CN112700651B - Test method and system for automatic driving vehicle at airport - Google Patents
Test method and system for automatic driving vehicle at airport Download PDFInfo
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- CN112700651B CN112700651B CN202110182308.2A CN202110182308A CN112700651B CN 112700651 B CN112700651 B CN 112700651B CN 202110182308 A CN202110182308 A CN 202110182308A CN 112700651 B CN112700651 B CN 112700651B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
- G08G5/0082—Surveillance aids for monitoring traffic from a ground station
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Abstract
The invention relates to a test method and a system for an automatic driving vehicle at an airport, wherein the method comprises the following steps: generating an airport map, wherein the airport map comprises an airport route, and each fork of the airport route is marked by a characteristic point; setting a vehicle running path, issuing the running path to the automatic driving vehicle so that the automatic driving vehicle runs according to the running path, and representing the running path through the sequence of the feature points; when other flights collide with the running path of the vehicle, controlling the automatic driving vehicle to avoid the other flights; and collecting data information of the automatic driving vehicle for avoiding other flights, and testing the avoidance performance of the automatic driving vehicle. By the method, the safety and the working efficiency of traffic applied to the airport are effectively improved.
Description
Technical Field
The invention relates to the field of aviation, in particular to a test method and a test system for an autopilot vehicle at an airport.
Background
At present, the automatic driving technology is mature, and with the arrival of the 5G age, the automatic driving automobile technology gradually enters the public vision and is put into application, such as: travel services, passenger parking, automatic cleaning, various unmanned operations of relatively closed environments, and the like, which provide great challenges for the development and interaction of software and hardware environments supporting autopilot technology. In particular, in an airport such a closed environment, the technology of an automatic driving automobile is not put into use, and testing the route of the automatic driving automobile when put into use is significant for the development and innovation of the technology.
Existing automatic vehicle route detection methods are mainly divided into two categories: first, based on traditional machine vision algorithms, such as edge detection, binarization, hough transform, etc. And the second category is a method based on deep learning semantic segmentation. In either method, the main consideration is an open scene, the algorithm is complex, the calculated amount is large, and the method depends on a powerful calculation platform.
The automatic driving technology in the airport integrates the 5G technology and the Internet of things cloud computing of the airport, and meets the requirements of high reliability and low time delay of the airport under the artificial intelligence decision of the airport vehicle dispatching system. Meanwhile, the airport is more suitable for automatic driving application in a non-open traffic environment. At present, the automatic driving field is occasionally applied to the technical field of civil aviation, and in order to better improve the safety and the working efficiency of traffic applied to the interior of an airport, a test method and a test system for an automatic driving vehicle of the airport are urgently required.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method and a system for testing an autopilot vehicle, comprising:
generating an airport map, wherein the airport map comprises an airport route, and each fork of the airport route is marked by a characteristic point;
setting a vehicle running path, and issuing the running path to an automatic driving vehicle so that the automatic driving vehicle runs according to the running path, wherein the running path is represented by the sequence of feature points;
when other flights collide with the vehicle driving path, controlling the automatic driving vehicle to avoid the other flights;
and collecting data information of the automatic driving vehicle for avoiding other flights, and testing the avoidance performance of the automatic driving vehicle.
Optionally, the setting a vehicle driving path, issuing the driving path to an autopilot vehicle, so that the autopilot vehicle drives according to the driving path, includes:
the automatic driving vehicle runs from the characteristic point (T) to the characteristic point (S) according to the running path of the vehicle and waits for the first flight to arrive;
after the first flight arrives at the feature point (X), the autonomous vehicle guides the first flight to arrive at the first stand according to the vehicle driving path, and the autonomous vehicle drives to the feature point (V2).
Optionally, the method further comprises:
and the automatic driving vehicle runs to the characteristic point (I) from the characteristic point (V2) according to the running path of the vehicle, and after waiting for the first flight to start to be in place, the automatic driving vehicle guides the first flight to run to the departure taxiway exit.
Optionally, after the first flight travels to the departure taxiway exit, ending the data acquisition of the first flight.
