CN110333085A - A kind of automatic Pilot test carriage tele-control system and method - Google Patents
A kind of automatic Pilot test carriage tele-control system and method Download PDFInfo
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- CN110333085A CN110333085A CN201910711675.XA CN201910711675A CN110333085A CN 110333085 A CN110333085 A CN 110333085A CN 201910711675 A CN201910711675 A CN 201910711675A CN 110333085 A CN110333085 A CN 110333085A
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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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Abstract
The present disclosure proposes a kind of automatic Pilot test carriage tele-control system and methods to have ensured the safety problem of test, can also carry out high-precision retest by remotely driving the authentic testing vehicle in vehicle testing field；On the other hand the virtual test field of setting is higher for the reduction degree of scene, more closing to reality vehicular traffic scene, moreover it is possible to test dangerous scene, make test more comprehensively, solid intuitively can be realized the test environment that repeatedly simulation reappears complicated, dangerous road vehicle driving scene.
Description
Technical field
This disclosure relates to the intelligence test correlative technology field of automatic driving vehicle, in particular to a kind of automatic
Drive test carriage tele-control system and method.
Background technique
The statement of this part only there is provided background technical information relevant to the disclosure, not necessarily constitutes first skill
Art.
Currently, automatic Pilot technology all in positive investment and is supported in countries in the world, beauty, Europe, day and China are all being established certainly
It is dynamic to drive checkout area, push autonomous driving vehicle upper road as early as possible.Automatic Pilot checkout area is to reappear autonomous driving vehicle using
In the test site of different kinds of roads condition and use condition that encounters, for verify and test autonomous driving vehicle in perception, certainly
The accuracy of plan and control etc..
Several test vehicles are needed in automatic Pilot checkout area to construct true road vehicle driving scene.It surveys at present
Test carriage in examination hall mostly uses greatly the mode of pilot steering, and this mode needs a large amount of human driver's real vehicle to manipulate,
It is also difficult to test dangerous traffic scene while labor intensive；Also the survey using automatic Pilot is being attempted in certain checkout areas
Test run carrys out simulating vehicle road driving scene, and the test carriage of automatic Pilot has certain Function for Automatic Pilot, but is limited to mesh
Preceding intelligence, test carriage can not reappear all vehicular traffic scenes, not be able to satisfy complicated, dangerous vehicle especially
Driving scene test.Therefore, it is necessary to a kind of can be realized repeatedly to simulate complicated, the dangerous road vehicle driving scene of reproduction
Test the test carriage control method or system of environment.
Summary of the invention
The disclosure to solve the above-mentioned problems, proposes a kind of automatic Pilot test carriage tele-control system and method, leads to
The long-range authentic testing vehicle amount driven in vehicle testing field is crossed, the safety problem of test has been ensured, can also carry out high-precision
Retest；Another aspect is higher for the reduction degree of scene, more closing to reality vehicular traffic scene, moreover it is possible to test dangerous field
Scape makes test more comprehensively, three-dimensional, intuitively.
To achieve the goals above, the disclosure adopts the following technical scheme that
One or more embodiments provide a kind of automatic Pilot test carriage tele-control system, including centrally disposed control
The driving simulator and remote operating controlling terminal of room processed, and multiple authentic testing vehicles of vehicle testing field are set；It is described
Remote operating controlling terminal is for constructing and showing virtual test field, setting test vehicle model in virtual test field, remote operating control
Terminal is connect with driving simulator, authentic testing vehicle communication respectively, and remote operating controlling terminal is configured as receiving drive simulation
The vehicle drive data that device is sent, and vehicle drive data are transmitted separately to test vehicle model and authentic testing vehicle, so that
It tests vehicle model and authentic testing vehicle executes identical driver behavior.
Further, remote operating controlling terminal includes master controller, the first display device and wireless communication module, master control
Device processed is connect with the first display device, wireless communication module and driving simulator respectively, master controller module by wireless communication
It is connect with authentic testing vehicle wireless communication；The front of driving simulator is arranged in first display device, for showing void
The movement of quasi- checkout area and its interior test vehicle model.
