CN110736627A - automatic driving test vehicle and remote control system and method thereof - Google Patents
automatic driving test vehicle and remote control system and method thereof Download PDFInfo
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- CN110736627A CN110736627A CN201910941918.9A CN201910941918A CN110736627A CN 110736627 A CN110736627 A CN 110736627A CN 201910941918 A CN201910941918 A CN 201910941918A CN 110736627 A CN110736627 A CN 110736627A
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- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses automatic driving test vehicles and a remote control system and a method thereof, wherein the automatic driving test vehicles comprise a shell, a power chassis connected with the bottom of the shell and a vehicle-mounted environment sensing device, the vehicle-mounted environment sensing device comprises a positioning device, a video acquisition device, an environment sensing device, a bus controller and a vehicle-mounted processor, the system comprises the automatic driving test vehicles, a communication base station, a remote control center and a driving simulator, the remote control center receives the running data of the test vehicles, the relative position information of the test vehicles and the tested vehicles and the running state data of the tested vehicles, carries out multi-aspect fusion processing and pertinence processing on the received data to realize the normal or abnormal running state monitoring of the test vehicles, receives the state data of the driving simulator manually operated by a user uploaded by the driving simulator or receives the running track data input by the user, analyzes the state data to generate a control instruction, and sends the control instruction to the automatic driving test vehicles through the communication base station.
Description
Technical Field
The present disclosure relates to the technical field of test vehicles, and features relate to kinds of automatic driving test vehicles for behavior test of unmanned vehicles, and a remote control system and method thereof.
Background
However, in China, due to the lack of relevant laws, the automatic driving automobiles are not allowed to be tested on public roads at present, so that enterprises with the requirement of automatic driving automobile testing either choose to test in places where road testing has been opened in the United states, Germany, Japan and the like or can only be realized through a domestic demonstration area.
The automatic driving demonstration area provides rich static traffic scenes within the range of , and problems with higher difficulty are solved for how to build dynamic traffic scenes, and meanwhile, the test effect is achieved, and the safety of testers is guaranteed.
Disclosure of Invention
To overcome the above-mentioned deficiencies of the prior art, the present disclosure provides kinds of automatic driving test vehicles and a remote control system and method thereof.
The automatic driving test vehicles provided in the aspect of of the present disclosure have the technical scheme that:
automatic driving test vehicle, which comprises a shell, a power chassis connected with the bottom of the shell and a vehicle-mounted environment sensing device;
the vehicle-mounted environment sensing device includes:
the positioning device is used for acquiring the position information of the test vehicle, including longitude and latitude, speed and course information, and transmitting the position information to the vehicle-mounted processor;
the video acquisition device is used for acquiring the front road condition video information of the test vehicle and transmitting the front road condition video information to the vehicle-mounted processor;
the environment sensing device is used for acquiring surrounding environment data of the test vehicle, including static obstacle data, moving obstacle data and image information of obstacles, and transmitting the data to the vehicle-mounted processor;
the bus controller is used for acquiring running state data and fault state data of the test vehicle and transmitting the running state data and the fault state data to the vehicle-mounted processor; receiving a control signal output by the vehicle-mounted controller, and controlling the test vehicle to execute corresponding actions;
the vehicle-mounted processor is used for receiving the position information of the test vehicle, the front road condition video information, the surrounding environment data, the running state data and the fault state data, and uploading the data to the remote control center through the communication device; and receiving a control instruction sent by a remote control center, analyzing the control instruction, converting the control instruction into a control signal of the test vehicle, outputting the control signal to the power chassis through the bus controller, and controlling the automatic test vehicle to complete corresponding actions.
, the positioning device comprises a GPS receiver and IMU inertial navigation equipment which are arranged in a cavity formed between the shell and the power chassis, and GPS positioning antennas which are arranged in front of and behind the shell, the GPS receiver is used for receiving the position information of the test vehicle and the position information relative to the test vehicle which are acquired by the GPS positioning antennas, and the IMU inertial navigation equipment is used for acquiring the attitude information of the test vehicle.
, the environment sensing device comprises a laser radar arranged on the top of the shell, a camera and a millimeter wave radar arranged on the front of the test vehicle, the laser sensor is used for detecting the distance between the test vehicle and the static obstacles, the millimeter wave radar is used for detecting the number, the distance and the speed of the moving obstacles, and the camera is used for collecting image information of the obstacles.
