CN112945573A - Driving control method and driving quality evaluation method for driving robot, and electronic device - Google Patents
Driving control method and driving quality evaluation method for driving robot, and electronic device Download PDFInfo
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Abstract
The invention discloses a driving control method of a driving robot, a driving quality evaluation method and electronic equipment, wherein the driving control method of the driving robot comprises the following steps: receiving control information of the driving robot determined by the upper computer according to the working condition to be detected; and controlling a driving robot placed in the test vehicle to drive the test vehicle to control according to the control information, placing the test vehicle on a whole vehicle rack platform, and evaluating the driving quality of the test vehicle by using vehicle test data generated by the test vehicle under the driving control through driving quality evaluation electronic equipment and combining the whole vehicle rack platform with the platform test data obtained by testing the test vehicle. The method and the rack platform are beneficial to improving the real-time performance and the accuracy of the whole vehicle drivability development, improving the drivability development efficiency and saving the development cost.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a driving control method of a driving robot, a driving quality evaluation method based on the driving robot, a driving quality evaluation working condition control method based on the driving robot and electronic equipment.
Background
With the continuous development of the field of artificial intelligence, automatic calibration and testing become effective ways for improving the research and development efficiency of automobiles and reducing the development cost. The traditional automobile calibration and test needs real automobile test and evaluation in a test field, and evaluation needs to be carried out again after the calibration is changed. The evaluation means is limited by the field, and has the defects of difficult problem recurrence, overlong calibration test period and the like.
The driving quality is the whole vehicle perception quality highly related to the driving experience of the customer, and good power transmission system hardware and software matching is needed for improving the driving quality. The traditional automobile and the new energy automobile have a lot of influence factors on driving quality according to different power sources, and a large amount of whole automobile tests need to be carried out for evaluation. Therefore, in order to shorten the automobile calibration test period, the development of a set of automobile calibration test method based on the driving robot has important guiding significance for the calibration of the whole automobile and the power assembly and the evaluation of the driving quality.
The prior art that relates to experimental driving robot and rack platform mainly has:
a driving robot for car test. The driving robot comprises an accelerator mechanical leg, a brake mechanical leg, a clutch mechanical leg and a gear shifting mechanical arm. The user can install the driving robot in the cockpit on the basis of not reforming the vehicle. The control mechanisms are coordinated, so that the test working conditions of starting, gear shifting, accelerating, speed stabilizing, decelerating, idling and the like of the automobile can be realized, and the durability test efficiency of the automobile is effectively improved. The disadvantages of this solution are: the driving robot and the control method mainly aim at durability tests of manual-gear automobiles with fixed preset working conditions, performance tests of the driving quality of the whole automobile are not considered, and a control interface and a real-time control mode of the driving robot are not further disclosed.
The other high-performance autonomous driving robot for the automobile test mainly comprises a driving module, an information feedback module and a driving module, and the position of a mechanical leg is used for representing the corresponding automobile running speed. The disadvantages of this solution are: in the vehicle speed control, the relation between the moving position of the mechanical leg and the running speed of the vehicle can be changed along with the vehicle type, the shaking of the rack and other reasons, the accuracy problem of the vehicle speed control can be brought, and certain influence is brought to the development and the test of the subsequent vehicle type.
The electromagnetic driving robot for the automobile test provides a more compact driving robot structure scheme, and improves the precision of a mechanical structure. The disadvantages of this solution are: the model does not consider performance tests such as driving quality of the whole system, a more compact and accurate solution is sought only based on the defects of the existing mechanical structure, and objective data of subsequent finished automobile tests are to be verified.
Disclosure of Invention
In view of the above, it is necessary to provide a driving control method for a driving robot, a driving quality evaluation condition control method for a driving robot, and an electronic device.
