CN110955976A - ADAS virtual simulation verification method and system - Google Patents
ADAS virtual simulation verification method and system Download PDFInfo
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- CN110955976A CN110955976A CN201911217330.5A CN201911217330A CN110955976A CN 110955976 A CN110955976 A CN 110955976A CN 201911217330 A CN201911217330 A CN 201911217330A CN 110955976 A CN110955976 A CN 110955976A
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Abstract
The invention belongs to the technical field of ADAS virtual verification and discloses an ADAS virtual simulation verification method and an ADAS virtual simulation verification system. The method comprises the following steps: the method comprises the steps that an upper computer monitoring system obtains vehicle motion gestures and road information and sends the vehicle motion gestures and the road information to an IO interface system, the IO interface system obtains test data according to the vehicle motion gestures and the road information and sends the test data to a real-time system, transmitting wave instructions and video data are obtained through a preset algorithm according to the test data and sent to virtual scene generating equipment, vehicle road information is obtained according to the transmitting wave instructions and the video data, an ADAS virtual scene interface is generated, the virtual scene generating equipment sends the ADAS virtual scene interface to the upper computer monitoring system, and the upper monitoring system conducts ADAS virtual simulation verification on the ADAS virtual scene interface. By the mode, under the condition of saving time and cost, dangerous working conditions and automatic testing are realized.
Description
Technical Field
The invention relates to the technical field of ADAS virtual verification, in particular to an ADAS virtual simulation verification method and an ADAS virtual simulation verification system.
Background
In the prior art, the ADAS test method mainly depends on real vehicle and road tests, the verification period is long, the preparation is complex, the problems cannot be found in the early stage of the development of automobile products, the rectification period is long, the cost is high, the limit dangerous working condition is difficult to verify, and the verification scene working condition is relatively incomplete.
Therefore, a multi-target, multi-direction and multi-source sensor fusion ADAS virtual verification evaluation platform needs to be developed in time, and by building a multi-target, multi-angle radar and camera fusion multi-source sensor test environment, compared with a single-radar and single-camera test scheme, the real vehicle test environment is simulated more truly, and test results are more referential.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an ADAS virtual simulation verification method and an ADAS virtual simulation verification system, and aims to solve the technical problem of realizing dangerous working conditions and automatic tests under the condition of reducing time and cost.
In order to achieve the above object, the present invention provides an ADAS virtual simulation verification method, which includes the following steps:
the upper computer monitoring system acquires a vehicle motion attitude and road information and sends the vehicle motion attitude and the road information to an IO interface system;
the IO interface system obtains test data according to the vehicle motion attitude and the road information and sends the test data to a real-time system;
the real-time system obtains a transmitting wave instruction and video data through a preset algorithm according to the test data, and sends the transmitting wave instruction and the video data to virtual scene generation equipment;
the virtual scene generating equipment acquires vehicle road information according to the transmitting wave instruction and the video data, and generates an ADAS virtual scene interface according to the vehicle road information;
the virtual scene generating equipment sends the ADAS virtual scene interface to the upper computer monitoring system;
and the upper monitoring system performs ADAS virtual simulation verification on the ADAS virtual scene interface.
Preferably, the step of obtaining test data by the IO interface system according to the vehicle motion attitude and the road information, and sending the test data to a real-time system includes:
the IO interface system receives the vehicle motion attitude and the road information;
the IO interface system obtains vehicle state information and instruction signals through data information conversion according to the vehicle motion attitude and the road information;
and the IO interface system sends the vehicle state information and the instruction signal to a real-time system.
Preferably, the virtual scene generation device comprises a millimeter wave radar target simulator and an ADAS video camera obscura;
the real-time system obtains a transmitting wave instruction and video data through a preset algorithm according to the test data, and sends the transmitting wave instruction and the video data to the virtual scene generation equipment, and the steps comprise:
the real-time system processes the vehicle state information to generate video data;
the real-time system processes the instruction signal to generate a transmitting wave instruction;
the real-time system sends the video data to an ADAS video camera bellows;
and the real-time system sends the emission wave instruction to a millimeter wave radar target simulator.
Preferably, the virtual scene generation device further includes an ADAS controller, and the vehicle road information includes vehicle initial road information and vehicle target road information;
the virtual scene generating device obtains vehicle road information according to the transmitting wave instruction and the video data, and generates an ADAS virtual scene interface according to the vehicle road information, wherein the steps comprise:
the millimeter wave radar target simulator receives the transmitting wave instruction;
the millimeter wave radar target simulator obtains target obstacle data according to the emission wave instruction;
the ADAS video camera bellows receives the video data;
the millimeter wave radar target simulator and the ADAS video camera bellows obtain vehicle initial road information through a fusion processing method according to the target obstacle data and the video data, and send the vehicle initial road information to the ADAS controller;
the ADAS controller receives the initial road information of the vehicle;
the ADAS controller obtains vehicle target road information through a preset adjusting method according to the vehicle initial road information;
and the ADAS controller generates an ADAS virtual scene interface according to the vehicle target road information.
