CN111399480B - Hardware-in-loop test system of intelligent driving controller - Google Patents
Hardware-in-loop test system of intelligent driving controller Download PDFInfo
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- CN111399480B CN111399480B CN202010236355.6A CN202010236355A CN111399480B CN 111399480 B CN111399480 B CN 111399480B CN 202010236355 A CN202010236355 A CN 202010236355A CN 111399480 B CN111399480 B CN 111399480B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23446—HIL hardware in the loop, simulates equipment to which a control module is fixed
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
The embodiment of the invention provides a hardware-in-loop test system of an intelligent driving controller. The interface model subsystem comprises a vehicle model, a real-time simulator, a PWM board card, a CAN board card and a visual simulation device. The scene simulation subsystem is used for building and designing a corresponding virtual scene according to a real traffic scene and building corresponding various virtual sensor models according to the real electrical characteristics of the sensors actually adopted by the vehicle. Sensor fault injection is implemented by a fault injection subsystem to simulate a fault of a sensor. The PWM board card, the CAN board card and the vision simulation device are utilized to convert various virtual sensor signals into real sensor electrical signals which CAN be identified by the intelligent driving controller. And then carry out multiple function test to intelligent driving controller.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a hardware-in-loop test system of an intelligent driving controller.
Background
An intelligent driving system is a highly complex multi-component system, comprising components such as intelligent driving controllers and sensors. The intelligent driving controller comprehensively utilizes the perception input obtained by the sensors to perform fusion, planning and decision, and independently controls the vehicle to drive. The working environment of the intelligent driving controller is complex and changeable, and safe driving is required to ensure the safety of passengers and pedestrians on the road, so that the design and verification of the intelligent driving controller must follow a strict flow.
At present, hardware-in-loop testing of the intelligent driving controller only meets general functional testing, and only Ethernet and CAN communication CAN be simulated in the interface simulation aspect, so that complete functional performance testing cannot be performed on the intelligent driving controller.
Disclosure of Invention
In view of this, the present invention provides a hardware-in-loop test system for an intelligent driving controller, which is intended to implement a multi-function test for the intelligent driving controller.
In order to achieve the above object, the following solutions are proposed:
a hardware-in-loop test system of an intelligent driving controller comprises: the system comprises a scene simulation subsystem, an interface simulation subsystem and a fault injection subsystem, wherein the interface model subsystem comprises a vehicle model, a real-time simulator, a PWM board card, a CAN board card and a visual simulation device;
the scene simulation subsystem is used for building a virtual scene and a virtual sensor model, the virtual sensor model comprises a laser radar model, a millimeter wave radar model, a visual sensor model and an ultrasonic sensor model, barrier result information recognized by the laser radar model, the millimeter wave radar model and the ultrasonic sensor model is output to the real-time simulator, and HDMI signals of real-time images collected by the visual sensor model are output to the visual simulation device;
the fault injection subsystem is used for simulating at least one fault of the sensor;
the vehicle model is used for calculating to obtain a vehicle state signal according to the control signal and outputting the vehicle state signal to the real-time simulator after receiving the control signal sent by the real-time simulator;
the visual simulation device is used for converting the HDMI signals into LVDS signals and transmitting the LVDS signals to the intelligent driving controller through the fault injection subsystem;
the CAN board card is used for respectively converting the obstacle result information identified by the millimeter wave radar model and the vehicle state signal into CAN signals and transmitting the CAN signals to the intelligent driving controller through the fault injection subsystem;
the CAN board card is also used for analyzing a control signal sent by the intelligent driving controller and transmitting the control signal to the real-time simulator;
and the PWM board card is used for converting the obstacle result information identified by the ultrasonic sensor model into a PWM signal and transmitting the PWM signal to the intelligent driving controller through the fault injection subsystem.