The technical scheme of remote control systems of automatic driving test vehicles provided by the aspect of is as follows:
remote control system for automatic driving test vehicle, which comprises the automatic driving test vehicle, communication base station, remote control center and driving simulator;
the automatic test vehicle is used for acquiring position information, front road condition video information, surrounding environment data, running state data and fault state data of the test vehicle and uploading the position information, the front road condition video information, the surrounding environment data, the running state data and the fault state data to a remote control center; receiving and executing a control instruction sent by a remote control center;
the communication base station is used for finishing data interaction between the automatic test vehicle and the remote control center;
the remote control center is used for receiving the position information of the test vehicle, the front road condition video information, the surrounding environment data, the running state data and the fault state data, the relative position information of the test vehicle and the tested vehicle and the running state data of the tested vehicle, performing multi-aspect fusion processing on the received data, classifying and storing the received data, performing targeted processing on different types of data, and realizing the monitoring of whether the running state of the test vehicle is normal or not; establishing a simulation driving environment, and updating the simulation driving environment in real time by using the received running state data of the test vehicle and the running state data of the tested vehicle; meanwhile, the state data of the user manually operating the driving simulator uploaded by the driving simulator or the driving track data input by the user are received and analyzed to generate a control instruction, and the control instruction is sent to the automatic test vehicle through the communication base station.
, the specific implementation method of the remote control center performing multi-aspect fusion processing on the received data is as follows:
introducing a time synchronization mechanism to synchronously acquire road condition video data, surrounding environment information, position information and test vehicle motion state information of the test vehicle, relative position information of the automatic test vehicle and the tested vehicle and running state data of the tested vehicle;
judging whether the running track of the automatic test vehicle is normal or not by combining the position information of the test vehicle, the relative position information of the test vehicle and the tested vehicle and the test task information;
and comprehensively judging the task completion condition of the test node by combining the motion state information of the test vehicle, the motion state information of the tested vehicle and the test task information.
, the specific implementation method of the remote control center for performing the targeted processing on the different types of data includes:
setting an automatic test vehicle running state threshold, comparing the received automatic test vehicle running state data with the set threshold, and judging whether the automatic test vehicle running state is normal or not;
setting a fault threshold value of the automatic test vehicle, comparing the received fault state data of the automatic test vehicle with the set fault threshold value, and judging whether the test vehicle has a fault or not;
determining the running track of the automatic test vehicle, wherein the running track comprises speed, position relative to a road, position relative to the test vehicle and speed relative to the test vehicle, judging whether the vehicle runs normally according to the position relative to the road, judging whether the current speed and course of the test vehicle are adjusted according to the position and speed relative to the test vehicle, and whether the current speed and course of the test vehicle reach the preset range and need to execute set actions;
and recording the running state data of the tested vehicle, and synchronously recording the relative position and speed of the test vehicle at the test node.
The technical scheme of the remote control methods of the automatic driving test vehicle provided by the aspect of is as follows:
remote control method of automatic driving test vehicle, which is realized based on the remote control system of automatic driving test vehicle, the method includes the following steps:
the automatic driving test vehicle acquires running state data, road condition video data, surrounding environment information and position information of the automatic driving test vehicle and transmits the running state data, the road condition video data, the surrounding environment information and the position information to the remote control center;
the remote control center receives the running state data of the automatic test vehicle, the road condition video data, the surrounding environment information and the position information, the relative position information of the automatic test vehicle and the tested vehicle and the running state data of the tested vehicle, performs multi-aspect fusion processing on the received data, performs classified storage on the received data, performs targeted processing on different types of data, and monitors whether the running state of the test vehicle is normal or not; meanwhile, the state data of the user manually operating the driving simulator uploaded by the driving simulator or the driving track data input by the user are received and analyzed to generate a control instruction, and the control instruction is sent to the automatic test vehicle through the communication base station.
, further comprising:
and the remote control center builds an analog simulation driving environment and updates the analog simulation driving environment by utilizing the received running data of the automatic test vehicle and the running state data of the tested vehicle.
, the specific implementation method for performing multi-aspect fusion processing on the received data is as follows:
introducing a time synchronization mechanism to synchronously acquire road condition video data, surrounding environment information, position information and test vehicle motion state information of the test vehicle, relative position information of the automatic test vehicle and the tested vehicle and running state data of the tested vehicle;
judging whether the running track of the automatic test vehicle is normal or not by combining the position information of the test vehicle, the relative position information of the test vehicle and the tested vehicle and the test task information;
and comprehensively judging the task completion condition of the test node by combining the motion state information of the test vehicle, the motion state information of the tested vehicle and the test task information.
