CN112783142B - Simulation test system, method, equipment and storage medium for lane centering control - Google Patents
Simulation test system, method, equipment and storage medium for lane centering control Download PDFInfo
- Publication number
- CN112783142B CN112783142B CN202110008776.8A CN202110008776A CN112783142B CN 112783142 B CN112783142 B CN 112783142B CN 202110008776 A CN202110008776 A CN 202110008776A CN 112783142 B CN112783142 B CN 112783142B
- Authority
- CN
- China
- Prior art keywords
- lane
- vehicle
- module
- information
- centering control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 177
- 238000012360 testing method Methods 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 26
- 238000010998 test method Methods 0.000 claims abstract description 19
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
Abstract
The application discloses a simulation test system, a method, equipment and a storage medium for lane centering control, wherein the system comprises: the system comprises a scene building module, a sensor simulation module, a positioning simulation module, a vehicle simulation module and a processing module; the scene building module is used for building a parameterized lane scene according to the lane scene elements; the sensor simulation module is used for sending lane information acquired according to a lane scene to the tested lane centering control module, so that the tested lane centering control module generates vehicle control information based on the lane information; the vehicle simulation module is used for executing vehicle control information and sending the executed vehicle state information to the positioning simulation module; the positioning simulation module is used for calculating corresponding vehicle pose information according to the vehicle state information; the processing module is used for calculating a test result of the tested lane centering control module according to the vehicle pose information and the lane scene. The technical problem that the simulation test method in the prior art is low in accuracy is partially solved.
Description
Technical Field
The present application relates to the field of driving control, and in particular, to a system, a method, a device, and a storage medium for simulating lane centering control.
Background
Lane centering control is one of basic functions of intelligent driving technology, and is being continuously applied to general vehicles as driving assistance functions are popularized. The lane centering control is a control technology for keeping the vehicle in the middle of a lane by controlling a vehicle steering system through sensing of a lane line.
In order to ensure the performance of the lane centering control of the vehicle, the performance of the lane centering control is generally tested through a simulation test. The simulation test method in the prior art has low accuracy.
Disclosure of Invention
The application provides a simulation test system, a method, equipment and a storage medium for lane centering control, and partially solves the technical problem that the simulation test method in the prior art is low in accuracy.
In view of the above, a first aspect of the present application provides a simulation test system for lane centering control, including: the system comprises a scene building module, a sensor simulation module, a positioning simulation module, a vehicle simulation module and a processing module;
the scene building module is used for building a parameterized lane scene according to the lane scene elements;
the sensor simulation module is used for sending lane information acquired according to the lane scene to a tested lane centering control module, so that the tested lane centering control module generates vehicle control information based on the lane information;
the vehicle simulation module is used for executing the vehicle control information and sending the executed vehicle state information to the positioning simulation module;
the positioning simulation module is used for calculating corresponding vehicle pose information according to the vehicle state information;
and the processing module is used for calculating the test result of the tested lane centering control module according to the vehicle pose information and the lane scene.
Optionally, the scene construction module is further configured to construct a parameterized obstacle scene according to the obstacle scene elements;
the sensor simulation module is further used for sending the obstacle information acquired according to the obstacle scene to the detected lane centering control module, so that the detected lane centering control module generates vehicle control information based on the lane information and the obstacle information.
Optionally, the lane control information is specifically: and (4) turning the steering wheel.
Optionally, when the lane control information is a steering wheel torque, the vehicle simulation module includes: the data conversion sub-module and the execution sub-module;
the data conversion submodule is used for converting the steering wheel torque into a steering wheel angle;
and the execution submodule is used for executing the steering wheel angle and sending the state information of the executed vehicle to the positioning simulation module.
Optionally, the method further comprises: a vehicle environment simulation module;
the vehicle environment simulation module is used for building a vehicle operation environment according to vehicle parameter elements and sending the vehicle operation environment to the tested lane centering control module, so that the tested lane centering control module generates vehicle control information based on the lane information under the vehicle operation environment.
Optionally, the method further comprises: a calculation module;
and the calculation module is used for calculating the operation parameters of the vehicle simulation module based on the vehicle state information.
