CN110501167A - System for executing the simulated crash scene of motor vehicles and non-motor vehicle road user - Google Patents
System for executing the simulated crash scene of motor vehicles and non-motor vehicle road user Download PDFInfo
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- CN110501167A CN110501167A CN201910392576.XA CN201910392576A CN110501167A CN 110501167 A CN110501167 A CN 110501167A CN 201910392576 A CN201910392576 A CN 201910392576A CN 110501167 A CN110501167 A CN 110501167A
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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
- G01M17/0078—Shock-testing of vehicles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The present invention relates to a kind of for executing the system (2) of motor vehicles and the simulated crash scene of non-motor vehicle road user in virtual environment, the system has features designed to make the available environment module of virtual environment (4), physical module (6) designed for physical analogy, and it is designed to carry out the XiL test module (8) of XiL test, the wherein data of environment module (4) Management Representative non-motor vehicle road user, the data that wherein physical module (6) enables to represent the physical behavio(u)r of the simulation object in virtual environment are used, and wherein XiL test module (8) manages collision avoidance strategy to be tested.
Description
Technical field
It is for execute motor vehicles and the simulated crash scene of non-motor vehicle road user the present invention relates to a kind of
System.
Background technique
Automatic Pilot motor vehicles (otherwise referred to as autonomous land vehicle) are can not to be influenced by human driver
In the case where drive, turn to and park the motor vehicles of (highly automated driving or autonomous driving).Term robot car is also used for
The case where driver manually controls is not needed.Pilot set can keep vacant；May there is no steering wheel, brake or throttle
Pedal.
By means of various sensors, automatic Pilot motor vehicles can capture its environment and determine from information obtained
The position of its position and other road users is driven to destination by communicating with navigation software, and avoids going to mesh
Ground road on collide.
For this purpose, automatic Pilot motor vehicles include complicated subsystem packet, to lead in true traffic scene
Boat.In order to test automatic Pilot, motor vehicles are tested in real world, wherein various traffic conditions can be assessed.So
And this is expensive program, and the risk of accident is very high.Test carries out in the virtual environment that computer generates, such as
In virtual city, to avoid accident and cost is reduced.
Therefore, during or after exploitation, physical testing is carried out to test site and is not required.Then in real scene
Carry out final test.The program must be executed to each type/model of motor vehicles.This also may include various types of horses
It reaches, because the revolving speed relative to motor torque must be assessed before and after collision.In brief, cost is very high
Must also coordinated maneuver vehicle drive line elements.For this purpose, it must be understood that Function for Automatic Pilot is to motor function
The influence of rate, so as to which they are taken into account.
Therefore it may be noted that the method for carrying out the expense of this test can be reduced.
Summary of the invention
The purpose of the present invention is by a kind of for executing motor vehicles and non-motor vehicle road user in virtual environment
Simulated crash scene system realize, the system have be designed to provide virtual environment environment module, be designed to use
In physical analogy physical module, be designed to execute the XiL test module of XiL test, wherein environment module Management Representative
The data of non-motor vehicle road user, wherein physical module provides the physical behavio(u)r for indicating the object of the simulation in virtual environment
Data, and wherein XiL test module manages collision avoidance strategy to be tested.
In other words, it tests in scheduled collision scene for preventing motor vehicles and non-motor vehicle road user
The predetermined collision avoidance strategy of (for example, pedestrian or cyclist) collision.This test carries out in virtual environment or virtual world.This
In virtual environment refer to the world that user can enter, most commonly by computer and/or internet.It can be virtual
It participates in being important feature while the multiple users to move independently from one another in space.
Environment module provides the virtual ring for having loose impediment and fixed object (such as road, building and trees)
Border, and the physical behavio(u)r of physical module simulation loose impediment.XiL test module generates the control letter for acting on motor vehicles
Number, and the control signal is available the result of collision avoidance strategy.
