CN110082123A - A kind of automatic Pilot automatization test system - Google Patents
A kind of automatic Pilot automatization test system Download PDFInfo
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- CN110082123A CN110082123A CN201910367691.1A CN201910367691A CN110082123A CN 110082123 A CN110082123 A CN 110082123A CN 201910367691 A CN201910367691 A CN 201910367691A CN 110082123 A CN110082123 A CN 110082123A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
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Abstract
The invention proposes a kind of automatic Pilot automatization test systems, including be set on steering wheel for perceive driver whether at least P steering wheel pressure sensor of steer direction disk, the signal output end of each steering wheel pressure sensor is connected with the steering wheel pressure signal input end of vehicle control device；When vehicle control device is in default first time threshold, the pressure signal of steering wheel pressure sensor transmission is not received, vehicle control device is adjusted to automatic Pilot by artificially driving.The present invention can be switched to automatic Pilot to artificial driving automatically, realize the test to vehicle.
Description
Technical field
The present invention relates to a kind of automatic Pilot technical fields, more particularly to a kind of automatic Pilot automatization test system.
Background technique
Intelligent network connection automobile, which refers to, carries the devices such as advanced onboard sensor, controller, actuator, and merges modern logical
Letter and network technology realize that vehicle exchanges with X (people, vehicle, road, cloud etc.) intelligent information, is shared, have complex environment perception, intelligence
The functions such as decision, Collaborative Control are, it can be achieved that " safe and efficient, comfortable, energy saving " travel, and substitution people can be achieved finally to operate
Young mobile.Intelligent network connection automobile can not only realize the optimal traveling and automatic Pilot of vehicle itself, also pass through net connection
The technology of change can be used as node access general communication system, further realize optimization and the cooperative scheduling of traffic system.Largely grind
Study carefully and show that driver comfort can be improved in intelligent network connection automobile and wisdom traffic, it is possible to reduce motor traffic safety accident
50%~80%, traffic death toll 20~30% mitigates traffic jam 20~50%, reduces oil consumption 15~30%, the row of reduction
20~50% are put, provides safer, more energy efficient, more environmentally friendly comprehensive solution for society.
Intelligent network connection automobile is related to more complicated function and application, so that exploitation test is faced lot of challenges, such as intelligence
Net connection automobile will just be able to verify that reliability by how many kilometers of road test.Operating condition scene be it is unlimited, harsh, complex working condition can be met
Can not ask, is also not reproducible, can not repeated authentication, then, drive test will last how long be just able to verify that Function for Automatic Pilot any
In the case of effective and reliability.In addition to the test of public way, the special test verifying domestic and international various regions in place are also being built,
But it can not meet the exploitation verifying demand of intelligent network connection Automobile Complex function in terms of development time, cost, flexibility.Intelligent network
The test evaluation of connection automobile is the hiding functional defect of excavation, and orthodox car test method has been unable to satisfy intelligent network connection automobile
Test certification demand.
Summary of the invention
The present invention is directed at least solve the technical problems existing in the prior art, especially innovatively proposes one kind and drive automatically
Sail automatization test system.
In order to realize above-mentioned purpose of the invention, the present invention provides a kind of automatic Pilot automatization test systems, including
It is set on steering wheel whether at least P steering wheel pressure sensor, the P of steer direction disk are positive for perceiving driver
Integer, the signal output end and the steering wheel pressure signal input end phase of vehicle control device of each steering wheel pressure sensor
Even；And be arranged in for acquiring Q vehicle-mounted camera of vehicle road condition in the process of moving on vehicle body, the Q is positive
Integer, the image signal output end of each vehicle-mounted camera are connected with the picture signal input terminal of vehicle control device；When vehicle control
Device processed does not receive the pressure signal of steering wheel pressure sensor transmission in default first time threshold, vehicle control device by
Artificial drive is adjusted to automatic Pilot.
It in the preferred embodiment of the present invention, further include being set in vehicle for acquiring the hand of driver's gesture
Gesture camera, the hand signal output end of gesture camera are connected with the hand signal input terminal of vehicle control device；Vehicle control
The gesture information that device is acquired according to gesture camera realizes that vehicle uses gesture control.Vehicle window can be opened by gesture motion, dialled
It the operation such as makes a phone call, it is efficient and convenient.
In the preferred embodiment of the present invention, pressure sensor between adjacent pressure sensor at a distance from be less than or
Person is equal to the distance that driver holds steering wheel, the calculation method of pressure sensor number P are as follows:
Wherein, r is the radius of steering wheel, and l is the length that driver holds steering wheel.
It in the preferred embodiment of the present invention, further include being set at gas pedal to be for perceiving driver
It is no in the gas pedal pressure sensor for trampling throttle；The signal output end and vehicle control of gas pedal pressure sensor
The gas pedal pressure signal input end of device is connected；When vehicle control device is in default second time threshold, described default second
Time threshold is less than default first time threshold, does not receive the pressure signal of steering wheel pressure sensor transmission, and default
In third time threshold, presets third time threshold and be less than default second time threshold, do not receive gas pedal pressure sensing
The pressure signal that device is sent, vehicle control device are adjusted to automatic Pilot by artificially driving；
And/or further include being set to the sound collection sensor for issuing alarm sound in vehicle body for acquiring vehicle, sound
The audio signal output terminal of acquisition sensor is connected with the audio signal input of vehicle control device.
