CN112612261A - Simulation test system and method for assisting lane change - Google Patents
Simulation test system and method for assisting lane change Download PDFInfo
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Abstract
The embodiment of the invention provides a simulation test system and a simulation test method for assisting lane changing, wherein the simulation test system for assisting lane changing of a vehicle can comprise an instruction simulation module, a virtual scene module, a sensor module, a control module, a vehicle actuator module, a dynamics module, a positioning module, a state feedback module and the like.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a simulation test system for assisting lane changing and a simulation test method for assisting lane changing.
Background
With the development of vehicle technology, the driving function of the vehicle is more and more abundant. The auxiliary lane changing function can help a driver to better master the best lane changing time, prevent traffic accidents caused by lane changing and simultaneously have a better prevention effect on rear collision. For the current algorithm function test of vehicle auxiliary lane changing, the investment of vehicle modification, scene planning, testing personnel and equipment is involved, so that the efficiency of the real vehicle testing method is low, the testing period is long, and the research and development efficiency of the vehicle auxiliary lane changing technology is greatly influenced.
Disclosure of Invention
The embodiment of the invention provides a simulation test system, a simulation test method, a vehicle and a computer readable storage medium for assisting lane changing, and aims to solve or partially solve the problems that in the prior art, the auxiliary lane changing has low test efficiency, long test period and low universality, and the research and development efficiency is seriously influenced.
The embodiment of the invention discloses a simulation test system for assisting lane changing, which comprises a control module, an instruction simulation module connected with the control module, a sensor module, a positioning module and a vehicle actuator module which are connected with the control module, a virtual scene module connected with the sensor module, a dynamics module connected with the vehicle actuator module and the positioning module, and a state feedback module connected with the dynamics module and the control module;
the virtual scene module is used for responding to the detection that the instruction simulation module sends a lane change control instruction to the control module and acquiring scene parameters of a target virtual scene;
the sensor module is used for acquiring sensor target information through the scene parameters;
the positioning module is used for acquiring the state parameters of the virtual vehicle sent by the dynamics module;
the vehicle actuator module is used for generating an auxiliary lane changing instruction aiming at the state parameter according to the sensor target information;
the dynamic module is used for controlling the virtual vehicle to execute a simulation test corresponding to the auxiliary lane changing instruction and generate a simulation test result;
and the state feedback module is used for generating test feedback information aiming at the auxiliary lane changing instruction by adopting the simulation test result and sending the test feedback information to the control module.
Optionally, the virtual scene module is configured to select a target virtual scene for the virtual vehicle from preset virtual scenes and acquire a scene parameter of the target virtual scene if the lane change control instruction is a steering control instruction.
Optionally, the positioning module is configured to acquire current vehicle pose information of the virtual vehicle sent by the dynamics module; generating state parameters of the virtual vehicle by adopting the current vehicle pose information;
wherein the state parameters at least comprise three-axis corner speed, three-axis acceleration and vehicle coordinates.
Optionally, the control module is configured to select a vehicle body controller corresponding to the state parameter, and determine a vehicle parameter corresponding to the state parameter through the vehicle body controller;
the vehicle actuator module is used for acquiring the sensor target information, the state parameters and the vehicle parameters output by the vehicle body controller; and determining a steering wheel control command for the state parameter by using the vehicle parameter and the sensor target information.
Optionally, the simulation test result includes pose information of the target vehicle and execution state information;
the dynamics module is used for outputting target vehicle pose information matched with the steering control instruction and execution state information;
the positioning module is used for generating target state parameters of the virtual vehicle by adopting the pose information of the target vehicle; sending the target state parameters to the control module;
and the state feedback module is used for generating test feedback information aiming at the auxiliary lane changing instruction by adopting the pose information and the execution state information of the target vehicle.
Optionally, the display device further comprises a display module connected with the control module; the lane change control command at least comprises a steering control command;
the control module is used for generating steering indication information corresponding to the steering control instruction;
the display module is used for controlling the vehicle-mounted central control screen corresponding to the virtual vehicle to display the steering indication information and controlling the instrument screen corresponding to the virtual vehicle to display the steering indication information.
Optionally, the display module is configured to acquire the test feedback information sent by the control module, and control the vehicle-mounted central control screen to display the test feedback information.
The embodiment of the invention also discloses a simulation test method for assisting lane change, which comprises the following steps:
responding to the detected lane change control instruction, and acquiring scene parameters of a target virtual scene and state parameters of a virtual vehicle;
acquiring sensor target information according to the scene parameters;
generating an auxiliary lane change instruction aiming at the state parameter according to the sensor target information;
controlling the virtual vehicle to execute a simulation test corresponding to the auxiliary lane changing instruction and generating a simulation test result;
and generating test feedback information aiming at the auxiliary lane changing instruction by adopting the simulation test result.