Optionally, the operating parameter comprises at least one of:
wheel speed, wheel impulse and motor torque.
Optionally, the positioning simulation module is further configured to calculate three-axis angular velocity, three-axis acceleration, and vehicle coordinates corresponding to the pose information.
Optionally, the processing module specifically includes
The obtaining submodule is used for obtaining a lane center line corresponding to the lane scene;
a comparison submodule for comparing the pose information with the deviation between the lane center lines;
and the result determining submodule is used for determining a test result of the tested lane centering control module according to the deviation.
A second aspect of the present application provides a simulation test method for lane centering control, which is applied to the simulation test system for lane centering control of the first aspect, and includes:
the scene building module builds a parameterized lane scene according to the lane scene elements;
the sensor simulation module sends lane information acquired according to the lane scene to a tested lane centering control module, so that the tested lane centering control module generates vehicle control information based on the lane information;
the vehicle simulation module executes the vehicle control information and sends the executed vehicle state information to the positioning simulation module;
the positioning simulation module calculates corresponding vehicle position and attitude information according to the vehicle state information;
and the processing module calculates a test result of the tested lane centering control module according to the vehicle pose information and the lane scene.
A third aspect of the present application provides a simulation test apparatus for lane centering control, the apparatus comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the simulation test method for lane centering control according to the second aspect according to instructions in the program code.
A fourth aspect of the present application provides a storage medium for storing program code for executing the simulation test method of lane centering control according to the second aspect described above.
According to the technical scheme, the embodiment of the application has the following advantages:
the application provides a simulation test system of lane control placed in middle, includes: the system comprises a scene building module, a sensor simulation module, a positioning simulation module, a vehicle simulation module and a processing module; the scene building module is used for building a parameterized lane scene according to the lane scene elements; the sensor simulation module is used for sending lane information acquired according to a lane scene to the tested lane centering control module, so that the tested lane centering control module generates vehicle control information based on the lane information; the vehicle simulation module is used for executing vehicle control information and sending the executed vehicle state information to the positioning simulation module; the positioning simulation module is used for calculating corresponding vehicle pose information according to the vehicle state information; the processing module is used for calculating a test result of the tested lane centering control module according to the vehicle position and attitude information and the lane scene.
According to the lane centering control method and the lane centering control system, a lane scene is simulated, corresponding vehicle control information is generated based on the lane scene, a test result of the tested lane centering control module can be calculated according to vehicle position and posture information of a vehicle corresponding to the vehicle control information and the lane scene, the vehicle control information generated by the tested lane centering control module is more accurate by simulating the lane scene during lane centering control, the test result of the tested lane centering control module is further improved, and the technical problem that the accuracy rate of the simulation test method in the prior art is lower is partially solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of a simulation test system for lane centering control in an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating an embodiment of a simulation test system for lane centering control according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of an embodiment of a simulation test method for lane centering control according to the present application;
fig. 4 is a schematic structural diagram of an embodiment of a simulation test device for lane centering control in an embodiment of the present application.
Detailed Description
The embodiment of the application provides a simulation test system, a method, equipment and a storage medium for lane centering control, and partially solves the technical problem that the simulation test method in the prior art is low in accuracy.
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, a schematic structural diagram of an embodiment of a simulation test system for lane centering control in an embodiment of the present application is shown.
The simulation test system for lane centering control in the embodiment includes: the system comprises a scene building module 1, a sensor simulation module 2, a positioning simulation module 3, a vehicle simulation module 4 and a processing module 5; the scene building module 1 is used for building a parameterized lane scene according to the lane scene elements; the sensor simulation module 2 is used for sending lane information acquired according to a lane scene to the tested lane centering control module, so that the tested lane centering control module generates vehicle control information based on the lane information; the vehicle simulation module 4 is used for executing vehicle control information and sending the executed vehicle state information to the positioning simulation module 3; the positioning simulation module 3 is used for calculating corresponding vehicle pose information according to the vehicle state information; and the processing module 5 is used for calculating a test result of the tested lane centering control module according to the vehicle pose information and the lane scene.
