CN111899625A - Intelligent driving assisting development device - Google Patents
Intelligent driving assisting development device Download PDFInfo
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Abstract
The application relates to an intelligence driver assistance development device, be applied to under the laboratory simulation environment, the device main part includes: the environment perception component is used for acquiring motion information of the device main body in a simulated road and/or road condition information of the simulated road; a motion assembly for controlling the apparatus body to travel in the simulated road; the processing component is used for generating a control instruction according to the current data acquired by the environment sensing component and sending the control instruction to the motion component, and the current data comprises motion information and/or road condition information; the data transmission component is used for receiving and transmitting data in the environment sensing component, the motion component and the processing component; the data transmission component is respectively connected with the environment sensing component, the motion component and the processing component. The device can operate under the laboratory environment for can develop the experiment in limited space, reduce development cost. In addition, various different road conditions can be simulated in a laboratory, and the development efficiency is improved.
Description
Technical Field
The application relates to the technical field of intelligent driving development, in particular to an intelligent driving assisting development device.
Background
The automobile is an indispensable vehicle in life and work of people, has stronger and stronger intelligence, and especially the autopilot function has brought very big facility for people. In the automatic driving process, parameters in a vehicle kinematic and dynamic model have uncertainty, and in a complex and random road environment, other motor vehicles, pedestrians and the like exist, and the behavior randomness of the intelligent bodies brings great difficulty and challenge to the autonomous decision making of the vehicles. Therefore, in order to improve the safety performance of the autonomous vehicle during running, it is necessary to develop an autonomous driving function of the vehicle.
Disclosure of Invention
The utility model provides an intelligence driver assistance development device can develop the autopilot function of vehicle under the laboratory environment, has promoted the development efficiency of autopilot function.
In order to realize the above-mentioned purpose, this application provides an intelligence driver assistance development device, is applied to under the laboratory simulation environment, including the device main part, the device main part includes:
the environment perception component is used for acquiring motion information of the device main body in a simulated road and/or road condition information of the simulated road;
a motion component for controlling the device body to travel in the simulated road;
the processing component is used for generating a control instruction according to the current data acquired by the environment sensing component and sending the control instruction to the motion component, wherein the current data comprises the motion information and/or the road condition information;
the data transmission component is used for receiving and forwarding data in the environment perception component, the motion component and the processing component;
wherein the data transmission component is respectively connected with the environment perception component, the motion component and the processing component.
In one embodiment, the context awareness component comprises:
the speed measuring module is used for measuring the running speed of the device main body;
the obstacle detection module is used for detecting obstacle information in the simulated road;
and the image acquisition module is used for acquiring the lane line information of the simulated road.
In one embodiment, the obstacle detecting module is plural and is uniformly arranged on the device body.
In one embodiment, the speed measuring module is a radar sensor, the obstacle detecting module is an ultrasonic sensor, and the image collecting module is a camera.
In one embodiment, the data transmission assembly comprises:
a plurality of first peripheral interfaces for interfacing with the environmental awareness component, the motion component, and the processing component;
the processing assembly comprises: the second peripheral interface is connected with the first peripheral interface;
and one second peripheral interface corresponds to at least one first peripheral interface.
In one embodiment, the data transmission assembly comprises:
and the network module is used for establishing network connection with an external terminal.
In one embodiment, the motion assembly comprises:
a drive wheel;
the driving module is used for driving the driving wheel to rotate;
wherein, the drive module is connected with the data transmission component.
In one embodiment, the device body further comprises:
a program storage component for storing a driving assistance program;
wherein the program storage component is connected with the data processing component.
In one embodiment, the device body further comprises:
a power supply assembly for supplying electric power to the device body;
wherein, the power supply assembly is connected with the data transmission assembly.
In one embodiment, the power supply component is a model airplane battery.