Optionally, the obtaining of the scene parameter of the target virtual scene includes:
and if the lane change control instruction is a steering control instruction, selecting a target virtual scene for the virtual vehicle from preset virtual scenes, and acquiring scene parameters of the target virtual scene.
Optionally, the acquiring the state parameter of the virtual vehicle includes:
acquiring current vehicle pose information of the virtual vehicle;
generating state parameters of the virtual vehicle by adopting the current vehicle pose information;
wherein the state parameters at least comprise three-axis corner speed, three-axis acceleration and vehicle coordinates.
Optionally, before the generating an auxiliary lane change instruction for the state parameter according to the sensor target information, the method further includes:
determining vehicle parameters corresponding to the state parameters;
the generating of the auxiliary lane change instruction for the state parameter according to the sensor target information comprises:
acquiring the sensor target information, the state parameters and the vehicle parameters;
and determining a steering wheel control command for the state parameter by using the vehicle parameter and the sensor target information.
Optionally, the simulation test result includes target vehicle pose information and execution state information, the controlling the virtual vehicle to execute the simulation test corresponding to the auxiliary lane change instruction and generate the simulation test result includes:
controlling the virtual vehicle to execute a simulation test corresponding to the auxiliary lane changing instruction, and outputting target vehicle pose information matched with the steering control instruction and execution state information;
the generating of the test feedback information aiming at the auxiliary lane change instruction by adopting the simulation test result comprises the following steps:
and generating test feedback information aiming at the auxiliary lane changing instruction by adopting the pose information and the execution state information of the target vehicle.
Optionally, the lane change control instruction at least includes a steering control instruction, and the method further includes:
generating steering indication information corresponding to the steering control command;
and controlling a vehicle-mounted central control screen corresponding to the virtual vehicle to display the steering indication information, and controlling an instrument screen corresponding to the virtual vehicle to display the steering indication information.
Optionally, the method further comprises:
and controlling the vehicle-mounted central control screen to display the test feedback information.
The embodiment of the invention also discloses a vehicle, which comprises:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform the method as described above.
Embodiments of the present invention also disclose a computer-readable storage medium having instructions stored thereon, which, when executed by one or more processors, cause the processors to perform the method as described above.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, the simulation test system for assisting lane change of the vehicle can comprise an instruction simulation module, a virtual scene module, a sensor module, a control module, a vehicle actuator module, a dynamics module, a positioning module, a state feedback module and the like, wherein the virtual scene module responds to the detection that the instruction simulation module sends a lane change control instruction to the control module, obtains scene parameters of a target virtual scene, obtains sensor target information through the scene parameters by the sensor module, obtains state parameters of the virtual vehicle sent by the dynamics module through the positioning module, generates an auxiliary lane change instruction aiming at the state parameters according to the sensor target information by the vehicle actuator module, controls the virtual vehicle to execute a simulation test corresponding to the auxiliary lane change instruction through the dynamics module, generates a simulation test result, and adopts the simulation test result through the state feedback module, test feedback information aiming at the auxiliary lane changing instruction is generated and sent to the control module to form closed-loop simulation test, and simulation test is performed on functions executed by different modules in the auxiliary lane changing process of the vehicle through the simulation test system, so that the reliability and the operating efficiency of the auxiliary lane changing test can be effectively improved, developers can perform technical research and development under the support of credible data, and the efficiency of algorithm iteration in mass production is improved.
Drawings
FIG. 1 is a block diagram of a simulation test apparatus for assisting lane change according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a simulation test framework in an embodiment of the invention;
fig. 3 is a flowchart illustrating steps of a simulation test method for assisting lane change according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, which shows a block diagram of a simulation test system for assisting lane change according to an embodiment of the present invention, the simulation test system may include a control module, an instruction simulation module connected to the control module, a sensor module, a positioning module, and a vehicle actuator module connected to the control module, a virtual scene module connected to the sensor module, a dynamics module connected to the vehicle actuator module and the positioning module, and a state feedback module connected to the dynamics module and the control module; wherein the content of the first and second substances,
the virtual scene module is used for responding to the detected lane change control instruction sent by the instruction simulation module to the control module and acquiring the scene parameters of the target virtual scene;
the sensor module is used for acquiring sensor target information through scene parameters;
the positioning module is used for acquiring the state parameters of the virtual vehicle sent by the dynamics module;
the vehicle actuator module is used for generating an auxiliary lane change instruction aiming at the state parameters according to the sensor target information;
the dynamic module is used for controlling the virtual vehicle to execute a simulation test corresponding to the auxiliary lane changing instruction and generate a simulation test result;
and the state feedback module is used for generating test feedback information aiming at the auxiliary lane change instruction by adopting a simulation test result and sending the test feedback information to the control module.