It can be understood that the lane scene elements can be configured in the scene building simulation module in advance, and when a simulation test requirement happens, the lane scene can be built directly according to the lane scene elements stored in the scene building simulation module.
The sensor simulation module 2 simulates a sensor (e.g., a camera) mounted on a vehicle, and the vehicle recognizes a lane scene of the vehicle through the sensor when the vehicle is running. The sensor simulation module 2 in the embodiment simulates a sensor to be carried, recognizes a lane scene built by the scene building simulation module, and then sends lane information acquired after recognition to the tested lane centering control module.
The tested lane centering control module is a lane centering control module of a simulation test, and the module is used for generating corresponding vehicle control information according to lane information of a vehicle, and the vehicle control information controls the vehicle to run in the center on a lane in the running process of the vehicle. It can be understood that the corresponding vehicle control information is generated according to the lane information, where the corresponding relationship between the lane information and the vehicle control information is preset in the measured lane centering control module, and after the lane information is obtained, the vehicle control information corresponding to the lane information can be obtained according to the lane information and the corresponding relationship. The lane information in this embodiment includes, but is not limited to, a lane type and a lane color, and specifically, those skilled in the art may set the lane information as needed, which is not limited and described herein.
The vehicle simulation module 4 simulates a vehicle, and the vehicle simulation module 4 executes vehicle control information generated by the tested lane centering control module, namely, vehicle state information after the vehicle simulation module 4 executes the vehicle control information is sent to the positioning simulation module 3.
The positioning simulation module 3 calculates corresponding vehicle pose information according to the vehicle state information after the vehicle simulation module 4 executes the vehicle control information, where the vehicle pose information is the vehicle pose information after the vehicle simulation module 4 executes the vehicle control information, that is, the vehicle pose information corresponding to the vehicle control information.
Since the vehicle position and orientation information corresponds to the vehicle control information, that is, the vehicle position and orientation information corresponds to the tested lane centering control module, after the vehicle position and orientation information is obtained, the processing module 5 can calculate the centering control test result of the tested lane centering control module based on the vehicle position and orientation information and the lane scene.
In the simulation test system for lane centering control in the embodiment, a scene building simulation module builds a lane scene, the lane scene is the lane scene during simulation test, a sensor on a vehicle is simulated through a sensor simulation module 2, lane information is acquired after the lane scene is identified, the lane information is sent to a tested lane centering control module, the tested lane generates vehicle control information based on the lane information, a vehicle simulation module 4 simulates vehicle execution, after the vehicle simulation module 4 executes the vehicle control information, the vehicle state information is sent to a positioning simulation module 3, the positioning simulation module 3 calculates corresponding vehicle pose information according to the vehicle state information, a processing module 5 can calculate a test result of the lane centering control of the tested lane centering control module according to the vehicle pose information and the lane scene, the lane scene is simulated in the application, corresponding vehicle control information is generated based on the lane scene, the test result of the tested lane centering control module can be calculated according to the vehicle pose information and the lane scene corresponding to the vehicle control information, and the test result of the tested lane centering control module can be calculated according to the vehicle control information and the lane scene corresponding to the vehicle control information, and the problem of the existing centering control technology is solved.
The above is a first embodiment of a simulation test system for lane centering control provided in the embodiments of the present application, and the following is a second embodiment of a simulation test system for lane centering control provided in the embodiments of the present application.
Referring to fig. 1, the simulation test system for lane centering control in the present embodiment includes: the system comprises a scene building module 1, a sensor simulation module 2, a positioning simulation module 3, a vehicle simulation module 4 and a processing module 5; the scene building module 1 is used for building a parameterized lane scene according to the lane scene elements; the sensor simulation module 2 is used for sending lane information acquired according to a lane scene to the tested lane centering control module, so that the tested lane centering control module generates vehicle control information based on the lane information; the vehicle simulation module 4 is used for executing vehicle control information and sending the executed vehicle state information to the positioning simulation module 3; the positioning simulation module 3 is used for calculating corresponding vehicle pose information according to the vehicle state information; and the processing module 5 is used for calculating a test result of the tested lane centering control module according to the vehicle pose information and the lane scene.