In the preferred embodiment of the present invention, the number of vehicle-mounted camera is 5, is placed in vehicle headstock respectively
Left and right side, the left-side center of vehicle body and right side center and the tailstock among.
It in the preferred embodiment of the present invention, further include when vehicle failure needs repairing, into monitoring
The heart transfers the acoustic information that the vehicle is sent to monitoring center；The acoustic information and the sound in audio database are compared
It is right:
If the first preset sound alarm signal is vehicle tyre pressure sound there are the first preset sound alarm signal in the sound
Sound alarm signal, the vehicle tyre pressure audible ringing signal include that vehicle tyre pressure pressure is less than or equal to default first tire pressure pressure
Threshold Alerts signal, vehicle tyre pressure pressure are more than or equal to default second tire pressure threshold pressure alarm signal, vehicle tyre pressure pressure
The strong default third tire pressure threshold pressure alarm signal and vehicle tyre pressure pressure of being less than or equal to is more than or equal to the default 4th
Tire pressure threshold pressure alarm signal；Default second tire pressure threshold pressure is greater than default first tire pressure threshold pressure, presets the 4th tire
It presses threshold pressure to be greater than default second tire pressure threshold pressure, presets third tire pressure threshold pressure and be less than default first tire pressure pressure threshold
Value；If vehicle tyre pressure pressure is less than or equal to default first tire pressure threshold pressure alarm signal, monitoring center is aobvious to maintenance
Vehicle tyre pressure deficiency information is sent in display screen, and tire pressure please be replenished in time；If vehicle tyre pressure pressure is more than or equal to default second
Tire pressure threshold pressure alarm signal, then monitoring center sends the high tire pressure of vehicle on maintaining display screen, asks Reduced Speed Now；If
Vehicle tyre pressure pressure is less than or equal to default third tire pressure threshold pressure alarm signal, then monitoring center is on maintaining display screen
The low tire pressure of vehicle is sent, stop is asked, supplements tire pressure；It is suppressed if vehicle tyre pressure pressure is more than or equal to default 4th tire pressure
Threshold Alerts signal, then monitoring center sends the high tire pressure of vehicle, vehicle chocking, warning of blowing out on maintaining display screen；And
Display is that one of the near front wheel, off-front wheel, left rear wheel and off hind wheel tire pressure of vehicle or any combination tire pressure problem occur.
In the preferred embodiment of the present invention, there is also the second preset sound alarm signals in the sound, this
Two preset sound alarm signals are vehicle fuel audible ringing signal, which includes vehicle fuel liquid
Position is below or equal to default first fuel liquid level Threshold Alerts signal and vehicle fuel liquid level below or equal to default second
Fuel liquid level Threshold Alerts signal；Default second fuel liquid level threshold value is lower than default first fuel liquid level threshold value；If vehicle fuel
Liquid level is below or equal to default first fuel liquid level Threshold Alerts signal, then monitoring center sends vehicle on maintaining display screen
Fuel oil please be replenished in time in Low oil Fuel information；If vehicle fuel liquid level is below or equal to default second fuel liquid level threshold value report
Alert signal, then monitoring center sends vehicle low burn oil information, vehicle chocking on maintaining display screen, and fuel oil sees the bottom warning；
And/or there is also third preset sound alarm signal in the sound, which is vehicle
Machine oil audible ringing signal, the vehicle engine oil audible ringing signal include that vehicle engine oil liquid level is below or equal to default first machine
Oil liquid position Threshold Alerts signal and vehicle engine oil liquid level are below or equal to default second engine oil level Threshold Alerts signal；It is default
Second engine oil level threshold value is lower than default first engine oil level threshold value；If vehicle engine oil liquid level is below or equal to default first machine
Oil liquid position Threshold Alerts signal, then monitoring center sends vehicle engine oil deficiency information on maintaining display screen, and machine please be replenished in time
Oil；If vehicle engine oil liquid level is below or equal to default second engine oil level Threshold Alerts signal, monitoring center is aobvious to maintenance
Send the low machine oil information of vehicle in display screen, machine oil sees the bottom warning；
And/or there is also the 4th preset sound alarm signal in the sound, the 4th preset sound alarm signal is vehicle
Air regulator cleaning solution audible ringing signal, the vehicle air regulator cleaning solution audible ringing signal include that vehicle air regulator cleaning solution liquid level is lower than
Or it is equal to default first air regulator cleaning solution level threshold alarm signal；If vehicle air regulator cleaning solution liquid level is below or equal to pre-
If the first air regulator cleaning solution level threshold alarm signal, then monitoring center sends vehicle air regulator cleaning solution liquid on maintaining display screen
Information that position is insufficient, please be replenished in time air regulator cleaning solution.
In the preferred embodiment of the present invention, there is also the 5th preset sound alarm signals in the sound, this
Five preset sound alarm signals are vehicle ABS failure audible ringing signal, then monitoring center sends vehicle on maintaining display screen
ABS-system fault information；
And/or there is also the 6th preset sound alarm signal in the sound, the 6th preset sound alarm signal is vehicle
Engine self test failure audible ringing signal, then monitoring center sends vehicle motor self test failure letter on maintaining display screen
Breath；
And/or there is also the 7th preset sound alarm signal in the sound, the 7th preset sound alarm signal is vehicle
Braking system faults audible ringing signal, then monitoring center sends motor vehicle braking system fault message on maintaining display screen；
And/or there is also the 8th preset sound alarm signal in the sound, the 8th preset sound alarm signal is vehicle
Cooling system audio warning alarm signal, then monitoring center sends cooling system of vehicle warning information on maintaining display screen；
And/or there is also the 9th preset sound alarm signal in the sound, the 9th preset sound alarm signal is vehicle
Steering system failure audible ringing signal, then monitoring center sends wheel steering system fault message on maintaining display screen；
And/or it is also middle there are the tenth preset sound alarm signal in the sound, the tenth preset sound alarm signal is vehicle
Generator failure audible ringing signal, then monitoring center sends electric generator of vehicle fault message on maintaining display screen.