As an example, the algorithm function test at the current automatic driving stage of the vehicle involves different aspects such as the setting of a modified vehicle and a driving scene, and the investment of testers and test equipment, so that the real vehicle test efficiency is low, the period is long, and the requirement of rapid development of modern science and technology is difficult to meet. Therefore, one of the core invention points of the embodiment of the present invention is to provide a simulation test system for assisting lane change of a vehicle, which simulates a lane change control instruction sent by a user through the simulation test system, then selects a driving scenario, outputs a scenario parameter of the driving scenario, and then determines corresponding sensor target information according to the scenario parameter of the driving scenario, so as to generate a lane change assist instruction of a virtual vehicle in the simulation test according to the sensor target information, and perform a simulation test of lane change assist, thereby performing a simulation test on functions executed by different modules in a vehicle lane change assist process through the simulation test system, and effectively improving reliability and operating efficiency of the lane change assist test, so that developers can perform technical research and development under the support of trusted data, and increasing efficiency of algorithm iteration in mass production.
In the embodiment of the present invention, the simulation test system may include a control module, an instruction simulation module, a sensor module, a virtual scene module, a positioning module, a vehicle actuator module, a dynamics module, and a state feedback module, where the control module may be a control module including an ALC (Assisted Lane Change) algorithm, and may perform data interaction with other modules connected thereto, and the control module may be in communication connection with the instruction simulation module, the at least one sensor module, the positioning module, and the at least one vehicle actuator module, respectively, to implement data interaction.
Alternatively, ALC, which is a system for controlling a vehicle to change lanes by sensing lane lines and surrounding vehicles, may realize a vehicle control system in which the vehicle automatically changes lanes according to the lane change intention of a driver, and is being applied to vehicles with the popularization of the driving assistance function of L2-L3.
It should be noted that, in the embodiment of the present invention, the simulation test system may be a hardware system or a software system, and if the simulation test system is a hardware system, each functional module may be a corresponding hardware module; if the target virtual scene is a software system, each functional module may be a corresponding software module, for example, the sensor module may be a sensor model constructed according to an algorithm formula, and the sensor target information matched with the target virtual scene may be obtained by inputting the scene parameters of the target virtual scene into the sensor model, and the working principles of the other functional modules are the same as or similar to those of the sensor module, which is not repeated herein. For convenience of understanding and explanation, the embodiment of the present invention uses the simulation test system as a software system for exemplary illustration, and it should be understood that the present invention is not limited thereto.
In an alternative embodiment of the present invention, the simulation test system may be in communication connection with the instruction simulation module, where the instruction simulation module may be configured to output a lane change control instruction for simulating a driver, for example, the lane change control instruction may include a function of turning on/off a lane change assist, a steering control instruction, a braking instruction, and the like, and may be used as a trigger or suppression signal of the ALC algorithm, that is, the control module may identify the lane change control instruction sent by the instruction simulation module, determine whether to perform a simulation test, which kind of simulation test of lane change assist is performed, and the like.
In an optional embodiment of the present invention, the simulation test system may further include at least one virtual scene module respectively connected to the sensor module, where the virtual scene module may be configured to select a target virtual scene for the virtual vehicle from preset virtual scenes if the lane change control instruction is the steering control instruction, and send a scene parameter corresponding to the target virtual scene to the sensor module, so that the sensor module may determine sensor target information for the target virtual scene using the scene parameter.
In the actual lane changing process of the vehicle, the lane changing of the vehicle is usually initiated by a driver, so that when an instruction sent to the control module by the instruction simulation module is a steering control instruction in the simulation test process of assisting lane changing of the vehicle, the simulation driver sends the steering control instruction (such as the instruction of lane changing, a steering lamp and the like) to the virtual scene module to acquire corresponding scene parameters, so that the simulation test of assisting lane changing is performed on the corresponding virtual scene.
In specific implementation, the virtual scene module may be a module for parameterizing a driving scene related to an actual driving process of the vehicle, for example, the driving scene may include a lane line scene, a driving scene, an obstacle scene, a visual parking space scene, and the like, different driving scenes may be simulated by the virtual scene module, and a scene parameter corresponding to the driving scene is output to the sensor module, and the sensor module may calculate corresponding sensor target information after receiving the scene parameter.
The lane line scene can be a scene constructed by parameterizing a lane line of a driving road, and after the sensor module receives the scene parameters of the lane line scene sent by the virtual scene module, the sensor module can calculate and output sensor target information including polynomial parameters, types, colors and the like of the lane line, so that the sensor target information acquired by a vehicle sensor in driving scenes of lane changing, current lane keeping, lane changing following and the like of a vehicle can be simulated.