It can be understood that when the vehicle is subjected to lane centering control, the obstacle may affect the vehicle control information generated by the tested lane centering control module, so the scene building module 1 in the embodiment is further configured to build a parameterized obstacle scene according to the obstacle scene elements; the sensor simulation module 2 is further configured to send the obstacle information acquired according to the obstacle scene to the measured lane centering control module, so that the measured lane centering control module generates vehicle control information based on the lane information and the obstacle information. By combining the obstacle scene and the lane scene, the obtained vehicle control information is more fit with the actual running condition of the vehicle. It should be noted that the obstacles include, but are not limited to, front vehicles, rear vehicles, pedestrians, trees, and the like.
It will be appreciated that in one embodiment, the lane control information is specifically: and (4) steering wheel turning. Namely, the tested lane centering control module directly generates a steering wheel angle, and the vehicle simulation module 4 can directly execute the steering wheel angle.
Optionally, in an embodiment, the lane control information is a steering wheel torque, and the vehicle simulation module 4 includes: a data conversion submodule and an execution submodule; the data conversion submodule is used for converting the steering wheel torque into a steering wheel angle; and the execution submodule is used for executing the steering wheel angle and sending the executed vehicle state information to the positioning simulation module 3.
In order to further improve the accuracy of the test result, the vehicle operation environment is simulated in this embodiment, because the vehicle operation environment may also affect the vehicle control information, the simulation test system for lane centering control in this embodiment further includes: a vehicle environment simulation module 6; the vehicle environment simulation module 6 is used for building a vehicle operation environment according to vehicle parameter elements and sending the vehicle operation environment to the tested lane centering control module, so that the tested lane centering control module generates vehicle control information based on lane information under the vehicle operation environment.
It is understood that the vehicle operating environment in the present embodiment includes: a vehicle body controller, a tire pressure monitoring controller, a large screen controller, an instrument controller and the like.
Further, the simulation test system for lane centering control in this embodiment further includes: a calculation module 7; and the calculation module 7 is used for calculating the operation parameters of the vehicle simulation module 4 based on the vehicle state information. It is understood that the operating parameters include at least one of: wheel speed, wheel impulse and motor torque. In other words, in this embodiment, the operating parameters of the vehicle simulation module 4 are also calculated according to the vehicle state information, and the operating parameters are the actual operating parameters of the vehicle simulation module 4 under the control of the vehicle control information.
Specifically, the positioning simulation module 3 in this embodiment is further configured to calculate three-axis angular velocity, three-axis acceleration, and vehicle coordinates corresponding to the pose information.
It should be noted that the processing module 5 in this embodiment specifically includes:
the obtaining submodule is used for obtaining a lane center line corresponding to the lane scene;
a comparison submodule for comparing the pose information with the deviation between the lane center lines;
and the result determining submodule is used for determining a test result of the tested lane centering control module according to the deviation.
It is understood that the deviation in the present embodiment includes yaw angle deviation and lateral deviation in position. During specific calculation, the position and the yaw angle corresponding to the position and position information are calculated respectively, then a first deviation of the position and the position of the lane center line and a second deviation of the yaw angle and the lane center line corresponding to the reference yaw angle are calculated respectively, and then the first deviation and the second deviation are integrated to obtain a test result.
In this embodiment, the first deviation and the second deviation may be weighted and summed to obtain a comprehensive deviation, and then a test result corresponding to the comprehensive deviation may be obtained according to the comprehensive deviation, and the corresponding relationship between the test result and the test result. It should be noted that the calculation of the deviation and the corresponding test result is only an illustrative example, and those skilled in the art may specifically set other ways as needed.
The internal algorithm of the measured lane centering control module in this embodiment may be specifically set by a person skilled in the art, and is not limited or described herein.
It can be understood that, both the vehicle pose information output by the positioning simulation module 3 and the operation parameters output by the calculation module 7 may affect the vehicle control information during lane centering control, so in this embodiment, a closed-loop control mode is adopted, and both the vehicle pose information output by the positioning simulation module 3 and the operation parameters output by the calculation module 7 are input to the measured lane centering control module, and are used by the measured lane centering control module to generate the vehicle control information.
