CN110455554A - A kind of unmanned vehicle test macro and method - Google Patents
A kind of unmanned vehicle test macro and method Download PDFInfo
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- CN110455554A CN110455554A CN201910827038.9A CN201910827038A CN110455554A CN 110455554 A CN110455554 A CN 110455554A CN 201910827038 A CN201910827038 A CN 201910827038A CN 110455554 A CN110455554 A CN 110455554A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
Abstract
It includes: ontology that the present invention, which provides a kind of unmanned vehicle test macro and method, system, and the ontology includes at least travelable vehicle chassis, the Parameter adjustable of the vehicle chassis；The chassis line traffic control module of installation on the body, the output end of the chassis line traffic control module are at least used to provide the control signal for adjusting the vehicle chassis parameter to the executing agency of the vehicle chassis；The automatic Pilot subsystem of installation on the body, the automatic Pilot subsystem are connected with the chassis line traffic control module；The remote-control romote-sensing subsystem being connected with the automatic Pilot subsystem, accelerates the testing efficiency of automatic Pilot technology.
Description
Technical field
The present invention relates to automobile technical fields, and in particular to a kind of unmanned vehicle test macro for being developed and being tested
And method.
Background technique
Autonomous driving vehicle, in order to ensure the safety of user, improve vehicle performance, is needed to being researched and developed in R&D process
Upper every technology mounted of passenger vehicle tested, in test, the exploitation of passenger car automatic Pilot technology needs
A large amount of drive test is carried out, if carried out in real road, the problems such as due to technical maturity, test has very big safety wind
Danger, traffic law also do not allow at present；If tested in blocked road, higher requirement is proposed to place, it is difficult to
Quickly, it is largely tested, so that the testing efficiency of automatic Pilot technology is extremely low.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of unmanned vehicle test macro, automatic Pilot skill is improved to realize
The testing efficiency of art, this application discloses a kind of unmanned vehicle test macros.
To achieve the above object, the embodiment of the present invention provides the following technical solutions:
A kind of unmanned vehicle test macro, comprising:
Ontology, the ontology include at least travelable vehicle chassis, the Parameter adjustable of the vehicle chassis；
The chassis line traffic control module of installation on the body, the output end of the chassis line traffic control module are at least used for described
The executing agency of vehicle chassis provides the control signal for adjusting the vehicle chassis parameter；
The automatic Pilot subsystem of installation on the body, the automatic Pilot subsystem and the chassis line traffic control module
It is connected；
The remote-control romote-sensing subsystem being connected with the automatic Pilot subsystem.
Optionally, in above-mentioned unmanned vehicle test macro, the remote-control romote-sensing subsystem includes: that remote controler, ground remote control are distant
Survey platform and the first wireless communication terminal；
The remote controler and the ground remote control telemetering platform pass through first wireless communication terminal and described automatic
Control loop is connected.
Optionally, in above-mentioned unmanned vehicle test macro, the remote-control romote-sensing subsystem and the automatic Pilot subsystem it
Between by wireless network be connected.
Optionally, in above-mentioned unmanned vehicle test macro, the ontology further include: be arranged in vehicle body on vehicle chassis and/
Or the container being connected with the vehicle chassis.
Optionally, in above-mentioned unmanned vehicle test macro, the ground remote control telemetering platform is PC machine.
Optionally, in above-mentioned unmanned vehicle test macro, the first wireless communication terminal is data-link ground based terminal.
Optionally, in above-mentioned unmanned vehicle test macro, the vehicle chassis is drive-by-wire chassis.
Optionally, in above-mentioned unmanned vehicle test macro, the chassis line traffic control module, comprising:
Linear controller, the linear controller are used to provide to the executing agency of the vehicle chassis described for adjusting
The control signal of vehicle chassis parameter, and provide and respond the control signal that the automatic Pilot subsystem generates；
Further include:
Power motor driver, power motor, steering motor for responding the output signal of the linear controller are watched
Take controller, steering motor, brake motor servo controller and brake motor；
Wherein, the input terminal of the power motor driver is connected by CAN bus with the linear controller, described dynamic
The control terminal of force motor is connected with the output end of the power motor driver；
The input terminal of the steering motor servo controller is connected by CAN bus with the linear controller, and described turn
It is connected to the control terminal of motor with the output end of the steering motor servo controller；
The input terminal of the brake motor servo controller is connected by CAN bus with the linear controller, the brake
The control terminal of vehicle motor is connected with the output end of the brake motor servo controller.
Optionally, in above-mentioned unmanned vehicle test macro, the chassis line traffic control module, further includes:
Lighting device, vehicle-mounted loudspeaker, collision detection sensor, emergency stop switch, power-supply management system and power battery；
Wherein, the lighting device is connected by signal communication line with the illumination sign output end of the linear controller；
The vehicle-mounted loudspeaker are connected by signal communication line with the audible warning output end of the linear controller；
The collision detection sensor passes through the collision alarm input terminal phase of signal communication line and the linear controller
Even；.
The emergency stop switch is connected by signal communication line with the emergent stop signal input terminal of the linear controller；
The control terminal of the power-supply management system passes through the power managing signal of signal communication line and the linear controller
Interface end is connected, and the control terminal of the power battery is connected with the output end of the power-supply management system.
Optionally, in above-mentioned unmanned vehicle test macro, the automatic Pilot subsystem includes:
Automatic Pilot computing unit, the automatic Pilot computing unit, which is used to provide control to the chassis line traffic control module, to be referred to
It enables；
Management map system, for providing map datum to the automatic Pilot unit；
Inertial navigation system, for providing inertial navigation data to the automatic Pilot unit；
Satellite navigation system, for providing satellite navigation data to the automatic Pilot unit；
Odometer, for providing driving mileage data to the automatic Pilot unit；
Obstacle detection module, for providing the obstacle detection data of ambient enviroment to the automatic Pilot unit；
Image detection module, for providing the image detection data of ambient enviroment to the automatic Pilot unit；
V2X communication module, for realizing the communication between automatic Pilot unit and external equipment.