XiL-in-loop (X is in ring) can be tested into full weight using this system and navigate to virtual environment.Thus, it is only required to
It is tested to compare the test result from system.XiL test can be MiL (model is in ring), SiL (software is in ring),
PiL tests (processor is in ring) and/or HiL (hardware in loop).MiL includes for control system and for behavior simulation herein
ECU (control unit of engine) model construction, SiL for ECU object language model preparation be used for software
Automatic test in exploitation, test and HiL of the PiL for processor refer to (such as true for wherein embedded system
Electronics ECU or true electromechanical component, hardware) method for being connected to the counterpart of modification output and input by it.With this side
The expense for carrying out this test can be significantly reduced in formula.
According to one embodiment, XiL test module provides the biography of motor vehicles when capturing non-motor vehicle road user
The operating parameter of dynamic system.In other words, XiL test module also provides operating parameter, which is that the collision to be realized is kept away
Exempt from strategy as a result, it tries out when capturing non-motor vehicle road user.For example, working as pedestrian or other non-motorized lanes
Road user is by sensor (such as LIDAR (laser radar), stereo camera, list are as video camera etc.) identification of motor vehicles
When, the parameter of power train can be torque, speed and the effect of braking by application XiL-in-loop.Therefore, the system is also
Support optimizes drive line elements during automatic Pilot.
According to another embodiment, environment module includes collision avoidance system, and wherein environment module includes being used for non-motor vehicle
Pedestrian's generator of road user, for the motor vehicles generator of motor vehicles and for the environment generation of virtual environment
Device.The generator can be designed to ageng.Each of described generator generates to represent collects in one in virtual environment
The data set of the pedestrian, motor vehicles and environment that rise.Therefore, system can be designed to can use the meter on different computers
Calculate the distributed system of resource.Generator can also be parameterized and/or be configured by the user of different location, so that no matter
How when and where, which can be carried out, is tested.
According to another embodiment, for pedestrian's generator of non-motor vehicle road user and/or for motor vehicles
Motor vehicles generator and/or environment module are designed to read and assess from database to indicate non-motor vehicle road user
Traffic behavior data.Therefore can be allowed to the archive data of reference database by the behavior of real roads user
For testing.
According to another embodiment, for pedestrian's generator of non-motor vehicle road user and/or for motor vehicles
Motor vehicles generator and/or environment module are designed to read and assess the traffic behavior for indicating non-motor vehicle road user
Truthful data.Truthful data can be real-time available measurement or sensing data.It therefore can be with reference to expression real roads
The data of user's behavior.
According to another embodiment, for pedestrian's generator of non-motor vehicle road user and/or for motor vehicles
Motor vehicles generator and/or environment module are designed to simulate the traffic behavior of non-motor vehicle road user, and here
Especially read and assess the truthful data for representing the traffic behavior of non-motor vehicle road user.Therefore, with reference to the number of capture
According to and these are with AI (artificial intelligence) algorithm evaluation, to simulate the non-human act of such as pedestrian, such as close to machine
Avoidance campaign in the case where motor-car.Behavior in initial scene is transferred in other associated scenarios by AI algorithm here.
Therefore, the approximate behavior of real roads user can be used for testing.AI algorithm refers herein to belong to artificial intelligence field
Algorithm, and can for example learn, i.e., constantly optimize their behavior.
According to another embodiment, XiL test module provides data and is used for environment module.Therefore, the result of XiL test is turned
It moves on in virtual environment.The result of XiL test can be verified in this way.
According to another embodiment, XiL test module and environment module are designed to bidirectional data exchange.For example, coming
The event of self-virtualizing environment can in this way have an impact XiL test.
According to another embodiment, using multiple XiL test modules.Complicated test can be executed in this way, wherein examining
The influence of different components is considered, especially in the case where avoiding colliding with pedestrian or other non-motor vehicles road user.
Computer program product for such system still belongs to the present invention.