The invention provides a driving control method of a driving robot, which comprises the following steps:
receiving control information of the driving robot determined by the upper computer according to the working condition to be detected;
and controlling a driving robot placed in the test vehicle to drive the test vehicle to control according to the control information, placing the test vehicle on a whole vehicle rack platform, and evaluating the driving quality of the test vehicle by using vehicle test data generated by the test vehicle under the driving control through driving quality evaluation electronic equipment and combining the whole vehicle rack platform with the platform test data obtained by testing the test vehicle.
Further, the control information includes a pedal target position, and the driving robot placed in the test vehicle is controlled to drive and control the test vehicle according to the control information, specifically including:
determining driving electric quantity corresponding to the pedal position based on the corresponding relation between the pedal position and the driving electric quantity according to the pedal target position;
the driving electric quantity is adopted to control a mechanical leg driving motor of the driving robot, the mechanical leg driving motor drives a mechanical leg of the driving robot to drive the test vehicle to control, and the mechanical leg is in contact with a pedal of the test vehicle.
Further, the determining the driving electric quantity corresponding to the pedal position based on the corresponding relationship between the pedal position and the driving electric quantity specifically includes:
pre-driving mechanical legs of a driving robot to a plurality of mechanical leg stretching positions;
when the mechanical leg reaches a mechanical leg stretching position, acquiring a pedal position from a pedal position sensor of the vehicle, and storing the pedal position in association with the corresponding mechanical leg stretching position to obtain the corresponding relation between the pedal position and the mechanical leg stretching position;
determining the mechanical leg stretching position corresponding to the pedal target position according to the corresponding relation between the pedal position and the mechanical leg stretching position;
and determining the driving electric quantity corresponding to the telescopic position of the mechanical leg according to the telescopic position of the mechanical leg.
Further, the control information includes a pedal target position, and the driving robot placed in the test vehicle is controlled to drive and control the test vehicle according to the control information, specifically including:
controlling a mechanical leg driving motor of a driving robot, wherein the mechanical leg driving motor drives a mechanical leg of the driving robot to drive and control the test vehicle, and the mechanical leg is in contact with a pedal of the test vehicle;
and detecting the real-time position of the pedal, and adjusting the driving electric quantity of the mechanical leg driving motor according to the difference value between the real-time position of the pedal and the target position of the pedal.
The invention provides a driving control electronic device of a driving robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to: all the steps of the driving control method for driving the robot are executed.
The invention provides a driving quality evaluation method based on a driving robot, which comprises the following steps:
the method comprises the steps that vehicle test data are obtained from a test vehicle, the vehicle test data are generated by driving and controlling the test vehicle according to control information of a driving robot determined by an upper computer according to a working condition to be tested after the driving robot placed in the test vehicle receives the control information, and the test vehicle is placed on a whole vehicle rack platform;
acquiring platform test data obtained by testing the test vehicle by the whole vehicle rack platform;
and evaluating the driving quality of the test vehicle based on the vehicle test data and the platform test data.
The invention provides a driving quality evaluation electronic device based on a driving robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to: all the steps of the driving quality evaluation method based on the driving robot as described above are performed.
The invention provides a driving quality evaluation working condition control method based on a driving robot, which comprises the following steps:
acquiring a working condition to be detected, and determining control information of the driving robot according to the working condition to be detected;
and sending the control information to driving control electronic equipment of the driving robot, wherein the control information is used for controlling the driving robot placed in the test vehicle to drive the test vehicle according to the control information by the driving control electronic equipment, and the test vehicle is placed on a whole vehicle rack platform.
Further, still include:
monitoring vehicle test data generated by the test vehicle under driving control;
and if the vehicle test data meet the safety triggering condition, stopping outputting the control information, and controlling the driving robot to stop driving and controlling the test vehicle when the driving control electronic equipment stops receiving the control information.
The invention provides an upper computer, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to: all the steps of the driving quality evaluation condition control method based on the driving robot are executed.