Further, the virtual test field is high-precision map, the test vehicle model for simulating authentic testing field
It is arranged in high-precision map, the high-precision map is corresponding with the static elements in the environment of authentic testing field；
Or
Test vehicle model in the virtual test field is automobile dynamics corresponding with the test vehicle of vehicle testing field
Model.
Further, driving simulator includes driving simulator hardware device and driving software system, the drive simulation
Device hardware device include respectively simulate steering wheel, brake pedal, clutch pedal, gas pedal and gear lever analog component, mould
Quasi- component is identical as the wheel manipulator element structure of authentic testing, relative position is also identical, each analog component and drive software
System electrical connection, driving software system are used to the vehicle operating that above-mentioned wheel manipulator element receives being converted to vehicle drive number
According to.
Further, the driving simulator hardware device driving simulator can also include driver seat, remote operating control
First display device of terminal processed is arranged before driver seat.
Further, car-mounted terminal is set on the authentic testing vehicle, and the car-mounted terminal includes vehicle-carrying communication module
With vehicle executing agency, vehicle-carrying communication module is used to establish with remote operating controlling terminal and be wirelessly connected, and realizes the transmission of data；Vehicle
Executing agency executes corresponding movement according to the wheel manipulator element on vehicle drive data manipulation vehicle.
Further, car-mounted terminal further includes awareness apparatus, and awareness apparatus is connect with vehicle-carrying communication module, and the perception is set
It is standby to include at least positioning device and direction sensor, the position of checkout area and the side of vehicle are in for testing measurement actual vehicle
To.
Based on a kind of control method of above-mentioned automatic Pilot test carriage tele-control system, include the following steps:
Step 1, building simulate the high-precision map of the virtual test field of real vehicles checkout area, establish test vehicle model simultaneously
It is arranged in high-precision map；
Step 2, the vehicle drive data for acquiring driving simulator；
Step 3 controls test vehicle model execution driver behavior according to vehicle drive data, while vehicle drive data being passed
Transport to authentic testing vehicle；
Driving process and orientation when step 4, the driver behavior for executing test vehicle model is real-time in virtual analog field
It has been shown that, and execute step 2.
Further, vehicle drive data are transmitted to after authentic testing vehicle further includes following steps:
Acquire the location information and vehicle directional information of authentic testing vehicle；
According to the location information and vehicle directional information of the authentic testing vehicle of acquisition, updates test vehicle model and virtually surveying
Position and direction in examination hall make to test position and direction of the vehicle model in virtual field, with authentic testing vehicle in vehicle
Position and direction in checkout area are consistent.
Further, vehicle drive data are transmitted to after authentic testing vehicle further includes following steps:
Acquire the feedback data of the vehicle executing agency of authentic testing vehicle；
By the feedback data real-time display of acquisition.
Compared with prior art, the disclosure has the beneficial effect that
(1) disclosure has ensured the safety problem of test by the authentic testing vehicle amount in remotely driving vehicle testing field,
It can also carry out high-precision retest；On the other hand the virtual test field of setting is higher for the reduction degree of scene, more
Closing to reality vehicular traffic scene, moreover it is possible to dangerous scene is tested, makes test more comprehensively, it is three-dimensional, intuitively, it can be realized multiple simulation
Reappear the test environment of complicated, dangerous road vehicle driving scene.
(2) disclosure is provided with the driving simulator of identical as real vehicles control member structure and relative position, and true
The driver behavior of real vehicle is identical, facilitates the operation of driver, does not need to carry out the training that system uses to driver
It can skillfully use, applicability is higher,
(3) the virtual test field that the disclosure passes through is set as high-precision map, and virtual test is arranged in high-precision map
Vehicle model, tests vehicle model and authentic testing vehicle executes identical driver behavior, intuitively whether can show driver behavior
Correctly, more intuitively experience to the operator remotely operated in central control room.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the restriction to the disclosure for explaining the disclosure.
