G09B9/052—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles characterised by provision for recording or measuring trainee's performance
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Abstract
The invention discloses a kind of emulation test systems based on driving simulator, including vehicle driving simulator, computer, driving simulator and auxiliary is assisted to drive computing platform, the auxiliary driving simulator includes the first DP interface, video interface and USB interface, the auxiliary driving simulator, for receiving the steering wheel of vehicle driving simulator input and the first operation information of foot pedal by USB interface, the first image information sent by the first DP interface computer, then format analysis processing is carried out to the first operation information and the first image information, obtain the second operation information and the second image information, auxiliary, which is sent, by the second image information finally by video interface drives computing platform, the auxiliary drives computing platform, for being calculated according to the second operation information and the second image information, obtain vehicle control Information processed.The present invention makes test process be not necessarily to pay close attention to the operation of platform interface.Present invention can apply to Driving Skills fields.
Description
Technical field
The present invention relates to Driving Skills field, especially a kind of emulation test system based on driving simulator.
Background technique
Unmanned is to be related to vehicle location, object detection, tracking, the project of a series of complex such as path planning, and
The algorithm of the unmanned value of verifying needs the support of automatic Pilot laboratory and Experimental Base.Due to testing under true environment algorithm
Card consuming is huge, therefore in order to before true environment verifying, guarantee the correctness in theory of algorithm as far as possible, need present void
Near-ring is verified under border.
Currently, unmanned emulation platform is numerous, but be broadly divided into two classes: the first kind is the data based on synthesis, to ring
Border, perception and vehicle are simulated；Second class is the playback based on truthful data, and this kind of simulator, which is mainly used for testing nobody, to be driven
Sail the performance of middle information fusion algorithm and vehicle difference component.But these two types all have two: first problem is: opening
Originator will use these platforms to be tested, and just must skillfully grasp the API (Application of corresponding platform
Programming Interface, application programming interfaces), and the perception data of unmanned needs is many kinds of, this causes often
The API of a platform is very complicated, and the difference between platform is more exacerbated using difficulty；Second Problem is: current nobody
Driving simulation platform all just for the analogue simulation controlled completely by algorithm, ignores the people couple necessarily occurred in true environment
The operation of Unmanned Systems.
In the prior art, emulation test system has been able to people in true environment to the operation of Unmanned Systems
Influence factor is taken into account, and still, during emulation testing, tester still needs skillfully to grasp the API of corresponding platform,
And the perception data of unmanned needs is many kinds of, the API of each platform is also extremely complex, causes tester to use difficult
Degree greatly increases.
Summary of the invention
In order to solve the above technical problems, it is an object of the invention to: provide it is a kind of without pay close attention to platform api based on driving
The emulation test system of simulator.
The technical scheme adopted by the invention is that:
A kind of emulation test system based on driving simulator, including vehicle driving simulator, computer, auxiliary drive and imitate
True device and auxiliary drive computing platform, and the auxiliary driving simulator includes the first DP interface, video interface and USB interface, institute
Auxiliary driving simulator is stated, for receiving the first of steering wheel and foot pedal that vehicle driving simulator inputs by USB interface
Operation information, the first image information sent by the first DP interface computer, then to the first operation information and first
Image information carries out format analysis processing, obtains the second operation information and the second image information, finally by video interface by the second figure
Computing platform is driven as information is sent to auxiliary, the auxiliary drives computing platform, for according to the second operation information and second
Image information is calculated, and vehicle control information is obtained.
Further, the auxiliary driving simulator further include:
Programmable gate array meets auxiliary driving computing platform input format for the first image information to be converted into
The second image information；
Microcontroller, for carrying out format analysis processing to the first operation information and vehicle control information；
First CAN bus is sent to microcontroller for auxiliary to be driven the vehicle control information that computing platform is sent；
Communication bus module drives computing platform for sending auxiliary for the second operation information.
Further, the computer includes:
Human-computer interaction module, for inputting setting parameter, the setting parameter includes vehicle performance factor, sensor performance
Parameter, weather and road conditions；
Simulation engine, for according to setting parameter carry out simulation process, obtain sensor visual angle the first image information and
The third image information at driver visual angle；
2nd DP interface, for sending the first DP interface for first image information at sensor visual angle；
HDMI interface, for sending vehicle driving simulator for the third image information at driver visual angle.
Further, the simulation engine includes multiple video cameras, and the video camera setting is on vehicle.