Optionally, the visual model device specifically includes: the HDMI decoding chip, the FPGA chip and the LVDS coding chip;
the HDMI decoding chip is used for decoding the HDMI signals into standard digital signals and then transmitting the standard digital signals to the FPGA chip;
the FPGA chip is used for transmitting the standard digital signal to the LVDS coding chip;
and the LVDS coding chip is used for transmitting the standard digital signal to the intelligent driving controller through the fault injection subsystem after serial coding.
Optionally, the scene simulation subsystem includes a graphics workstation and TADsim scene software.
Optionally, the real-time simulator is further configured to: and monitoring data information output to the intelligent driving controller by the PWM board card and the CAN board card.
Optionally, the fault injection subsystem includes a fault injection device and a disconnection box connected in series, and a relay control device and a power failure simulation device connected to the fault injection device respectively;
the fault injection device and the disconnection box which are connected in series are connected between the intelligent driving controller and the PWM board card, and are also connected between the intelligent driving controller and the CAN board card.
Optionally, the fault injection subsystem further includes: a fault mode injection unit connected to the vision model apparatus;
the fault mode injection unit is used for determining corresponding modification parameters according to a fault mode selected by a user, and modifying the HDMI signals received by the visual simulation device according to the modification parameters, wherein the modification parameters comprise color space, color depth and/or resolution.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the hardware-in-loop test system of the intelligent driving controller comprises a scene simulation subsystem, an interface simulation subsystem and a fault injection subsystem. The interface model subsystem comprises a vehicle model, a real-time simulator, a PWM board card, a CAN board card and a visual simulation device. The scene simulation subsystem is used for building and designing a corresponding virtual scene according to a real traffic scene and building corresponding various virtual sensor models according to the real electrical characteristics of the sensors actually adopted by the vehicle. Sensor fault injection is implemented by a fault injection subsystem to simulate a fault of a sensor. The PWM board card, the CAN board card and the vision simulation device are utilized to convert various virtual sensor signals into real sensor electrical signals which CAN be identified by the intelligent driving controller. And then realized the multiple function test to intelligent driving controller.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a hardware-in-the-loop test system of an intelligent driving controller according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a visual simulation apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a fault injection subsystem according to an embodiment of the present invention;
fig. 4 is a partial schematic view of a wire breaking box according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a hardware-in-loop test system of an intelligent driving controller according to an embodiment of the present invention. The hardware-in-the-loop test system comprises a scene simulation subsystem, an interface simulation subsystem and a fault injection subsystem. The interface model subsystem comprises a vehicle model, a real-time simulator, a PWM board card, a CAN board card and a visual simulation device.
And the scene simulation subsystem is used for building and designing a virtual scene and a virtual sensor model, the virtual sensor model comprises a laser radar model, a millimeter wave radar model, a visual sensor model and an ultrasonic sensor model, barrier result information recognized by the laser radar model, the millimeter wave radar model and the ultrasonic sensor model is output to the real-time simulator, and HDMI signals of real-time images collected by the visual sensor model are output to the visual simulation device.
Specifically, the scene simulation subsystem comprises a graphic workstation and TADSim scene software, wherein the TADSim scene software runs on the graphic workstation and can render images. A user utilizes TADSim scene software to realize rapid construction design of a virtual scene through map import, three-dimensional reconstruction, manual construction and other modes. The urban working conditions included in the virtual scene are as follows: natural traffic flow, urban intersection traffic, automatic driving under an overhead, getting on and off ramps and toll stations, tunnels and typical road spectrums, congestion working conditions, traffic accident working conditions and the like. The method is efficient, can save a large amount of cost, supports cloud platform simulation, and realizes large-scale scene integration test. Based on a cloud platform, a large amount of real traffic flow data are collected, traffic flow is trained and led in, large-scale planning automation test can be carried out, and the method mainly comprises the following two aspects: (1) classifying by testcases, wherein thousands of testcases can be executed at one time; (2) the method can be used for large-scale scene continuous test, and theoretically, one city or region can be covered.