The driving scene can be a scene formed by parameterizing the approaching process of vehicles such as the front, the rear, the left side and the right side in the driving process of the vehicle, and after the sensor module receives the scene parameters of the driving scene sent by the virtual scene module, the sensor module can calculate and output sensor target information including the distance between the front vehicle, the rear vehicle, the side vehicle and the acceleration, so that the process of acquiring the driving relation between the vehicle sensor and other vehicles in the driving process of the vehicle can be simulated.
The obstacle scene can be a scene constructed by parameterizing a short-distance obstacle in the driving process, and after the sensor module receives the scene parameters of the obstacle scene sent by the virtual scene module, the sensor module can calculate and input sensor target information including the number of obstacles, the type of the obstacles, the distance between the obstacles and the vehicle and the like, so that the process of acquiring the obstacles by the vehicle sensor in the driving process of the vehicle can be simulated.
The visual parking space scene can be a scene constructed by parameters of parking spaces in the parking process, and after the sensor module receives the scene parameters of the visual parking space scene sent by the virtual scene module, the sensor module can calculate and output the parameters including the coordinates of the corner points of the parking spaces, the attributes of the parking spaces, the types of the parking spaces and the like to construct, so that the parking process of a vehicle is simulated, and the vehicle sensor carries out the information acquisition process on the parking spaces around the vehicle.
In the embodiment of the invention, the positioning module of the simulation test system can be used for acquiring the current vehicle pose information of the virtual vehicle sent by the dynamics module and generating the state parameters of the virtual vehicle by adopting the current vehicle pose information. The dynamics module can integrate simulation actuators such as a simulation steering wheel, a simulation brake pedal, a simulation motor, a simulation gear controller and a simulation hand brake, which are associated with vehicle dynamics, and the simulation actuators with different functions correspondingly simulate and execute different control instructions, for example, the steering wheel actuator can simulate the steering angle of the steering wheel, and the brake pedal actuator can simulate the pedal opening of the brake pedal. Alternatively, the simulation actuator may be a model that is simulated by a mathematical model, which is not limited in the present invention.
In a specific implementation, the dynamics module may generate current vehicle pose information of the virtual vehicle according to state parameters output by different simulation actuators. Specifically, the dynamics module may generate vehicle pose information of the virtual vehicle according to parameters such as a steering wheel angle output by the steering wheel actuator, a pedal opening output by the brake pedal actuator, a pedal opening output by the drive pedal actuator, a motor torque output by the motor actuator, a gear output by the gear actuator, and a hand brake state output by the hand brake actuator, and output the vehicle pose information to the positioning module. The positioning module may include an Inertial Unit (IMU) and a GPS navigation module, and after the positioning module obtains vehicle pose information sent by the dynamics module, the positioning module may calculate parameters such as a current steering wheel angle, a pedal opening degree, a motor torque, a gear position, and a hand brake state of the virtual vehicle through the IMU, so as to obtain state parameters of the virtual vehicle. The state parameter may include three-axis angular velocity, three-axis acceleration, vehicle coordinates, and the like, where the three-axis angular velocity may represent angular velocities of the virtual vehicle on x, y, and z axes, the three-axis acceleration may represent acceleration of the virtual vehicle on x, y, and z axes, and the vehicle coordinates may represent coordinates of the virtual vehicle in a coordinate system, and the like, which is not limited in the present invention.
In an optional embodiment of the present invention, the control module may be communicatively connected to a vehicle controller, wherein the vehicle controller may include a vehicle body controller, a large screen controller and an instrument controller, the vehicle body controller may be configured to simulate a driving state of the virtual vehicle, the large screen controller may be configured to simulate an on-board center control screen of the virtual vehicle, and the instrument controller may be configured to simulate an instrument screen of the virtual vehicle, so that the different controllers may be configured to simulate a real environment of the vehicle.
After the control module acquires the sensor target information sent by the sensor module and the state parameters sent by the positioning module, the vehicle body controller can be selected, and the vehicle parameters corresponding to the state parameters are determined through the vehicle body controller. Specifically, the vehicle body controller may determine an adjustment parameter for the state parameter according to different sensor target information, and acquire a target actuator matched with the adjustment parameter and a vehicle parameter for the target actuator.
For example, the sensor target information includes parameters such as lane line polynomial parameters, lane line types, and lane line colors, the control module may determine adjustment parameters for the state parameters by using the lane line polynomial parameters, the lane line types, and the lane line colors through the vehicle body controller, and the adjustment parameters may include steering wheel adjustment parameters, speed adjustment parameters, torque adjustment parameters, and the like, and then determine corresponding steering wheel actuators, brake pedal actuators, motor actuators, and the like, respectively, and then obtain torque (high speed) and turning angle (low speed) for the steering wheel actuators, deceleration for the brake pedal actuators, motor torque for the motor actuators, and the like.