In the simulation test system for lane centering control in the embodiment, a scene building simulation module builds a lane scene, the lane scene is the lane scene during simulation test, a sensor on a vehicle is simulated through a sensor simulation module 2, lane information is acquired after the lane scene is identified, the lane information is sent to a tested lane centering control module, the tested lane generates vehicle control information based on the lane information, a vehicle simulation module 4 simulates vehicle execution, after the vehicle simulation module 4 executes the vehicle control information, the vehicle state information is sent to a positioning simulation module 3, the positioning simulation module 3 calculates corresponding vehicle pose information according to the vehicle state information, a processing module 5 can calculate a test result of the lane centering control of the tested lane centering control module according to the vehicle pose information and the lane scene, the lane scene is simulated in the application, corresponding vehicle control information is generated based on the lane scene, the test result of the tested lane centering control module can be calculated according to the vehicle pose information and the lane scene corresponding to the vehicle control information, and the test result of the tested lane centering control module can be calculated according to the vehicle control information and the lane scene corresponding to the vehicle control information, and the problem of the existing centering control technology is solved.
The second embodiment of the simulation test system for lane centering control provided in the embodiment of the present application is described below as an implementation description of a specific implementation of the simulation test system for lane centering control provided in the embodiment of the present application.
Referring to fig. 2, the simulation test system for lane centering control in this embodiment includes a virtual scene model (i.e., a scene building simulation module), a sensor model (i.e., a sensor simulation module), a positioning model (i.e., a positioning simulation module), an actuator model (i.e., a data conversion sub-module), a vehicle model (i.e., an execution sub-module), an actuator and vehicle state feedback (i.e., a calculation module), a vehicle system matching (i.e., a vehicle environment simulation module), and a processing module.
1. The virtual scene model comprises a lane line scene, scene elements such as a vehicle scene, a person scene, a moving obstacle scene, a static obstacle scene and the like, and parameters are transmitted to the sensor model by building a parameterized scene.
2. The sensor model includes lane line recognition sensor simulation, obstacle recognition sensor simulation. Wherein the lane line recognition sensor simulates outputting lane information (including lane line polynomial parameters, types, colors and other information) by acquiring parameterized lane lines in a lane line scene; the obstacle recognition sensor simulates and obtains parameters of a vehicle, a person, a moving obstacle and a static obstacle scene in the virtual scene model, and outputs obstacle information (including information such as longitudinal and lateral distance, speed and acceleration).
3. The positioning model comprises an IMU inertial unit and GPS navigation information, and vehicle pose information, three-axis corner velocity, three-axis acceleration and vehicle coordinates of the vehicle model are calculated.
4. The actuator model is an electric control steering system. The electronically controlled steering system calculates an output steering wheel angle to the vehicle model by obtaining steering wheel torque from a measured lane centering control module.
5. The vehicle model receives the steering wheel angle output by the actuator system and outputs vehicle state information.
6. And the actuator and the vehicle state feedback are used for acquiring the vehicle pose information and the vehicle state information output by the vehicle model, and calculating and outputting feedback information such as steering wheel turning angle, wheel speed, wheel pulse, motor torque and the like.
7. The vehicle system matching simulates a real vehicle operating environment by simulating each controller of the vehicle, wherein the vehicle operating environment is: the system comprises a vehicle body controller, a tire pressure monitoring controller, a large screen controller and an instrument controller.
8. And the processing module is used for calculating the test result of the tested lane centering control module according to the vehicle pose information and the lane scene.
The above is an implementation description of a specific implementation of the simulation test system for lane centering control provided in the embodiment of the present application, and the following is an embodiment of the simulation test method for lane centering control provided in the embodiment of the present application.
Referring to fig. 3, fig. 3 is a schematic flowchart illustrating an embodiment of a simulation test method for lane centering control according to the present application.
The simulation test method for lane centering control in this embodiment is applied to the simulation test systems for lane centering control in the foregoing embodiments, and includes:
and 301, building a parameterized lane scene by a scene building module according to the lane scene elements.