Optionally, when the other flights collide with the vehicle driving path, controlling the automatic driving vehicle to avoid the other flights includes:
confirming that the vehicle driving path and the second flight generate path conflict at a characteristic point (G);
broadcasting notification is sent to road side equipment of the area where the feature point (G) is located, so that the automatic driving vehicle can avoid;
and when the second flight passes through the characteristic point (G), broadcasting notification is sent to road side equipment of the area where the characteristic point (G) is located, so that the automatic driving vehicle resumes running.
Optionally, the setting a vehicle driving path, issuing the driving path to an autopilot vehicle, so that the autopilot vehicle drives according to the driving path, includes:
the automatic driving vehicle runs from the characteristic point (T) to the characteristic point (S) according to the running path of the vehicle and waits for the arrival of a third flight;
a third FLIGHT modifies the outgoing contact, which third FLIGHT03 modifies from the first contact to the second contact;
issuing a vehicle travel path to an autonomous vehicle according to the condition that the third flight modifies the contact road, so that the autonomous vehicle waits for the third flight to a feature point (S);
and after the third flight is driven from the characteristic point (X) to the characteristic point (F), the automatic driving vehicle starts to guide the third flight to the first stand along the directions of the characteristic point (E), the characteristic point (B), the characteristic point (J), the characteristic point (P) and the characteristic point (V) according to the driving path of the vehicle, and then the automatic driving vehicle is driven to the characteristic point (V2).
Optionally, when the other flights collide with the vehicle driving path, controlling the automatic driving vehicle to avoid the other flights includes:
confirming that the fourth flight and the third flight generate path conflict at the feature point (A); a fourth flight and a third flight land on the same runway, and the fourth flight passes from the feature point (A) earlier than the third flight, the fourth flight heading to a second stand;
and issuing a vehicle driving path to the automatic driving vehicle, so that the automatic driving vehicle guides the third flight to the first stand along the directions of the characteristic point (C), the characteristic point (M), the characteristic point (N), the characteristic point (O) and the characteristic point (P).
Optionally, the distance between the fourth flight and the third flight is detected by a lidar.
Optionally, the method further comprises:
when the autonomous vehicle encounters an obstacle during a mission, the autonomous vehicle avoids the obstacle.
Optionally, after the autonomous vehicle arrives at the feature point (V2), the method further comprises:
receiving a homing instruction by an automatic driving vehicle;
according to the homing instruction, the automatic driving vehicle finally returns to the characteristic point (T) from the characteristic point (V2), the passing characteristic point (W2), the characteristic point (W) and the characteristic point (Y).
The invention provides a test system for an autonomous vehicle at an airport, comprising:
generating an airport map module, wherein the airport map comprises an airport route, and each fork of the airport route is marked by a characteristic point;
setting a vehicle travel path module, and issuing the travel path to an automatic driving vehicle so that the automatic driving vehicle travels according to the travel path, wherein the travel path is represented by the sequence of feature points;
the automatic driving vehicle avoiding module is used for controlling the automatic driving vehicle to avoid other flights when the other flights collide with the running path of the vehicle;
the test module is used for collecting data information of the automatic driving vehicle for avoiding other flights and testing the avoidance performance of the automatic driving vehicle.
The embodiment of the invention can fully grasp various links such as the task completion degree, emergency processing, decision making behavior and the like of the automatic driving vehicle, and in the test process, a dispatching system interface, an in-vehicle and out-vehicle monitoring system interface, vehicle body radar sensing data, an aerial photographing scene, a digital twin environment and road side base station data are all synchronously displayed in real time, so that the representation of an automatic driving technology at each test point is intuitively and effectively displayed, and an important fact basis is provided for realizing the application and the technical innovation of the automatic driving technology.
Drawings
FIG. 1 is a flow chart of a method for testing an autonomous vehicle according to an embodiment of the present invention;
FIG. 2 is an overall map provided by embodiments of the present invention;
fig. 3 is an airport map labeled with feature points according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1 is a flowchart of a test method for an automatic driving vehicle according to an embodiment of the present invention. Referring to fig. 1, the method includes:
s10, generating an airport map.
The source of the airport map may be various CAD files, or field information collected in the field.
The airport map includes airport routes, each fork of which is marked with a feature point. Because the airport is obviously regional and has a large area, the embodiment of the invention is only described by taking an airport map required by the test of the automatic driving vehicle as an example. Fig. 2 is an overall map, i.e., an area in which an autonomous vehicle and a flight may be involved in entering and exiting an airport, provided by an embodiment of the present invention. Fig. 2 includes a first contact 1, a second contact 2, and a third contact 3.