Virtual sensors such as a laser radar model, a millimeter wave radar model, a visual sensor model and an ultrasonic sensor model are constructed in a simulated mode, the virtual sensors which are consistent can be configured according to internal and external parameters of real sensors in a vehicle, and obstacle result information in a required format is output. The virtual sensor identifies the obstacles in the virtual scene and outputs corresponding obstacle result information.
The TADSim scene software can output point cloud data output by the laser radar model and the millimeter wave radar model for other equipment to analyze.
The HDMI signal is an environmental image signal acquired by the visual sensor model in the virtual scene. And configuring internal and external parameters for the camera image by using visual sensor models such as panoramic and panoramic vision built by TADSim scene software, rendering by using a GPU, and outputting the acquired HDMI signals. The internal parameters include the characteristics of the sensor, such as distortion rate, FOV, frame rate and pixels of the camera, and the external parameters refer to the coordinate position of the sensor.
The interface simulation subsystem is used for simulating various signals such as LVDS, Ethernet, CAN, PWM signals and the like. The interface simulation subsystem simulates various signals, namely converting the signals output by the virtual sensor model into electric signals of a real sensor which can be identified by the intelligent driving controller. LVDS signals are video signals and relate to visual sensors such as panoramic cameras and panoramic cameras. The Ethernet is a point cloud data output mode of the laser radar and the millimeter wave radar, and can be directly packaged and output to the real-time simulator through an Ethernet board card of the graphic workstation in the scene simulation subsystem. The CAN signal relates to the original vehicle signal transmission and millimeter wave radar result data output mode. The PWM signal is a signal output mode of the ultrasonic radar.
And the visual simulation device is used for converting the HDMI signals transmitted by the scene simulation subsystem into LVDS signals and transmitting the LVDS signals to the intelligent driving controller through the fault injection subsystem. The visual model device specifically comprises an HDMI decoding chip, an FPGA chip, and an LVDS encoding chip, as shown in fig. 2. The HDMI decoding chip is used for decoding the HDMI signals into standard digital signals and then transmitting the standard digital signals to the FPGA chip; the FPGA chip is used for transmitting the standard digital signal to the LVDS coding chip; and the LVDS coding chip is used for serially coding the standard digital signals and transmitting the standard digital signals to the intelligent driving controller through the fault injection subsystem. The signal after serial coding has the same electrical characteristics and communication protocol with the real camera, and can be correctly identified by the intelligent driving controller.
The camera in the real vehicle directly outputs LVDS signals to the controller. In practice, the scene simulation system has no LVDS interface and can only output HDMI signals, and the HDMI signals are converted into LVDS signals which can be recognized by the controller through the visual simulation device.
And the CAN board card is used for converting the obstacle result information identified by the millimeter wave radar model and the vehicle state signal into CAN signals respectively and transmitting the CAN signals to the intelligent driving controller through the fault injection subsystem. The obstacle result information recognized by the millimeter wave radar model includes a relative distance, a relative speed, and the like. DBC (database CAN) is a message for CAN communication between ECUs of the vehicle, and the CAN board card outputs a CAN signal of a corresponding protocol according to the DBC, so that millimeter wave radar CAN signal simulation and vehicle state CAN signal simulation are realized.
And the CAN board card is also used for analyzing the control signal sent by the intelligent driving controller and transmitting the control signal to the real-time simulator. And control signals sent by the intelligent driving controller are analyzed by the CAN board card and then sent to the vehicle model to control the vehicle model to execute expected actions, so that closed-loop control of the system is realized.
And the PWM board card is used for converting the obstacle result information identified by the ultrasonic sensor model into a PWM signal and transmitting the PWM signal to the intelligent driving controller through the fault injection subsystem. The PWM board card is loaded with a protocol for handshaking with the intelligent driving controller, and can be in data communication with the intelligent driving controller. The intelligent driving controller analyzes and calibrates the PWM signal and converts the PWM signal into an actual distance value to participate in arithmetic logic operation.