Detailed description of the invention
The present invention is explained with reference to the drawings, in which:
Fig. 1 is shown for executing showing for motor vehicles and the system of the simulated crash scene of non-motor vehicle road user
It is intended to；
Fig. 2 shows the schematic diagrames of the further details of the system indicated in Fig. 1；
Fig. 3 shows the schematic diagram of the further details of the system indicated in Fig. 1.
Specific embodiment
Referring initially to Fig. 1.
System 2 is designed to carry out motor vehicles and the simulation of non-motor vehicle road user (such as pedestrian or cyclist) is touched
Hit scene.
In the present example embodiment, motor vehicles are passenger cars.In the present example embodiment, motor vehicles are also set
Automatic Pilot motor vehicles are counted into, can drive, turn to and park in the case where no mankind's driver's intervention.Real machine
Motor-car includes the various sensors for capturing ambient for this purpose, and can be determined from information obtained its position and
The position of other road users is driven to destination by communicating with navigation software, and avoids going to destination
Road collides.
In the present example embodiment, system 2 includes for providing the environment module 4 of virtual environment, for physical analogy
Physical module 6 and for XiL test XiL test module 8 and hardware component 10.
Environment module 4, physical module 6 and/or XiL test module 8 may include the Hardware Subdivision for its task and function
Part and/or software component.
In the present example embodiment, environment module 4 includes real-time rendering engine, based on grating (depth buffer) benefit
With the rendering method of such as OpenGL (OpenGL) or DirectX (interface to hardware programming of Microsoft).This
It can be embedded in game engine, such as Unity3d or Unreal.Here rendering (also referred to as image synthesis) refer to from model or
Figure is created from initial data (such as geography information).
In the present example embodiment, environment module 4 is also connected directly to hardware component 10 to carry out data transmission.Example
Such as, hardware component 10 can be video camera, then be incorporated into simulation.
Physical module 6 is configured to environment module 4 and provides for physical modeling needed for virtual environment.For example, using
The driving dynamic of Matlab-Simulink (emulation) simulated maneuver vehicle, is related to using in house software library.For physical analogy
Physical module 6 be also possible to physical engine, such as NvidiaPhysX (physical manipulations engine) or Bullet Physics (object
Manage engine), for example to calculate collision.
XiL test module 8 manages collision avoidance strategy to be tested.XiL test can be MiL (model is in ring), SiL
(software is in ring), PiL (processor is in ring) and/or HiL (hardware in loop) test.For this purpose, XiL test module 8 utilizes survey
It tries component 14a, 14b, 14c and carries out XiL test.
MiL includes the construction of the model of the ECU for control system and for behavior simulation herein, and SiL is for ECU's
The preparation of the model of object language is with for the automatic test in software development, test and HiL of the PiL for processor refer to
Be to be output and input for embedded system (such as true electronics ECU or true electromechanical component, i.e. hardware) by it
The method for being connected to the counterpart of modification.
In the present example embodiment, XiL test module 8 provides the operating parameter of the power train of motor vehicles for catching
Obtain non-motor vehicle road user (for example, pedestrian or cyclist) Shi Jinhang XiL test.When pedestrian or other non-motor vehicle roads
When user is captured by the sensor (such as LIDAR, stereo camera, monomer video camera) of motor vehicles, the operation of power train
Parameter for example can be the effect of the torque of the application by XiL, speed and brake.
The module is connected to each other via network layer 12 to carry out data transmission.Network layer 12 in the present exemplary embodiment
It is formed by the software library being embedded in the component of system 2.The main task of network layer 12 is to make to carry out between the component
Effective communication.In the present example embodiment, network layer 12 (is passed using such as UDP (User Datagram Protocol) or TCP/IP
Defeated control/network communication agreement) etc. network protocols.
When operated, environment module 4 receives physical analogy from physical module 6, so that not calculating in environment module 4 motor-driven
The behavior of vehicle or world Year of Physics.Environment module 4 is designed to the visual display of virtual environment.