And step 304, the positioning simulation module calculates corresponding vehicle pose information according to the vehicle state information.
And 305, calculating a test result of the tested lane centering control module by the processing module according to the vehicle position and attitude information and the lane scene.
In the simulation test method for lane centering control in the embodiment, a scene building simulation module builds a lane scene, the lane scene is the lane scene during simulation test, a sensor on a vehicle is simulated through the sensor simulation module, lane information is acquired after the lane scene is identified, the lane information is sent to a tested lane centering control module, the tested lane generates vehicle control information based on the lane information, the vehicle simulation module simulates vehicle execution, after the vehicle simulation module executes the vehicle control information, the vehicle state information is sent to a positioning simulation module, the positioning simulation module calculates corresponding vehicle pose information according to the vehicle state information, a processing module can calculate a test result of the tested lane centering control module according to the vehicle pose information and the lane scene, the lane scene is simulated in the application, corresponding vehicle control information is generated based on the lane scene, a test result of the tested lane centering control module can be calculated according to the vehicle pose information and the lane scene corresponding to the vehicle control information, and the test result of the tested lane centering control module is more accurate through the simulation of the lane scene during lane centering control, so that the test method for the tested lane centering control module can solve the problem of the existing centering control technology.
The embodiment of the present application further provides an embodiment of a simulation test device for lane centering control, where the simulation test device for lane centering control in the present embodiment includes a processor 401 and a memory 402; the memory 402 is used to store and transmit program codes to the processor 401; the processor 401 is configured to execute the simulation test method of lane centering control in the above-described embodiment according to instructions in the program code.
The embodiment of the present application further provides an embodiment of a storage medium, where the storage medium in this embodiment is used to store a program code, and the program code is used to execute the simulation test method for lane centering control in the foregoing embodiment.
It will be apparent to those skilled in the art that the disclosed apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and may be implemented in other ways, for example, multiple units or components may be combined or integrated into another grid network to be installed, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to the needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present application.
Claims (11)
1. A simulation test system for lane centering control, comprising: the system comprises a scene building module, a sensor simulation module, a positioning simulation module, a vehicle simulation module and a processing module;
the scene building module is used for building a parameterized lane scene according to the lane scene elements;
the sensor simulation module is used for sending lane information acquired according to the lane scene to a tested lane centering control module, so that the tested lane centering control module generates vehicle control information based on the lane information;
the vehicle simulation module is used for executing the vehicle control information and sending the executed vehicle state information to the positioning simulation module;
the positioning simulation module is used for calculating corresponding vehicle pose information according to the vehicle state information;
the processing module is used for calculating a test result of the tested lane centering control module according to the vehicle pose information and the lane scene;
the processing module specifically comprises:
the obtaining submodule is used for obtaining a lane center line corresponding to the lane scene;
a comparison submodule for comparing the pose information with the deviation between the lane center lines; the deviation comprises yaw angle deviation and lateral deviation on position, specifically, position and the yaw angle corresponding to the pose information are respectively calculated, first deviation of the position and the position of the lane center line and second deviation of the yaw angle and the reference yaw angle corresponding to the lane center line are respectively calculated, and the first deviation and the second deviation are integrated to obtain the test result;
the result determining submodule is used for determining a test result of the tested lane centering control module according to the deviation; the tested lane centering control module generates vehicle control information based on the lane information, and specifically comprises the following steps:
the measured lane centering control module acquires lane information, wherein the corresponding relation between the lane information and the vehicle control information is preset in the measured lane centering control module;
and the tested lane centering control module acquires vehicle control information corresponding to the lane information according to the lane information and the corresponding relation.
2. The simulation test system for lane centering control according to claim 1, wherein the scene construction module is further configured to construct a parameterized obstacle scene according to obstacle scene elements;
the sensor simulation module is further used for sending the obstacle information acquired according to the obstacle scene to the detected lane centering control module, so that the detected lane centering control module generates vehicle control information based on the lane information and the obstacle information.
3. The simulation test system for lane centering control according to claim 1, wherein the vehicle control information is specifically: and (4) steering wheel turning.