Further , the specific implementation method for performing the targeted processing on the data of different categories is:
setting an automatic test vehicle running state threshold, comparing the received automatic test vehicle running state data with the set threshold, and judging whether the automatic test vehicle running state is normal or not;
setting a fault threshold value of the automatic test vehicle, comparing the received fault state data of the automatic test vehicle with the set fault threshold value, and judging whether the test vehicle has a fault or not;
determining the running track of the automatic test vehicle, wherein the running track comprises speed, position relative to a road, position relative to the test vehicle and speed relative to the test vehicle, judging whether the vehicle runs normally according to the position relative to the road, judging whether the current speed and course of the test vehicle are adjusted according to the position and speed relative to the test vehicle, and whether the current speed and course of the test vehicle reach the preset range and need to execute set actions;
and recording the running state data of the tested vehicle, and synchronously recording the relative position and speed of the test vehicle at the test node.
Through above-mentioned technical scheme, this disclosed beneficial effect is:
(1) the method and the device realize field test verification of the unmanned vehicle in a closed test field, improve the working efficiency and enrich the test scene;
(2) the method and the device are beneficial to improving the test safety and the scene construction flexibility;
(3) the automatic test vehicle is controlled in two modes, types are remotely controlled through the driving simulator, and types are automatically controlled according to the input preset track, so that the working efficiency is improved.
Drawings
The accompanying drawings, which form a part of the specification of , are included to provide a further understanding of the disclosure, and are included to explain the exemplary embodiments of the disclosure and its description and not to limit the disclosure.
FIG. 1 is a block diagram of an automatic drive test vehicle according to an embodiment ;
FIG. 2 is a block diagram of an in-vehicle context-aware apparatus of embodiment ;
fig. 3 is a block diagram of a remote control system of an automated test vehicle according to a second embodiment.
Detailed Description
The present disclosure will be further illustrated with reference to the following figures and examples.
It is noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure at unless otherwise indicated all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example
The present embodiment provides automatic driving test vehicles, referring to fig. 1, the automatic driving test vehicle includes a housing, a power chassis and a vehicle-mounted environment sensing device, wherein the housing is connected to the chassis by a mechanical connector.
In this embodiment, the shell is formed by bodies, the material of the shell is epoxy resin, the style of the shell can be designed according to requirements, and the purpose of simulating different vehicle models can be achieved by replacing the shell.
The power chassis comprises a chassis, wheels and a power system arranged on the chassis, and the shell and the chassis are fixed through screws.
In this embodiment, the power system adopts a direct-drive power assembly, and includes a vehicle control unit, a battery management system, a driving motor and a motor controller, where the vehicle control unit is connected to the motor controller and the battery management system through an internal CAN bus, and the vehicle control unit issues an instruction to the motor controller and receives state feedback of the motor controller and the battery management system; the battery provides power for the motor controller and the motor; the motor controller is connected with the motor and used for converting the direct current into alternating current required by the motor and controlling the motor to rotate through rotating speed or torque so that the motor can execute according to the instruction requirement; the motor adopts a permanent magnet synchronous motor and is connected with a wheel transmission shaft to provide power for the vehicle.
Referring to fig. 2, the vehicle-mounted environment sensing device includes a positioning device, a video collecting device, a communication device, an environment sensing device, a bus controller and a vehicle-mounted processor; the vehicle-mounted processor is connected with the positioning device, the video acquisition device, the communication device, the environment sensing device and the bus controller, wherein:
the positioning device is used for acquiring the position information of the test vehicle, including longitude and latitude, speed and course information, and transmitting the position information to the vehicle-mounted processor;
the video acquisition device is used for acquiring the front road condition video information of the test vehicle and transmitting the front road condition video information to the vehicle-mounted processor;
the environment sensing device is used for collecting surrounding environment data of the test vehicle, including static obstacle data, moving obstacle data and image information of obstacles, and transmitting the data to the vehicle-mounted processor.