Preferably, the step of obtaining the vehicle target road information by the ADAS controller according to the vehicle initial road information through a preset adjustment method includes:
and the ADAS controller obtains the vehicle target road information through PI control regulation according to the vehicle initial road information.
In addition, to achieve the above object, the present invention further provides an ADAS virtual simulation verification system, including: the upper computer monitoring system acquires a vehicle motion attitude and road information and sends the vehicle motion attitude and the road information to an IO interface system;
the IO interface system obtains test data according to the vehicle motion attitude and the road information and sends the test data to a real-time system;
the real-time system obtains a transmitting wave instruction and video data through a preset algorithm according to the test data, and sends the transmitting wave instruction and the video data to virtual scene generation equipment;
the virtual scene generating equipment acquires vehicle road information according to the transmitting wave instruction and the video data, and generates an ADAS virtual scene interface according to the vehicle road information;
the virtual scene generating equipment sends the ADAS virtual scene interface to the upper computer monitoring system;
and the upper monitoring system performs ADAS virtual simulation verification on the ADAS virtual scene interface.
Preferably, the IO interface system is further configured to receive the vehicle motion attitude and the road information;
the IO interface system is further used for obtaining vehicle state information and instruction signals through data information conversion according to the vehicle motion attitude and the road information;
and the IO interface system is also used for sending the vehicle state information and the instruction signal to a real-time system.
Preferably, the real-time system is further configured to process the vehicle state information to generate video data;
the real-time system is also used for processing the instruction signal to generate a transmitted wave instruction;
the real-time system is also used for sending the video data to an ADAS video camera bellows;
and the real-time system is also used for sending the emission wave instruction to the millimeter wave radar target simulator.
Preferably, the millimeter wave radar target simulator is configured to receive the transmission wave instruction;
the millimeter wave radar target simulator is further used for obtaining target obstacle data according to the transmitting wave instruction;
the ADAS video camera bellows is used for receiving the video data;
the millimeter wave radar target simulator and the ADAS video camera bellows are used for acquiring vehicle initial road information through a fusion processing method according to the target obstacle data and the video data and sending the vehicle initial road information to the ADAS controller;
the ADAS controller is used for receiving the initial road information of the vehicle;
the ADAS controller is also used for obtaining vehicle target road information through a preset adjusting method according to the vehicle initial road information;
and the ADAS controller is also used for generating an ADAS virtual scene interface according to the vehicle target road information.
Preferably, the ADAS controller is further configured to obtain vehicle target road information through PI control adjustment according to the vehicle initial road information.
The invention obtains the vehicle motion attitude and the road information through the upper computer monitoring system, and sends the vehicle motion attitude and the road information to the IO interface system, the IO interface system obtains test data according to the vehicle motion attitude and the road information, and sending the test data to a real-time system, the real-time system, based on the test data, acquiring a transmitting wave instruction and video data through a preset algorithm, sending the transmitting wave instruction and the video data to virtual scene generation equipment, the virtual scene generating equipment obtains vehicle road information according to the transmitting wave instruction and the video data, generating an ADAS virtual scene interface according to the vehicle road information, sending the ADAS virtual scene interface to the upper computer monitoring system by the virtual scene generating equipment, and evaluating the ADAS virtual scene interface by the upper monitoring system. By the method, the test conditions are standardized and digitized, so that under the condition of saving time and cost, the ADAS virtual verification evaluation platform is fused by multi-target, multi-direction and multi-source sensors, the multi-source sensor test environment fused by the multi-target, multi-angle radar and camera is built, the real vehicle test environment is simulated more truly, the test result is more referential, and meanwhile dangerous working conditions and automatic test can be realized.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of an ADAS virtual simulation verification method according to the present invention;
FIG. 2 is a flowchart illustrating a method for virtual simulation verification of ADAS according to a second embodiment of the present invention;
fig. 3 is a block diagram illustrating a first embodiment of an ADAS virtual simulation verification system according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
An embodiment of the present invention provides an ADAS virtual simulation verification method, and referring to fig. 1, fig. 1 is a schematic flow diagram of a first embodiment of an ADAS virtual simulation verification method according to the present invention.
In this embodiment, the ADAS virtual simulation verification method includes the following steps:
step S10: the upper computer monitoring system acquires the vehicle motion attitude and the road information and sends the vehicle motion attitude and the road information to an IO interface system.