Fig. 1 is the block diagram according to the system of one or more embodiments；
Fig. 2 is the driving simulator structural schematic diagram of the embodiment of the present disclosure；
Fig. 3 is the flow chart of the control method of the disclosure；
Wherein: 1, first display device, 2, steering wheel analog component, 3, gear lever analog component, 4, driver seat, 5, step on
Plate analog component.
Specific embodiment:
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that described further below be all exemplary, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms used herein has usual with disclosure person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the disclosure.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.It should be noted that not conflicting
In the case where, each embodiment in the disclosure and the feature in embodiment can be combined with each other.Below in conjunction with attached drawing to reality
Example is applied to be described in detail.
In the technical solution disclosed in one or more embodiments, as shown in Figure 1, a kind of automatic Pilot test carriage is remote
Process control system, driving simulator and remote operating controlling terminal including centrally disposed control room, and setting are surveyed in vehicle
The authentic testing vehicle in examination hall；For constructing and showing virtual test field, virtual test is set the remote operating controlling terminal in field
Set test vehicle model；Remote operating controlling terminal is connect with driving simulator, authentic testing vehicle communication respectively, and remote operating control is eventually
End is configured as receiving the vehicle drive data of driving simulator transmission, and vehicle drive data are transmitted separately to test carriage mould
Type and authentic testing vehicle, so that test vehicle model and authentic testing vehicle execute identical driver behavior.
Specifically, remote operating controlling terminal receives the vehicle drive data of driving simulator transmission, according to vehicle drive number
It is executed according to the test vehicle model in control virtual test field and acts and show accordingly, while vehicle drive data are transmitted to vehicle
The authentic testing vehicle of checkout area.Authentic testing vehicle executes corresponding driver behavior when receiving vehicle drive data.
The disclosure is by being arranged virtual test vehicle model, so that test vehicle model and the execution of authentic testing vehicle are identical
Driver behavior can intuitively show whether driver behavior is correct, to the operator's ratio remotely operated in central control room
Relatively intuitive impression.
In some embodiments, remote operating controlling terminal may include master controller, display device and radio communication mold
Block, master controller are connect with the first display device 1, wireless communication module and driving simulator respectively, and master controller passes through wireless
Communication module is connect with authentic testing vehicle wireless communication；The position of first display device 1 can according to need setting, preferably
, it can be set in the front of driving simulator, for showing the movement of virtual test field environment and its interior test vehicle model.Nothing
Line communication module can be 3G wireless communication module, 4G wireless communication module or 5G wireless communication module.Master control in the present embodiment
Device processed and driving simulator directly can pass through wired connection by the way that interface is arranged.
The subtest vehicle of the setting of authentic testing vehicle described in the present embodiment refers to that in automatic Pilot checkout area be test
The auxiliary vehicle of automatic driving vehicle performance, such as can be obstacle vehicle, adjacent lane driving vehicle in the same direction, meeting vehicle.
Optionally, the test vehicle model in virtual test field can be automobile corresponding with the test vehicle of vehicle testing field
Kinetic model, for simulating authentic testing vehicle in virtual test field.It can specifically be drawn and be tested by emulation mode
Vehicle dynamics model.
Virtual test field is for simulating real vehicles checkout area, in some embodiments, can be described accurately to scheme
Vehicle model is tested to be arranged in high-precision map.High-precision map is that precision is higher, the more electronic maps of data dimension.Precision is more
Height, which is embodied in, is accurate to a centimetre rank, and data dimension is more embodied in that includes relevant to traffic in addition to road information
Surrounding static information.
Specifically, high-precision map can be constructed by geographical mapping, virtual environment and authentic testing field environment are realized
Corresponding, the correspondence includes the static elements in the checkout areas such as geographical location, roadmarking and size, transit equipment, building
Correspondence.It include road data, such as the lanes such as position, type, width, the gradient and curvature letter of lane line in high-precision map
Breath.It further include the information such as the fixation object information, such as traffic sign, traffic lights on lane periphery, lane limit for height, sewer
Mouth, barrier and other lane specifics, further include the bases such as overhead object, protective fence, number, road edge type, roadside terrestrial reference
Infrastructure information.