Fig. 3 is an airport map with feature points marked according to an embodiment of the present invention, and the airport map in fig. 3 is an area where an autonomous vehicle may be involved. Specifically, fig. 3 is a dotted line area in fig. 2.
S20, setting a vehicle driving path.
The vehicle travel path is a generic term for a path issued to an autonomous vehicle. Generally, if no flight delay or no path collision occurs, the autonomous vehicle only needs to guide the flight according to one vehicle travel path.
Of course, if an emergency occurs, avoidance is required according to a plurality of vehicle travel paths.
And issuing the driving path to an automatic driving vehicle so that the automatic driving vehicle can drive according to the driving path, wherein the driving path is represented by the sequence of the characteristic points.
And S30, when other flights collide with the vehicle driving path, controlling the automatic driving vehicle to avoid the other flights.
Because of the strong connectivity of paths within airports, methods for avoiding other flights may include waiting for a stop and changing the path traveled by the vehicle.
And S40, collecting data information of the automatic driving vehicle for avoiding the other flights, and testing the avoidance performance of the automatic driving vehicle.
On the basis of the embodiment, when the autonomous vehicle encounters an obstacle during a mission, the autonomous vehicle avoids the obstacle.
The embodiment of the invention can fully grasp various links such as the task completion degree, emergency processing, decision making behavior and the like of the automatic driving vehicle, and in the test process, a dispatching system interface, an in-vehicle and out-vehicle monitoring system interface, vehicle body radar sensing data, an aerial photographing scene, a digital twin environment and road side base station data are all synchronously displayed in real time, so that the representation of an automatic driving technology at each test point is intuitively and effectively displayed, and an important fact basis is provided for realizing the application and the technical innovation of the automatic driving technology.
In connection with steps S10-S40, the description will be given taking the example that the autonomous vehicle guides the first FLIGHT fliht 01 to the first stand 510:
the automatic driving vehicle runs from the characteristic point T to the characteristic point S according to the running path of the vehicle and waits for the first FLIGHT FLIGHT01 to arrive; after the first FLIGHT flight01 reaches the feature point X, the autonomous vehicle guides the first FLIGHT flight01 to the first stand 510 according to the vehicle driving path, and the autonomous vehicle drives to the feature point V2. Confirming that the vehicle driving path and the second FLIGHT FLIGHT02 generate path conflict at a feature point G; broadcasting notification is sent to road side equipment of the area where the feature point G is located, so that the automatic driving vehicle can avoid; and when the second FLIGHT FLIGHT02 passes through the characteristic point G, broadcasting notification is sent to road side equipment in the area where the characteristic point G is located, so that the automatic driving vehicle resumes running.
Such a method may test whether an autonomous vehicle guides a flight into a corresponding stand; whether other flights are avoided effectively in the running process of the automatic driving vehicle; whether the autopilot vehicle keeps a reasonable distance from the flight during the running process and whether the autopilot vehicle is synchronous with the acceleration and deceleration and braking states of the aircraft.
On the basis, the device also comprises: and the automatic driving vehicle runs to the characteristic point I from the characteristic point V2 according to the running path of the vehicle, and after waiting for the first FLIGHT FLIGHT01 to start to be in place, the automatic driving vehicle guides the first FLIGHT FLIGHT01 to run to the departure taxiway exit. Of course, after the first FLIGHT fliht 01 travels to the departure taxiway exit, the data acquisition for the first FLIGHT fliht 01 is ended.
Such a method may test whether the autonomous vehicle is guiding the flight for departure.
In connection with steps S10-S40, the description will be given taking the example that the autonomous vehicle guides the third FLIGHT fliht 03 to the first stand 510:
the automatic driving vehicle runs from the characteristic point T to the characteristic point S according to the running path of the vehicle and waits for the third FLIGHT FLIGHT03 to arrive; a third FLIGHT03 modifies the outgoing contact, the third FLIGHT03 modifying the outgoing contact from the first contact to the second contact; issuing a vehicle driving path to an automatic driving vehicle according to the condition that the third FLIGHT FLIGHT03 modifies the contact road, so that the automatic driving vehicle waits for the third FLIGHT FLIGHT03 to a feature point S; after the third FLIGHT03 travels from the feature point X to the feature point F, the autonomous vehicle starts to guide the third FLIGHT03 along the directions of the feature point E, the feature point B, the feature point J, the feature point P, and the feature point V according to the vehicle travel path to reach the first stand 510, and the autonomous vehicle travels to the feature point V2.