The bus controller is used for collecting vehicle running state data and fault state data, including a brake pedal, an oil pedal, steering amplitude, battery electric quantity, battery abnormal state and the like, transmitting the data to the vehicle-mounted processor, receiving a control signal output by the vehicle-mounted controller, and controlling the chassis to execute driving, braking and steering operations.
The vehicle-mounted processor is used for receiving the position information of the test vehicle collected by the positioning device, the video information of the road condition in front of the test vehicle collected by the video collecting device, the ambient environment data of the test vehicle collected by the environment sensing device, and the vehicle running state data and the fault state data collected by the bus controller, and uploading the data to the remote control center through the communication device; and receiving a control command sent by the remote control center, analyzing the command, converting the control command into a control signal for the automatic test vehicle, outputting the control signal to the power system through the bus controller, and controlling the automatic test vehicle to complete corresponding actions.
In this embodiment, the positioning device includes a GPS receiver and an IMU inertial navigation unit installed in a cavity formed between the housing and the chassis, and GPS positioning antennas installed in front and at the back of the housing; the GPS receiver is used for receiving the position information of the test vehicle and the relative position information of the tested vehicle, which are acquired by the GPS positioning antenna; the IMU inertial navigation equipment is used for acquiring attitude information of the test vehicle.
In this embodiment, the video capture device includes the camera of installing in shell windshield department, the camera is used for gathering the place ahead road conditions video information.
In this embodiment, the environment sensing device comprises a laser radar, a camera and a millimeter wave radar, wherein the laser radar is mounted at the top of the shell, the millimeter wave radar is arranged at the front part of the test vehicle, and the laser sensor is used for detecting the distance between the test vehicle and a static obstacle; the millimeter wave radar is used for detecting the number, the distance and the speed of moving obstacles; the camera is used for collecting image information of obstacles and providing the image information to the mode identification module for identifying different objects.
In this embodiment, a vehicle processor, a communication device and a bus controller are disposed in a cavity formed between the housing and the chassis.
Example two
Referring to fig. 3, the present embodiment provides remote control systems for automatic test vehicles, which include an automatic test vehicle, a communication base station, a remote control center, and a driving simulator.
The automatic test vehicle is used for acquiring the operation data of the automatic test vehicle, executing a control instruction of the remote control center, uploading the acquired operation data of the automatic test vehicle to the remote control center, and facilitating the analysis and decision making of the remote control center for steps, wherein the operation data of the automatic test vehicle comprises position information of the automatic test vehicle, video information of road conditions in front of the automatic test vehicle, surrounding environment data of the automatic test vehicle, vehicle operation state data and fault state data.
For a specific structure of the automatic test vehicle of this embodiment, please refer to the related description of the previous embodiment, which is not described herein.
The communication base station provides a wireless network for completing data interaction between the automatic test vehicle and the remote control center. And the communication base station in the test field receives the video data of the surrounding environment and the running data of the communication base station per se, which are acquired by the vehicle-mounted environment sensing equipment of the automatic test vehicle, and transmits the video data to the remote control center server through the Ethernet.
The remote control center is used for receiving road condition video data, peripheral environment information, position information and running data of the vehicle-mounted environment sensing equipment of the automatic test vehicle, and relative position information of the automatic test vehicle and the tested vehicle and running state data of the tested vehicle, performing multi-aspect fusion processing on the received running data of the automatic test vehicle, classifying and storing the data, performing targeted processing on different types of data, analyzing whether the running state of the vehicle is normal or not by monitoring the running data of the vehicle, transmitting the road condition video data to the display equipment for displaying, and transmitting the road condition video data, the peripheral environment information, the position information and the running data of the vehicle to the driving simulator; establishing an analog simulation driving environment, and updating the analog simulation driving environment by using the received running data of the automatic test vehicle and the running state data of the tested vehicle; meanwhile, the state data of the user manually operating the driving simulator uploaded by the driving simulator or the driving track data input by the user are received and analyzed to generate a control instruction, and the control instruction is sent to the automatic test vehicle through the communication base station to complete corresponding actions.
Specifically, the specific implementation process of the remote control center performing multi-aspect fusion processing on the received automatic test vehicle data is as follows:
(1) time synchronization fusion, in order to realize data synchronization between different sensor data and between a test vehicle and a tested vehicle, a time synchronization mechanism needs to be introduced, time stamps are carried in data messages sent by sensor nodes, in fusion nodes, the time recorded by the data messages is compared with local time, and if the two are within a given error range, the data messages are used as groups of synchronous data.