It should be noted that, after receiving each road condition parameter, the upper computer monitoring system sends the parameter to the IO interface system for processing.
Step S20: and the IO interface system acquires test data according to the vehicle motion attitude and the road information and sends the test data to a real-time system.
It should be noted that the step of obtaining test data by the IO interface system according to the vehicle motion attitude and the road information and sending the test data to the real-time system is that the IO interface system receives the vehicle motion attitude and the road information, the IO interface system obtains vehicle state information and an instruction signal through data information conversion according to the vehicle motion attitude and the road information, and the IO interface system sends the vehicle state information and the instruction signal to the real-time system.
It should be understood that the IO interface system includes a CarMaker model, in which an ACC command signal, an acceleration request, a deceleration request, and the like may exist, and vehicle state information including a vehicle speed, an acceleration, and the like may also be acquired, which is not limited in this embodiment.
In addition, it should be noted that the IO interface system sends the information parameter to the real-time system.
Step S30: and the real-time system obtains a transmitting wave instruction and video data through a preset algorithm according to the test data, and sends the transmitting wave instruction and the video data to the virtual scene generation equipment.
It should be understood that the virtual scene generation device includes a millimeter wave radar target simulator and an ADAS video camera bellows.
In addition, it should be noted that the real-time system processes the vehicle state information to generate video data, the real-time system processes the instruction signal to generate a transmission wave instruction, the real-time system sends the video data to the ADAS video camera bellows, and the real-time system sends the transmission wave instruction to the millimeter wave radar target simulator.
It should be noted that the real-time system is a control system development and semi-physical simulation software and hardware working platform using MATLAB/Simulink, and has the advantages of strong real-time performance, high reliability, good expandability and the like, and the processor thereof has high-speed computing capability and is provided with rich I/O support, and the simulation system simulates the behavior of the controlled object to verify the controller. Unlike a general-purpose operating system, the scheduling system ensures that high priority tasks are executed first, without peripheral interrupt control code.
In addition, it should be understood that the real-time system processes according to the test data sent by the IO interface system, and obtains a transmission wave instruction corresponding to the millimeter wave radar simulator and video data corresponding to the video camera bellows.
Step S40: and the virtual scene generating equipment acquires vehicle road information according to the transmitting wave instruction and the video data and generates an ADAS virtual scene interface according to the vehicle road information.
It should be noted that the virtual scene generation device includes a millimeter wave radar target simulator and an ADAS video camera bellows.
In addition, it should be understood that the millimeter wave radar target simulator receives the transmission wave instruction, the millimeter wave radar target simulator obtains target obstacle data according to the transmission wave instruction, the ADAS video camera obscura receives the video data, the millimeter wave radar target simulator and the ADAS video camera obscura obtain vehicle initial road information through a fusion processing method according to the target obstacle data and the video data, and send the vehicle initial road information to the ADAS controller, the ADAS controller receives the vehicle initial road information, the ADAS controller obtains vehicle target road information through a preset adjustment method according to the vehicle initial road information, and the ADAS controller generates an ADAS virtual scene interface according to the vehicle target road information.
In addition, it should be noted that, in the multi-target and multi-directional radar simulator with a utilization rate in this embodiment, the radar simulator can process the waves emitted by the radar and perform echoes (down-converting, signal processing, and then up-converting the echoes) according to the scene software simulation target information, so as to achieve the effect of simulating the target, thereby achieving the purpose of simulating the real road target in the virtual scene.
Furthermore, it should be understood that, to achieve the above-described functions, the radar echo simulator is designed as follows:
1) the overall size of the chassis is 3.2 meters by 1.7 meters;
2) the antenna 2 is designed to be fixed and does not rotate, and the case is placed right behind the antenna 2; the connecting line between the case and the antenna is within 50 cm. The signal delay of the case is 2.5 meters, the signal space delay is 0.9 meter, the radio frequency wiring harness delay is 0.6 meter, and the minimum distance simulation theory calculation is 4 meters;
3) the height of the antenna 2 can be adjusted, and the adjusting range is 10 cm; the distance from the antenna 2 to the radar is configured to be 90 cm;
4) the radar is arranged above, and a motor is arranged above the radar and can rotate. The radar center is substantially coincident with the center of rotation of the antenna 1;
5) the antenna 1 can be adjusted up and down, left and right and back and forth, and the left and right and up and down adjusting range is 10cm and the back and forth adjusting range is 20 cm;
6) the rotation radius of the antenna 1 is configured to be 0.9 m, and the height of the rotation axis of the antenna 1 is configured to be 10 cm;
7) the antenna 1 and a rotating part of the radar need to be coaxial, and the rotation range of the antenna 1 is expanded to plus or minus 180 degrees;
8) the connecting line from the antenna 1 to the case needs to pass through the motor shaft first and then to the signal generating board card of the case. The antenna length is initially designed to be 4 meters, plus the spatial distance of 0.9 meters and the chassis delay of 2.5 meters, so the theoretically calculated shortest distance is 9 meters.