A kind of unmanned vehicle test method, comprising:
Obtain the control instruction that remote-control romote-sensing subsystem issues；
The control instruction is parsed；
When the data that parsing obtains are vehicle chassis configuration data, sent and the vehicle to the executing agency of vehicle chassis
The driving instruction that chassis configuration parameter matches, so that the state of the vehicle chassis and the vehicle chassis configuration parameter
Match；
When the obtained data of parsing are vehicle performance instruction, generate and export and match with vehicle performance instruction
Driving instruction, so that the action state of the vehicle chassis matches with vehicle operating instruction；
When the data that parsing obtains are driving path data, the vehicle chassis is controlled according to the driving path data
Driving direction so that the driving path of the vehicle chassis matches with the driving path data got；
Obtain the operation data of the vehicle chassis in the process of running and the senser element on the vehicle chassis
The operation data and the detection data are uploaded to the remote-control romote-sensing subsystem by detection data.
Optionally, in above-mentioned unmanned vehicle test method, the generating process of the vehicle chassis configuration data includes:
Remote-control romote-sensing subsystem obtains the target algorithm that need to be tested, and obtains and the target according to mapping relations are preset
Algorithm vehicle chassis configuration data；
The generating process of the driving path data includes:
Remote-control romote-sensing subsystem obtains the initial position and target position of user's input, according to the initial position and target
Position generates and exports planning path using preset path planning algorithm, using the planning path as the driving path number
According to.
Optionally, in above-mentioned unmanned vehicle test method, the row of the vehicle chassis is controlled according to the driving path data
Direction is sailed, is specifically included:
Obtain the ring that the sensing device on the real time positioning data and the vehicle chassis of the vehicle chassis detects
Border data；
Vehicle Decision Method instruction is generated based on the environmental data；
Using motion planning based on the decision instruction, the environmental data, the dynamic property of the vehicle chassis, system
Dynamic property and cruising characteristic generate predetermined movement track；
It is controlled based on operation data of the predetermined movement track to the vehicle chassis.
Optionally, in above-mentioned unmanned vehicle test method, further includes:
In vehicle chassis driving process, judge that whether there are obstacles on the chassis traffic direction；
When there are barrier, the distance between the barrier and the vehicle chassis are calculated；
Obtain the travel speed of the vehicle chassis；
The benchmark braking distance to match with the travel speed is obtained based on default mapping table；
Judge whether the benchmark braking distance is greater than the distance between the barrier and the vehicle chassis, if greatly
In generating and export brake instruction, and by the distance between the travel speed, barrier and described vehicle chassis and brake
The distance between barrier and the vehicle chassis are sent to the remote-control romote-sensing subsystem after movement is completed.
A kind of unmanned vehicle test method, comprising:
Obtain the control instruction that remote-control romote-sensing subsystem issues；
The control instruction is parsed；
When the data that parsing obtains are vehicle chassis configuration data, sent and the vehicle to the executing agency of vehicle chassis
The driving instruction that chassis configuration parameter matches, so that the state of the vehicle chassis and the vehicle chassis configuration parameter
Match；
When the obtained data of parsing are vehicle performance instruction, generate and export and match with vehicle performance instruction
Driving instruction, so that the action state of the vehicle chassis matches with vehicle operating instruction；
When the data that parsing obtains are driving path data, the vehicle chassis is controlled according to the driving path data
Driving direction so that the driving path of the vehicle chassis matches with the driving path data got；
Obtain the operation data of the vehicle chassis in the process of running and the senser element on the vehicle chassis
The operation data and the detection data are uploaded to the remote-control romote-sensing subsystem by detection data.
Optionally, in above-mentioned unmanned vehicle test method, the generating process of the vehicle chassis configuration data includes:
Remote-control romote-sensing subsystem obtains the target algorithm that need to be tested, and obtains and the target according to mapping relations are preset
Algorithm vehicle chassis configuration data；
The generating process of the driving path data includes:
Remote-control romote-sensing subsystem obtains the initial position and target position of user's input, according to the initial position and target
Position generates and exports planning path using preset path planning algorithm, using the planning path as the driving path number
According to.
Optionally, in above-mentioned unmanned vehicle test method, the row of the vehicle chassis is controlled according to the driving path data
Direction is sailed, is specifically included:
Obtain the ring that the sensing device on the real time positioning data and the vehicle chassis of the vehicle chassis detects
Border data；
Vehicle Decision Method instruction is generated based on the environmental data；
Using motion planning based on the decision instruction, the environmental data, the dynamic property of the vehicle chassis, system
Dynamic property and cruising characteristic generate predetermined movement track；
It is controlled based on operation data of the predetermined movement track to the vehicle chassis.
Optionally, in above-mentioned unmanned vehicle test method, further includes:
In vehicle chassis driving process, judge that whether there are obstacles on the chassis traffic direction；
When there are barrier, the distance between the barrier and the vehicle chassis are calculated；
Obtain the travel speed of the vehicle chassis；
The benchmark braking distance to match with the travel speed is obtained based on default mapping table；
Judge whether the benchmark braking distance is greater than the distance between the barrier and the vehicle chassis, if greatly
In generating and export brake instruction, and by the distance between the travel speed, barrier and described vehicle chassis and brake
The distance between barrier and the vehicle chassis are sent to the remote-control romote-sensing subsystem after movement is completed.