(2) And (4) fusing the data of the running track, and comprehensively judging whether the running track of the automatic test vehicle is normal or not by combining the vehicle state information, the relative position information of the tested vehicle and the test task information. The information specifically comprises positioning information, attitude information, speed information, distance to a target vehicle to be tested, relative position, and test task action type and times from a GPS receiver.
In this embodiment, the method of comprehensive judgment is to define a logical relationship between normal running and abnormal running of the automatic test vehicle.
(3) The method comprises the steps of fusing data of a test node, and comprehensively judging task completion conditions of the test node by combining test vehicle action information, tested vehicle action information and test tasks, wherein the test vehicle action information comprises an automatic test vehicle track, speed and relative position information with a tested vehicle, and the tested vehicle action information comprises a tested vehicle track, oil , braking, steering states, task action types, times and the like.
Specifically, the specific implementation process of the remote control center performing targeted processing on different types of data is as follows:
and for the running state data of the automatic test vehicle, the running state data comprises the speed, the position, the brake pedal, the oil pedal and the steering state data of the test vehicle, the normal running threshold values of the speed, the position, the brake pedal, the oil pedal and the steering of the test vehicle are set, the speed, the position, the brake pedal, the oil pedal and the steering of the test vehicle are respectively compared with the corresponding threshold values, and whether the running state of the automatic test vehicle is normal or not is judged.
For the fault state data of the automatic test vehicle, including the residual electric quantity of the battery, the total voltage of the battery, the under-voltage/over-voltage state of the battery, the temperature of the motor, the voltage state of the motor and the like, whether the test vehicle has a fault or not is judged by comparing the fault state data sent by the automatic test vehicle with a set fault threshold value.
The driving track data of the automatic test vehicle comprises speed, position relative to a road, position relative to the tested vehicle, speed relative to the tested vehicle and the like, whether the vehicle normally drives is judged according to the position relative to the road, whether the current speed and the current course are adjusted is determined according to the position and the speed relative to the tested vehicle, and whether the preset action is required to be carried out within a preset range is judged.
And recording the state data of the tested vehicle in the driving process and synchronously recording the relative position and speed of the tested vehicle at the test node for the running state data of the tested vehicle, including speed, position, brake pedal, oil pedal and steering state.
And the driving simulator is used for acquiring state data of the driving simulator manually operated by a user and transmitting the state data to the remote control.
In the embodiment, the driving simulator comprises a steering wheel, a brake pedal, an oil pedal, a clutch pedal, a gear operating lever and a plurality of user-defined keys, the driving simulator is connected with a remote control center through a communication line, when a user manually operates the driving simulator, groups of state messages can be generated and transmitted to the remote control center, and the remote control center receives and analyzes driving simulator data, acquires states of the steering wheel, the brake, the oil pedal, the gear and the like and generates a control instruction.
The remote control center also receives the driving track data input by the user, analyzes the driving track data, generates a control instruction and transmits the control instruction to the automatic test vehicle through the communication base station.
In the embodiment, there are two ways to control the automatic test vehicle, wherein is to directly operate the simulated driver, and is to input sets of trajectory data into the remote control center, and both ways are to send a control command to the automatic test vehicle through the remote control center to complete the corresponding actions.
The communication device of the automatic test vehicle receives the control instruction, converts the control instruction into a control signal of the vehicle through the vehicle-mounted processor, and sends the control signal to the vehicle execution mechanism through the bus controller to complete corresponding actions.
Compared with the prior art which needs a method for operating a dummy and a vehicle on site, the method is difficult to create a random traffic scene, difficult to reproduce the same scene, and needs repeated operation for test scenes under different working conditions, the remote control system of the automatic driving test vehicle provided by the embodiment generates a control command by manually defining a driving track through the driving simulator, issues the control command through the remote control center and receives state feedback, and creates a real traffic environment through the automatic test vehicle, so that the method is favorable for realizing complex test scenes and test schemes, and is favorable for simulating extreme conditions rarely appearing in reality, situations rarely appearing in actual road conditions can be repeatedly constructed by using the automatic test vehicle, and the method is favorable for improving test safety and scene construction flexibility.
EXAMPLE III
The present embodiment provides remote control methods for an automated testing vehicle, which are implemented based on the remote control system for an automated testing vehicle described in the second embodiment, and the method includes the following steps:
step 1: the automatic test vehicle sends the vehicle running state data, the road condition video data, the surrounding environment information and the position information to the remote control center.