Through the scheme, multi-angle simulation can be realized through the radar rotary table and the antenna, and simulation of two targets is realized through the antennas 1 and 2.
Furthermore, for ease of understanding, the video camera bellows design is made as follows:
the upper computer control interface outputs the traffic scene simulation animation, and the traffic scene simulation animation is respectively output to the two scene simulation displays after passing through the screen splitting device. The camera transmits the animation of the scene simulation display 1 to the ADAS controller by collecting the animation. The ADAS controller communicates with the real-time system through the CAN. The scene emulation display 2 is directly viewable by the developer.
In order to ensure that the scene simulation display is positioned at the optimal imaging position of the camera, a focusing lens is added between the camera and the scene simulation display, and the distance between a screen and the camera is equivalently increased. In addition, the video acquisition black box integrates a multi-freedom-degree support for adjusting the angle position of the camera.
By using the whole vehicle CAN diagnosis communication protocol, the camera bellows space positioning is adjusted and the optimization adjustment is carried out according to the camera calibration result, so that the camera shooting picture replaces the video data shot by the real vehicle.
In addition, it should be noted that the following is the calibration of the video camera bellows:
and establishing a diagnosis project, performing static calibration in a mode of reading fault codes by simulating a whole vehicle diagnosis mode, and performing position calibration on the camera through a feedback result until the calibration is successful.
1) Newly building CANoe engineering, selecting Diag function in configuration
2) Add key file (. ccd)
3) Add safety unlock (. dll)
4) Initiating an output signal window
5) The fault code is queried and the command 190209 is entered to query for an existing fault.
6) Clearing fault code
And performing fault clearing, clearing the command 14FFFFFF, and obtaining the remaining last fault code 520554 which is the fault code not calibrated by the camera.
7) And entering an extended mode, realizing calibration through a calibration instruction, and sending a request for calibration, wherein the ECU feedback code 710303A 502 indicates that the static calibration is successful.
In addition, it should be noted that, in the step of obtaining the vehicle target road information by the ADAS controller according to the vehicle initial road information through a preset adjustment method, the ADAS controller obtains the vehicle target road information by PI control adjustment according to the vehicle initial road information.
Furthermore, it should be understood that, in the following vehicle dynamics model PI regulation, since the ADAS controller outputs the acceleration-deceleration and steering requests, the acceleration-deceleration and steering requests need to be converted into the acceleration-brake pedal and steering angle torque signals executed by the controllable scene software, so that the input acceleration-deceleration steering request signals need to be subjected to PI control regulation so that the regulated actual acceleration-deceleration signals and the signals of the scene software are well matched.
Step S50: and the virtual scene generation equipment sends the ADAS virtual scene interface to the upper computer monitoring system.
Step S60: and the upper monitoring system performs ADAS virtual simulation verification on the ADAS virtual scene interface.
In addition, it should be noted that through the construction of the platform, an ADAS function virtual simulation test below the L2 level can be realized, multiple targets, multiple directions and radar and camera fusion virtual simulation verification in a special period simulate actual real vehicle and road data more truly, and provide technical support for ADAS product development, so that an ADAS virtual scene interface can be evaluated in the upper computer monitoring system, and the system structure applied in the process of generating a scene is evaluated according to the evaluation result when the processing performed by the part of the system in the generated virtual scene interface is judged to be not satisfactory.
In the embodiment, the upper computer monitoring system acquires the vehicle motion attitude and the road information, and sends the vehicle motion attitude and the road information to the IO interface system, the IO interface system obtains test data according to the vehicle motion attitude and the road information, and sending the test data to a real-time system, the real-time system, based on the test data, acquiring a transmitting wave instruction and video data through a preset algorithm, sending the transmitting wave instruction and the video data to virtual scene generation equipment, the virtual scene generating equipment obtains vehicle road information according to the transmitting wave instruction and the video data, generating an ADAS virtual scene interface according to the vehicle road information, sending the ADAS virtual scene interface to the upper computer monitoring system by the virtual scene generating equipment, and evaluating the ADAS virtual scene interface by the upper monitoring system. By means of the mode, the virtual simulation verification is fused by multiple targets, multiple directions and radar and the camera, so that actual real vehicle and road information can be simulated more truly, the testing conditions are standardized and digitalized, and the verification scenes are enriched under the condition of saving time and cost.