Based on the above-mentioned technical proposal, unmanned vehicle test macro provided in an embodiment of the present invention, by the way that unmanned vehicle is tested system
Vehicle chassis in system ontology is set as the chassis of Parameter adjustable, and the ginseng of the vehicle chassis is configured by chassis line traffic control module
Number, so that the kinetic characteristics on the measurement different types of passenger car chassis of chassis analog, it can be in lesser place
Carry out drive test test, and experimentation cost substantially reduces, therefore, allow while carrying out more scene tests, Rapid Accumulation experimental data,
Accelerate the development and maturation of automatic Pilot technology.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the structural schematic diagram of unmanned vehicle test macro provided by the embodiments of the present application；
Fig. 2 is the structural schematic diagram of the chassis line traffic control module in unmanned vehicle test macro provided by the embodiments of the present application；
Fig. 3 is the flow diagram of unmanned vehicle test method provided by the embodiments of the present application；
Fig. 4 is the flow chart of data processing during the automatic Pilot of automatic Pilot subsystem provided by the embodiments of the present application
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, Fig. 1 is a kind of structural schematic diagram of unmanned vehicle test macro provided by the embodiments of the present application, referring to figure
1, which may include:
Ontology 100, the ontology include at least travelable vehicle chassis, and the vehicle chassis is preferably drive-by-wire chassis,
The Parameter adjustable of the vehicle chassis, the parameter of the vehicle chassis also refer to the height on chassis, and the ontology is in addition to packet
Include except travelable vehicle chassis, can also according to testing requirement include the vehicle body being arranged on vehicle chassis or other often
Component is advised, for example, the container being connected with the vehicle chassis；
Chassis line traffic control module 200, chassis line traffic control module installation on the body, the chassis line traffic control module it is defeated
Outlet is at least used to provide the control signal for adjusting the vehicle chassis parameter to the executing agency of the vehicle chassis.When
It so is also used to obtain the automatic Pilot signal of automatic Pilot subsystem output, the automatic Pilot signal is converted into vehicle chassis
On the driving signal that can identify of executing agency, the driving part on ontology that output matches with the automatic Pilot signal
Driving signal；
Automatic Pilot subsystem 300, the automatic Pilot subsystem are installed on the body, the automatic Pilot subsystem
System is connected with the chassis line traffic control module, and the automatic Pilot subsystem 300 is used to control by the chassis line traffic control module 200
Executing agency on the ontology, to realize the automatic Pilot of the ontology；
Remote-control romote-sensing subsystem 400, the remote-control romote-sensing subsystem are connected with the automatic Pilot subsystem, the remote control
Telemetry subsystem for obtaining every test data in the ontology driving procedure by remote mode, and passes through remote control side
Formula carries out active control to the ontology by the automatic Pilot subsystem.
In the technical solution that the above embodiments of the present application provide, the Parameter adjustable of the vehicle chassis in the ontology leads to
Cross the parameter that chassis line traffic control module configures the vehicle chassis, such as the height on chassis, the damping system of damper, suspension it is rigid
Degree, the size etc. of brake force, so that the kinetic characteristics on the measurement different types of passenger car chassis of chassis analog, it can be with
Carry out drive test test in lesser place, and experimentation cost substantially reduces, therefore, allows while carrying out more scene tests, fastly
Speed accumulation experimental data, accelerates the development and maturation of automatic Pilot technology.
Disclosed in the above embodiments of the present application in technical solution, the remote-control romote-sensing subsystem and automatic Pilot
It is connected between system by wireless network, in order to test the ontology.
Disclosed in the embodiment of the present application in technical solution, the remoting subsystem may include: hand-held remote controller 410,
Ground remote control telemetry station 420 and the first wireless communication terminal 430；The ground remote control telemetry station passes through first wireless telecommunications
Terminal 430 and the automated driving system carry out data interaction, and the hand-held remote controller 410 can be by self-contained wireless
Sender unit, certainly, the hand-held remote controller 410 can also pass through the first wireless communication terminal 430 and the automatic Pilot
System carries out data interaction, and disclosed in the embodiment of the present application in technical solution, first wireless communication terminal 430 can be recognized
To be a radio signal senders, type can voluntarily be selected according to user demand, for example, it can be a repeater
Either data-link ground based terminal (GDT, ground data terminal).
At this point, can also include: referring to fig. 2, in the chassis line traffic control module in the remote-control romote-sensing subsystem 400
Remote control receiver that remote controler is communicated and with the first wireless communication terminal in the remote-control romote-sensing subsystem 400
430 the second wireless communication terminals communicated, wherein, second nothing corresponding with first wireless communication terminal 430
Line communicating terminal can be data-link vehicle-mounted end (CDT, carrier data terminal), certainly, if institute in this programme
It is described when stating hand-held remote controller by first wireless communication terminal 430 and automated driving system progress data interaction
Second wireless communication terminal can be only arranged in chassis line traffic control module.
Data-link terminal is divided into two kinds, and one kind is deployed on aircraft/vehicle chassis, referred to as data-link it is airborne/car-mounted terminal
(CDT, carrier data terminal), another kind is deployed in ground, becomes data-link ground based terminal (GDT, ground
Data terminal), the two sends mutually data, constitutes the bi-directional transfer path of data.In the application, described first is wireless
Communicating terminal is preferably data-link ground based terminal, and second wireless communication terminal is preferably data-link car-mounted terminal.