A fault injection subsystem for simulating at least one fault of the sensor. Such as power shorts, shorts to ground, shorts to other pins, opens, load simulations, etc. Fig. 3 is a schematic diagram of a fault injection subsystem according to an embodiment of the present invention. The fault injection subsystem comprises a fault injection device, a disconnection box, a relay control device and power supply fault simulation equipment, wherein the fault injection device and the disconnection box are connected in series; the fault injection device and the disconnection box which are connected in series are connected between the intelligent driving controller and the PWM board card and are also connected between the intelligent driving controller and the CAN board card. The control of the relay is implemented through an external control instruction, and the expected fault injection is realized through the suction control of the relay and the fault injection device.
Fault injection is realized by plugging and unplugging a BOB panel terminal in the wire breaking box; as shown in fig. 4, the disconnect box has two holes in each of the card terminals. The wiring harness of the signal is connected through the terminal, and the fault injection can be realized through the terminal or the cable connection respectively. For example, the terminal is directly pulled out to carry out disconnection fault injection; the fault injection can be realized by connecting small holes through cables, and the fault injection such as signal short circuit, ground short circuit, power short circuit and the like can be realized, as shown by dotted lines in fig. 4. Through pulling out the terminal, supply power for the power cord alone, through power regulation, realize excessive pressure undervoltage fault injection. Through pulling out the terminal, connect two holes with the resistance and realize load simulation.
The fault injection subsystem further comprises a fault mode injection unit connected with the vision model device; and the fault mode injection unit is used for determining corresponding modification parameters according to the fault mode selected by the user and modifying the HDMI signals received by the visual simulation device according to the modification parameters, wherein the modification parameters comprise color space, color depth and/or resolution.
The abnormal conditions of the vision sensor include rain fog, mud, exposure, gain abnormality, noise, and the like. Under special weather such as actually gathering rain fog, mud, the actual effect after the sheltering from the fuzzy of camera reappears on the rack through software simulation. When the camera is polluted (for example, rain fog, mud spot, etc.) the image information output by the camera is degraded in resolution and definition of image color compared with a normal camera. By analyzing parameters such as color space, color depth and resolution of a real pollution camera, after a camera fault mode is selected, assigning values to the parameters aiming at normally input HDMI signals in a visual simulation device, and simulating the pollution camera.
And the vehicle model is used for calculating to obtain a vehicle state signal according to the control signal and outputting the vehicle state signal to the real-time simulator after receiving the control signal sent by the real-time simulator. The vehicle model is correspondingly established according to the dynamic characteristic and the static characteristic of the real vehicle and is consistent with the characteristic of the real vehicle.
The hardware-in-loop test system of the intelligent driving controller can provide real electrical signals output by the virtual sensor model for the intelligent driving controller, so that the intelligent driving controller analyzes, processes and calculates related signals and outputs control signals to the vehicle model; meanwhile, the position of the vehicle model in the virtual scene and the data output by the virtual sensor model can be dynamically updated in real time, and the in-loop virtual test of the intelligent driving controller under various dangerous working conditions and traffic scenes can be realized. Virtual scene switching can be performed in a script control mode, large-scale automatic testing is realized, and labor cost is saved
The real-time simulator is also used for monitoring data information output to the intelligent driving controller by the PWM board card and the CAN board card. When a user modifies one or more variable values through a human-computer interaction interface of the real-time simulation machine, the corresponding board card replaces the value to be output by using the value manually input by the user, and the on-line parameter adjusting function is realized.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
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 apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. A hardware-in-loop test system of an intelligent driving controller is characterized by comprising: the system comprises a scene simulation subsystem, an interface simulation subsystem and a fault injection subsystem, wherein the interface simulation subsystem comprises a vehicle model, a real-time simulator, a PWM board card, a CAN board card and a visual simulation device;