4. The simulation test system for lane centering control according to claim 1, wherein when the vehicle control information is a steering wheel torque, the vehicle simulation module comprises: a data conversion submodule and an execution submodule;
the data conversion submodule is used for converting the steering wheel torque into a steering wheel angle;
and the execution submodule is used for executing the steering wheel angle and sending the state information of the executed vehicle to the positioning simulation module.
5. The simulation test system for lane centering control according to claim 1, further comprising: a vehicle environment simulation module;
the vehicle environment simulation module is used for building a vehicle operation environment according to vehicle parameter elements and sending the vehicle operation environment to the tested lane centering control module, so that the tested lane centering control module is in the vehicle operation environment and generates vehicle control information based on the lane information.
6. The simulation test system for lane centering control according to claim 1, further comprising: a calculation module;
and the calculation module is used for calculating the operation parameters of the vehicle simulation module based on the vehicle state information.
7. The simulated test system of lane centering control according to claim 6, wherein the operating parameters include at least one of:
wheel speed, wheel impulse and motor torque.
8. The system for simulating and testing lane centering control according to claim 1, wherein the positioning simulation module is further configured to calculate three-axis angular velocity, three-axis acceleration and vehicle coordinates corresponding to the pose information.
9. A simulation test method of lane centering control applied to the simulation test system of lane centering control according to any one of claims 1 to 8, characterized by comprising:
the scene building module builds a parameterized lane scene according to the lane scene elements;
the sensor simulation module sends lane information acquired according to the lane scene to a tested lane centering control module, so that the tested lane centering control module generates vehicle control information based on the lane information;
the vehicle simulation module executes the vehicle control information and sends the executed vehicle state information to the positioning simulation module;
the positioning simulation module calculates corresponding vehicle pose information according to the vehicle state information;
the processing module calculates a test result of the tested lane centering control module according to the vehicle pose information and the lane scene;
the processing module specifically comprises:
the obtaining submodule is used for obtaining a lane center line corresponding to the lane scene;
a comparison submodule for comparing the pose information with the deviation between the lane center lines; the deviation comprises yaw angle deviation and lateral deviation on position, specifically, a position corresponding to the pose information and the yaw angle are respectively calculated, a first deviation between the position and the position of the lane center line and a second deviation between the yaw angle and the reference yaw angle corresponding to the lane center line are respectively calculated, and the first deviation and the second deviation are integrated to obtain the test result;
the result determining submodule is used for determining a test result of the tested lane centering control module according to the deviation;
the measured lane centering control module generates vehicle control information based on the lane information, and specifically comprises:
the method comprises the steps that a tested lane centering control module obtains lane information, wherein the corresponding relation between the lane information and vehicle control information is preset in the tested lane centering control module;
and the tested lane centering control module acquires vehicle control information corresponding to the lane information according to the lane information and the corresponding relation.
10. A simulation test apparatus for lane centering control, the apparatus comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the simulation test method for lane centering control of claim 9 according to instructions in the program code.