Confirming that the fourth FLIGHT FLIGHT04 and the third FLIGHT FLIGHT03 generate path conflict at the feature point A; a fourth FLIGHT fliht 04 lands on the same runway as the third FLIGHT fliht 03, and the fourth FLIGHT fliht 04 passes from the feature point a earlier than the third FLIGHT fliht 03, the fourth FLIGHT fliht 04 heading toward the second stand 511; the vehicle travel path is issued to the autonomous vehicle, and the autonomous vehicle guides the third FLIGHT fliht 03 to the first stand 510 along the directions of the feature point C, the feature point M, the feature point N, the feature point O, the feature point P. Such a method can test the guidance of the flight by the autonomous vehicle in the case of temporarily changing the contact road for the flight.
Specifically, the distance between the fourth FLIGHT fliht 04 and the third FLIGHT fliht 03 is detected by a lidar.
On the basis of the two examples, after the automatic driving vehicle reaches the feature point V2, the method further includes: receiving a homing instruction by an automatic driving vehicle; according to the homing instruction, the automatic driving vehicle finally returns to the characteristic point T from the characteristic point V2 through the characteristic point W2, the characteristic point W and the characteristic point Y.
In this way, the automatic homing of an autonomous vehicle in a mission-free condition can be tested. Consistent with the above method, the present invention is a system of:
a test system for an autonomous vehicle at an airport, comprising:
generating an airport map module, wherein the airport map comprises an airport route, and each fork of the airport route is marked by a characteristic point;
setting a vehicle travel path module, and issuing the travel path to an automatic driving vehicle so that the automatic driving vehicle travels according to the travel path, wherein the travel path is represented by the sequence of feature points;
the automatic driving vehicle avoiding module is used for controlling the automatic driving vehicle to avoid other flights when the other flights collide with the running path of the vehicle;
the test module is used for collecting data information of the automatic driving vehicle for avoiding other flights and testing the avoidance performance of the automatic driving vehicle.
While the invention has been described in detail in the foregoing general description, embodiments and experiments, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (7)
1. A method of testing an autonomous vehicle for an airport, comprising:
generating an airport map, wherein the airport map comprises an airport route, and each fork of the airport route is marked by a characteristic point;
setting a vehicle running path, and issuing the running path to an automatic driving vehicle so that the automatic driving vehicle runs according to the running path, wherein the running path is represented by the sequence of feature points;
when other flights collide with the vehicle driving path, controlling the automatic driving vehicle to avoid the other flights;
collecting data information of the automatic driving vehicle for avoiding the other flights, and testing the avoidance performance of the automatic driving vehicle;
the setting of a vehicle driving path, issuing the driving path to an automatic driving vehicle so that the automatic driving vehicle can drive according to the driving path, includes:
the automatic driving vehicle runs from the characteristic point (T) to the characteristic point (S) according to the running path of the vehicle and waits for the first flight to arrive;
after the first flight reaches the characteristic point (X), the automatic driving vehicle guides the first flight to the first stand according to the vehicle driving path, and the automatic driving vehicle drives to the characteristic point (V2);
the automatic driving vehicle runs to the characteristic point (I) from the characteristic point (V2) according to the running path of the vehicle, and after waiting for the first flight to start to be in place, the automatic driving vehicle guides the first flight to run to the departure taxiway exit;
after a first flight runs to an exit of a departure taxiway, ending data acquisition of the first flight;
when other flights collide with the vehicle driving path, controlling the automatic driving vehicle to avoid the other flights, including:
confirming that the vehicle driving path and the second flight generate path conflict at a characteristic point (G);
broadcasting notification is sent to road side equipment of the area where the feature point (G) is located, so that the automatic driving vehicle can avoid;
and when the second flight passes through the characteristic point (G), broadcasting notification is sent to road side equipment of the area where the characteristic point (G) is located, so that the automatic driving vehicle resumes running.