Further, the auxiliary driving computing platform includes:
Video acquisition module is forwarded for acquiring the second image information of video interface transmission, and by the second image information
Chip is driven to auxiliary；
Data acquisition module, for receiving the second operation information of communication bus module transmission, and by the second operation information
It is forwarded to auxiliary and drives chip；
Second CAN bus, for sending the first CAN bus for vehicle control information；
Auxiliary drives chip, based on being carried out by algorithm to the second operation information and the second image information that receive
It calculates, obtains vehicle control information.
Further, the microcontroller is also used to send vehicle control information on computer by USB interface.
Further, the vehicle driving simulator includes:
Ring shaped display, for driving road conditions according to the third image information display at driver visual angle.
Further, the ring shaped display includes four display screens, and four display screens are separately positioned on driver
Four direction all around.
Further, the quantity of the first DP interface and the quantity of the 2nd DP interface are at least four, and the first DP
The number of interface and the number of the 2nd DP interface are equal.
Further, the human-computer interaction module is also used to input the position for adjusting video camera, direction and detection range
Parameter.
The beneficial effects of the present invention are: the present invention by USB interface receive vehicle driving simulator input steering wheel and
First operation information of foot pedal, the first image information that DP interface computer uploads, video interface believe the second image
Breath is sent to auxiliary and drives computing platform, receives or sends different information by pre-setting distinct interface, so that test
Personnel are not necessarily to pay close attention to the application method of test platform interface during the test, substantially reduce the use difficulty of tester.
Detailed description of the invention
Fig. 1 is a kind of block diagram of emulation test system based on driving simulator of the specific embodiment of the invention；
Fig. 2 is the schematic view of the mounting position of the video camera of the specific embodiment of the invention in the car；
Fig. 3 is the driving environment schematic diagram in the vehicle driving simulator of the specific embodiment of the invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments.
Referring to Fig.1, a kind of emulation test system based on driving simulator, including it is vehicle driving simulator, computer, auxiliary
Driving simulator and auxiliary is helped to drive computing platform, the auxiliary driving simulator includes the first DP interface, video interface and USB
Interface, the auxiliary driving simulator, for receiving the steering wheel and foot pedal of vehicle driving simulator input by USB interface
The first operation information, by the first DP interface computer send the first image information, then to the first operation information
Format analysis processing is carried out with the first image information, obtains the second operation information and the second image information, it will finally by video interface
Second image information is sent to auxiliary and drives computing platform, and the auxiliary drives computing platform, for according to the second operation information
It is calculated with the second image information, obtains vehicle control information.
Specifically, the computer is general purpose computer, saves cost.The vehicle driving simulator is existing common
Driving simulator.The number of the video interface is at least four.First operation information include steering wheel direction information,
Brake pedal and gas pedal trample information.The first image information is the image information of sensor detection.The format
Processing refers to that the format by the first operation information and the first image information is converted into assisting driving computing platform being capable of received lattice
Formula.
In the present embodiment, steering wheel and pedal are provided on vehicle driving simulator, vehicle driving simulator passes through USB
Interface, and after assisting driving simulator, auxiliary, which is sent, by the operation information of driver drives computing platform, meanwhile, meter
Calculation machine will be sent to supplementary explanation emulator by DP interface after the driving environment image information perceived, assist driving simulator
Auxiliary is sent by image information by video interface and drives computing platform, and the video information in driver's angle is sent
To vehicle driving simulator, auxiliary drives computing platform and is calculated according to the data received, generates vehicle control information, so
Vehicle control information is returned on computer afterwards, computer makes vehicle drive on data application to vehicle driving simulator
Driver in simulator can operate according to actual environment, and Real-time Feedback.
Specifically, the present invention receives or sends different information by pre-setting distinct interface, so that tester
It is not necessarily to pay close attention to the application method of test platform interface during the test, substantially reduces the use difficulty of tester.
It is further used as preferred embodiment, as shown in Figure 1, the auxiliary driving simulator further include:
Programmable gate array meets auxiliary driving computing platform input format for the first image information to be converted into
The second image information；The programmable gate array is field programmable gate array chip, can reduce digital display circuit
Development cost.
Microcontroller, for carrying out format analysis processing to the first operation information and vehicle control information；It will specifically receive
The first operation information and vehicle control information Data Format Transform at the receivable format of next processing unit, guarantee data
The accuracy of transmission.
First CAN bus is sent to microcontroller for auxiliary to be driven the vehicle control information that computing platform is sent；Its
In, CAN alters row communication protocol for IOS International standardization.
Communication bus module drives computing platform for sending auxiliary for the second operation information.
Specifically, the programmable gate array is emulation module, can also be emulated to the information received
Processing.Module and interface included by the auxiliary driving simulator specifically can be handled or be emulated to the information received,
And the information specified by the transmission of preset interface, it can make in tester's test process, can make without paying close attention to interfacing
With.