Compared with the prior art, the intelligent auxiliary driving development device in the embodiment of the application can operate in a laboratory environment, so that development experiments can be carried out in a limited space, and the development cost is reduced. In addition, various different road conditions can be simulated in a laboratory, and the development efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent driving assistance development device provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a processing component on the intelligent driving assistance development device in the embodiment of the present application.
Detailed Description
The technical solution of the present application is further described in detail by the accompanying drawings and examples.
Referring to fig. 1, the intelligent driving assistance development device provided in the embodiment of the present application is mainly applied to a laboratory simulation environment, and a simulation road, a signal lamp, an obstacle, and the like may be set in a laboratory to simulate real road condition information; the space available for the intelligent assistant driving development device to move in the laboratory is a limited space, and the limited space can be smaller than a preset space size, for example, the floor area of the limited space is smaller than 20 square meters. This intelligence driver assistance development device includes the device main part, and wherein, the device main part includes: environment sensing component, motion component, processing component 3, data transmission component 4, power supply component and program storage component. The data transmission component 4 is respectively connected with the environment sensing component, the motion component, the processing component 3, the power supply component and the program storage component; such as a plug, cable connection, etc.
The environment sensing component can acquire the motion information of the device main body in the simulated road and/or the road condition information of the simulated road. Wherein the motion information includes a driving speed, a course angle, etc. of the device body, and the road condition information includes whether there is an obstacle, a road wet skid, lane line information, etc
The motion assembly may control the apparatus body to travel in a simulated road. In one example, the motion assembly 2 includes a drive wheel 21 and a drive module. Wherein, the driving module is mainly used for driving the driving wheel 21 to rotate. The driving module is electrically connected with the data transmission component 3. Optionally, the drive module is a drive motor.
The processing component 3 may be configured to generate a control instruction according to the current data acquired by the environment sensing component, and send the control instruction to the motion component, where the current data includes motion information and/or road condition information. For example, when the lane line information indicates that the lane line curves toward the left side, a control command for steering to the left may be generated, and the control apparatus main body may be controlled to travel toward the left side. Optionally, the processing component is a field programmable gate array FPGA.
The data transmission component 4 may receive and forward data in the context awareness component, the motion component, and the processing component.
The power supply unit may supply power to the device body. Optionally, the power supply assembly is an airplane model battery.
The program storage component may store a driving assistance program. The driving assistance program is written in advance, and then the program is stored in the program storage unit, and after the program is run, the device main body can run in the running mode written in the program. Alternatively, the program storage component may be a Secure Digital Card (SD Card), a USB flash drive, or the like.
Next, the context awareness component, the processing component 3 and the data transmission component 4 are described.
The context awareness component may include: one or more of a velocity measurement module 11, an obstacle detection module 12, and an image acquisition module 13. The speed measuring module 11 is mainly used for measuring the running speed of the device main body; the obstacle detection module 12 is mainly used for detecting obstacle information in a simulated road; the image acquisition module 13 is mainly used for acquiring lane line information of the simulated road.
Alternatively, the speed measuring module 11 may be a radar sensor, and in this case, a transmitting plate for reflecting radar waves may be disposed on the simulated road, and the driving speed of the device body may be determined by analyzing the echo of the radar sensor. Optionally, the radar sensor is an ivs (interferometric VCO stereo) series dual-channel K-band narrow-beam radar sensor, supports an FSK/FMCW/CW working mode, adopts a planar microstrip antenna structure, is very small and exquisite in appearance, and can be integrated in various circuits; in addition, the energy consumption is low during the operation, and the electric energy can be saved.
The obstacle detecting module 12 may be plural, for example, 2, 3, 4, etc., and is uniformly arranged on the apparatus main body to detect the obstacle information on the simulated road in all directions. The obstacle detection module 12 is at a predetermined angle, such as 60 degrees, with the simulated road to detect obstacles on the simulated road. Alternatively, the obstacle detecting module 12 may be an ultrasonic sensor, in which case ultrasonic waves are continuously or intermittently emitted using the ultrasonic sensor to detect obstacle information on the simulated road.