Referring to fig. 2, fig. 2 is a flowchart illustrating a second embodiment of an ADAS virtual simulation verification method according to the present invention.
Based on the first embodiment, step S40 in the ADAS virtual simulation verification method of this embodiment specifically includes:
step S401, the virtual scene generation device comprises a millimeter wave radar target simulator, an ADAS video camera bellows and an ADAS controller.
Step S402: and the millimeter wave radar target simulator receives the transmitted wave instruction.
In addition, it should be understood that the transmitting instruction is user-defined, and if an obstacle is found in front of the transmitting instruction, the transmitting instruction is automatically triggered.
Step S403: and the millimeter wave radar target simulator obtains target obstacle data according to the emission wave instruction.
In addition, it should be noted that the millimeter wave radar target simulator is a multi-target and multi-directional radar simulator, and the radar simulator can process and echo waves emitted by the radar (down-convert, signal process and up-convert echo waves emitted by the radar) according to the scene software simulation target information to achieve the effect of simulating the target, so that the virtual scene simulation of the real road target is realized.
In addition, it should be understood that the radar echo simulator processes the radar waves emitted by the millimeter wave radar according to the information echo provided by the scene software, so as to achieve the purpose of 'cheating' the radar.
Step S404: the ADAS video camera bellows receives the video data.
Step S405: and the millimeter wave radar target simulator and the ADAS video camera bellows obtain vehicle initial road information through a fusion processing method according to the target obstacle data and the video data, and send the vehicle initial road information to the ADAS controller.
It should be noted that the video data of the operation scene of the upper computer is provided to the video camera bellows through the frequency divider, the camera captures the video data displayed by the video camera bellows according to the pinhole imaging principle, and the radar and the camera complete the acquisition of the complete external vehicle road data through the scheme, wherein the external vehicle road data is the initial road of the vehicle.
Step S406: the ADAS controller receives the vehicle initial road information.
Step S407: and the ADAS controller obtains the vehicle target road information through PI control regulation according to the vehicle initial road information.
It should be noted that, the data captured and fused by the radar and the camera are provided to the ADAS for judgment and sending acceleration, deceleration and steering signals, and the acceleration, deceleration and steering signals provided by the ADAS are converted into acceleration pedal, brake pedal and turning angle signals in the scene software through PI control and adjustment.
Further, it should be understood that the vehicle target road information is a road scene, an accelerator pedal, a brake pedal, and a rotation angle signal, and the like.
Step S408: and the ADAS controller generates an ADAS virtual scene interface according to the vehicle target road information.
In addition, the ADAS controller generates an ADAS virtual scene interface in the software system according to the road information, the accelerator pedal, the brake pedal, the rotation angle signal, and the like.
In this embodiment, the millimeter wave radar target simulator receives the transmission wave instruction, the millimeter wave radar target simulator obtains target obstacle data according to the transmission wave instruction, the ADAS video camera bellows receives the video data, the millimeter wave radar target simulator and the ADAS video camera bellows obtain vehicle initial road information through a fusion processing method according to the target obstacle data and the video data, and send the vehicle initial road information to the ADAS controller, the ADAS controller receives the vehicle initial road information, the ADAS controller obtains vehicle target road information through a preset adjustment method according to the vehicle initial road information, the ADAS controller generates an ADAS virtual scene interface according to the vehicle target road information, and virtual scene interfaces under different scenes are realized through the above manner, thereby facilitating better evaluation results.
Referring to fig. 3, fig. 3 is a block diagram illustrating a first embodiment of an ADAS virtual simulation verification system according to the present invention.
As shown in fig. 3, the ADAS virtual simulation verification system provided in the embodiment of the present invention includes: the upper computer monitoring system 110 acquires a vehicle motion attitude and road information, and sends the vehicle motion attitude and the road information to the IO interface system 210;
it should be noted that, after receiving each road condition parameter, the upper computer monitoring system sends the parameter to the IO interface system for processing.
The IO interface system 210 obtains test data according to the vehicle motion attitude and the road information, and sends the test data to the real-time system 310;
it should be noted that the step of obtaining test data by the IO interface system according to the vehicle motion attitude and the road information and sending the test data to the real-time system is that the IO interface system receives the vehicle motion attitude and the road information, the IO interface system obtains vehicle state information and an instruction signal through data information conversion according to the vehicle motion attitude and the road information, and the IO interface system sends the vehicle state information and the instruction signal to the real-time system.