It should be noted that different sensor target information may correspond to different adjustment parameters, different adjustment parameters may correspond to different simulation actuators and different vehicle parameters, so that the control module determines the vehicle parameters for the dynamics module through the vehicle body controller according to different driving scenarios, so that the vehicle actuator module generates corresponding vehicle control instructions according to the vehicle parameters, and the dynamics module executes the corresponding vehicle control instructions. The vehicle control command may include an acceleration command, a deceleration command, an auxiliary lane change command, a braking command, and the like, and for the auxiliary lane change command, it may be a steering wheel control command for controlling a steering wheel angle.
In the embodiment of the invention, the control module sends the sensor target information, the state parameters and the vehicle parameters to the vehicle actuator module through the vehicle body controller, the vehicle actuator module generates a corresponding vehicle control instruction and sends the auxiliary lane changing instruction to the dynamics module, and the dynamics module responds to the vehicle control instruction to perform simulation test on the virtual vehicle in a related vehicle running scene.
In a specific implementation, the vehicle actuator module may be used to simulate an electronic control steering system, an electronic control braking system, an electronic control driving system, an electronic control gear, an electronic control hand brake, and the like, and respectively correspond to a steering wheel actuator, a brake pedal actuator, a driving pedal actuator, a gear actuator, a hand brake actuator, and the like in the dynamics module. Specifically, the vehicle actuator module may determine, in combination with the scene parameters, which actuator of the virtual vehicle needs to be controlled, so as to control the driving direction, the driving speed, and the like of the virtual vehicle, and may obtain, from the control module, a steering wheel torque (high speed) and a steering wheel angle (low speed) of the steering wheel actuator through the electrically controlled steering system, and calculate and output the steering wheel angle to the dynamics module; acquiring deceleration from the control module through an electric control brake system, and calculating and outputting the opening degree of a brake pedal to the dynamics module; acquiring motor torque from the control module through an electric control driving system, and calculating and outputting the motor torque to the dynamics module; acquiring gear information from the control module through the electric control gear, and calculating and outputting the gear information to the dynamics module; the electric control hand brake acquires a hand brake request from the control module, calculates and outputs current hand brake state information to the dynamics module and the like, so that a corresponding vehicle control instruction is generated, a virtual vehicle is controlled, a simulation test of virtual vehicle automatic driving is realized, and a corresponding simulation test result is generated.
Specifically, the vehicle control command may include at least one of a steering wheel control command, a brake pedal control command, a motor control command, a gear control command, and a brake control command. The dynamics module can simulate and execute corresponding vehicle states including steering wheel angle control, brake pedal opening control, drive pedal opening control, motor torque control, gear control, hand brake control and the like according to the type of the vehicle control instruction, and after the corresponding control instruction is executed, vehicle pose information of the virtual vehicle and execution state information aiming at the vehicle control instruction are calculated.
It should be noted that, in order to make the simulation test more reasonable, the dynamics module may simulate the control of each actuator in a manner of vehicle dynamic change after receiving a vehicle control instruction, for example, the vehicle control instruction includes an auxiliary lane change instruction, and may specifically be a steering wheel control instruction, and may simulate the torque of a control steering wheel, and control a steering wheel simulator to simulate and output a steering wheel turning angle corresponding to the steering wheel control instruction until the turning angle of the steering wheel matches an angle corresponding to a required vehicle lane change. In the dynamic change process, the dynamics module may generate vehicle pose information of the vehicle and execution state information according to the state parameters of each actuator, where the vehicle pose information represents a current state of the vehicle, and the execution state information may be used to represent whether a current execution state of the actuator reaches a target state corresponding to the auxiliary lane change instruction, including the execution state information that is not executed, is being executed, and is completed.
In a specific implementation, the simulation test system may further include a state feedback module, and after the dynamic module performs the simulation test, a simulation test result may be generated, where the simulation test result may include current target vehicle pose information and execution state information of the virtual vehicle, and the state feedback module may be configured to acquire the vehicle pose information and the execution state information sent by the dynamic module, generate test feedback information for a vehicle control instruction by using the vehicle pose information and the execution state information, and send the test feedback information to the control module, so that the control module dynamically sends vehicle parameters to the vehicle actuator module according to the test feedback information, thereby forming a dynamic loop adjustment mode, and ensuring reliability of the automatic driving simulation test.