The driving robot is controlled by the upper computer based on different working conditions, the vehicle is tested by the whole vehicle rack platform to obtain platform test data, the vehicle test data is obtained by testing the vehicle in real time and is sent to the driving quality evaluation electronic equipment, and the driving performance under each working condition is objectively scored. And the scoring result is fed back to a software calibration engineer, and corresponding modification development work is carried out, so that the effect of closed-loop evaluation of drivability development is achieved. The method and the rack platform are beneficial to improving the real-time performance and the accuracy of the whole vehicle drivability development, improving the drivability development efficiency and saving the development cost.
Drawings
Fig. 1 is a work flow chart of a driving control method of a driving robot according to the present invention;
FIG. 2 is a system diagram of a robot driver according to an embodiment of the present invention;
FIG. 3 is a system diagram of a driving quality assessment method based on a driving robot according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a hardware structure of a driving control electronic device of a driving robot according to the present invention;
FIG. 5 is a flowchart illustrating a driving quality assessment method based on a driving robot according to the present invention;
FIG. 6 is a schematic diagram of a hardware structure of an electronic device for evaluating driving quality based on a driving robot according to the present invention;
FIG. 7 is a flowchart illustrating a method for controlling a driving quality evaluation condition based on a driving robot according to the present invention;
fig. 8 is a schematic diagram of a hardware structure of an upper computer according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
Example one
Fig. 1 shows a work flow chart of a driving control method for a robot driver according to the present invention, which includes:
s101, receiving control information of the driving robot determined by an upper computer according to a working condition to be detected;
and S102, controlling a driving robot placed in the test vehicle to drive the test vehicle according to the control information, placing the test vehicle on a whole vehicle rack platform, and evaluating the driving quality of the test vehicle according to vehicle test data generated by the test vehicle under the driving control by using driving quality evaluation electronic equipment and the whole vehicle rack platform in combination with platform test data obtained by testing the test vehicle.
In particular, the present embodiment can be applied to a driving manipulation electronic device of a driving robot for controlling the driving robot.
As shown in fig. 2, the robot driver of the present invention can be used in various types of power transmission systems, including conventional power and new energy power systems. The piloted robot includes a controller 201, a servo motor 202, a link 203, and a mechanical leg 204, wherein the controller 201 is a piloting control electronics. Two sets of servo motors 202, connecting rods 203 and mechanical legs are respectively provided, and the two sets of mechanical structures are respectively and rigidly connected to transmit the acting force and displacement of the servo motors, so that the executing action of the system on the accelerator and the brake pedal is transmitted to the mechanical legs 204. The controller is connected with the servo motor through a wire harness, and an I/O interface of the controller is a link for exchanging information between the controller 201 and the controlled object servo motor 202. The two sets of mechanical legs 204 are respectively defined as an accelerator pedal operating mechanism and a brake pedal operating mechanism, and can be in rigid contact with an accelerator pedal and an accelerator pedal of the whole vehicle. The telescopic motion of the two sets of mechanical legs of the driving robot can simulate the action of a driver for stepping on an accelerator and a brake pedal. The system is externally connected with 220V alternating current to supply power for the motor.
As shown in fig. 3, the driving manipulation electronic device 301 installs driving robot control software including a function definition module, a control calculation module, a control execution module, and a UI interface. And the driving robot control software is based on a C language architecture and is in butt joint with the motor PID control module.