It in the preferred embodiment of the present invention, further include the radio receiving transmitting module being set in vehicle and GPS mould
Block, the receiving and sending messages to hold of receive and send messages end and the vehicle control device of radio receiving transmitting module are connected, the GPS signal output of GPS module
End is connected with the GPS signal input terminal of vehicle control device；
Vehicle control device is connected by radio receiving transmitting module with high-precision difference positioning system；
High-precision difference positioning system includes difference base station and movement station, and difference base station is defended observation to be continuously tracked for a long time
Star signal is implemented the Differential corrections that transmission calculates by communication link, is provided in real time for each vehicle-mounted mobile station high-precision
The carrier phase differential data of degree；Movement station receives GPS satellite information and base station Differential corrections, realizes movement station phase
The relative positioning of base station is resolved, movement station is using double GPS settings, and for determining position, slave station is used for determination side for main website
To.Under the action of high-precision difference positioning system, the positioning accuracy better than ± 2cm, the essence that tests the speed of 0.03m/s can achieve
Degree, 0.2 ° of orientation accuracy.
It and/or further include that vehicle control device is connected by radio receiving transmitting module with high-precision map acquisition drawing system；
High-precision map acquisition drawing system includes auto model mapping modeling and high-precision ground mapping, and auto model mapping is built
Mould reflects vehicle gabarit feature by the distribution of auto model mapped point, mapped point on the left of vehicle body and to be located at vehicle body right
The mapped point of side is in pile distribution relative to auto model central axes；Reflect vehicle commander, vehicle width, wheelbase, wheelspan feature mapped point
Between measurement distance and actual size error be not more than 1%, can really reflect body contour feature and body dimensions.
High-precision map acquisition mapping is the high-precision map surveyed and drawn by laser radar and assigns its longitude and latitude, height
The location information of layer coordinate, then its location information is converted into lane line element, wherein element includes the position of lane line, class
One of type, width, the gradient and curvature or any combination lane information；It and/or further include traffic sign, traffic lights, vehicle
The lane specific of one of road limit for height, sewer mouth, barrier or any combination；And/or further include overhead object, protective fence,
The infrastructure information of one of number, road edge type, roadside terrestrial reference or any combination.It, can under the action of this system
To calculate the distance between vehicle and lane line, judge the positional relationship of vehicle Yu critical sideline, test phase play to
Close important role.
In the preferred embodiment of the present invention, to encoding after alarm sound acquisition, coding includes following
Step:
S1, monitoring center receive all alarm sound information of all vehicle control device acquisitions, obtain all alarms
The peak swing value A of acoustic informationmaxWith minimum amplitude value Amin；
S2, obtain all alarm sound information acoustic amplitudes range be [- | A |, | A |], wherein A be AmaxAnd AminIn
Maximum value；
S3, by acoustic amplitudes range intervals [- | A |, | A |] be equally divided into n subinterval, the numerical value of interval border point is from small
D is used to big0、D1、D2、……、DnIt indicates, wherein n is positive even numbers, D0To DnWith the n bit binary value B being gradually increased1B2……
BnIt indicates, wherein DiCorresponding binary numeral shared from the leftmost side to the rightmost side 1 and n-i 0, i of i be 0 to n it is just whole
Number；
Acoustic information is segmented by S4, monitoring center by the chronological order received, obtains alternative sounds audio section
Amplitude data, and judge its immediate subinterval boundary point, corresponding to the immediate subinterval boundary point two into
Numeric coding processed indicates the audio coding of this section of acoustic segment.
In conclusion by adopting the above-described technical solution, the present invention can automatically be switched to artificial driving drives automatically
It sails, realizes the test to vehicle.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is present invention test vehicle structural schematic diagram.
Fig. 2 is road test schematic diagram of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
The present invention provides a kind of automatic Pilot automatization test systems, as shown in Figure 1, including being set to 1 direction of vehicle
On disk 3 for perceive driver whether at least P steering wheel pressure sensor of steer direction disk 3, the P be positive integer, often
The signal output end of a steering wheel pressure sensor is connected with the steering wheel pressure signal input end of vehicle control device；And
It is arranged on vehicle body for acquiring Q vehicle-mounted camera of vehicle road condition in the process of moving, the Q is positive integer, often
The image signal output end of a vehicle-mounted camera is connected with the picture signal input terminal of vehicle control device；When vehicle control device is pre-
If in first time threshold, not receiving the pressure signal of steering wheel pressure sensor transmission, vehicle control device is by artificially driving
It is adjusted to automatic Pilot.In the present embodiment, the number of vehicle-mounted camera is 5, is placed in the left side of vehicle headstock respectively
2c among 2e and right side 2a, the left-side center 2d and right side center 2b and the tailstock of vehicle body.