Disclosed in the embodiment of the present application in technical solution, the hand-held remote controller 410 can be according to user's operation to institute
It states automatic Pilot subsystem and sends the control instruction for carrying out certain operation for controlling the ontology, for example, the hand-held remote control
Device can directly or by first wireless communication terminal 430 to the automatic Pilot subsystem issue it is forward/backward, turn
To, control instructions, the automatic Pilot subsystem such as emergency brake, light and loudspeaker be converted after getting these instructions
For the control instruction that the chassis line traffic control module can identify, the chassis line traffic control module get these control instructions with
Afterwards, it is transformed into the driving signal of the executing agency on the ontology, and is exported, to realize the corresponding control of the ontology
System.
Disclosed in the embodiment of the present application in technical solution, the ground remote control telemetry station can be realized by PC machine,
For the PC machine as transfer center, Xiang Suoshu automatic Pilot subsystem issues driving trace instruction and speed command, described automatic
The operating status that subsystem controls the ontology according to the driving trace instruction received and speed command is driven, also,
The ground remote control telemetry station of stating can also receive the running state parameter for the ontology that the unmanned subsystem reports,
So that user is preferably monitored according to operating status of these parameters to the ontology.Wherein, it is deployed in the PC machine
Preset remote software, telemetering are to survey the short distance of object parametric (various operation datas or measurement data on ontology)
Magnitude is transmitted to the technology of remote measuring station (ground remote control telemetry station) Lai Shixian telemeasurement, and telemetering is to utilize sensing
One integrated technology of technology, the communication technology and data processing technique.Remote control is by communication medium to remote controlled pair
As the technology that (ontology) is remotely controlled, filled by operating device, code device, sending device, channel, reception device, decoding
It sets and is formed with executing agency etc..
For telemetry function, this is mounted on the telemetering software energy on the PC machine (when ground remote-control romote-sensing station is PC machine)
Enough communication chains on the display interface of PC machine between synthesis display remote-control romote-sensing subsystem, PC machine and automatic Pilot subsystem
Road, each functional module in variable chassis line traffic control module working condition, convenient for user by being surveyed without the PC machine to unmanned vehicle
The working condition of test system is detected and is monitored.
For distant control function, this is mounted on the remote control software tool on the PC machine (when ground remote-control romote-sensing station is PC machine)
Body can be divided into calibration, configuration and control.Calibration refers to the response by sending instruction and measuring the ontology for the instruction, right
Power drive function, turning function and the brake function of the ontology are demarcated.Configuration refers to before this running body, to ontology
On vehicle control device characteristic, receiver, data-link vehicle-mounted end, each servo-driver in chassis, power-supply management system and remote control
First wireless communication terminal in telemetry subsystem etc. carries out flexible configuration, and making it, desirably characteristic is run.Control refers to logical
It crosses remote control interface or hand-held remote controller and sends switch order and combined command to the automatic Pilot subsystem, common switch refers to
It enables such as: advancing, retreats, turns left, turns right, emergency stop；Common combined command is such as: cruise 5m/s, turns left 5 degree etc..
Disclosed in the above embodiments of the present application in technical solution, the preferred drive-by-wire chassis of vehicle chassis, wire control technology
The mechanical connection for eliminating manipulatable end and actuating station realizes that sensitive instructions, actuation are executed with sensor, cable and controller,
Construction weight and complexity are significantly reduced, and adaptation of the chassis for different operating conditions can be improved from parameter by modifying software
Property, improve manipulation characteristic.It chassis, can be by adjusting the control structure and control in chassis control software using wire control technology realization
Parameter processed so that chassis shows different dynamics and kinematics characteristic, and then can simulate different vehicles, from
And navigation, planning and decision making algorithm can be tested for the adaptability of different characteristics automobile.
Based on the drive-by-wire chassis, referring to fig. 2, in technical solution disclosed in the above embodiments of the present application, the chassis line
Module is controlled, may include:
Linear controller, core component of the linear controller as the chassis line traffic control module, the Linear Control
Device is used to provide to the executing agency of the vehicle chassis for adjusting the control signal of the vehicle chassis parameter, and provides sound
The control signal for answering the automatic Pilot subsystem to generate；
Power motor driver, power motor, steering motor for responding the output signal of the linear controller are watched
Take controller, steering motor, brake motor servo controller and brake motor；
Wherein:
The input terminal of the power motor driver is connected by CAN bus with the linear controller, the power electric
The control terminal of machine is connected with the output end of the power motor driver；The power motor driver and power motor, pass through
CAN bus receives the Motor torque instruction that the linear controller is sent, and driving power motor work, is vehicle control device
Speed control provides inner ring and supports；
The input terminal of the steering motor servo controller is connected by CAN bus with the linear controller, and described turn
It is connected to the control terminal of motor with the output end of the steering motor servo controller；The steering motor servo controller and turn
The steering angle command that the linear controller is sent is received by CAN bus to motor, bottom is realized in driving steering motor work
The steering of disk；
The input terminal of the brake motor servo controller is connected by CAN bus with the linear controller, the brake
The control terminal of vehicle motor is connected with the output end of the brake motor servo controller.The brake motor servo controller and brake
Vehicle motor receives the braking torque that the linear controller is sent by CAN bus and instructs, and the work of driving brake motor passes through
Water brake disk carries out four wheel brakes.
The linear controller realizes that vehicle chassis switches in plurality of optional chassis/vehicle parameter combination, can
Flexibly to call the parameter configuration of vehicle chassis according to the actual situation, it is also possible to by distant in remote-control romote-sensing subsystem
Control telemetering software configures vehicle chassis control, steering SERVO CONTROL, brake SERVO CONTROL, kinetic servo control etc. respectively
With adjustment, the kinetic characteristics on different vehicle chassis are simulated.