The driving simulator of the present embodiment includes driving simulator hardware device and driving software system.As shown in Fig. 2, driving
Sail the analog component that simulator hardware device may include wheel manipulator element all in actual vehicle, the trailer reversing portion
Part packet may include the components such as steering wheel, brake pedal, clutch pedal, gas pedal, gear lever, the simulation of wheel manipulator element
Component includes pedal analog component 5, steering wheel analog component 2 and gear lever analog component 3, each analog component and drive software
System electrical connection, driving software system are used to the vehicle operating that above-mentioned wheel manipulator element receives being converted to vehicle drive number
According to.
Vehicle operating refers to operation of the related personnel to the wheel manipulator element on driving simulator, and vehicle drive data are
The action data of vehicle part includes steering wheel angle data, pedal data, gear data etc..
Driving simulator can also include driver seat 4 can also be by the first display device as the seat of operator
1 is arranged before driver seat, and operator is facilitated to check the motion images of virtual vehicle.First display device 1 is specific
For display.
Authentic testing vehicle is actual test vehicle, and setting car-mounted terminal is for receiving remote operating control on authentic testing vehicle
The vehicle drive data that terminal processed is sent, and practical driver behavior is executed, it is mobile corresponding in actual automatic Pilot checkout area
Position and convert corresponding direction.
The car-mounted terminal includes vehicle-carrying communication module, vehicle executing agency and awareness apparatus, and the awareness apparatus is extremely
Less include positioning device and direction sensor, is in the position of checkout area and the direction of vehicle for testing measurement actual vehicle；
Vehicle-carrying communication module is used to establish with remote operating controlling terminal and be wirelessly connected, and realizes the transmission of data；Vehicle executing agency according to
Wheel manipulator element on vehicle drive data manipulation vehicle executes corresponding movement.Wheel manipulator element on vehicle includes real
All operating parts on pedal, gear lever, vehicle panel on the vehicle of border and on steering wheel.The vehicle-carrying communication module can be
3G wireless communication module, 4G wireless communication module or 5G wireless communication module.
The collected vehicle of awareness apparatus is in the environmental informations such as the position of checkout area and the direction of vehicle, by vehicle-mounted logical
Letter module sends data to remote operating controlling terminal, and remote operating controlling terminal is surveyed according to the environmental information real time correction received
The direction of position and headstock of the test run model in virtual field makes to test position and direction of the vehicle model in virtual field, and true
Position and direction of the test run in vehicle testing field are surveyed to be consistent.
As shown in Figure 1, the disclosure can also join equipment such as 5G communication equipment by setting high speed network, establish distant in system
The communication connection of the car-mounted terminal of the authentic testing vehicle in controlling terminal and vehicle testing field is operated, including setting is really being surveyed
In the vehicle communication terminal of car-mounted terminal in test run, the checkout area drive test unit that real vehicles checkout area is set and control
Heart communication equipment.Control centre's communication equipment is connect with checkout area drive test unit, remote operating controlling terminal respectively, checkout area drive test
Unit is used to connect the vehicle communication terminal of car-mounted terminal all in vehicle testing field.
A kind of course of work of above-mentioned automatic Pilot test carriage tele-control system is as follows: first by the hard of driving simulator
Part and software section debugging finish, by the geographical environment and infrastructure of geographical mapping record checkout area and in virtual test ring
Corresponding high-precision map is established in border, establishes Vehicle dynamics corresponding with authentic testing vehicle.
During operating driving simulator, the operation of components for operating the hardware components of driving simulator passes through software system
System is converted into vehicle drive data, is sent to remote operating controlling terminal, virtual vehicle makes corresponding actions in virtual environment, together
When remote operating controlling terminal by data car-mounted terminal, then by the actuating mechanism controls authentic testing vehicle row of authentic testing vehicle
It sails.The collected real time data of the awareness apparatus of authentic testing vehicle and equipment executing agency's data pass through vehicle-carrying communication in turn
Terminal is sent to drive test unit, then sends the data to remote operating controlling terminal by drive test unit.