When operated, environment module 4 goes back the data of Management Representative non-motor vehicle road user, and physical module 6 provides
Indicate that the data of the physical behavio(u)r of simulation object are used for physical analogy.XiL test module 8 manages collision to be tested and avoids plan
Slightly.
Referring now also to Fig. 2.
Show collision avoidance system 16.
In the present example embodiment, collision avoidance system 16 is designed to the subsystem of environment module 4.
It is a part of software architecture, and wherein it is virtual presence.
Collision avoidance system 16 is designed to test 4 side collisions identification (forward and backward, left and right collision detection).It can be used
Various sensors, such as LIDAR, radar and camera sensor.It can be considered as generating the test equipment of collision scene, and
And it can identify collision and use XiL input or known collision algorithm.
The collision of collision avoidance system 16 processing and the vehicle body of motor vehicles.Since each motor vehicles have collision
Body, therefore other objects (i.e. non-motor vehicle road user) can also be indicated by the collision body in virtual environment.Collision body can
To be indicated by network or the bounding box of simplification.In order to check motor vehicles whether in virtual environment object collide, can
To use known collision detection algorithm, such as I-COLLIDE.Motor vehicles or other objects can use biggish collision body surface
Show, is collided to be checked in early stage, such as early stage collision detection.
In general, collision avoidance system 16 utilizes sensing data.Therefore, it is each to be also designed to assessment for collision avoidance system 16
Kind sensing data, for example, the data from stereo camera.It can directly determine collision using these data.Here
Sensing data include real sensor data or Sensor Analog Relay System (such as video camera, LIDAR and radar simulation) data.This
A part that a little data are also used as XiL to test or simulate is checked.
Therefore, collision avoidance system 16 can use known collision detection algorithm or be inputted by using XiL (this
In the case of be sensing data) execute test.It can be used for the collision detection algorithm by explained earlier by comparing knot
Fruit inputs (sensing data) to test XiL.
In the present example embodiment, collision avoidance system 16 includes pedestrian's generator 18,20 and of motor vehicles generator
Environment generator 22.It may, furthermore, provide other component.
Pedestrian's generator 18, motor vehicles generator 20 and/or environment generator 22 may include for its task and function
The hardware component and/or software component of energy.
In the first mode of operation, data are read in from database.These databases are multiple by passing through in different location
Video camera captures pedestrian in different time and prepares.Data mainly include that pedestrian's quantity, type are (man, woman, child, old
People), their position and information (including time).Due to also simulating position and time, they meet in virtual environment
Virtual city landscape, wherein being assigned with the position and direction of pedestrian (in Euclidean space).The advantages of this mode, exists
Unpredictalbe behavior of pedestrian can be tested in it, for example, the child of jump suddenly appears in road.
On the other hand, which is limited to the data volume in database.Therefore, which is more likely to be appropriate for
Other test results that verifying is realized using other operation modes.
In this second mode of operation, data are directly from hardware component 12, such as video camera, because virtual environment can be through
Hardware component 12 is easily connected to by network.In this case, using image processing algorithm to the image in virtual environment
Data are handled.
In third operation mode, AI algorithm is used.Pedestrian correspondingly walks on pavement and often passes through road.AI
Algorithm makes dummy row people recognize building, other pedestrians and motor vehicles.In this way, they are non-intersecting, and incline
To in avoiding motor vehicles.AI algorithm can use machine learning algorithm, such as Random Forests (random forest), so as to
The object that may be collided to pedestrian is classified.As collision body classification as a result, simultaneously evaluation decision tree can be formed, to move
Dynamic pedestrian.Object (such as house or steep cliff) with large-scale collision body can be classified as static, low-risk object, and
Lesser collision body (such as pedestrian or cyclist) can be classified as dynamic, high risk object.By using depth
Algorithm is practised, AI algorithm can be designed to improved collision in the case where Nonlinear Classification and avoid.If such as there are a large amount of
Relevant object is collided, then this can assess the direction of travel of pedestrian.