When the upper computer sends Control information, step S101 is triggered, and then in step S102, the driving Control electronic device 301 controls the driving robot to operate the Vehicle instead of a real person, and performs signal interaction with a Vehicle Control Unit (VCU) module 302 of a test Vehicle through a Controller Area Network (CAN) bus, so that the Vehicle runs on a hub test stand 303 serving as a Vehicle rack platform according to a specified working condition. In this embodiment, the test vehicle is fixed to the gantry by the acceleration sensor 304. The control of the robot is that an INCA Flow upper computer 305 sends working condition requirements, real-time monitoring and safety control. The data in the VCU during the driving of the vehicle is transmitted to the driving quality evaluation electronic device together with the acceleration sensor data. The drivability level under each condition can be monitored in real time and the guest score can be made using the driving quality assessment electronic device 306 equipped with AVL drive drivability assessment software. The embodiment supports a calibration engineer to calibrate, test and verify the drivability on line. The engineer adjusts corresponding drivability calibration parameters on line based on the scores of drivability levels, so that drivability calibration can be fed back in real time, drivability development efficiency can be improved, accuracy of working condition driving is improved, and development cost is saved.
The driving robot is controlled by the upper computer based on different working conditions, the vehicle is tested by the whole vehicle rack platform to obtain platform test data, the vehicle test data is obtained by testing the vehicle in real time and is sent to the driving quality evaluation electronic equipment, and the driving performance under each working condition is objectively scored. And the scoring result is fed back to a software calibration engineer, and corresponding modification development work is carried out, so that the effect of closed-loop evaluation of drivability development is achieved. The method and the rack platform are beneficial to improving the real-time performance and the accuracy of the whole vehicle drivability development, improving the drivability development efficiency and saving the development cost.
In one embodiment, the control information includes a target pedal position, and the controlling a driving robot placed in a test vehicle to drive and control the test vehicle according to the control information specifically includes:
determining driving electric quantity corresponding to the pedal position based on the corresponding relation between the pedal position and the driving electric quantity according to the pedal target position;
the driving electric quantity is adopted to control a mechanical leg driving motor of the driving robot, the mechanical leg driving motor drives a mechanical leg of the driving robot to drive the test vehicle to control, and the mechanical leg is in contact with a pedal of the test vehicle.
Specifically, the open loop method is preset in the controller for the position control of stepping on and stepping off the accelerator and the brake pedal. Under certain driving conditions, the driver can quickly step on a fixed accelerator or pedal position. In this case, open loop control of the pedal position is required. By means of the corresponding relation between the pedal position and the driving electric quantity, the controller can automatically match the driving electric quantity of the mechanical leg of the driving robot according to the position signal requirement value sent from the upper computer, and send a corresponding driving electric quantity signal to be transmitted to the servo motor to be executed, so that the mechanical leg can quickly reach the required pedal position.
The embodiment realizes open-loop control of the pedal position, the control speed of the servo motor can be fully utilized by the open-loop control, and the pedal position is controlled quickly to the maximum extent by adjusting the PID parameters of the motor.
In one embodiment, the determining the driving electric quantity corresponding to the pedal position based on the corresponding relationship between the pedal position and the driving electric quantity specifically includes:
pre-driving mechanical legs of a driving robot to a plurality of mechanical leg stretching positions;
when the mechanical leg reaches a mechanical leg stretching position, acquiring a pedal position from a pedal position sensor of the vehicle, and storing the pedal position in association with the corresponding mechanical leg stretching position to obtain the corresponding relation between the pedal position and the mechanical leg stretching position;
determining the mechanical leg stretching position corresponding to the pedal target position according to the corresponding relation between the pedal position and the mechanical leg stretching position;
and determining the driving electric quantity corresponding to the telescopic position of the mechanical leg according to the telescopic position of the mechanical leg.
Specifically, firstly, the position of the driving robot is fixed, secondly, the driving pedal position signal of the VCU and the mechanical leg stretching position signal fed back by the driving robot are used for one-to-one corresponding learning, and the learning value is automatically recorded, so that the corresponding relation between the pedal position and the mechanical leg stretching position is obtained. And then determining the driving electric quantity of the driving motor according to the telescopic position of the mechanical leg. The driving electric quantity corresponding to the stretching position of the mechanical leg can be determined through the corresponding relation between the position signal of the mechanical leg and the stroke of the servo motor, so that the aim of quickly controlling the mechanical leg to reach the required position is fulfilled. For example, the driving electric quantity required by the unit displacement of the mechanical leg is calculated, so that the corresponding relation between the position signal of the mechanical leg and the stroke of the servo motor is determined. Or the displacement and the corresponding driving electric quantity of a plurality of mechanical legs are recorded, so that a corresponding curve of the position signal of the mechanical leg and the stroke of the servo motor is fitted.