Such as driver operates driving simulator in central control room, driver hangs up gear by gear lever, steps on oil
Door pedal, and beat to the left steering wheel want from parking position start to walk, while the software systems of driving simulator by gear information,
The vehicle drives data such as pedal data, steering wheel data pass to remote operating controlling terminal, and remote operating controlling terminal is according to driving
Data control model vehicle testing vehicle model executes corresponding movement, makes to test vehicle model and driving simulator carries out identical behaviour
Make, while by the received vehicle termination for wirelessly passing to authentic testing vehicle, vehicle actuating mechanism controls are true
The pedal movement of test run is surveyed, wheel steering angle and speed, gear matching movement and driving simulator are consistent, from
And authentic testing vehicle is made to complete lane change starting-up action.And the executive condition of vehicle executing agency is made into Real-time Feedback to remote operating
Controlling terminal, and shown in the first display device 1.
Meanwhile authentic testing vehicle collects the ambient datas such as vehicle location and direction by awareness apparatus and is transmitted to
Remote operating controlling terminal, remote operating controlling terminal is according to the position for testing vehicle model in the environmental data correction virtual field received
It sets and direction of traffic, so that position and direction of the test vehicle model in virtual field, with authentic testing vehicle in vehicle testing field
In position and direction be consistent.
The present embodiment also protects a kind of control method based on a kind of above-mentioned automatic Pilot test carriage tele-control system,
As shown in figure 3, including the following steps:
Step 1, building simulate the high-precision map of the virtual test field of real vehicles checkout area, establish test vehicle model simultaneously
It is arranged in high-precision map；High-precision map can be constructed by geographical mapping, test carriage can be drawn by emulation mode
Kinetic model.
Step 2, the vehicle drive data for acquiring driving simulator；
Step 3 controls test vehicle model execution driver behavior according to vehicle drive data, while vehicle drive data being passed
Transport to authentic testing vehicle；
Step 4, by test vehicle model execute driver behavior when driving process in virtual analog field real-time display, and
Execute step 2.
After vehicle drive data are transmitted to authentic testing vehicle in the step 3, following steps can also be performed:
Acquire the location information and vehicle directional information of authentic testing vehicle；
According to the location information and vehicle directional information of the authentic testing vehicle of acquisition, updates test vehicle model and virtually surveying
Position and direction in examination hall make to test position and direction of the vehicle model in virtual field, with authentic testing vehicle in vehicle
Position and direction in checkout area are consistent.
It can also include the following steps: after vehicle drive data are transmitted to authentic testing vehicle
Acquire the feedback data of the vehicle executing agency of authentic testing vehicle；
By the feedback data real-time display of acquisition.
The foregoing is merely preferred embodiment of the present disclosure, are not limited to the disclosure, for the skill of this field
For art personnel, the disclosure can have various modifications and variations.It is all within the spirit and principle of the disclosure, it is made any to repair
Change, equivalent replacement, improvement etc., should be included within the protection scope of the disclosure.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (10)
1. a kind of automatic Pilot test carriage tele-control system, it is characterized in that: including the drive simulation of centrally disposed control room
Device and remote operating controlling terminal, and multiple authentic testing vehicles of vehicle testing field are set；The remote operating controlling terminal
For constructing and showing virtual test field, setting test vehicle model in virtual test field, remote operating controlling terminal respectively with driving
Simulator, authentic testing vehicle communication connection, the vehicle that remote operating controlling terminal is configured as receiving driving simulator transmission are driven
It sails data, and vehicle drive data is transmitted separately to test vehicle model and authentic testing vehicle, so that test vehicle model and true
It surveys test run and executes identical driver behavior.
2. a kind of automatic Pilot test carriage tele-control system as described in claim 1, it is characterized in that: remote operating controlling terminal
Including master controller, the first display device and wireless communication module, master controller respectively with the first display device, wireless communication
Module is connected with driving simulator, and module is connect master controller with authentic testing vehicle wireless communication by wireless communication；It is described
The front of driving simulator is arranged in first display device, for showing the movement of virtual test field and its interior test vehicle model.