Referring to fig. 2, the chassis line traffic control module, in addition to above-mentioned linear controller, power motor driver, power electric
Except machine, steering motor servo controller, steering motor, brake motor servo controller and brake motor, can also include
Some additional devices, for example, lighting device, vehicle-mounted loudspeaker, collision detection sensor, emergency stop switch, power-supply management system and
Power battery etc.；The lighting device is connected by signal communication line with the illumination sign output end of the linear controller；Institute
Vehicle-mounted loudspeaker are stated to be connected by signal communication line with the audible warning output end of the linear controller；The collision detection sensing
Device is connected by signal communication line with the collision alarm input terminal of the linear controller；The emergency stop switch passes through signal communication
Line is connected with the emergent stop signal input terminal of the linear controller；The control terminal of the power-supply management system passes through signal communication line
It is connected with the power managing signal interface end of the linear controller, the control terminal of the power battery and the power management system
The output end of system is connected.
About lighting device, the control signal that the linear controller responds the automatic Pilot subsystem output passes through number
Word output interface controls the lighting device, for the display of states such as illuminating, turning to and brake；
About vehicle-mounted loudspeaker, the control signal that the linear controller responds the automatic Pilot subsystem output passes through number
Word output interface controls loudspeaker, for starting, the alarm prompts such as failure；
About collision detection sensor, the collision detection sensor can be TOF sensor, the TOF sensor inspection
Survey the distance of the ontology front obstacle, the automatic Pilot subsystem when detect that the TOF sensor detects away from
When from the corresponding braking distance of speed at that time, triggering brake logic carries out emergency brake；
About emergency stop switch, the unmanned subsystem passes through the state of digital data acquisition emergency stop switch, if emergency stop
Switch is pressed, then triggers emergency brake logic；
About power-supply management system and power battery, the residue electricity of each battery core of power battery is monitored by corresponding sensor
Amount and health status, and the data monitored are reported into vehicle control device, wherein the power battery can be lithium battery.
Disclosed in the embodiment of the present application in technical solution, the automatic Pilot subsystem can use in the prior art
Automatic Pilot subsystem, these conventional automatic Pilot subsystems include all kinds of supplementary modules and computing unit；
Referring to fig. 2, in these supplementary modules, typical supplementary module has management map system, inertial navigation system, satellite
Navigation system, odometer, obstacle detection module, image detection module and V2X communication module etc., wherein the obstacle physical prospecting
Surveying module can be realized using LiDAR (laser radar), millimetre-wave radar or corresponding range sensor, described image detection
Module can be realized using camera.Wherein, V2X module refers to vehicle to the module of extraneous information exchange, and V2X is a series of
The general name of vehicle mounted communication technology, it includes between vehicle-to-vehicle (V2V) communication, vehicle is to the communication between roadside device (V2R), vehicle
To between infrastructure (V2I) communication, vehicle between pedestrian (V2P) communication, vehicle between locomotive (V2M) communication and vehicle
To six major class such as communications between bus (V2T).
The computing unit flexibly can also be configured and be selected according to application scenarios and user demand, and selection is full
The computing unit of sufficient user demand, concrete implementation mode may refer to the calculating in automatic Pilot unit in the prior art
Unit.
When the system work of automatic Pilot system, the computing unit acquires the output signal of each supplementary module, is based on this
The output signal of a little supplementary modules is calculated, operation perception, decision and planning algorithm, is finally provided vehicle chassis control and is driven
Dynamic, steering and brake instruction, and it is sent to related executing agency.
Unmanned vehicle test macro disclosed in the embodiment of the present application can be adapted for several scenes, multiply for example, it can be used as
With the automatic Pilot exploitation of vehicle and test platform, the research and development of automatic Pilot technology are pushed, it can also be in closing or semiclosed garden
It is interior to be used as automatic detecting vehicle, it is used for logistics, dispatching or patrol:
The exploitation of passenger car automatic Pilot technology needs to carry out a large amount of drive test, if carried out in real road, due to skill
There is very big security risk in the problems such as art maturity, test, traffic law does not also allow at present；If carried out in blocked road
Test, then propose higher requirement to place, it is difficult to quickly, largely be tested.And nothing disclosed in the embodiment of the present application
People's vehicle test macro adjusts the kinetic characteristics of vehicle chassis by configuring the parameter of variable characteristic chassis controller, to simulate
The kinetic characteristics on different passenger car chassis can carry out drive test test in lesser place, and experimentation cost substantially reduces, and
And by it is described adjustment vehicle chassis kinetic characteristics, also allow to carry out more scene tests, can Rapid Accumulation experimental data,
Accelerate the development and maturation of automatic Pilot technology.
When the unmanned vehicle test macro is as automatic detecting vehicle, pass through apolegamy inertial navigation system and satellite navigation system
System constitutes integrated navigation system, and configures camera, carries out the detection of barrier in closing or semiclosed garden；Pass through ground
The remote software at remote-control romote-sensing station is configured, dispatched and is monitored to automatic running on transmisson line vehicle all in garden, and planning is passed through
With downloading course line, desired track, the desired speed of automatic running on transmisson line vehicle are determined；Automatic running on transmisson line vehicle according to the instruction track that receives and
Speed controls the movement of unmanned vehicle, and the system modes such as real-time report position, speed, receives the monitoring and scheduling of control centre,
If it find that barrier occurs in front, emergency stop logic is triggered, and be reported to control centre, herein, the control centre can be with
Refer to ground remote control telemetering platform end.