It is further used as preferred embodiment, as shown in Figure 1, the computer includes:
Human-computer interaction module, for inputting setting parameter, the setting parameter includes vehicle performance factor, sensor performance
Parameter, weather and road conditions；Input setting parameter, facilitates the use of tester specifically on human-computer interaction interface.
Simulation engine, for according to setting parameter carry out simulation process, obtain sensor visual angle the first image information and
The third image information at driver visual angle；The image information made is more nearly actual environment.
2nd DP interface, for sending the first DP interface for first image information at sensor visual angle；
HDMI interface, for sending vehicle driving simulator for the third image information at driver visual angle.
Specifically, the computer further includes USB interface, and the USB interface is for forwarding vehicle control information and operation
Information.The first image information is video information.The third image information detects driver on vehicle by sensor
The traffic information at visual angle.The computer be mainly used for acquire sensor and video camera information, then to these information into
Row packing processing, is sent to specified interface, guarantees the accuracy of data transmission.
It is further used as preferred embodiment, as shown in Fig. 2, the simulation engine includes multiple video cameras 101, it is described
Video camera 101 is arranged on vehicle 100.Specifically, the video camera 101 is virtual camera.The vehicle 100 is virtual vehicle
?.The four direction all around of vehicle is arranged in the video camera 101.Specifically for acquiring ambient enviroment, the car of vehicle
Driving environment etc. enables subsequent simulation calculation process to take into account manual operation factor, the simulation result made
It is more nearly practical operation result.
It is further used as preferred embodiment, as shown in Figure 1, auxiliary driving computing platform includes:
Video acquisition module is forwarded for acquiring the second image information of video interface transmission, and by the second image information
Chip is driven to auxiliary；
Data acquisition module, for receiving the second operation information of communication bus module transmission, and by the second operation information
It is forwarded to auxiliary and drives chip；The data acquisition module is sensor data acquisition module, is mainly used on collecting computer
The sensor information of transmission.
Second CAN bus, for sending the first CAN bus for vehicle control information；
Auxiliary drives chip, based on being carried out by algorithm to the second operation information and the second image information that receive
It calculates, obtains vehicle control information.
Specifically, auxiliary drives chip and is calculated according to the second operation information and the second image information, the vehicle made
Control information be more nearly actual unmanned control information.
It is further used as preferred embodiment, the microcontroller is also used to vehicle control information through USB interface
It is sent on computer.Specifically, after computer receives vehicle control information, vehicle can be controlled by vehicle control information and driven
The operation information of simulator is sailed, so that the driver behavior process that vehicle driving simulator is presented can more be operated close to actual
Journey.
It is further used as preferred embodiment, as shown in figure 3, the vehicle driving simulator includes:
Ring shaped display 300, for driving road conditions according to the third image information display at 200 visual angle of driver.Pass through ring
Shape display 300 shows the driving environment around driver 200, so that driving visual angle of the driver in vehicle driving simulator
Close to actual driving visual angle, so that the driver behavior behavior that driver is made is also the driver behavior close to actual environment.
It is further used as preferred embodiment, as shown in figure 3, the ring shaped display 300 includes four display screens, institute
State the four direction all around that four display screens are separately positioned on driver 200.It is circularized by four display screen assemblings aobvious
Show device, makes 360 ° of Driving Scene displays, be more nearly actual driving environment.
It is further used as preferred embodiment, as shown in Figure 1, the quantity of the first DP interface and the 2nd DP interface
Quantity is at least four, and the number of the first DP interface and the number of the 2nd DP interface are equal.By the way that DP interface quantity is set
It is set to equal and one-to-one relationship, the i.e. accuracy of guarantee data transmission, and can make need not in tester's test process
Concerned interface technology reduces the test job amount of tester.
Be further used as preferred embodiment, the human-computer interaction module be also used to input adjustment video camera position,
The parameter of direction and detection range.Tester can be adjusted by human-computer interaction interface and be imaged according to the demand of test process
Position, direction and the detection range of machine, so that the image information that video camera takes is to be more in line with the demand of tester.
In conclusion the present invention receives the of steering wheel and foot pedal that vehicle driving simulator inputs by USB interface
One operation information, the first image information that DP interface computer uploads, video interface sends the second image information to auxiliary
Driving computing platform is helped, different information is received or sent by pre-setting distinct interface, so that tester is testing
It is not necessarily to pay close attention to the application method of test platform interface in the process, the use difficulty for substantially reducing tester further passes through
Human-computer interaction interface adjusts position, direction and the detection range of video camera, so that the image information that video camera takes is more
Meet the demand of tester.