It should be understood that the IO interface system includes a CarMaker model, in which an ACC command signal, an acceleration request, a deceleration request, and the like may exist, and vehicle state information including a vehicle speed, an acceleration, and the like may also be acquired, which is not limited in this embodiment.
In addition, it should be noted that the IO interface system sends the information parameter to the real-time system.
The real-time system 310 obtains a launch instruction and video data through a preset algorithm according to the test data, and sends the launch instruction and the video data to the virtual scene generation device 410;
it should be understood that the virtual scene generation device includes a millimeter wave radar target simulator and an ADAS video camera bellows.
In addition, it should be noted that the real-time system processes the vehicle state information to generate video data, the real-time system processes the instruction signal to generate a transmission wave instruction, the real-time system sends the video data to the ADAS video camera bellows, and the real-time system sends the transmission wave instruction to the millimeter wave radar target simulator.
It should be noted that the real-time system is a control system development and semi-physical simulation software and hardware working platform using MATLAB/Simulink, and has the advantages of strong real-time performance, high reliability, good expandability and the like, and the processor thereof has high-speed computing capability and is provided with rich I/O support, and the simulation system simulates the behavior of the controlled object to verify the controller. Unlike a general-purpose operating system, the scheduling system ensures that high priority tasks are executed first, without peripheral interrupt control code.
In addition, it should be understood that the real-time system processes according to the test data sent by the IO interface system, and obtains a transmission wave instruction corresponding to the millimeter wave radar simulator and video data corresponding to the video camera bellows.
The virtual scene generating device 410 obtains vehicle road information according to the emission wave instruction and the video data, and generates an ADAS virtual scene interface according to the vehicle road information;
it should be noted that the virtual scene generation device includes a millimeter wave radar target simulator and an ADAS video camera bellows.
In addition, it should be understood that the millimeter wave radar target simulator receives the transmission wave instruction, the millimeter wave radar target simulator obtains target obstacle data according to the transmission wave instruction, the ADAS video camera obscura receives the video data, the millimeter wave radar target simulator and the ADAS video camera obscura obtain vehicle initial road information through a fusion processing method according to the target obstacle data and the video data, and send the vehicle initial road information to the ADAS controller, the ADAS controller receives the vehicle initial road information, the ADAS controller obtains vehicle target road information through a preset adjustment method according to the vehicle initial road information, and the ADAS controller generates an ADAS virtual scene interface according to the vehicle target road information.
In addition, it should be noted that, in the multi-target and multi-directional radar simulator with a utilization rate in this embodiment, the radar simulator can process the waves emitted by the radar and perform echoes (down-converting, signal processing, and then up-converting the echoes) according to the scene software simulation target information, so as to achieve the effect of simulating the target, thereby achieving the purpose of simulating the real road target in the virtual scene.
Furthermore, it should be understood that, to achieve the above-described functions, the radar echo simulator is designed as follows:
1) the overall size of the chassis is 3.2 meters by 1.7 meters;
2) the antenna 2 is designed to be fixed and does not rotate, and the case is placed right behind the antenna 2; the connecting line between the case and the antenna is within 50 cm. The signal delay of the case is 2.5 meters, the signal space delay is 0.9 meter, the radio frequency wiring harness delay is 0.6 meter, and the minimum distance simulation theory calculation is 4 meters;
3) the height of the antenna 2 can be adjusted, and the adjusting range is 10 cm; the distance from the antenna 2 to the radar is configured to be 90 cm;
4) the radar is arranged above, and a motor is arranged above the radar and can rotate. The radar center is substantially coincident with the center of rotation of the antenna 1;
5) the antenna 1 can be adjusted up and down, left and right and back and forth, and the left and right and up and down adjusting range is 10cm and the back and forth adjusting range is 20 cm;
6) the rotation radius of the antenna 1 is configured to be 0.9 m, and the height of the rotation axis of the antenna 1 is configured to be 10 cm;
7) the antenna 1 and a rotating part of the radar need to be coaxial, and the rotation range of the antenna 1 is expanded to plus or minus 180 degrees;
8) the connecting line from the antenna 1 to the case needs to pass through the motor shaft first and then to the signal generating board card of the case. The antenna length is initially designed to be 4 meters, plus the spatial distance of 0.9 meters and the chassis delay of 2.5 meters, so the theoretically calculated shortest distance is 9 meters.
Through the scheme, multi-angle simulation can be realized through the radar rotary table and the antenna, and simulation of two targets is realized through the antennas 1 and 2.
Furthermore, for ease of understanding, the video camera bellows design is made as follows:
the upper computer control interface outputs the traffic scene simulation animation, and the traffic scene simulation animation is respectively output to the two scene simulation displays after passing through the screen splitting device. The camera transmits the animation of the scene simulation display 1 to the ADAS controller by collecting the animation. The ADAS controller communicates with the real-time system through the CAN. The scene emulation display 2 is directly viewable by the developer.