Corresponding to above system, disclosed herein as well is a kind of unmanned vehicle test method, this method is applied in the application
It states in unmanned vehicle test macro disclosed in embodiment, referring to Fig. 3, method may include:
Step S101: the control instruction that remote-control romote-sensing subsystem issues is obtained；
The telecommand can be user and be tested using ground remote control telemetering platform either remote controler to the unmanned vehicle
The control instruction of chassis line traffic control module output in system, the type of the instruction can according to user demand sets itself, for example,
It can be the instruction of vehicle chassis parameter configuration, rate control instruction, brake control instruction and signal light control instruction etc.；
Step S102: the control instruction is parsed；
Step S103: it when the data that parsing obtains are vehicle chassis configuration data, is sent out to the executing agency of vehicle chassis
The driving instruction to match with the vehicle chassis configuration parameter is sent, so that the state of the vehicle chassis and the vehicle bottom
Disk configuration parameter matches；
In this step, when parsing data is vehicle chassis configuration data, by being transferred in pre-stored data library and the vehicle
The driving rule of each configuration parameter in chassis configuration data to match, it is regular to the vehicle according to the driving
Driving part on disk sends driving instruction, adjusts the vehicle by way of changing the working condition of the driving part
The configuration parameter on chassis, the vehicle chassis configuration data phase one for obtaining the configuration parameter of the vehicle chassis with parsing
It causes.
Step S104: it when the obtained data of parsing are vehicle performance instruction, generate and exports and refer to the vehicle performance
The driving instruction to match is enabled, so that the action state of the vehicle chassis matches with vehicle operating instruction；
For example, generating when the data that parsing obtains are steering order and exporting the driving to match with the steering order
Instruction, such as when data that parse are brake instruction issues driving signal to brake motor and controls the brake motor and holds
Row brake.
Step S105: when the data that parsing obtains are driving path data, institute is controlled according to the driving path data
The driving direction of vehicle chassis is stated, so that the driving path of the vehicle chassis and the driving path data phase got
Matching；
When the data that the parsing obtains are the driving path data, by the current location of the vehicle chassis and institute
The route planning information stated in driving path combines, and generates direction and the rate control instruction of the vehicle chassis, so that
The vehicle chassis is travelled according to the driving path.
Method further include: obtain on vehicle chassis operation data in the process of running and the vehicle chassis
The operation data and the detection data are uploaded to the remote-control romote-sensing subsystem by the detection data of senser element；
In the vehicle chassis driving process, it can be acquired by sensor, the image acquisition device etc. on vehicle chassis
Component detects the operation data and running environment of vehicle chassis, and the operation data and running environment that will test pass through wireless communication
Number transmission mode be uploaded to the remote-control romote-sensing subsystem.
Corresponding with the implementation introduced in above-mentioned unmanned vehicle test macro, the vehicle chassis configuration data can be
Remote-control romote-sensing subsystem end generates, at this point, the generating process of the vehicle chassis configuration data includes:
Remote-control romote-sensing subsystem obtains the target algorithm that need to be tested, and obtains and the target according to mapping relations are preset
Algorithm vehicle chassis configuration data prestores the vehicle chassis to match with each target algorithm in the default mapping relations and matches
Set data；
The generating process of the driving path data includes:
Remote-control romote-sensing subsystem obtains the initial position and target position of user's input, according to the initial position and target
Position generates and exports planning path using preset path planning algorithm, using the planning path as the driving path number
According to.
It is corresponding with the implementation introduced in above-mentioned unmanned vehicle test macro, in the above method, according to the traveling road
Diameter data control the driving direction of the vehicle chassis, can specifically include:
Obtain the ring that the sensing device on the real time positioning data and the vehicle chassis of the vehicle chassis detects
Border data；Vehicle Decision Method instruction is generated based on the environmental data；The decision instruction, described is based on using motion planning
Environmental data, the dynamic property of the vehicle chassis, braking and cruising characteristic generate predetermined movement track；Based on described default
Motion profile controls the operation data of the vehicle chassis.Wherein, the real time positioning data can be by the vehicle
Positioning system on chassis carries out position and positions to obtain.The environmental data include at least barrier data, road type data,
Road instruction mark data etc..
In the above method, in vehicle chassis driving process, it is also used to judge to whether there is on the chassis traffic direction
Barrier；When there are barrier, according to the collected obstacle information of sensor, the barrier and the vehicle bottom are calculated
The distance between disk；Obtain the travel speed of the vehicle chassis；It is obtained and the travel speed phase based on default mapping table
The benchmark braking distance matched；Judge the benchmark braking distance whether be greater than between the barrier and the vehicle chassis away from
From if it does, showing if continuing the risk that traveling has collision controls the vehicle at this point, generating and exporting brake instruction
Chassis is braked, and the distance between the travel speed, barrier and the vehicle chassis and brake is complete
It is sent to the remote-control romote-sensing subsystem at the distance between later barrier and the vehicle chassis, so that user carries out data
Analysis.