It in the preferred embodiment of the present invention, further include being set in vehicle for acquiring the hand of driver's gesture
Gesture camera, the hand signal output end of gesture camera are connected with the hand signal input terminal of vehicle control device；Vehicle control
The gesture information that device is acquired according to gesture camera realizes that vehicle uses gesture control.In the present embodiment, in vehicle control device
It is preset with gesture information library, the gesture information and preset gesture information library ratio that vehicle control device is acquired according to gesture camera
It is right, if there are collected gesture information in gesture information library, vehicle control device carries out corresponding operation；For example, hand
One of first gesture, second gesture, third gesture, the 4th gesture and the 5th gesture or any group are preset in gesture information bank
It closes, which is to listen to music gesture, which is upper oarsman's gesture, which is lower oarsman's gesture, the 4th hand
Gesture is left oarsman's gesture, and the 5th gesture is right oarsman's gesture；When driver is than going out first gesture, gesture camera collects first-hand
Gesture, then vehicle control device control vehicle plays music, when driver collects second-hand than going out second gesture, gesture camera
Gesture, then vehicle control device control vehicle plays a upper music song, when driver collects than going out third gesture, gesture camera
Third gesture, then vehicle control device control vehicle plays next music song, when driver is than going out the 4th gesture, gesture camera shooting
Head collects the 4th gesture, then vehicle control device control vehicle turns volume of music down, when driver takes the photograph than going out the 5th gesture, gesture
As head collects the 5th gesture, then vehicle control device control vehicle tunes up volume of music；For another example it is also preset in gesture information library
6th gesture, the 6th gesture are to make a phone call gesture, when driver's right hand or left hand than go out the gesture made a phone call (thumb and
Little finger of toe is in straight configuration, and excess-three refers in bending state), the gesture if it exists in gesture information library, then vehicle control device control
Vehicle displays processed pop up dialog box of making a phone call；It makes a phone call.
In the preferred embodiment of the present invention, pressure sensor between adjacent pressure sensor at a distance from be less than or
Person is equal to the distance that driver holds steering wheel, the calculation method of pressure sensor number P are as follows:
Wherein, r is the radius of steering wheel, and l is the length that driver holds steering wheel.
It in the preferred embodiment of the present invention, further include being set at gas pedal to be for perceiving driver
It is no in the gas pedal pressure sensor for trampling throttle；The signal output end and vehicle control of gas pedal pressure sensor
The gas pedal pressure signal input end of device is connected；When vehicle control device is in default second time threshold, described default second
Time threshold is less than default first time threshold, does not receive the pressure signal of steering wheel pressure sensor transmission, and default
In third time threshold, presets third time threshold and be less than default second time threshold, do not receive gas pedal pressure sensing
The pressure signal that device is sent, vehicle control device are adjusted to automatic Pilot by artificially driving；
And/or further include being set to the sound collection sensor for issuing alarm sound in vehicle body for acquiring vehicle, sound
The audio signal output terminal of acquisition sensor is connected with the audio signal input of vehicle control device.
It in the preferred embodiment of the present invention, further include when vehicle failure needs repairing, into monitoring
The heart transfers the acoustic information that the vehicle is sent to monitoring center；The acoustic information and the sound in audio database are compared
It is right:
If the first preset sound alarm signal is vehicle tyre pressure sound there are the first preset sound alarm signal in the sound
Sound alarm signal, the vehicle tyre pressure audible ringing signal include that vehicle tyre pressure pressure is less than or equal to default first tire pressure pressure
Threshold Alerts signal, vehicle tyre pressure pressure are more than or equal to default second tire pressure threshold pressure alarm signal, vehicle tyre pressure pressure
The strong default third tire pressure threshold pressure alarm signal and vehicle tyre pressure pressure of being less than or equal to is more than or equal to the default 4th
Tire pressure threshold pressure alarm signal；Default second tire pressure threshold pressure is greater than default first tire pressure threshold pressure, presets the 4th tire
It presses threshold pressure to be greater than default second tire pressure threshold pressure, presets third tire pressure threshold pressure and be less than default first tire pressure pressure threshold
Value；If vehicle tyre pressure pressure is less than or equal to default first tire pressure threshold pressure alarm signal, monitoring center is aobvious to maintenance
Vehicle tyre pressure deficiency information is sent in display screen, and tire pressure please be replenished in time；If vehicle tyre pressure pressure is more than or equal to default second
Tire pressure threshold pressure alarm signal, then monitoring center sends the high tire pressure of vehicle on maintaining display screen, asks Reduced Speed Now；If
Vehicle tyre pressure pressure is less than or equal to default third tire pressure threshold pressure alarm signal, then monitoring center is on maintaining display screen
The low tire pressure of vehicle is sent, stop is asked, supplements tire pressure；It is suppressed if vehicle tyre pressure pressure is more than or equal to default 4th tire pressure
Threshold Alerts signal, then monitoring center sends the high tire pressure of vehicle, vehicle chocking, warning of blowing out on maintaining display screen；And
Display is that one of the near front wheel, off-front wheel, left rear wheel and off hind wheel tire pressure of vehicle or any combination tire pressure problem occur.