In order to ensure that the scene simulation display is positioned at the optimal imaging position of the camera, a focusing lens is added between the camera and the scene simulation display, and the distance between a screen and the camera is equivalently increased. In addition, the video acquisition black box integrates a multi-freedom-degree support for adjusting the angle position of the camera.
By using the whole vehicle CAN diagnosis communication protocol, the camera bellows space positioning is adjusted and the optimization adjustment is carried out according to the camera calibration result, so that the camera shooting picture replaces the video data shot by the real vehicle.
In addition, it should be noted that the following is the calibration of the video camera bellows:
and establishing a diagnosis project, performing static calibration in a mode of reading fault codes by simulating a whole vehicle diagnosis mode, and performing position calibration on the camera through a feedback result until the calibration is successful.
1) Newly building CANoe engineering, selecting Diag function in configuration
2) Add key file (. ccd)
3) Add safety unlock (. dll)
4) Initiating an output signal window
5) The fault code is queried and the command 190209 is entered to query for an existing fault.
6) Clearing fault code
And performing fault clearing, clearing the command 14FFFFFF, and obtaining the remaining last fault code 520554 which is the fault code not calibrated by the camera.
7) And entering an extended mode, realizing calibration through a calibration instruction, and sending a request for calibration, wherein the ECU feedback code 710303A 502 indicates that the static calibration is successful.
In addition, it should be noted that, in the step of obtaining the vehicle target road information by the ADAS controller according to the vehicle initial road information through a preset adjustment method, the ADAS controller obtains the vehicle target road information by PI control adjustment according to the vehicle initial road information.
Furthermore, it should be understood that, in the following vehicle dynamics model PI regulation, since the ADAS controller outputs the acceleration-deceleration and steering requests, the acceleration-deceleration and steering requests need to be converted into the acceleration-brake pedal and steering angle torque signals executed by the controllable scene software, so that the input acceleration-deceleration steering request signals need to be subjected to PI control regulation so that the regulated actual acceleration-deceleration signals and the signals of the scene software are well matched.
The virtual scene generating device 410 sends the ADAS virtual scene interface to the upper computer monitoring system 110;
the upper monitoring system 110 performs ADAS virtual simulation verification on the ADAS virtual scene interface.
In addition, it should be noted that through the construction of the platform, an ADAS function virtual simulation test below the L2 level can be realized, multiple targets, multiple directions and radar and camera fusion virtual simulation verification in a special period simulate actual real vehicle and road data more truly, technical support is provided for ADAS product development, an ADAS virtual scene interface can be evaluated in the upper computer monitoring system, a system problem in one link of the ADAS virtual scene is judged and obtained according to an evaluation result, and then the system is verified.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
In the embodiment, the upper computer monitoring system acquires the vehicle motion attitude and the road information, and sends the vehicle motion attitude and the road information to the IO interface system, the IO interface system obtains test data according to the vehicle motion attitude and the road information, and sending the test data to a real-time system, the real-time system, based on the test data, acquiring a transmitting wave instruction and video data through a preset algorithm, sending the transmitting wave instruction and the video data to virtual scene generation equipment, the virtual scene generating equipment obtains vehicle road information according to the transmitting wave instruction and the video data, generating an ADAS virtual scene interface according to the vehicle road information, sending the ADAS virtual scene interface to the upper computer monitoring system by the virtual scene generating equipment, and the upper monitoring system performs ADAS virtual simulation verification on the ADAS virtual scene interface. By means of the mode, the virtual simulation verification is fused by multiple targets, multiple directions and radar and the camera, so that actual real vehicle and road information can be simulated more truly, the testing conditions are standardized and digitalized, and the verification scenes are enriched under the condition of saving time and cost. .
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may refer to the ADAS virtual simulation verification method provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An ADAS virtual simulation verification method, the method comprising:
the upper computer monitoring system acquires a vehicle motion attitude and road information and sends the vehicle motion attitude and the road information to an IO interface system;
the IO interface system obtains test data according to the vehicle motion attitude and the road information and sends the test data to a real-time system;
the real-time system obtains a transmitting wave instruction and video data through a preset algorithm according to the test data, and sends the transmitting wave instruction and the video data to virtual scene generation equipment;
the virtual scene generating equipment acquires vehicle road information according to the transmitting wave instruction and the video data, and generates an ADAS virtual scene interface according to the vehicle road information;
the virtual scene generating equipment sends the ADAS virtual scene interface to the upper computer monitoring system;
and the upper monitoring system performs ADAS virtual simulation verification on the ADAS virtual scene interface.