the scene simulation subsystem is used for building a virtual scene and a virtual sensor model, the virtual sensor model comprises a laser radar model, a millimeter wave radar model, a visual sensor model and an ultrasonic sensor model, barrier result information recognized by the laser radar model, the millimeter wave radar model and the ultrasonic sensor model is output to the real-time simulator, and HDMI signals of real-time images collected by the visual sensor model are output to the visual simulation device;
the fault injection subsystem is used for simulating at least one fault of the sensor;
the vehicle model is used for calculating to obtain a vehicle state signal according to the control signal and outputting the vehicle state signal to the real-time simulator after receiving the control signal sent by the real-time simulator;
the visual simulation device is used for converting the HDMI signals into LVDS signals and transmitting the LVDS signals to the intelligent driving controller through the fault injection subsystem;
the CAN board card is used for respectively converting the obstacle result information identified by the millimeter wave radar model and the vehicle state signal into CAN signals and transmitting the CAN signals to the intelligent driving controller through the fault injection subsystem;
the CAN board card is also used for analyzing a control signal sent by the intelligent driving controller and transmitting the control signal to the real-time simulator;
the PWM board card is used for converting the obstacle result information identified by the ultrasonic sensor model into a PWM signal and transmitting the PWM signal to the intelligent driving controller through the fault injection subsystem;
real-time emulation machine still is used for control PWM integrated circuit board and CAN integrated circuit board to export the data information of intelligent driving controller, the user passes through when the human-computer interaction interface of real-time emulation machine revises the variable value, corresponding integrated circuit board CAN use the value of user manual input, replaces the value that will export, realizes the online parameter adjustment function.
2. The hardware-in-the-loop test system of the intelligent driving controller according to claim 1, wherein the visual simulation apparatus specifically comprises: the HDMI decoding chip, the FPGA chip and the LVDS coding chip;
the HDMI decoding chip is used for decoding the HDMI signals into standard digital signals and then transmitting the standard digital signals to the FPGA chip;
the FPGA chip is used for transmitting the standard digital signal to the LVDS coding chip;
and the LVDS coding chip is used for transmitting the standard digital signal to the intelligent driving controller through the fault injection subsystem after serial coding.
3. The hardware-in-the-loop test system of the intelligent driving controller of claim 1, wherein the scene simulation subsystem comprises a graphics workstation and TADsim scene software.
4. The hardware-in-loop test system of the intelligent driving controller according to claim 1, wherein the fault injection subsystem comprises a fault injection device and a disconnection box which are connected in series, and a relay control device and a power failure simulation device which are respectively connected with the fault injection device;
the fault injection device and the disconnection box which are connected in series are connected between the intelligent driving controller and the PWM board card, and are also connected between the intelligent driving controller and the CAN board card.
5. The hardware-in-the-loop test system of claim 4, wherein the fault injection subsystem further comprises: a fault mode injection unit connected with the vision simulation device;
the fault mode injection unit is used for determining corresponding modification parameters according to a fault mode selected by a user, and modifying the HDMI signals received by the visual simulation device according to the modification parameters, wherein the modification parameters comprise color space, color depth and/or resolution.
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| CN102681532A (en) * | 2012-05-11 | 2012-09-19 | 杭州速玛科技有限公司 | Simulating test system for BCM (body control module) |
| CN105223941A (en) * | 2014-06-23 | 2016-01-06 | 中航商用航空发动机有限责任公司 | Hardware is in loop fault injected system |
| CN203965936U (en) * | 2014-07-21 | 2014-11-26 | 北京经纬恒润科技有限公司 | New forms of energy controller hardware is in ring test system |
| CN108681264A (en) * | 2018-08-10 | 2018-10-19 | 成都合纵连横数字科技有限公司 | A kind of intelligent vehicle digitalized artificial test device |
| CN110377006A (en) * | 2019-07-17 | 2019-10-25 | 中国第一汽车股份有限公司 | One kind is parked test macro and method |
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