The embodiment controls the mechanical legs to quickly reach the required positions.
In one embodiment, the control information includes a target pedal position, and the controlling a driving robot placed in a test vehicle to drive and control the test vehicle according to the control information specifically includes:
controlling a mechanical leg driving motor of a driving robot, wherein the mechanical leg driving motor drives a mechanical leg of the driving robot to drive and control the test vehicle, and the mechanical leg is in contact with a pedal of the test vehicle;
and detecting the real-time position of the pedal, and adjusting the driving electric quantity of the mechanical leg driving motor according to the difference value between the real-time position of the pedal and the target position of the pedal.
Specifically, the position control of the accelerator and brake pedals is preset in the controller in a closed-loop method. The closed-loop control is used under the running condition that the pedal position needs to be accurately controlled, and a PID control loop is added to the position control layer. The position of the closed-loop regulating pedal can be used for carrying out self-adaptive regulation on position control, and parameters of the PID can be regulated to balance overshoot and stable time. And adjusting the telescopic position of the mechanical leg by taking the difference value of the real-time position of the pedal position and the target position of the pedal as the negative feedback of the PID. The method can be applied to simulating the actual driving process of repeatedly adjusting the accelerator according to the speed of the vehicle.
The embodiment accurately controls the telescopic position of the mechanical leg in a closed loop mode.
Fig. 4 is a schematic diagram of a hardware structure of a driving control electronic device of a driving robot according to the present invention, including:
at least one processor 401; and the number of the first and second groups,
a memory 402 communicatively coupled to at least one of the processors 401; wherein,
the memory 402 stores instructions executable by at least one of the processors to enable at least one of the processors to:
all the steps of the driving control method for driving the robot are executed.
The electronic device is preferably a controller of the driving robot. In fig. 4, one processor 401 is taken as an example.
The electronic device may further include: an input device 403 and a display device 404.
The processor 401, the memory 402, the input device 403, and the display device 404 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 402, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the driving control method of the driving robot in the embodiment of the present application, for example, the method flow shown in fig. 1. The processor 401 executes various functional applications and data processing by running the nonvolatile software programs, instructions, and modules stored in the memory 402, that is, implements the driving control method of the driving robot in the above-described embodiments.
The memory 402 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a driving manipulation method of the driving robot, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 402 may optionally include a memory remotely disposed from the processor 401, and these remote memories may be connected to a device for performing a driving manipulation method of driving the robot through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 403 may receive an input of a user click and generate signal inputs related to user settings of a driving manipulation method of the robot and function control. The display device 404 may include a display screen or the like.
The driving manipulation method of the robot in any of the above-described method embodiments is performed when the one or more modules are stored in the memory 402 and executed by the one or more processors 401.
The driving robot is controlled by the upper computer based on different working conditions, the vehicle is tested by the whole vehicle rack platform to obtain platform test data, the vehicle test data is obtained by testing the vehicle in real time and is sent to the driving quality evaluation electronic equipment, and the driving performance under each working condition is objectively scored. And the scoring result is fed back to a software calibration engineer, and corresponding modification development work is carried out, so that the effect of closed-loop evaluation of drivability development is achieved. The method and the rack platform are beneficial to improving the real-time performance and the accuracy of the whole vehicle drivability development, improving the drivability development efficiency and saving the development cost.