Specifically, the test feedback information may obtain current working states of a steering wheel actuator, a brake pedal actuator, a drive pedal actuator, a gear actuator, a hand brake actuator and the like according to the analysis of the vehicle pose information, then judge whether each actuator is in a working state matched with the auxiliary lane change instruction or not by combining the execution state information, and generate the test feedback information for the auxiliary lane change instruction according to the current state parameters of the actuators when the actuators are not in the working state matched with the auxiliary lane change instruction. For example, the output steering wheel angle may be calculated based on the steering state of the steering wheel actuator; calculating and outputting wheel speed, wheel pulse and the like of the virtual vehicle according to the pedal opening degree of a brake pedal actuator and/or a driving pedal actuator; and calculating and outputting the motor torque of the virtual vehicle and the like according to the motor torque of the motor, and transmitting the calculated parameters serving as test feedback information to the control module, so that the control module dynamically sends vehicle parameters to the vehicle actuator module according to the test feedback information to form a dynamic circulating regulation mode, and the reliability of the automatic driving simulation test is ensured.
In an optional embodiment of the present invention, the large screen controller of the simulation test system may be configured to simulate an on-vehicle central control screen of the virtual vehicle, and the instrument controller may be configured to simulate an instrument screen of the virtual vehicle, and the simulation test system may further include a display module communicatively connected to the control module, where the display module may include functions of simulating the on-vehicle central control screen and the instrument screen, and may display the functions through a graphical user interface. The display module can be an ALC state feedback monitoring module and is used for displaying related prompt information and test results in the auxiliary lane changing process in a graphical user interface or voice mode and the like.
In specific implementation, in the process of performing the simulation test of the auxiliary lane changing, the control module may further generate steering indication information corresponding to the steering control instruction, and send the steering indication information to the display module, and the vehicle-mounted central control screen or the instrument panel simulated by the display module outputs the steering indication information, for example, the current road condition may be displayed in the simulated vehicle-mounted central control screen, and the lane to which the user needs to change from which lane, and the like, and at the same time, the corresponding voice prompt "turn right 100 meters ahead", and the like may be output, and the corresponding steering indication lamp, and the like, may be displayed on the simulated instrument panel.
In addition, after the simulation test of the auxiliary lane changing is finished, the display module can acquire the test feedback information sent by the control module and display the test feedback information through the simulated vehicle-mounted center control screen, so that the actual vehicle scene of the vehicle during the auxiliary lane changing of the vehicle can be simulated through the display module, the authenticity of the simulation test is ensured, meanwhile, the test result can be displayed, a developer can perform algorithm adjustment on the simulation test system according to the test result, and the efficiency of algorithm iteration in mass production is increased.
In the embodiment of the invention, the simulation test system for assisting lane change of the vehicle can comprise an instruction simulation module, a virtual scene module, a sensor module, a control module, a vehicle actuator module, a dynamics module, a positioning module, a state feedback module and the like, wherein the virtual scene module responds to the detection that the instruction simulation module sends a lane change control instruction to the control module, obtains scene parameters of a target virtual scene, obtains sensor target information through the scene parameters by the sensor module, obtains state parameters of the virtual vehicle sent by the dynamics module through the positioning module, generates an auxiliary lane change instruction aiming at the state parameters according to the sensor target information by the vehicle actuator module, controls the virtual vehicle to execute a simulation test corresponding to the auxiliary lane change instruction through the dynamics module, generates a simulation test result, and adopts the simulation test result through the state feedback module, test feedback information aiming at the auxiliary lane changing instruction is generated and sent to the control module to form closed-loop simulation test, and simulation test is performed on functions executed by different modules in the auxiliary lane changing process of the vehicle through the simulation test system, so that the reliability and the operating efficiency of the auxiliary lane changing test can be effectively improved, developers can perform technical research and development under the support of credible data, and the efficiency of algorithm iteration in mass production is improved.
In order to make the simulation test system of the embodiment of the present invention better understood by those skilled in the art, the following description is made by way of an example.
Referring to fig. 2, a schematic diagram of a simulation testing framework in an embodiment of the present invention is shown, which may include a driver instruction simulation, a virtual scene model, a virtual sensor model, a positioning model, an actuator model (steering actuator model), a vehicle model, a vehicle state & execution state feedback model, a correlation controller, ALC state feedback monitoring, and ALC algorithm vector composition.
The virtual scene model comprises scene elements such as a lane line scene, a driving scene, an obstacle scene, a visual parking space scene and the like, and scene parameters are transmitted to the sensor model by constructing a parameterized scene.
The sensor model comprises lane line recognition sensor simulation, target recognition sensor simulation and virtual ultrasonic sensor simulation. The lane line identification sensor simulates a lane line which is parameterized in a lane line scene and outputs information such as a lane line polynomial parameter, type and color in real time; the target recognition sensor simulates and obtains parameters of a driving scene in the virtual scene model, and outputs information such as a front vehicle, a side vehicle, a front vehicle longitudinal and lateral distance, speed and acceleration and the like; the virtual ultrasonic model obtains parameters in the scene of the obstacle, and calculates and outputs real-time ultrasonic detection distance.