In the preferred embodiment of the present invention, there is also the second preset sound alarm signals in the sound, this
Two preset sound alarm signals are vehicle fuel audible ringing signal, which includes vehicle fuel liquid
Position is below or equal to default first fuel liquid level Threshold Alerts signal and vehicle fuel liquid level below or equal to default second
Fuel liquid level Threshold Alerts signal；Default second fuel liquid level threshold value is lower than default first fuel liquid level threshold value；If vehicle fuel
Liquid level is below or equal to default first fuel liquid level Threshold Alerts signal, then monitoring center sends vehicle on maintaining display screen
Fuel oil please be replenished in time in Low oil Fuel information；If vehicle fuel liquid level is below or equal to default second fuel liquid level threshold value report
Alert signal, then monitoring center sends vehicle low burn oil information, vehicle chocking on maintaining display screen, and fuel oil sees the bottom warning；
And/or there is also third preset sound alarm signal in the sound, which is vehicle
Machine oil audible ringing signal, the vehicle engine oil audible ringing signal include that vehicle engine oil liquid level is below or equal to default first machine
Oil liquid position Threshold Alerts signal and vehicle engine oil liquid level are below or equal to default second engine oil level Threshold Alerts signal；It is default
Second engine oil level threshold value is lower than default first engine oil level threshold value；If vehicle engine oil liquid level is below or equal to default first machine
Oil liquid position Threshold Alerts signal, then monitoring center sends vehicle engine oil deficiency information on maintaining display screen, and machine please be replenished in time
Oil；If vehicle engine oil liquid level is below or equal to default second engine oil level Threshold Alerts signal, monitoring center is aobvious to maintenance
Send the low machine oil information of vehicle in display screen, machine oil sees the bottom warning；
And/or there is also the 4th preset sound alarm signal in the sound, the 4th preset sound alarm signal is vehicle
Air regulator cleaning solution audible ringing signal, the vehicle air regulator cleaning solution audible ringing signal include that vehicle air regulator cleaning solution liquid level is lower than
Or it is equal to default first air regulator cleaning solution level threshold alarm signal；If vehicle air regulator cleaning solution liquid level is below or equal to pre-
If the first air regulator cleaning solution level threshold alarm signal, then monitoring center sends vehicle air regulator cleaning solution liquid on maintaining display screen
Information that position is insufficient, please be replenished in time air regulator cleaning solution.
In the preferred embodiment of the present invention, there is also the 5th preset sound alarm signals in the sound, this
Five preset sound alarm signals are vehicle ABS failure audible ringing signal, then monitoring center sends vehicle on maintaining display screen
ABS-system fault information；
And/or there is also the 6th preset sound alarm signal in the sound, the 6th preset sound alarm signal is vehicle
Engine self test failure audible ringing signal, then monitoring center sends vehicle motor self test failure letter on maintaining display screen
Breath；
And/or there is also the 7th preset sound alarm signal in the sound, the 7th preset sound alarm signal is vehicle
Braking system faults audible ringing signal, then monitoring center sends motor vehicle braking system fault message on maintaining display screen；
And/or there is also the 8th preset sound alarm signal in the sound, the 8th preset sound alarm signal is vehicle
Cooling system audio warning alarm signal, then monitoring center sends cooling system of vehicle warning information on maintaining display screen；
And/or there is also the 9th preset sound alarm signal in the sound, the 9th preset sound alarm signal is vehicle
Steering system failure audible ringing signal, then monitoring center sends wheel steering system fault message on maintaining display screen；
And/or it is also middle there are the tenth preset sound alarm signal in the sound, the tenth preset sound alarm signal is vehicle
Generator failure audible ringing signal, then monitoring center sends electric generator of vehicle fault message on maintaining display screen.
It in the preferred embodiment of the present invention, further include the radio receiving transmitting module being set in vehicle and GPS mould
Block, the receiving and sending messages to hold of receive and send messages end and the vehicle control device of radio receiving transmitting module are connected, the GPS signal output of GPS module
End is connected with the GPS signal input terminal of vehicle control device；
Vehicle control device is connected by radio receiving transmitting module with high-precision difference positioning system；
High-precision difference positioning system includes difference base station and movement station, and difference base station is defended observation to be continuously tracked for a long time
Star signal is implemented the Differential corrections that transmission calculates by communication link, is provided in real time for each vehicle-mounted mobile station high-precision
The carrier phase differential data of degree；Movement station receives GPS satellite information and base station Differential corrections, realizes movement station phase
The relative positioning of base station is resolved, movement station is using double GPS settings, and for determining position, slave station is used for determination side for main website
To.
It in the preferred embodiment of the present invention, further include that vehicle control device passes through radio receiving transmitting module and high-precision
Map acquires drawing system and is connected；
High-precision map acquisition drawing system includes auto model mapping modeling and high-precision ground mapping, and auto model mapping is built
Mould reflects vehicle gabarit feature by the distribution of auto model mapped point, mapped point on the left of vehicle body and to be located at vehicle body right
The mapped point of side is in pile distribution relative to auto model central axes；
High-precision map acquisition mapping is the high-precision map surveyed and drawn by laser radar and assigns its longitude and latitude, height
The location information of layer coordinate, then its location information is converted into lane line element, wherein element includes the position of lane line, class
One of type, width, the gradient and curvature or any combination lane information；It and/or further include traffic sign, traffic lights, vehicle
The lane specific of one of road limit for height, sewer mouth, barrier or any combination；And/or further include overhead object, protective fence,
The infrastructure information of one of number, road edge type, roadside terrestrial reference or any combination.