3. a kind of automatic Pilot test carriage tele-control system as described in claim 1, it is characterized in that: the virtual test field
Be high-precision map for simulating authentic testing field, test vehicle model setting in high-precision map, it is described accurately
Scheme corresponding with the static elements in the environment of authentic testing field；
Or
Test vehicle model Vehicle dynamics corresponding with the test vehicle of vehicle testing field in the virtual test field.
4. a kind of automatic Pilot test carriage tele-control system as described in claim 1, it is characterized in that: driving simulator includes
Driving simulator hardware device and driving software system, the driving simulator hardware device include simulating steering wheel respectively, stopping
Vehicle pedal, clutch pedal, gas pedal and gear lever analog component, the wheel manipulator element knot of analog component and authentic testing
Structure is identical, relative position is also identical, and each analog component is electrically connected with driving software system, and driving software system is used for will be above-mentioned
The vehicle operating that wheel manipulator element receives is converted to vehicle drive data.
5. a kind of automatic Pilot test carriage tele-control system as claimed in claim 4, it is characterized in that: the driving simulator
Hardware device driving simulator further includes driver seat, and the first display device of remote operating controlling terminal is arranged before driver seat
Face.
6. a kind of automatic Pilot test carriage tele-control system as described in claim 1, it is characterized in that: the authentic testing vehicle
Car-mounted terminal is set on, and the car-mounted terminal includes vehicle-carrying communication module and vehicle executing agency, and vehicle-carrying communication module is used for
It establishes and is wirelessly connected with remote operating controlling terminal, realize the transmission of data；Vehicle executing agency is according to vehicle drive data manipulation
Wheel manipulator element on vehicle executes corresponding movement.
7. a kind of automatic Pilot test carriage tele-control system as claimed in claim 6, it is characterized in that: car-mounted terminal further includes
Awareness apparatus, awareness apparatus are connect with vehicle-carrying communication module, and the awareness apparatus includes at least positioning device and direction sensor,
The position of checkout area and the direction of vehicle are in for testing measurement actual vehicle.
8. based on a kind of described in any item control methods of automatic Pilot test carriage tele-control system of claim 1-7,
It is characterized in, includes the following steps:
Step 1, building simulate the high-precision map of the virtual test field of real vehicles checkout area, establish test vehicle model and are simultaneously arranged
In high-precision map；
Step 2, the vehicle drive data for acquiring driving simulator；
Step 3 controls test vehicle model execution driver behavior according to vehicle drive data, while vehicle drive data being transmitted to
Authentic testing vehicle；
Driving process and the orientation real-time display in virtual analog field when step 4, the driver behavior for executing test vehicle model,
And execute step 2.
9. control method as claimed in claim 8, characterized in that be transmitted to vehicle drive data after authentic testing vehicle also
Include the following steps:
Acquire the location information and vehicle directional information of authentic testing vehicle；
According to the location information and vehicle directional information of the authentic testing vehicle of acquisition, test vehicle model is updated in virtual test field
In position and direction, make to test position and direction of the vehicle model in virtual field, with authentic testing vehicle in vehicle testing
Position and direction in are consistent.
10. control method as claimed in claim 8, characterized in that after vehicle drive data are transmitted to authentic testing vehicle
Further include following steps:
Acquire the feedback data of the vehicle executing agency of authentic testing vehicle；
By the feedback data real-time display of acquisition.
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| CN113674610A (en) * | 2021-10-22 | 2021-11-19 | 北京智能车联产业创新中心有限公司 | Design method of automatic driving closed test field with variable road form |
| CN113820144A (en) * | 2021-10-25 | 2021-12-21 | 中汽创智科技有限公司 | Test method, device, system and equipment for automatically driving vehicle |
| CN114063476A (en) * | 2022-01-14 | 2022-02-18 | 杭州宏景智驾科技有限公司 | Navigation auxiliary software in-loop simulation test method, system, equipment and storage medium |
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