Fig. 5 is a work flow chart of a driving quality evaluation method based on a driving robot according to the present invention, which includes:
step S501, vehicle test data are obtained from a test vehicle, the vehicle test data are generated by driving and controlling the test vehicle according to control information of a driving robot determined by an upper computer according to a working condition to be tested after the driving robot placed in the test vehicle receives the control information, and the test vehicle is placed on a whole vehicle rack platform;
step S502, platform test data obtained by testing the test vehicle by the whole vehicle rack platform is obtained;
step S503, based on the vehicle test data and the platform test data, evaluating the driving quality of the test vehicle.
Specifically, the present embodiment is applied to a driving quality evaluation electronic device. The driving quality assessment electronic device performs step S501 to acquire vehicle test data from the test vehicle, such as data acquired by the vehicle VCU. Step S502 acquires platform test data of the entire vehicle stage platform, for example, data acquired by the acceleration sensor 204 of the rotary drum test stand 203. Finally, step S503 evaluates the driving quality of the test vehicle based on the vehicle test data and the platform test data, for example, the driving quality evaluation electronic device 306 installed with AVL drive drivability evaluation software may evaluate the driving quality.
Data in the VCU in the vehicle running process and acceleration sensor data are sent to the driving quality evaluation electronic equipment 306 provided with AVL drive drivability evaluation software to monitor the drivability level under each working condition in real time and score the driving quality for visitors. The invention supports the calibration engineer to calibrate, test and verify the drivability on line. The method enables the drivability calibration work to be fed back in real time, contributes to improving the drivability development efficiency, enhances the accuracy of working condition driving, and saves the development cost. The engineer can adjust corresponding drivability calibration parameters on line based on the score of the drivability level, and the drivability level of the vehicle is improved.
In one embodiment, the evaluating the driving quality of the test vehicle based on the vehicle test data and the platform test data specifically includes:
obtaining vehicle evaluation parameters and platform evaluation parameters of the working condition to be measured;
and evaluating the driving quality of the test vehicle according to the comparison result of the vehicle evaluation parameters and the vehicle test data and the comparison result of the platform evaluation parameters and the platform test data.
The driving robot is controlled by the upper computer based on different working conditions, the vehicle is tested by the whole vehicle rack platform to obtain platform test data, the vehicle test data is obtained by testing the vehicle in real time and is sent to the driving quality evaluation electronic equipment, and the driving performance under each working condition is objectively scored. And the scoring result is fed back to a software calibration engineer, and corresponding modification development work is carried out, so that the effect of closed-loop evaluation of drivability development is achieved. The method and the rack platform are beneficial to improving the real-time performance and the accuracy of the whole vehicle drivability development, improving the drivability development efficiency and saving the development cost.
Fig. 6 is a schematic diagram of a hardware structure of an electronic device for evaluating driving quality based on a driving robot according to the present invention, including:
at least one processor 601; and the number of the first and second groups,
a memory 602 communicatively coupled to at least one of the processors 601; wherein,
the memory 602 stores instructions executable by at least one of the processors to enable the at least one of the processors to:
all the steps of the driving quality evaluation method of the driving robot as described above are performed.
The electronic device is preferably an electronic device equipped with driving quality evaluation software. In fig. 6, one processor 601 is taken as an example.
The electronic device may further include: an input device 603 and a display device 604.
The processor 601, the memory 602, the input device 603, and the display device 604 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 602, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the driving quality assessment method for the driving robot in the embodiment of the present application, for example, the method flow shown in fig. 5. The processor 601 executes various functional applications and data processing by executing nonvolatile software programs, instructions, and modules stored in the memory 602, that is, implements the driving quality evaluation method of the driving robot in the above-described embodiments.
The memory 602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a driving quality evaluation method of the driving robot, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 602 may optionally include a memory remotely located from the processor 601, and these remote memories may be connected via a network to a device that performs the driving quality assessment method of the driving robot. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 603 may receive an input of a user click and generate signal inputs related to user settings and function control of a driving quality evaluation method of the driving robot. The display device 604 may include a display screen or the like.