2. The method of claim 1, wherein the step of obtaining test data by the IO interface system according to the vehicle motion attitude and the road information and sending the test data to a real-time system comprises:
the IO interface system receives the vehicle motion attitude and the road information;
the IO interface system obtains vehicle state information and instruction signals through data information conversion according to the vehicle motion attitude and the road information;
and the IO interface system sends the vehicle state information and the instruction signal to a real-time system.
3. The method of claim 2, wherein the virtual scene generation device comprises a millimeter wave radar target simulator and an ADAS video camera obscuration;
the real-time system obtains a transmitting wave instruction and video data through a preset algorithm according to the test data, and sends the transmitting wave instruction and the video data to the virtual scene generation equipment, and the steps comprise:
the real-time system processes the vehicle state information to generate video data;
the real-time system processes the instruction signal to generate a transmitting wave instruction;
the real-time system sends the video data to an ADAS video camera bellows;
and the real-time system sends the emission wave instruction to a millimeter wave radar target simulator.
4. The method of claim 3, wherein the virtual scene generation device further comprises an ADAS controller, the vehicle road information including vehicle initial road information and vehicle target road information;
the virtual scene generating device obtains vehicle road information according to the transmitting wave instruction and the video data, and generates an ADAS virtual scene interface according to the vehicle road information, wherein the steps comprise:
the millimeter wave radar target simulator receives the transmitting wave instruction;
the millimeter wave radar target simulator obtains target obstacle data according to the emission wave instruction;
the ADAS video camera bellows receives the video data;
the millimeter wave radar target simulator and the ADAS video camera bellows obtain vehicle initial road information through a fusion processing method according to the target obstacle data and the video data, and send the vehicle initial road information to the ADAS controller;
the ADAS controller receives the initial road information of the vehicle;
the ADAS controller obtains vehicle target road information through a preset adjusting method according to the vehicle initial road information;
and the ADAS controller generates an ADAS virtual scene interface according to the vehicle target road information.
5. The method of claim 4, wherein the step of the ADAS controller obtaining the vehicle target road information according to the vehicle initial road information by a preset adjustment method comprises:
and the ADAS controller obtains the vehicle target road information through PI control regulation according to the vehicle initial road information.
6. An ADAS virtual simulation verification system, the system comprising:
the upper computer monitoring system acquires a vehicle motion attitude and road information and sends the vehicle motion attitude and the road information to an IO interface system;
the IO interface system obtains test data according to the vehicle motion attitude and the road information and sends the test data to a real-time system;
the real-time system obtains a transmitting wave instruction and video data through a preset algorithm according to the test data, and sends the transmitting wave instruction and the video data to virtual scene generation equipment;
the virtual scene generating equipment acquires vehicle road information according to the transmitting wave instruction and the video data, and generates an ADAS virtual scene interface according to the vehicle road information;
the virtual scene generating equipment sends the ADAS virtual scene interface to the upper computer monitoring system;
and the upper monitoring system performs ADAS virtual simulation verification on the ADAS virtual scene interface.
7. The system of claim 6, wherein the IO interface system is further configured to receive the vehicle motion attitude and the road information;
the IO interface system is further used for obtaining vehicle state information and instruction signals through data information conversion according to the vehicle motion attitude and the road information;
and the IO interface system is also used for sending the vehicle state information and the instruction signal to a real-time system.
8. The system of claim 7, wherein the real-time system is further configured to process the vehicle status information to generate video data;
the real-time system is also used for processing the instruction signal to generate a transmitted wave instruction;
the real-time system is also used for sending the video data to an ADAS video camera bellows;
and the real-time system is also used for sending the emission wave instruction to the millimeter wave radar target simulator.
9. The system of claim 8, wherein the millimeter wave radar target simulator is to receive the transmit wave instruction;
the millimeter wave radar target simulator is further used for obtaining target obstacle data according to the transmitting wave instruction;
the ADAS video camera bellows is used for receiving the video data;
the millimeter wave radar target simulator and the ADAS video camera bellows are used for acquiring vehicle initial road information through a fusion processing method according to the target obstacle data and the video data and sending the vehicle initial road information to the ADAS controller;
the ADAS controller is used for receiving the initial road information of the vehicle;
the ADAS controller is also used for obtaining vehicle target road information through a preset adjusting method according to the vehicle initial road information;
and the ADAS controller is also used for generating an ADAS virtual scene interface according to the vehicle target road information.
10. The system of claim 9, wherein the ADAS controller is further configured to obtain vehicle target road information through PI control adjustment based on the vehicle initial road information.
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