In the 4th operation mode, first and the component of third operation mode be grouped together.In other words, the operation
Mode is mixed mode.For example, the machine learning algorithm of such as SVM (support vector machines) method is utilized with the video camera achieved
The database of data, and these algorithms are assessed to generate training dataset.Therefore, AI algorithm can be determined when motor vehicles edge
Road driving when pedestrian will wherein.It may then pass through using collision detection algorithm and handle the behavior of pedestrian.
Motor vehicles generator 20 is designed to generate virtual motor vehicles, such as passenger car, truck, motorcycle etc., and controls
Make their behaviors in virtual environment.Each motor vehicles can be by collision boundary frame or the network table of motor vehicles
Show.Various 3-D scan models or CAD (CAD) data of motor vehicles can be used for visual display and collision inspection
It surveys.Vehicle generator 20, which may be configured to individually collide, avoids scene.Vehicle generator 20 is designed to provide four kinds of modes
Collision for executing different avoids testing.Operation mode corresponds to the operation mode for the pedestrian's generator 18 having been described.
Environment generator 22 is designed to the stationary body in processing environment module 4.These stationary bodies include road, example
Geography information such as related with lake, massif, house.Environment generator 22 is designed to provide four kinds of operations for execution
Mode.Operation mode corresponds to the operation mode for the pedestrian's generator 18 having been described.
In the first mode of operation, data are read in from various databases.For geography information, it can read in and assess all
Such as conventional GPS (global positioning system) data of road-map.It can also read in and assess and be mentioned by user by environment module 4
The data of confession.
In this second mode of operation, various hardware componenies 12, such as navigation equipment, Infotainment unit etc. be can connect,
Automatically to create object in virtual environment.For this purpose, hardware component 12 can be connected in terms of directly transferring data to
Calculation machine environment is transmitted by network layer 12.
In third operation mode, AI algorithm generates random test scene using dummy object, but is not suitable for static object
Body.
In the 4th operation mode, machine learning algorithm (for example, SVM method) utilizes GPS data and object data next life
At training dataset, in order to provide the more true test environment for including road, massif and house.
Referring now also to Fig. 3.
There is furthermore provided XiL test module 8, which provides input data, is used for environment module 4, to simulate for avoiding collision
Controller.In this way, XiL test module 8 can also include vehicle control hardware, or only include the mould of controller
Type.No matter what (such as hardware, software or model) it includes, it requires identical input data, and provides identical defeated
Data are used for virtual environment out.Since collision avoidance system 16 is used as the part system of the environment module 4 with known collision algorithm
System, therefore the result that XiL test module 8 can be used for XiL test can be compared.
It can be with each control system in simulated maneuver vehicle.It is desirable that thus indicating multiple or rolling stock control
Device, and multiple or rolling stock controller is connected for carrying out data transmission with the environment module 4 for virtual environment 4.With
Environment module 4 in virtual environment 4 and the communication between the XiL test module 8 for XiL test are two-way.In other words,
Two components all mutually send and receive data.It is desirable that two components all handle data using real-time computer.This can be with
It is the computer environment by User Exploitation, or the commercially available system of such as dSpace XiL Solutions.Such as ASAM
The standard interface of XIL interface can be used for the data exchange between component.
Hardware can be any desired part of vehicle control device.However, ECU (control unit of engine) is being avoided collision
Aspect plays prior effect.
XiL test module 8 can be designed to various types of simulations, including software and hardware simulation.
In one case, radar XiL emulates (hardware) unit and is directly connected to environment module 4 (transmitting for data),
For providing the virtual environment of radar signal to environment module 4, while it is received by collision test device and comes from environment module 4
Crash data.Other control unit, ECU (control unit of engine) (hardware) are connected for data and are transferred to environment mould
Block 4, so as to the engine aspirating system in management environment module 4.In addition, it has been also connected with complete engine mockup (software),
For transferring data to environment module 4, so as to the remaining part of simulated engine controller.