In the embodiment, the vehicle running state data comprises a brake pedal, an oil pedal, steering amplitude, battery capacity, battery abnormal state and the like, and the position information comprises longitude and latitude, speed and heading and is transmitted to the vehicle-mounted processor.
Step 2: the remote control center receives road condition video data, surrounding environment information, position information and running data of the vehicle-mounted environment sensing equipment of the automatic test vehicle, relative position information of the automatic test vehicle and the tested vehicle and running state data of the tested vehicle, classifies and stores the data, performs targeted processing on different types of data, analyzes whether the running state of the vehicle is normal or not by monitoring the running data of the vehicle, transmits the road condition video data to the display equipment for displaying, and transmits the road condition video data, the surrounding environment information, the position information and the running data of the self, the relative position information of the automatic test vehicle and the tested vehicle and the running state data of the tested vehicle to the driving simulator.
Specifically, the specific implementation process of performing targeted processing on different types of data is as follows:
and for the running state data of the automatic test vehicle, the running state data comprises the speed, the position, the brake pedal, the oil pedal and the steering state data of the test vehicle, the normal running threshold values of the speed, the position, the brake pedal, the oil pedal and the steering of the test vehicle are set, the speed, the position, the brake pedal, the oil pedal and the steering of the test vehicle are respectively compared with the corresponding threshold values, and whether the running state of the automatic test vehicle is normal or not is judged.
For the fault state data of the automatic test vehicle, including the residual electric quantity of the battery, the total voltage of the battery, the under-voltage/over-voltage state of the battery, the temperature of the motor, the voltage state of the motor and the like, whether the test vehicle has a fault or not is judged by comparing the fault state data sent by the automatic test vehicle with a set fault threshold value.
The driving track data of the automatic test vehicle comprises speed, position relative to a road, position relative to the tested vehicle, speed relative to the tested vehicle and the like, whether the vehicle normally drives is judged according to the position relative to the road, whether the current speed and the current course are adjusted is determined according to the position and the speed relative to the tested vehicle, and whether the preset action is required to be carried out within a preset range is judged.
And recording the state data of the tested vehicle in the driving process and synchronously recording the relative position and speed of the tested vehicle at the test node for the running state data of the tested vehicle, including speed, position, brake pedal, oil pedal and steering state.
And step 3: the driving simulator acquires state data of a user manually operating the driving simulator and uploads the state data to the remote control center; or the remote control center receives the driving track data input by the user; the remote control center analyzes state data or driving track data of a user manually operating the driving simulator to generate a control instruction, a control instruction signal is received by a data communication device in the automatic test vehicle after being broadcasted through a communication base station, the control instruction signal is converted into a control signal through a vehicle-mounted processor, and the control signal is sent to a vehicle executing mechanism through a bus controller to complete corresponding actions, so that remote control of the automatic test vehicle is realized.
When the automatic test vehicle receives the automatic mode switching instruction and the vehicle is in a standby state, the automatic test vehicle is switched to an automatic control mode, and when the automatic test vehicle receives the automatic mode switching instruction and the vehicle is in a remote control state, the automatic test vehicle still keeps the remote control mode; when the automatic test vehicle receives the remote control instruction, the automatic test vehicle is switched to a remote control mode no matter what state the vehicle is.
The remote control center builds a simulation driving environment, and the realization process of building the simulation driving environment is as follows:
the remote control center utilizes simulation software to construct a simulation driving environment, receives the running data of the automatic test vehicle and the running data of the tested vehicle, and updates the data of the automatic test vehicle in the simulation driving environment;
the remote control center builds a simulation driving environment and can synchronously reflect the running state of the test vehicle; after receiving the control signal of the simulation driver, the remote control center packs the control signal and sends the control signal to a communication base station of a test site, and then the control signal is received by a communication terminal of the automatic test vehicle, a vehicle-mounted processor unpacks the message, and the vehicle is controlled to perform corresponding action according to the control instruction; the running states of the automatic test vehicle and the target tested vehicle are transmitted to the remote control center in real time and synchronously presented in the simulation driving environment.