The positioning model comprises an IMU inertial unit and a GPS navigation module, and three-axis corner velocity, three-axis acceleration and vehicle coordinates are calculated and output by acquiring vehicle pose information calculated by the vehicle model.
The actuator model comprises an electric control steering system, an electric control braking system, an electric control driving system, an electric control gear and an electric control hand brake. In the auxiliary lane changing process, an electric control steering system in an actuator model is mainly used, and the electric control steering system obtains steering wheel torque (high speed) and steering wheel turning angle (low speed) from an automatic driving domain controller and calculates and outputs the steering wheel turning angle to a vehicle model.
The vehicle model receives the steering wheel angle output by the actuator system, and calculates and outputs vehicle pose information and execution state information.
The vehicle state and execution state feedback model obtains vehicle model calculation output vehicle position and attitude information, execution state information, and calculation output steering wheel turning angle, wheel speed, wheel pulse, motor torque and other feedback information.
The associated controller simulates the real environment of the vehicle by simulating each controller of the vehicle, including a vehicle body controller, a large screen controller, an instrument controller and the like.
The automatic driving area controller is a tested module with an ALC algorithm and can be hardware or software.
ALC state feedback monitoring may simulate large screen displays, meter text, voice prompts, and the like.
Referring to fig. 3, a structural block diagram of a simulation test method for assisting lane change according to an embodiment of the present invention is shown, and specifically, the structural block diagram may include the following modules:
303, generating an auxiliary lane change instruction aiming at the state parameter according to the sensor target information;
and 305, generating test feedback information aiming at the auxiliary lane change instruction by adopting the simulation test result.
In an optional embodiment of the present invention, the obtaining the scene parameter of the target virtual scene includes:
and if the lane change control instruction is a steering control instruction, selecting a target virtual scene for the virtual vehicle from preset virtual scenes, and acquiring scene parameters of the target virtual scene.
In an optional embodiment of the present invention, the obtaining the state parameter of the virtual vehicle includes:
acquiring current vehicle pose information of the virtual vehicle;
generating state parameters of the virtual vehicle by adopting the current vehicle pose information;
wherein the state parameters at least comprise three-axis corner speed, three-axis acceleration and vehicle coordinates.
In an optional embodiment of the present invention, before the generating the auxiliary lane change instruction for the state parameter according to the sensor target information, the method further comprises:
determining vehicle parameters corresponding to the state parameters;
the generating of the auxiliary lane change instruction for the state parameter according to the sensor target information comprises:
acquiring the sensor target information, the state parameters and the vehicle parameters;
and determining a steering wheel control command for the state parameter by using the vehicle parameter and the sensor target information.
In an optional embodiment of the present invention, the simulation test result includes target vehicle pose information and execution state information, and the controlling the virtual vehicle to execute the simulation test corresponding to the auxiliary lane change instruction and generate the simulation test result includes:
controlling the virtual vehicle to execute a simulation test corresponding to the auxiliary lane changing instruction, and outputting target vehicle pose information matched with the steering control instruction and execution state information;
the generating of the test feedback information aiming at the auxiliary lane change instruction by adopting the simulation test result comprises the following steps:
and generating test feedback information aiming at the auxiliary lane changing instruction by adopting the pose information and the execution state information of the target vehicle.
In an optional embodiment of the invention, the lane change control instruction comprises at least a steering control instruction, and the method further comprises:
generating steering indication information corresponding to the steering control command;
and controlling a vehicle-mounted central control screen corresponding to the virtual vehicle to display the steering indication information, and controlling an instrument screen corresponding to the virtual vehicle to display the steering indication information.
In an optional embodiment of the present invention, further comprising:
and controlling the vehicle-mounted central control screen to display the test feedback information.
In the embodiment of the invention, the simulation test system for assisting lane change of the vehicle can comprise an instruction simulation module, a virtual scene module, a sensor module, a control module, a vehicle actuator module, a dynamics module, a positioning module, a state feedback module and the like, wherein the virtual scene module responds to the detection that the instruction simulation module sends a lane change control instruction to the control module, obtains scene parameters of a target virtual scene, obtains sensor target information through the scene parameters by the sensor module, obtains state parameters of the virtual vehicle sent by the dynamics module through the positioning module, generates an auxiliary lane change instruction aiming at the state parameters according to the sensor target information by the vehicle actuator module, controls the virtual vehicle to execute a simulation test corresponding to the auxiliary lane change instruction through the dynamics module, generates a simulation test result, and adopts the simulation test result through the state feedback module, test feedback information aiming at the auxiliary lane changing instruction is generated and sent to the control module to form closed-loop simulation test, and simulation test is performed on functions executed by different modules in the auxiliary lane changing process of the vehicle through the simulation test system, so that the reliability and the operating efficiency of the auxiliary lane changing test can be effectively improved, developers can perform technical research and development under the support of credible data, and the efficiency of algorithm iteration in mass production is improved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
As for the method embodiment, since it is basically similar to the system embodiment, the description is simple, and the relevant points can be referred to the partial description of the system embodiment.