The image acquisition module 13 may be a camera, and acquires lane line information on a simulated road, traffic sign recognition, pedestrian and object detection, anti-collision warning, and the like through the camera. For example, an image of a road surface of a simulated road is captured by a camera, and the image is analyzed by using an image edge operator such as a Canny operator to obtain lane line information on the simulated road. In addition, the image acquisition module 13 may also be configured to acquire the degree of wet skid of the road surface of the simulated road, for example, analyze the image acquired by the image acquisition module 13 to determine the degree of reflection of the road surface, and then determine the degree of wet skid of the current road surface according to a preset mapping relationship between the degree of reflection and the degree of wet skid. Optionally, the image acquisition module 13 is connected with the apparatus main body through a rotatable bracket 131; the image acquisition module 13 can rotate in an up-down left-right pitching manner through the rotatable bracket 131, so that the requirement of multi-azimuth target detection is met.
Referring to fig. 2, the processing component 3 may include: the device comprises a processing module, a plurality of second external interfaces and a network module. And the processing module is mainly used for processing the data of the environment sensing assembly and the motion assembly. The second external interface is mainly used for connecting with the second external interface on the data transmission component 4. The network module is mainly used for establishing network connection with an external terminal; the data acquired by the environment sensing component can be transmitted to an external terminal through the network module for display and the like. The processing module, the second peripheral interface and the network module can be integrated on a data board.
Optionally, the processing module is a field programmable gate array FPGA, and the network module is a bluetooth module and/or a WIFI module.
Optionally, the second peripheral interface comprises: a USB Type-C (JTAG & UART) interface, an SD card slot, a USB communication female port, an Ethernet interface, an HDMI interface, an audio interface, a power interface, a digital-to-analog conversion interface, a camera interface and the like. The audio interface comprises an input interface and an output interface, and can realize the input and output of audio.
In addition, the processing component 3 may further be provided with a mode switching key, for example, a self-starting mode key, a debugging mode key. Optionally, the self-booting mode refers to that the device main body can automatically run the program in the program storage component after booting; the debug mode is a mode in which the device main body can be subjected to debug control by an external device.
The data transmission assembly 4 includes: a plurality of first peripheral interfaces. The plurality of first peripheral interfaces may correspond to one second peripheral interface at the same time. The first peripheral interface is mainly used for being connected with the environment sensing assembly, the motion assembly and the processing assembly 3; one end of the first peripheral interface is connected with an external component (such as an environment sensing component), and the other end of the first peripheral interface is connected with the second peripheral interface. The number of the peripheral interfaces on the processing component 3 is expanded through the data transmission component 4, so that sufficient environment sensing components can be arranged in a limited space on the device main body, the collection amount of data in the environment is increased, and the development efficiency is further improved; for example, if only 3 peripheral interfaces can be arranged on the processing component 3, then under the condition of no data transmission component 4, at most three radar sensors can be arranged on the device main body, but after the data transmission component 4 is additionally arranged, 5 peripheral interfaces can be arranged on the data transmission component 4, and the 5 peripheral interfaces can be simultaneously connected with one peripheral interface on the processing component 3, so that in addition to connecting 2 radar sensors on the processing component 3, 5 radar sensors can be further connected on the data transmission component 4, and the arrangement number of the radar sensors is greatly increased. Wherein, a plurality of first peripheral interfaces can be integrated on one data board.
Furthermore, the data transmission component 4 may also comprise an installation interface for installing the context aware component.
In one example, the data transmission component 4 further comprises a power conversion module, with which power is implemented to the environment sensing component, the motion component, and the processing component 3, etc.
The following describes the use process and data flow direction of the intelligent driving assistance development device provided by the embodiment of the application.
First, a program for controlling the operation of the intelligent driving assistance development device is written and copied into a program storage component in the device main body.
Then, a self-boot mode is selected on the processing component and the program begins to run. The processing component sends the control command to the motion component, and the motion component starts to drive the device body to run on the simulated road.