In this embodiment, the implementation process of generating the control instruction is as follows:
when a user manually operates the driving simulator, the driving simulator can generate groups of state messages and transmit the state messages to the remote control center, and the remote control center receives and analyzes the driving simulator data, acquires states of a steering wheel, a brake, an oil pedal, gears and the like, generates a control command and transmits the control command to the automatic test vehicle through the communication base station.
Or the remote control center receives the driving track data input by the user and uploads the driving track data to the remote control center, and the remote control center analyzes the driving track data to generate a control command and transmits the control command to the automatic test vehicle through the communication base station.
In the second mode, a worker inputs the preset track into the remote control center host, the track data is remotely transmitted into the automatic test vehicle, the vehicle-mounted processor inputs the preset track and the current position into a track tracking algorithm to obtain the steering angle of the next step, and the steering angle is translated into the control signal of the vehicle to realize the control of the vehicle.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (10)
- The automatic driving test vehicle of 1, kinds, its characteristic is, including the outer casing, power chassis and vehicle carried environment perception equipment connected to bottom of outer casing;the vehicle-mounted environment sensing device includes:the positioning device is used for acquiring the position information of the test vehicle, including longitude and latitude, speed and course information, and transmitting the position information to the vehicle-mounted processor;the video acquisition device is used for acquiring the front road condition video information of the test vehicle and transmitting the front road condition video information to the vehicle-mounted processor;the environment sensing device is used for acquiring surrounding environment data of the test vehicle, including static obstacle data, moving obstacle data and image information of obstacles, and transmitting the data to the vehicle-mounted processor;the bus controller is used for acquiring running state data and fault state data of the test vehicle and transmitting the running state data and the fault state data to the vehicle-mounted processor; receiving a control signal output by the vehicle-mounted controller, and controlling the test vehicle to execute corresponding actions;the vehicle-mounted processor is used for receiving the position information of the test vehicle, the front road condition video information, the surrounding environment data, the running state data and the fault state data, and uploading the data to the remote control center through the communication device; and receiving a control instruction sent by a remote control center, analyzing the control instruction, converting the control instruction into a control signal of the test vehicle, outputting the control signal to the power chassis through the bus controller, and controlling the automatic test vehicle to complete corresponding actions.
- 2. The autopilot test vehicle of claim 1 wherein the positioning means comprises a GPS receiver and IMU inertial navigation unit mounted in a cavity formed between the housing and the power chassis and GPS positioning antennas mounted in front of and behind the housing; the GPS receiver is used for receiving the position information of the test vehicle and the relative position information of the test vehicle, which are acquired by the GPS positioning antenna; the IMU inertial navigation equipment is used for acquiring attitude information of the test vehicle.
- 3. The automatic driving test vehicle of claim 1, wherein the environment sensing device comprises a laser radar, a camera and a millimeter wave radar, the laser radar is mounted on the top of the shell, the millimeter wave radar is arranged on the front part of the test vehicle, and the laser sensor is used for detecting the distance between the test vehicle and a static obstacle; the millimeter wave radar is used for detecting the number, the distance and the speed of moving obstacles; the camera is used for collecting image information of obstacles.
- A remote control system for automatic driving test vehicle, which comprises the automatic driving test vehicle, communication base station, remote control center and driving simulator as claimed in any of claims 1 to 3;the automatic test vehicle is used for acquiring position information, front road condition video information, surrounding environment data, running state data and fault state data of the test vehicle and uploading the position information, the front road condition video information, the surrounding environment data, the running state data and the fault state data to a remote control center; receiving and executing a control instruction sent by a remote control center;the communication base station is used for finishing data interaction between the automatic test vehicle and the remote control center;the remote control center is used for receiving the position information of the test vehicle, the front road condition video information, the surrounding environment data, the running state data and the fault state data, the relative position information of the test vehicle and the tested vehicle and the running state data of the tested vehicle, performing multi-aspect fusion processing on the received data, classifying and storing the received data, performing targeted processing on different types of data, and realizing the monitoring of whether the running state of the test vehicle is normal or not; establishing a simulation driving environment, and updating the simulation driving environment in real time by using the received running state data of the test vehicle and the running state data of the tested vehicle; meanwhile, the state data of the user manually operating the driving simulator uploaded by the driving simulator or the driving track data input by the user are received and analyzed to generate a control instruction, and the control instruction is sent to the automatic test vehicle through the communication base station.