It is to be illustrated to preferable implementation of the invention, but the present invention is not limited to the embodiment above, it is ripe
Various equivalent deformation or replacement can also be made on the premise of without prejudice to spirit of the invention by knowing those skilled in the art, this
Equivalent deformation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (10)
1. a kind of emulation test system based on driving simulator, it is characterised in that: including vehicle driving simulator, computer,
Assist driving simulator and auxiliary drive computing platform, the auxiliary driving simulator including the first DP interface, video interface and
USB interface, the auxiliary driving simulator, for receiving the steering wheel and foot of vehicle driving simulator input by USB interface
Then first operation information of pedal, the first image information sent by the first DP interface computer are operated to first
Information and the first image information carry out format analysis processing, obtain the second operation information and the second image information, connect finally by video
Mouth sends auxiliary for the second image information and drives computing platform, and the auxiliary drives computing platform, for operating according to second
Information and the second image information are calculated, and vehicle control information is obtained.
2. a kind of emulation test system based on driving simulator according to claim 1, it is characterised in that: the auxiliary
Driving simulator further include:
Programmable gate array, for the first image information to be converted into meeting, auxiliary drives computing platform input format the
Two image informations；
Microcontroller, for carrying out format analysis processing to the first operation information and vehicle control information；
First CAN bus is sent to microcontroller for auxiliary to be driven the vehicle control information that computing platform is sent；
Communication bus module drives computing platform for sending auxiliary for the second operation information.
3. a kind of emulation test system based on driving simulator according to claim 1, it is characterised in that: the calculating
Machine includes:
Human-computer interaction module, for inputting setting parameter, the setting parameter includes vehicle performance factor, sensor performance ginseng
Number, weather and road conditions；
Simulation engine obtains first image information and driving at sensor visual angle for carrying out simulation process according to setting parameter
The third image information at member visual angle；
2nd DP interface, for sending the first DP interface for first image information at sensor visual angle；
HDMI interface, for sending vehicle driving simulator for the third image information at driver visual angle.
4. a kind of emulation test system based on driving simulator according to claim 3, it is characterised in that: the emulation
Engine includes multiple video cameras, and the video camera setting is on vehicle.
5. a kind of emulation test system based on driving simulator according to claim 1, it is characterised in that: the auxiliary
Driving computing platform includes:
Video acquisition module for acquiring the second image information of video interface transmission, and the second image information is forwarded to auxiliary
Help driving chip；
Data acquisition module is forwarded for receiving the second operation information of communication bus module transmission, and by the second operation information
Chip is driven to auxiliary；
Second CAN bus, for sending the first CAN bus for vehicle control information；
Auxiliary drives chip, for being calculated by algorithm the second operation information and the second image information that receive, obtains
To vehicle control information.
6. a kind of emulation test system based on driving simulator according to claim 2, it is characterised in that: the micro-control
Device processed is also used to send computer for vehicle control information by USB interface.
7. a kind of emulation test system based on driving simulator according to claim 1, it is characterised in that: the vehicle
Driving simulator includes:
Ring shaped display, for driving road conditions according to the third image information display at driver visual angle.
8. a kind of emulation test system based on driving simulator according to claim 7, it is characterised in that: the annular
Display includes four display screens, and four display screens are separately positioned on the four direction all around of driver.
9. a kind of emulation test system based on driving simulator according to claim 3, it is characterised in that: described first
The quantity of DP interface and the quantity of the 2nd DP interface are at least four, and of the number of the first DP interface and the 2nd DP interface
Number is equal.
10. a kind of emulation test system based on driving simulator according to claim 4, it is characterised in that: the people
Machine interactive module is also used to input the parameter of the position of adjustment video camera, direction and detection range.
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| CN111832118B (en) * | 2020-06-22 | 2023-11-21 | 北京汽车股份有限公司 | Simulation test system and method for driving assistance function |
| CN112966335A (en) * | 2021-03-05 | 2021-06-15 | 北京百度网讯科技有限公司 | Interface simulation device and automatic driving simulation test platform |
| CN112966335B (en) * | 2021-03-05 | 2023-11-24 | 北京百度网讯科技有限公司 | Interface simulation device and automatic driving simulation test platform |
| CN116039662A (en) * | 2023-03-30 | 2023-05-02 | 深圳曦华科技有限公司 | Automatic driving control method and related device |
| CN116039662B (en) * | 2023-03-30 | 2023-08-08 | 深圳曦华科技有限公司 | Automatic driving control method and related device |
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