Then, the camera, the radar sensor and the ultrasonic sensor on the device main body are in working states during the driving process of the device main body. Digital image that the camera was gathered transmits the processing module to the back through the processing module in processing module, can transmit the host computer through the bluetooth and show in transmitting to. The radar sensor transmits radar echo to the processing assembly through the data transmission assembly, the processing assembly in the processing assembly processes the radar echo, the running speed of the device main body is obtained, and the radar sensor transmits the radar echo to the upper computer through Bluetooth to display. Ultrasonic waves acquired by the ultrasonic sensor can also be transmitted to the processing assembly through the data transmission assembly, processed through the processing module in the processing assembly to obtain obstacle information on a simulated road, and then transmitted to the upper computer through Bluetooth for display.
And finally, analyzing and processing data in the driving process of the device main body, determining defects existing in the program development process, and improving the defects.
To sum up, the intelligence driver assistance development device that this application embodiment provided can operate under the laboratory environment for can carry out the development experiment in limited space, reduce development cost. In addition, various different road conditions can be simulated in a laboratory, and the development efficiency is improved.
The above-mentioned embodiments, objects, technical solutions and advantages of the present application are described in further detail, it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present application, and are not intended to limit the scope of the present application, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present application should be included in the scope of the present application.
Claims (10)
1. The utility model provides an intelligence driver assistance development device which characterized in that, is applied to under the laboratory simulation environment, includes the device main part, the device main part includes:
the environment perception component is used for acquiring motion information of the device main body in a simulated road and/or road condition information of the simulated road;
a motion component for controlling the device body to travel in the simulated road;
the processing component is used for generating a control instruction according to the current data acquired by the environment sensing component and sending the control instruction to the motion component, wherein the current data comprises the motion information and/or the road condition information;
the data transmission component is used for receiving and forwarding data in the environment perception component, the motion component and the processing component;
wherein the data transmission component is respectively connected with the environment perception component, the motion component and the processing component.
2. The intelligent driver assistance development device of claim 1, wherein the environmental awareness component comprises:
the speed measuring module is used for measuring the running speed of the device main body;
the obstacle detection module is used for detecting obstacle information in the simulated road;
and the image acquisition module is used for acquiring the lane line information of the simulated road.
3. The intelligent assistant driving development device according to claim 2, wherein the obstacle detection module is plural and is uniformly arranged on the device main body.
4. The intelligent driving assistance development device according to claim 2, wherein the speed measurement module is a radar sensor, the obstacle detection module is an ultrasonic sensor, and the image acquisition module is a camera.
5. The intelligent driver assistance development device according to claim 1, wherein the data transmission component comprises:
a plurality of first peripheral interfaces for interfacing with the environmental awareness component, the motion component, and the processing component;
the processing assembly comprises: the second peripheral interface is connected with the first peripheral interface;
and one second peripheral interface corresponds to at least one first peripheral interface.
6. The intelligent driver assistance development device according to claim 1, wherein the data transmission component comprises:
and the network module is used for establishing network connection with an external terminal.
7. The intelligent driver assistance development device of claim 1, wherein the motion assembly comprises:
a drive wheel;
the driving module is used for driving the driving wheel to rotate;
wherein, the drive module is connected with the data transmission component.
8. The intelligent driver assistance development device according to any one of claims 1 to 7, wherein the device main body further includes:
a program storage component for storing a driving assistance program;
wherein the program storage component is connected with the data processing component.
9. The intelligent driver assistance development device according to any one of claims 1 to 7, wherein the device main body further includes:
a power supply assembly for supplying electric power to the device body;
wherein, the power supply assembly is connected with the data transmission assembly.
10. The intelligent assisted-driving development device of claim 9, wherein the power supply component is an airplane model battery.
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| CN113515118A (en) * | 2021-04-21 | 2021-10-19 | 北京理工大学 | Movable teaching platform |
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