Following for making user better understand technical solution disclosed in the present application, the application, which also tests unmanned vehicle, is
When system is tested automatically, the specific work process of automatic Pilot subsystem is illustrated: referring to fig. 4, automatic Pilot
System is mainly used for executing following movement during automatic Pilot:
Step S201, chassis parameter is obtained, based on chassis parameter adjustment chassis configuration；
In this step, the chassis for needing algorithm clearly to be tested targeted can be looked into actual application
It askes preset mapping table to obtain, that is, be stored with the bottom to match with the type of the testing algorithm in the preset mapping table
Disk parameter, for example, being obtained by lookup in the default mapping table opposite with the algorithm A when needing to test algorithm A
The chassis configuration parameter answered, the chassis line traffic control module are based on the chassis configuration parameter and generate driving signal, these are driven
Signal is sent to the executing agency on the ontology, adjusts the current state of each executing agency, to pass through executing agency
The mode of state change changes vehicle chassis parameter.Specifically, when obtaining the chassis parameter, it can be by described automatic
Subsystem is driven to execute this movement, can also be executed by the ground remote control telemetry station, when it is by ground remote control telemetry station
Which can be arranged in the ground remote control telemetry station, the ground remote control telemetry station is based on required when executing
Algorithm to be tested transfers corresponding chassis parameter, and the chassis parameter is sent to the automatic Pilot subsystem, it is described from
The dynamic subsystem that drives is based on chassis parameter adjustment chassis configuration again；
Step S202, load path is obtained；
Disclosed in the embodiment of the present application in technical solution, before obtaining load path, planning path is needed, is being planned
When path, need first to obtain start position and final position, the start position can be the current location of the ontology, advise
When drawing path, path planning is carried out according to start position and final position using diameter routing algorithm is sought, wherein path planning
Movement equally can be carried out directly in the automatic Pilot subsystem, and certainly, the process of path planning can also be distant on ground
It is carried out in control telemetry station, at this point, the path that planning obtains directly is sent to the automatic Pilot by the ground remote control telemetry station
Subsystem；
Step S203, decision instruction is exported；
In this step, automatic Pilot subsystem is according to the path of selection, in the process of moving fusion gps, inertial navigation, laser
Radar, video camera, radar, odometer, high-precision map etc. come positioning when realizing high-precision real, and perceive current environment (for example,
Identify vehicle, pedestrian, road conditions, mark etc.), in real road, mark, crossing, terrestrial reference are all static on road, in reality
Automatic Pilot subsystem needs to predict according to collected data and tracks the dynamic of road vehicle and pedestrian in driving procedure
To in this process, the automatic Pilot subsystem is based on laser radar and camera carries out barrier acquisition, then using inspection
It surveys recognizer and determines the vehicle and pedestrian in collected obstacle information, and the position of vehicle and pedestrian is positioned,
In conjunction with vehicle and pedestrian motion model (motion model can in the prior art be based on distance, speed, time, acceleration
The equation of building), it is realized using Kalman filtering algorithm and the movement velocity of vehicle and pedestrian is estimated, and pass through vehicle and row
Vehicle and pedestrian real time position is corrected in the variation of people's acceleration in real time, the fortune according to correction result prediction vehicle and pedestrian
Dynamic rail mark, the comprehensive driving under different scenes (scene corresponding to the motion profile of track of vehicle and pedestrian that prediction obtains)
Rule, the decision instruction of output unmanned vehicle follow the bus, parking, lane change, acceleration or deceleration etc..Further, the meeting in motion profile
It is related to a variety of scenes, for example, must slow down at crossing, has to be lower than speed limit traveling in speed-limit road section, it is necessary in bend
Pre-decelerating, after composition fleet must closely follow front truck when driving etc., the automatic Pilot subsystem is in automatic Pilot
The driving mode of unmanned vehicle can be constrained according to the feature of these scenes respectively.
Step S204, action planning；
Dynamic property, braking and cruising characteristic and road surface vehicle of the automatic Pilot subsystem based on the ontology
And pedestrian motion profile, using the motion planning prestored, it is executable to generate the ontology, collisionless optimal
Motion profile (motion profile is most short with the time, distance is optimal recently).Behaviour decision making in step S102 is formed macro
The decision instruction of sight is construed to the geometric locus of a band having time information, and provides speed of the ontology at each position
Degree, posture etc., that is to say, that during needing to provide automatic Pilot in this step, described of the adaptation under different scenes
The speed of body, and need to combine speed and motion profile to form suitable posture and (for example have certain inclination, slope road when turning
On have certain pitching).That is, the geometric locus that the decision instruction based on the macroscopic view generates is logical during automatic Pilot
Two aspect of trajectory planning and speed planning can be often decomposed into, wherein the trajectory planning refers to the travel route of ontology
Planning, the speed planning refer to the planning of each position of the ontology on the route planned, which can be with base
It is determined in parameters such as the situations of speed and road surface of road vehicles and pedestrian.
Step S205, vehicle control；
Consider the actual speed and phase of desired trajectory and ontology obtained in current body position, speed and step S103
It hopes the deviation of speed, speed and position to ontology carry out lasting tracking feedback control, and in ontology traveling process, carries out
Configuration, type selecting and the integration testing of automatic Pilot subsystem, wherein the desired trajectory refers to being calculated in step S103
The geometric locus with temporal information, the velocity deviation refers to present bit of the ontology on the geometric locus
Set the deviation between corresponding calibration speed and the actual speed of the ontology.
In conclusion unmanned vehicle test macro disclosed in the present application, can be arranged vehicle bottom by variable characteristic line control system
The configuration parameter of disk, to simulate the kinetic characteristics of different automobile types, the test for passenger car automatic Pilot technology is provided with exploitation
The test platform of low cost.
In automated driving system, remote control telemetering system is introduced, the flexibility of system, Ke Yitong on the one hand can be improved
The interface for crossing the remote control telemetering system configures the operating status and parameter of unmanned vehicle, on the other hand, can be to nobody
The state of vehicle is monitored in real time, is improved tester to the control degree of unmanned car state, is arranged convenient for system maintenance and problem
It looks into.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of unmanned vehicle test macro characterized by comprising
Ontology, the ontology include at least travelable vehicle chassis, the Parameter adjustable of the vehicle chassis；
The chassis line traffic control module of installation on the body, the output end of the chassis line traffic control module are at least used for the vehicle
The executing agency on chassis provides the control signal for adjusting the vehicle chassis parameter；
The automatic Pilot subsystem of installation on the body, the automatic Pilot subsystem and the chassis line traffic control module phase
Even；
The remote-control romote-sensing subsystem being connected with the automatic Pilot subsystem.