- 5. The remote control system of the automatic driving test vehicle according to claim 4, wherein the remote control center performs a multi-aspect fusion process on the received data by a specific implementation method comprising:introducing a time synchronization mechanism to synchronously acquire road condition video data, surrounding environment information, position information and test vehicle motion state information of the test vehicle, relative position information of the automatic test vehicle and the tested vehicle and running state data of the tested vehicle;judging whether the running track of the automatic test vehicle is normal or not by combining the position information of the test vehicle, the relative position information of the test vehicle and the tested vehicle and the test task information;and comprehensively judging the task completion condition of the test node by combining the motion state information of the test vehicle, the motion state information of the tested vehicle and the test task information.
- 6. The remote control system of the automatic driving test vehicle according to claim 4, wherein the specific implementation method of the remote control center for performing the targeted processing on the data of different categories is as follows:setting an automatic test vehicle running state threshold, comparing the received automatic test vehicle running state data with the set threshold, and judging whether the automatic test vehicle running state is normal or not;setting a fault threshold value of the automatic test vehicle, comparing the received fault state data of the automatic test vehicle with the set fault threshold value, and judging whether the test vehicle has a fault or not;determining the running track of the automatic test vehicle, wherein the running track comprises speed, position relative to a road, position relative to the test vehicle and speed relative to the test vehicle, judging whether the vehicle runs normally according to the position relative to the road, judging whether the current speed and course of the test vehicle are adjusted according to the position and speed relative to the test vehicle, and whether the current speed and course of the test vehicle reach the preset range and need to execute set actions;and recording the running state data of the tested vehicle, and synchronously recording the relative position and speed of the test vehicle at the test node.
- The remote control method of the automatic driving test vehicle of 7, , which is realized based on the remote control system of the automatic driving test vehicle of any of claims 4 to 6, characterized by comprising the following steps:the automatic driving test vehicle acquires running state data, road condition video data, surrounding environment information and position information of the automatic driving test vehicle and transmits the running state data, the road condition video data, the surrounding environment information and the position information to the remote control center;the remote control center receives the running state data of the automatic test vehicle, the road condition video data, the surrounding environment information and the position information, the relative position information of the automatic test vehicle and the tested vehicle and the running state data of the tested vehicle, performs multi-aspect fusion processing on the received data, performs classified storage on the received data, performs targeted processing on different types of data, and monitors whether the running state of the test vehicle is normal or not; meanwhile, the state data of the user manually operating the driving simulator uploaded by the driving simulator or the driving track data input by the user are received and analyzed to generate a control instruction, and the control instruction is sent to the automatic test vehicle through the communication base station.
- 8. The remote control method of the automated driving test vehicle according to claim 7, further comprising:and the remote control center builds an analog simulation driving environment and updates the analog simulation driving environment by utilizing the received running data of the automatic test vehicle and the running state data of the tested vehicle.
- 9. The remote control method of the automatic driving test vehicle according to claim 7, wherein the received data is processed by multi-aspect fusion, and the method comprises the following specific steps:introducing a time synchronization mechanism to synchronously acquire road condition video data, surrounding environment information, position information and test vehicle motion state information of the test vehicle, relative position information of the automatic test vehicle and the tested vehicle and running state data of the tested vehicle;judging whether the running track of the automatic test vehicle is normal or not by combining the position information of the test vehicle, the relative position information of the test vehicle and the tested vehicle and the test task information;and comprehensively judging the task completion condition of the test node by combining the motion state information of the test vehicle, the motion state information of the tested vehicle and the test task information.
- 10. The remote control method of the automatic driving test vehicle according to claim 7, wherein the specific implementation method for performing the specific processing on the different types of data is as follows:setting an automatic test vehicle running state threshold, comparing the received automatic test vehicle running state data with the set threshold, and judging whether the automatic test vehicle running state is normal or not;setting a fault threshold value of the automatic test vehicle, comparing the received fault state data of the automatic test vehicle with the set fault threshold value, and judging whether the test vehicle has a fault or not;determining the running track of the automatic test vehicle, wherein the running track comprises speed, position relative to a road, position relative to the test vehicle and speed relative to the test vehicle, judging whether the vehicle runs normally according to the position relative to the road, judging whether the current speed and course of the test vehicle are adjusted according to the position and speed relative to the test vehicle, and whether the current speed and course of the test vehicle reach the preset range and need to execute set actions;and recording the running state data of the tested vehicle, and synchronously recording the relative position and speed of the test vehicle at the test node.
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