Therefore complete motor vehicles or its most important component can be simulated, plays the role of avoiding collision.
Reference signs list
2 systems
4 environment modules
6 physical modules
8 XiL test modules
10 hardware componenies
12 network layers
14a test component
14b test component
14c test component
16 collision avoidance systems
18 pedestrian's generators
20 motor vehicles generators
22 environment generators
Claims (10)
1. a kind of system (2), the system in virtual environment for executing motor vehicles and non-motor vehicle road user's
Simulated crash scene, the system have features designed to provide the environment module (4) of virtual environment, are designed for physical analogy
Physical module (6) and the XiL test module (8) for being designed to carry out XiL test, wherein the environment module (4) Management Representative
The data of the non-motor vehicle road user, wherein the physical module (6) provides the mould represented in the virtual environment
The data of the physical behavio(u)r of quasi- object, and wherein the XiL test module (8) manages collision avoidance strategy to be tested.
2. system according to claim 1 (2), wherein the XiL test module (8) is capturing the non-motor vehicle road
The operating parameter of the power train of the motor vehicles is provided when user.
3. system (2) according to claim 1 or 2, wherein the environment module (4) includes collision avoidance system (16),
Wherein the environment module (4) includes for pedestrian's generator (18) of the non-motor vehicle road user, for motor vehicle
Motor vehicles generator (20) and environment generator (22) for the virtual environment.
4. system (2) according to claim 3, wherein the pedestrian for the non-motor vehicle road user generates
Device (18) and/or the motor vehicles generator (20) for motor vehicles and/or the environment module (4) are designed to read
Take and assess the data of the traffic behavior of non-motor vehicle road user described in the representative from database.
5. system (2) according to claim 3, wherein the pedestrian for the non-motor vehicle road user generates
Device (18) and/or the motor vehicles generator (20) for motor vehicles and/or the environment module (4) are designed to read
Take and assess the truthful data for representing the traffic behavior of the non-motor vehicle road user.
6. system (2) according to claim 3, wherein the pedestrian for the non-motor vehicle road user generates
Device (18) and/or the motor vehicles generator (20) for motor vehicles and/or the environment module (4) are designed to mould
Intend the traffic behavior of the non-motor vehicle road user, and especially reading and assessment represent the non-motor vehicle road and make
The truthful data of the traffic behavior of user.
7. system (2) according to any one of claim 1 to 6 is used wherein the XiL test module (8) provides data
In the environment module (4).
8. system (2) according to any one of claim 1 to 7, wherein the XiL test module (8) and the environment
Module (4) is designed to bidirectional data exchange.
9. system (2) according to any one of claim 1 to 8, wherein using multiple XiL test modules (8).
10. the computer program product that one kind is used for system as claimed in any one of claims 1-9 wherein (2).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018207566.2A DE102018207566A1 (en) | 2018-05-16 | 2018-05-16 | A system for performing simulated collision scenarios of a motor vehicle with a non-motorized road user |
| DE102018207566.2 | 2018-05-16 |
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| Publication Number | Publication Date |
|---|---|
| CN110501167A true CN110501167A (en) | 2019-11-26 |
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| CN201910392576.XA Pending CN110501167A (en) | 2018-05-16 | 2019-05-13 | System for executing the simulated crash scene of motor vehicles and non-motor vehicle road user |
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| Country | Link |
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| DE (1) | DE102018207566A1 (en) |
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|---|---|---|---|---|
| DE102019220549A1 (en) * | 2019-12-23 | 2021-06-24 | Robert Bosch Gmbh | Training of neural networks through a neural network |
| CN112526893B (en) * | 2020-10-30 | 2024-04-02 | 长安大学 | Intelligent automobile's test system |
| CN116223056B (en) * | 2022-12-14 | 2024-03-12 | 清华大学 | Virtual collision test method, apparatus, device, storage medium, and program product |
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2018
- 2018-05-16 DE DE102018207566.2A patent/DE102018207566A1/en active Pending
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