In the preferred embodiment of the present invention, to encoding after alarm sound acquisition, coding includes following
Step:
S1, monitoring center receive all alarm sound information of all vehicle control device acquisitions, obtain all alarms
The peak swing value A of acoustic informationmaxWith minimum amplitude value Amin；
S2, obtain all alarm sound information acoustic amplitudes range be [- | A |, | A |], wherein A be AmaxAnd AminIn
Maximum value；
S3, by acoustic amplitudes range intervals [- | A |, | A |] be equally divided into n subinterval, the numerical value of interval border point is from small
D is used to big0、D1、D2、……、DnIt indicates, wherein n is positive even numbers, D0To DnWith the n bit binary value B being gradually increased1B2……
BnIt indicates, wherein DiCorresponding binary numeral shared from the leftmost side to the rightmost side 1 and n-i 0, i of i be 0 to n it is just whole
Number；
Acoustic information is segmented by S4, monitoring center by the chronological order received, obtains alternative sounds audio section
Amplitude data, and judge its immediate subinterval boundary point, corresponding to the immediate subinterval boundary point two into
Numeric coding processed indicates the audio coding of this section of acoustic segment.
The invention also discloses a kind of test methods of automatic Pilot automatization test system, comprising the following steps:
S11, vehicle control device determine that driving vehicle is artificial driving or automatic Pilot:
If vehicle control device in default first time threshold, receives the pressure letter of steering wheel pressure sensor transmission
Number, vehicle control device determines that driving vehicle is artificial driving, is driven by driver；
If vehicle control device in default first time threshold, does not receive the pressure letter of steering wheel pressure sensor transmission
Number, vehicle control device determines that driving vehicle is automatic Pilot；And/or vehicle control device receives driving automatically for monitoring center transmission
Sail signal；It performs the next step；
S12, vehicle control device obtain vehicle current geographic position and target geographic position, cook up at least one from working as
Preceding geographical location to target geographic position driving path；
S13, vehicle control device obtain the steering angle of vehicle according to the traveling road conditions that vehicle-mounted camera acquires；Vehicle control device
It is turned to according to the steering angle of acquisition；
Test result data is transmitted to monitoring center by radio receiving transmitting module by S14, vehicle control device.
In the preferred embodiment of the present invention, in step s 13, as shown in Fig. 2, the calculating of the steering angle of vehicle
Method the following steps are included:
The road edge lane line of shooting is fitted to travel according to the traveling road conditions that vehicle-mounted camera acquires by S21
Edge conic section, the expression formula of the travel edge conic section are as follows:
F (x)=ax2+ bx+c, wherein a, b, c are the parameter of travel conic section,b
∈ [- tan4.8, tan4.8], c ∈ [- 3.5,3.5], m are adjustment parameter, and (x, f (x)) is the actual coordinate point of lane line；
S22 calculates the radius of curvature of vehicle driving, the calculation method of radius of curvature are as follows:
Wherein, f " (x) is the second derivative of f (x), and f ' (x) is the first order derivative of f (x), and σ is curvature；
Wherein, R is radius of curvature,
S23 calculates the steering angle of vehicle, the calculation method of steering angle are as follows:
H=L × sin α, L are the distance on vehicle headstock center to lane line edge, and α is vehicle headstock center and distance L
Formed angle, H are intermediate parameters；
Tan β=H/R, wherein β is turning angle of steering wheel angle, ifSteering wheel to rotating counterclockwise, ifSteering wheel is to rotating clockwise.It realizes in automatic Pilot, auto-steering, prevents test automotive run-off-road.
It in the preferred embodiment of the present invention, further include the vehicle left side lane line and vehicle right side vehicle that will be shot
Diatom is fitted to vehicle left side conic section and vehicle right side conic section, and vehicle left side conic section and vehicle right side are secondary
The calculation method of curve are as follows:
L1=L × cos α, wherein L1 is intermediate first parameter；
Wherein, L2 is intermediate second parameter；
Vehicle left side lane line is at a distance from road edge lane line:Its
In, Δ wIt is leftFor vehicle centre-line to the distance of vehicle left side lane line；wIt is leftFor road edge lane line to vehicle left side lane line
Distance；
Vehicle right side lane line is at a distance from road edge lane line:Wherein,
ΔwIt is rightFor vehicle centre-line to the distance of vehicle right side lane line；wIt is rightFor road edge lane line to vehicle right side lane line away from
From；
Vehicle left side conic section:
That is: f (x)It is left=a (x+L × cos α+L × sin α × tan β+Δ wIt is left)2+b(x+L×cosα+L×sinα×tanβ+
ΔwIt is left)+c,
Vehicle right side conic section:
That is: f (x)It is right=a (x+L × cos α+L × sin α × tan β-wIt is right)2+b(x+L×cosα+L×sinα×tanβ-
wIt is right)+c。
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of automatic Pilot automatization test system, which is characterized in that including being set on steering wheel for perceiving driver
Whether at least P steering wheel pressure sensor of steer direction disk, the P be positive integer, each steering wheel pressure sensor
Signal output end is connected with the steering wheel pressure signal input end of vehicle control device；And it is arranged on vehicle body for acquiring
Q vehicle-mounted camera of vehicle road condition in the process of moving, the Q are positive integer, and the image of each vehicle-mounted camera is believed
Number output end is connected with the picture signal input terminal of vehicle control device；When vehicle control device is in default first time threshold, not
The pressure signal of steering wheel pressure sensor transmission is received, vehicle control device is adjusted to automatic Pilot by artificially driving.