2. unmanned vehicle test macro according to claim 1, which is characterized in that the remote-control romote-sensing subsystem includes: distant
Control device, ground remote control telemetering platform and the first wireless communication terminal；
The ground remote control telemetering platform is connected by first wireless communication terminal with the automated driving system.
3. unmanned vehicle test macro according to claim 1, which is characterized in that the ontology further include: be arranged in vehicle
Vehicle body on chassis and/or the container being connected with the vehicle chassis.
4. unmanned vehicle test macro according to claim 1, which is characterized in that the chassis line traffic control module, comprising:
Linear controller, the linear controller are used to provide to the executing agency of the vehicle chassis for adjusting the vehicle
The control signal of chassis parameter, and provide and respond the control signal that the automatic Pilot subsystem generates；
Further include:
For responding the power motor driver, power motor, steering motor servo control of the output signal of the linear controller
Device, steering motor, brake motor servo controller and brake motor processed；
Wherein, the input terminal of the power motor driver is connected by CAN bus with the linear controller, the power electric
The control terminal of machine is connected with the output end of the power motor driver；The input terminal of the steering motor servo controller passes through
CAN bus is connected with the linear controller, and the control terminal of the steering motor is defeated with the steering motor servo controller
Outlet is connected；The input terminal of the brake motor servo controller is connected by CAN bus with the linear controller, the brake
The control terminal of vehicle motor is connected with the output end of the brake motor servo controller.
5. unmanned vehicle test macro according to claim 4, which is characterized in that the chassis line traffic control module, further includes:
Lighting device, vehicle-mounted loudspeaker, collision detection sensor, emergency stop switch, power-supply management system and power battery；
Wherein, the lighting device is connected by signal communication line with the illumination sign output end of the linear controller；It is described
Vehicle-mounted loudspeaker are connected by signal communication line with the audible warning output end of the linear controller；The collision detection sensor
It is connected by signal communication line with the collision alarm input terminal of the linear controller；The emergency stop switch passes through signal communication line
It is connected with the emergent stop signal input terminal of the linear controller；The control terminal of the power-supply management system by signal communication line with
The power managing signal interface end of the linear controller is connected, the control terminal of the power battery and the power-supply management system
Output end be connected.
6. unmanned vehicle test macro according to claim 1, which is characterized in that the automatic Pilot subsystem includes:
Automatic Pilot computing unit, the automatic Pilot computing unit are used to provide control instruction to the chassis line traffic control module；
Management map system, for providing map datum to the automatic Pilot unit；
Inertial navigation system, for providing inertial navigation data to the automatic Pilot unit；
Satellite navigation system, for providing satellite navigation data to the automatic Pilot unit；
Odometer, for providing driving mileage data to the automatic Pilot unit；
Obstacle detection module, for providing the obstacle detection data of ambient enviroment to the automatic Pilot unit；
Image detection module, for providing the image detection data of ambient enviroment to the automatic Pilot unit；
V2X communication module, for realizing the communication between automatic Pilot unit and external equipment.
7. a kind of unmanned vehicle test method characterized by comprising
Obtain the control instruction that remote-control romote-sensing subsystem issues；
The control instruction is parsed；
When the data that parsing obtains are vehicle chassis configuration data, sent and the vehicle bottom to the executing agency of vehicle chassis
The driving instruction that disk configuration parameter matches, so that the state of the vehicle chassis and the vehicle chassis configuration parameter phase
Match；
When the data that parsing obtains are vehicle performance instruction, generate and export the driving to match with vehicle performance instruction
Instruction, so that the action state of the vehicle chassis matches with vehicle operating instruction；
When the data that parsing obtains are driving path data, the row of the vehicle chassis is controlled according to the driving path data
Direction is sailed, so that the driving path of the vehicle chassis matches with the driving path data got；
Obtain the detection of the operation data of the vehicle chassis in the process of running and the senser element on the vehicle chassis
The operation data and the detection data are uploaded to the remote-control romote-sensing subsystem by data.
8. unmanned vehicle test method according to claim 7, which is characterized in that the generation of the vehicle chassis configuration data
Process includes:
Remote-control romote-sensing subsystem obtains the target algorithm that need to be tested, and obtains and the target algorithm according to mapping relations are preset
Vehicle chassis configuration data；
The generating process of the driving path data includes:
Remote-control romote-sensing subsystem obtains the initial position and target position of user's input, according to the initial position and target position
Planning path is generated and exported using preset path planning algorithm, using the planning path as the driving path data.
9. unmanned vehicle test method according to claim 7, which is characterized in that control institute according to the driving path data
The driving direction for stating vehicle chassis, specifically includes:
Obtain the environment number that the sensing device on the real time positioning data and the vehicle chassis of the vehicle chassis detects
According to；
Vehicle Decision Method instruction is generated based on the environmental data；
Using motion planning based on the decision instruction, the environmental data, the dynamic property of the vehicle chassis, braking
Predetermined movement track is generated with cruising characteristic；
It is controlled based on operation data of the predetermined movement track to the vehicle chassis.
10. unmanned vehicle test method according to claim 7, which is characterized in that further include:
In vehicle chassis driving process, judge that whether there are obstacles on the chassis traffic direction；
When there are barrier, the distance between the barrier and the vehicle chassis are calculated；
Obtain the travel speed of the vehicle chassis；
The benchmark braking distance to match with the travel speed is obtained based on default mapping table；
Judge whether the benchmark braking distance is greater than the distance between the barrier and the vehicle chassis, if it does,
Brake instruction is generated and exports, and the distance between the travel speed, barrier and described vehicle chassis and brake is dynamic
The distance between barrier and the vehicle chassis are sent to the remote-control romote-sensing subsystem after completing.
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