An embodiment of the present invention further provides a vehicle, including:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform a method as described in embodiments of the invention.
Embodiments of the present invention also provide a computer-readable storage medium having stored thereon instructions, which, when executed by one or more processors, cause the processors to perform a method according to embodiments of the present invention.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, EEPROM, Flash, eMMC, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. 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 terminal that comprises the element.
The simulation test system for auxiliary lane change and the simulation test method for auxiliary lane change provided by the invention are introduced in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. The simulation test system for assisting lane changing is characterized by comprising a control module, an instruction simulation module connected with the control module, a sensor module, a positioning module and a vehicle actuator module which are connected with the control module, a virtual scene module connected with the sensor module, a dynamics module connected with the vehicle actuator module and the positioning module, and a state feedback module connected with the dynamics module and the control module;
the virtual scene module is used for responding to the detection that the instruction simulation module sends a lane change control instruction to the control module and acquiring scene parameters of a target virtual scene;
the sensor module is used for acquiring sensor target information through the scene parameters;
the positioning module is used for acquiring the state parameters of the virtual vehicle sent by the dynamics module;
the vehicle actuator module is used for generating an auxiliary lane changing instruction aiming at the state parameter according to the sensor target information;
the dynamic module is used for controlling the virtual vehicle to execute a simulation test corresponding to the auxiliary lane changing instruction and generate a simulation test result;
and the state feedback module is used for generating test feedback information aiming at the auxiliary lane changing instruction by adopting the simulation test result and sending the test feedback information to the control module.
2. The simulation test system of claim 1,
and the virtual scene module is used for selecting a target virtual scene aiming at the virtual vehicle from preset virtual scenes and acquiring scene parameters of the target virtual scene if the lane change control instruction is a steering control instruction.
3. The simulation test system of claim 1,
the positioning module is used for acquiring the current vehicle pose information of the virtual vehicle sent by the dynamics module; generating state parameters of the virtual vehicle by adopting the current vehicle pose information;
wherein the state parameters at least comprise three-axis corner speed, three-axis acceleration and vehicle coordinates.
4. The simulation test system of claim 3,
the control module is used for selecting the vehicle body controller corresponding to the state parameter and determining the vehicle parameter corresponding to the state parameter through the vehicle body controller;
the vehicle actuator module is used for acquiring the sensor target information, the state parameters and the vehicle parameters output by the vehicle body controller; and determining a steering wheel control command for the state parameter by using the vehicle parameter and the sensor target information.
5. The simulation test system of claim 4, wherein the simulation test results include target vehicle pose information and execution state information;
the dynamics module is used for outputting target vehicle pose information matched with the steering control instruction and execution state information;
the positioning module is used for generating target state parameters of the virtual vehicle by adopting the pose information of the target vehicle; sending the target state parameters to the control module;
and the state feedback module is used for generating test feedback information aiming at the auxiliary lane changing instruction by adopting the pose information and the execution state information of the target vehicle.
6. The simulation test system of claim 1, further comprising a presentation module connected to the control module; the lane change control command at least comprises a steering control command;
the control module is used for generating steering indication information corresponding to the steering control instruction;
the display module is used for controlling the vehicle-mounted central control screen corresponding to the virtual vehicle to display the steering indication information and controlling the instrument screen corresponding to the virtual vehicle to display the steering indication information.
7. The simulation test system of claim 6,
the display module is used for acquiring the test feedback information sent by the control module and controlling the vehicle-mounted central control screen to display the test feedback information.
8. A simulation test method for assisting lane change is characterized by comprising the following steps:
responding to the detected lane change control instruction, and acquiring scene parameters of a target virtual scene and state parameters of a virtual vehicle;
acquiring sensor target information according to the scene parameters;
generating an auxiliary lane change instruction aiming at the state parameter according to the sensor target information;
controlling the virtual vehicle to execute a simulation test corresponding to the auxiliary lane changing instruction and generating a simulation test result;
and generating test feedback information aiming at the auxiliary lane changing instruction by adopting the simulation test result.
9. A vehicle, characterized by comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform the method of claim 8.
10. A computer-readable storage medium having stored thereon instructions, which when executed by one or more processors, cause the processors to perform the method of claim 8.
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