2. automatic Pilot automatization test system according to claim 1, which is characterized in that further include being set in vehicle
For acquiring the gesture camera of driver's gesture, the hand signal output end of gesture camera and the gesture of vehicle control device are believed
Number input terminal is connected；The gesture information that vehicle control device is acquired according to gesture camera realizes that vehicle uses gesture control.
3. automatic Pilot automatization test system according to claim 1, which is characterized in that pressure sensor and adjacent pressure
Distance between force snesor is less than or equal to the distance that driver holds steering wheel, the calculating side of pressure sensor number P
Method are as follows:
Wherein, l is the length that driver holds steering wheel.
4. automatic Pilot automatization test system according to claim 1, which is characterized in that further include being set to throttle to step on
It is used to whether perceive driver in the gas pedal pressure sensor for trampling throttle at plate；The pressure of gas pedal pressure sensor
Force signal output end is connected with the gas pedal pressure signal input end of vehicle control device；When vehicle control device is default second
Between in threshold value, the default second time threshold is less than default first time threshold, does not receive steering wheel pressure sensor hair
The pressure signal sent, and in default third time threshold, it presets third time threshold and is less than default second time threshold, do not connect
The pressure signal of gas pedal pressure sensor transmission is received, vehicle control device is adjusted to automatic Pilot by artificially driving；
And/or further include being set to the sound collection sensor for issuing alarm sound in vehicle body for acquiring vehicle, sound collection
The audio signal output terminal of sensor is connected with the audio signal input of vehicle control device.
5. automatic Pilot automatization test system according to claim 1, which is characterized in that the number of vehicle-mounted camera is
5, the left and right side of vehicle headstock is placed in respectively, among the left-side center of vehicle body and right side center and the tailstock.
6. the test method of automatic Pilot automatization test system according to claim 1, which is characterized in that further include working as
When vehicle failure needs repairing, the acoustic information that the vehicle is sent to monitoring center is transferred to monitoring center；By the sound
Information is compared with the sound in audio database:
If the first preset sound alarm signal is vehicle tyre pressure sound report there are the first preset sound alarm signal in the sound
Alert signal, the vehicle tyre pressure audible ringing signal include that vehicle tyre pressure pressure is less than or equal to default first tire pressure threshold pressure
It is small that alarm signal, vehicle tyre pressure pressure are more than or equal to default second tire pressure threshold pressure alarm signal, vehicle tyre pressure pressure
In or equal to default third tire pressure threshold pressure alarm signal and vehicle tyre pressure pressure more than or equal to default 4th tire pressure
Threshold pressure alarm signal；Default second tire pressure threshold pressure is greater than default first tire pressure threshold pressure, presets the 4th tire pressure pressure
Strong threshold value is greater than default second tire pressure threshold pressure, presets third tire pressure threshold pressure and is less than default first tire pressure threshold pressure；
If vehicle tyre pressure pressure is less than or equal to default first tire pressure threshold pressure alarm signal, monitoring center is to maintaining display screen
Upper transmission vehicle tyre pressure deficiency information, please be replenished in time tire pressure；If vehicle tyre pressure pressure is more than or equal to default second tire pressure
Threshold pressure alarm signal, then monitoring center sends the high tire pressure of vehicle on maintaining display screen, asks Reduced Speed Now；If vehicle
Tire pressure pressure is less than or equal to default third tire pressure threshold pressure alarm signal, then monitoring center is sent on maintaining display screen
The low tire pressure of vehicle asks stop, supplements tire pressure；If vehicle tyre pressure pressure, which is more than or equal to default 4th tire pressure, suppresses threshold value
Alarm signal, then monitoring center sends the high tire pressure of vehicle, vehicle chocking, warning of blowing out on maintaining display screen；And it shows
It is that one of the near front wheel, off-front wheel, left rear wheel and off hind wheel tire pressure of vehicle or any combination tire pressure problem occur.
7. the test method of automatic Pilot automatization test system according to claim 6, which is characterized in that in the sound
There is also the second preset sound alarm signal, which is vehicle fuel audible ringing signal, the vehicle
Fuel oil audible ringing signal include vehicle fuel liquid level be below or equal to default first fuel liquid level Threshold Alerts signal and
Vehicle fuel liquid level is below or equal to default second fuel liquid level Threshold Alerts signal；Default second fuel liquid level threshold value is lower than
Default first fuel liquid level threshold value；If vehicle fuel liquid level is below or equal to default first fuel liquid level Threshold Alerts signal,
Then monitoring center sends vehicle fuel deficiency information on maintaining display screen, and fuel oil please be replenished in time；If vehicle fuel liquid level is low
In or equal to default second fuel liquid level Threshold Alerts signal, then monitoring center sends vehicle low burn oil on maintaining display screen
Information, vehicle chocking, fuel oil see the bottom warning；
And/or there is also third preset sound alarm signal in the sound, which is vehicle engine oil
Audible ringing signal, the vehicle engine oil audible ringing signal include that vehicle engine oil liquid level is below or equal to default first machine oil liquid
Position Threshold Alerts signal and vehicle engine oil liquid level are below or equal to default second engine oil level Threshold Alerts signal；Default second
Engine oil level threshold value is lower than default first engine oil level threshold value；If vehicle engine oil liquid level is below or equal to default first machine oil liquid
Position Threshold Alerts signal, then monitoring center sends vehicle engine oil deficiency information on maintaining display screen, and machine oil please be replenished in time；If
Vehicle engine oil liquid level is below or equal to default second engine oil level Threshold Alerts signal, then monitoring center is on maintaining display screen
Send the low machine oil information of vehicle, machine oil sees the bottom warning；
And/or there is also the 4th preset sound alarm signal in the sound, the 4th preset sound alarm signal is vehicle air regulator
Cleaning solution audible ringing signal, the vehicle air regulator cleaning solution audible ringing signal include vehicle air regulator cleaning solution liquid level be lower than or
Equal to default first air regulator cleaning solution level threshold alarm signal；If vehicle air regulator cleaning solution liquid level is below or equal to default the
One air regulator cleaning solution level threshold alarm signal, then monitoring center sends vehicle air regulator cleaning solution liquid level on maintaining display screen not
Air regulator cleaning solution please be replenished in time in sufficient information.