11. A storage medium characterized by storing a program code for executing the simulation test method of lane centering control of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110008776.8A CN112783142B (en) | 2021-01-05 | 2021-01-05 | Simulation test system, method, equipment and storage medium for lane centering control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110008776.8A CN112783142B (en) | 2021-01-05 | 2021-01-05 | Simulation test system, method, equipment and storage medium for lane centering control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112783142A CN112783142A (en) | 2021-05-11 |
| CN112783142B true CN112783142B (en) | 2023-02-03 |
Family
ID=75755454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110008776.8A Active CN112783142B (en) | 2021-01-05 | 2021-01-05 | Simulation test system, method, equipment and storage medium for lane centering control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112783142B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115266123A (en) * | 2022-04-19 | 2022-11-01 | 一汽奔腾轿车有限公司 | Vehicle testing method of lane keeping auxiliary system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107292048A (en) * | 2017-07-05 | 2017-10-24 | 合肥工业大学 | One kind is based on veDYNA tracks keeping method and system |
| CN108227710A (en) * | 2017-12-29 | 2018-06-29 | 商汤集团有限公司 | Automatic Pilot control method and device, electronic equipment, program and medium |
| CN109931937A (en) * | 2019-03-28 | 2019-06-25 | 北京经纬恒润科技有限公司 | High-precision navigation information simulation method and system |
| CN110532636A (en) * | 2019-08-05 | 2019-12-03 | 东南大学 | A kind of autonomous lane retention property detection method of intelligent driving towards more scenes |
| CN110641465A (en) * | 2019-10-25 | 2020-01-03 | 长安大学 | Lane keeping system and method based on vehicle speed |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107179196B (en) * | 2016-03-11 | 2023-11-07 | 深圳市航盛电子股份有限公司 | Lane deviation simulation test method and system |
| CN112114580B (en) * | 2020-09-29 | 2022-05-13 | 广州小鹏自动驾驶科技有限公司 | ACC simulation test system and method |
| CN112130472A (en) * | 2020-10-14 | 2020-12-25 | 广州小鹏自动驾驶科技有限公司 | Automatic driving simulation test system and method |
-
2021
- 2021-01-05 CN CN202110008776.8A patent/CN112783142B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107292048A (en) * | 2017-07-05 | 2017-10-24 | 合肥工业大学 | One kind is based on veDYNA tracks keeping method and system |
| CN108227710A (en) * | 2017-12-29 | 2018-06-29 | 商汤集团有限公司 | Automatic Pilot control method and device, electronic equipment, program and medium |
| CN109931937A (en) * | 2019-03-28 | 2019-06-25 | 北京经纬恒润科技有限公司 | High-precision navigation information simulation method and system |
| CN110532636A (en) * | 2019-08-05 | 2019-12-03 | 东南大学 | A kind of autonomous lane retention property detection method of intelligent driving towards more scenes |
| CN110641465A (en) * | 2019-10-25 | 2020-01-03 | 长安大学 | Lane keeping system and method based on vehicle speed |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112783142A (en) | 2021-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2022078289A1 (en) | Simulation test system and method for autonomous driving | |
| CN112100856B (en) | Automatic driving joint simulation method based on multiple platforms | |
| US10990099B2 (en) | Motion planning methods and systems for autonomous vehicle | |
| CN108958233B (en) | Perception simulation method and device | |
| US10867409B2 (en) | Methods and systems to compensate for vehicle calibration errors | |
| WO2018180143A1 (en) | Information processing device, information processing method, computer program, and program manufacturing method | |
| CN110901656B (en) | Experimental design method and system for autonomous vehicle control | |
| US11898850B2 (en) | Vehicle position detection device and parameter set creation device for vehicle position detection | |
| CN112382165B (en) | Driving strategy generation method, device, medium, equipment and simulation system | |
| CN105974456A (en) | Autonomous underwater robot combined navigation system | |
| CN113009935B (en) | Unmanned aerial vehicle simulation test system and method and unmanned aerial vehicle flight controller | |
| CN112114580B (en) | ACC simulation test system and method | |
| CN112783142B (en) | Simulation test system, method, equipment and storage medium for lane centering control | |
| CN113419518A (en) | VIL test platform based on VTS | |
| KR101103586B1 (en) | Simulation system and method for robot | |
| KR101363092B1 (en) | Implementation method of rils(robot-in-the-loop simulation) in robot system | |
| CN110083158B (en) | Method and equipment for determining local planning path | |
| CN109987097B (en) | Method and equipment for adjusting motion state of target vehicle | |
| CN114800523B (en) | Mechanical arm track correction method, system, computer and readable storage medium | |
| KR102175943B1 (en) | Platform and Automotive platform for education of unmanned vehicle | |
| JP4569653B2 (en) | Robot control apparatus, robot control method, and robot control program | |
| CN116027785A (en) | Remote driving control method and device, storage medium and cloud platform | |
| US20230401453A1 (en) | Learning device for mobile cyber-physical system | |
| JP4121587B2 (en) | Robot simulation device | |
| CN115657645B (en) | Intelligent vehicle chassis and task load integrated control method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240228 Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 46, room 406, No.1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou City, Guangdong Province 510000 Patentee before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Country or region before: China |