2. The test method according to claim 1, wherein the setting a vehicle travel path, issuing the travel path to an autonomous vehicle to cause the autonomous vehicle to travel along the travel path, comprises:
the automatic driving vehicle runs from the characteristic point (T) to the characteristic point (S) according to the running path of the vehicle and waits for the arrival of a third flight;
a third FLIGHT modifies the outgoing contact, which third FLIGHT03 modifies from the first contact to the second contact;
issuing a vehicle travel path to an autonomous vehicle according to the condition that the third flight modifies the contact road, so that the autonomous vehicle waits for the third flight to a feature point (S);
and after the third flight is driven from the characteristic point (X) to the characteristic point (F), the automatic driving vehicle starts to guide the third flight to the first stand along the directions of the characteristic point (E), the characteristic point (B), the characteristic point (J), the characteristic point (P) and the characteristic point (V) according to the driving path of the vehicle, and then the automatic driving vehicle is driven to the characteristic point (V2).
3. The method according to claim 2, wherein controlling the autonomous vehicle to avoid the other flight when the other flight collides with the vehicle travel path comprises:
confirming that the fourth flight and the third flight generate path conflict at the feature point (A); a fourth flight and a third flight land on the same runway, and the fourth flight passes from the feature point (A) earlier than the third flight, the fourth flight heading to a second stand;
and issuing a vehicle driving path to the automatic driving vehicle, so that the automatic driving vehicle guides the third flight to the first stand along the directions of the characteristic point (C), the characteristic point (M), the characteristic point (N), the characteristic point (O) and the characteristic point (P).
4. A test method according to claim 3, wherein the distance between the fourth flight and the third flight is detected by lidar.
5. The test method of claim 1, further comprising:
when the autonomous vehicle encounters an obstacle during a mission, the autonomous vehicle avoids the obstacle.
6. The test method according to claim 1 or 2, characterized in that after the autonomous vehicle has driven to the characteristic point (V2), it further comprises:
receiving a homing instruction by an automatic driving vehicle;
according to the homing instruction, the automatic driving vehicle finally returns to the characteristic point (T) from the characteristic point (V2), the passing characteristic point (W2), the characteristic point (W) and the characteristic point (Y).
7. A test system for an autonomous vehicle at an airport using the test method of any of claims 1-6, comprising:
generating an airport map module, wherein the airport map comprises an airport route, and each fork of the airport route is marked by a characteristic point;
setting a vehicle travel path module, and issuing the travel path to an automatic driving vehicle so that the automatic driving vehicle travels according to the travel path, wherein the travel path is represented by the sequence of feature points;
the automatic driving vehicle avoiding module is used for controlling the automatic driving vehicle to avoid other flights when the other flights collide with the running path of the vehicle;
the test module is used for collecting data information of the automatic driving vehicle for avoiding other flights and testing the avoidance performance of the automatic driving vehicle.
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| CN115775457B (en) * | 2023-01-31 | 2023-05-05 | 江苏天一航空工业股份有限公司 | Method and system for testing cooperative paths of civil aviation airport roads |
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| JP2001250200A (en) * | 2000-03-07 | 2001-09-14 | Toshiba Corp | Airport surface guidance system |
| JP3980868B2 (en) * | 2001-11-02 | 2007-09-26 | パイオニア株式会社 | Vehicle automatic guidance system, control device in vehicle automatic guidance system, vehicle automatic guidance method, and automatic guidance processing program. |
| US8447437B2 (en) * | 2010-11-22 | 2013-05-21 | Yan-Hong Chiang | Assistant driving system with video recognition |
| CN104299455A (en) * | 2014-10-27 | 2015-01-21 | 重庆布伦坦茨航空技术进出口有限公司 | Automatic driving system for airport special vehicle |
| US10228692B2 (en) * | 2017-03-27 | 2019-03-12 | Gulfstream Aerospace Corporation | Aircraft flight envelope protection and recovery autopilot |
| CN111707282B (en) * | 2020-04-28 | 2022-05-20 | 上海波若智能科技有限公司 | Route planning method and route planning system |
| CN112036768A (en) * | 2020-09-14 | 2020-12-04 | 民航数据通信有限责任公司 | Intelligent scheduling system and method for airport scene vehicles |
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