8. the test method of automatic Pilot automatization test system according to claim 6, which is characterized in that in the sound
There is also the 5th preset sound alarm signal, the 5th preset sound alarm signal is vehicle ABS failure audible ringing signal, then
Monitoring center sends vehicle ABS fault message on maintaining display screen；
And/or there is also the 6th preset sound alarm signal in the sound, the 6th preset sound alarm signal is vehicle startup
Machine self test failure audible ringing signal, then monitoring center sends vehicle motor self test failure information on maintaining display screen；
And/or there is also the 7th preset sound alarm signal in the sound, the 7th preset sound alarm signal is vehicle braking
System failure audible ringing signal, then monitoring center sends motor vehicle braking system fault message on maintaining display screen；
And/or there is also the 8th preset sound alarm signal in the sound, the 8th preset sound alarm signal is cooling for vehicle
System alarm audible ringing signal, then monitoring center sends cooling system of vehicle warning information on maintaining display screen；
And/or there is also the 9th preset sound alarm signal in the sound, the 9th preset sound alarm signal is Vehicular turn
System failure audible ringing signal, then monitoring center sends wheel steering system fault message on maintaining display screen；
And/or it is also middle there are the tenth preset sound alarm signal in the sound, the tenth preset sound alarm signal is vehicle hair
Electrical fault audible ringing signal, then monitoring center sends electric generator of vehicle fault message on maintaining display screen.
9. automatic Pilot automatization test system according to claim 1, which is characterized in that further include being set in vehicle
Radio receiving transmitting module and GPS module, the receiving and sending messages to hold of receive and send messages end and the vehicle control device of radio receiving transmitting module be connected,
The GPS signal output end of GPS module is connected with the GPS signal input terminal of vehicle control device；
Vehicle control device is connected by radio receiving transmitting module with high-precision difference positioning system；
High-precision difference positioning system includes difference base station and movement station, and difference base station to be continuously tracked observation satellite letter for a long time
Number, the Differential corrections that transmission calculates are implemented by communication link, are provided in real time for each vehicle-mounted mobile station high-precision
Carrier phase differential data；Movement station receives GPS satellite information and base station Differential corrections, realize movement station relative to
The relative positioning of base station resolves, and movement station is using double GPS settings, and main website is for determining position, and slave station is for determining direction；
It and/or further include that vehicle control device is connected by radio receiving transmitting module with high-precision map acquisition drawing system；
High-precision map acquisition drawing system includes auto model mapping modeling and high-precision ground mapping, and auto model mapping modeling is logical
The distribution for crossing auto model mapped point reflects vehicle gabarit feature, mapped point on the left of vehicle body and on the right side of vehicle body
Mapped point is in pile distribution relative to auto model central axes；
High-precision map acquisition mapping is the high-precision map surveyed and drawn by laser radar and assigns its longitude and latitude, high-rise seat
Target location information, then its location information is converted into lane line element, wherein element includes the position of lane line, type, width
One of degree, the gradient and curvature or any combination lane information；It and/or further include traffic sign, traffic lights, lane limit
The lane specific of one of height, sewer mouth, barrier or any combination；And/or further include overhead object, protective fence, number,
The infrastructure information of one of road edge type, roadside terrestrial reference or any combination.
10. the automatic Pilot automatization test system according to one of claim 6~8, which is characterized in that alarm sound
Encoded after acquisition, coding the following steps are included:
S1, monitoring center receive all alarm sound information of all vehicle control device acquisitions, obtain all alarm sounds
The peak swing value A of informationmaxWith minimum amplitude value Amin；
S2, obtain all alarm sound information acoustic amplitudes range be [- | A |, | A |], wherein A be AmaxAnd AminIn maximum
Value；
S3, by acoustic amplitudes range intervals [- | A |, | A |] be equally divided into n subinterval, the numerical value of interval border point is from small to large
Use D0、D1、D2、……、DnIt indicates, wherein n is positive even numbers, D0To DnWith the n bit binary value B being gradually increased1 B2……Bn
It indicates, wherein DiCorresponding binary numeral shares the positive integer that i 1 and n-i 0, i are 0 to n from the leftmost side to the rightmost side；
Acoustic information is segmented by S4, monitoring center by the chronological order received, obtains the amplitude of alternative sounds audio section
Data, and judge its immediate subinterval boundary point, the binary number corresponding to the immediate subinterval boundary point
It is worth the audio coding of this section of acoustic segment of coded representation.
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