The driving quality assessment method of the driving robot in any of the above-described method embodiments is performed when the one or more modules are stored in the memory 602 and executed by the one or more processors 601.
The driving robot is controlled by the upper computer based on different working conditions, the vehicle is tested by the whole vehicle rack platform to obtain platform test data, the vehicle test data is obtained by testing the vehicle in real time and is sent to the driving quality evaluation electronic equipment, and the driving performance under each working condition is objectively scored. And the scoring result is fed back to a software calibration engineer, and corresponding modification development work is carried out, so that the effect of closed-loop evaluation of drivability development is achieved. The method and the rack platform are beneficial to improving the real-time performance and the accuracy of the whole vehicle drivability development, improving the drivability development efficiency and saving the development cost.
Fig. 7 is a flowchart illustrating a driving quality evaluation condition control method based on a driving robot according to the present invention, including:
step S701, acquiring a working condition to be detected, and determining control information of the driving robot according to the working condition to be detected;
step S702, the control information is sent to driving control electronic equipment of the driving robot, the driving control electronic equipment controls the driving robot placed in the test vehicle to drive and control the test vehicle according to the control information, and the test vehicle is placed on a whole vehicle rack platform.
Particularly, this embodiment can be applied to the host computer, and the host computer can adopt INCA Flow to realize. And the upper computer executes the step S701 to acquire the working condition to be tested, and then determines the control information according to the working condition. And then, executing step S702, sending the control information to the driving control electronic equipment, and controlling the driving robot to control the vehicle to test. So as to automatically execute the driving tests under different working conditions. Under different working conditions, the robot is controlled to operate different positions of an accelerator and a brake pedal of the vehicle, so that the vehicle can be correspondingly controlled to run at different speeds and different acceleration and deceleration speeds.
The upper computer INCA Flow CAN be connected with the whole vehicle through a CAN bus, and is structurally connected with a driving robot communication interface in parallel on the CAN bus, and the whole vehicle, the driving robot and the upper computer CAN realize mutual real-time communication. Representative drivability test conditions were preprogrammed in INCA Flow in combination with actual development experience as follows: full throttle acceleration and throttle release, partial throttle acceleration and throttle release, sliding, braking, engine start and stop and the like. In actual operation, reprogramming can be performed according to the problem operating condition points with lower scores after driving quality evaluation, such as the operating conditions in engineering development and complaints about driving smoothness in use of customers.
The driving robot is controlled by the upper computer based on different working conditions, the vehicle is tested by the whole vehicle rack platform to obtain platform test data, the vehicle test data is obtained by testing the vehicle in real time and is sent to the driving quality evaluation electronic equipment, and the driving performance under each working condition is objectively scored. And the scoring result is fed back to a software calibration engineer, and corresponding modification development work is carried out, so that the effect of closed-loop evaluation of drivability development is achieved. The method and the rack platform are beneficial to improving the real-time performance and the accuracy of the whole vehicle drivability development, improving the drivability development efficiency and saving the development cost.
In one embodiment, the method further comprises the following steps:
monitoring vehicle test data generated by the test vehicle under driving control;
and if the vehicle test data meet the safety triggering condition, stopping outputting the control information, and controlling the driving robot to stop driving and controlling the test vehicle when the driving control electronic equipment stops receiving the control information.
Specifically, through CAN bus communication, the host computer 305 shown in fig. 3 CAN receive vehicle real-time signals including accelerator pedal position, brake pedal position, vehicle speed, and the like. The signals are monitored in real time, the execution condition of the driving robot execution mechanism can be obtained through feedback, and real-time feedback signals are provided for the next execution, so that the problems of execution conflict and the like are prevented. By means of signal monitoring, a long-acting safety mechanism can be compiled by means of INCA Flow, and possible driving robot runaway, vehicle stalling and the like can be prevented.
The upper computer 305 includes a working condition control module and a safety control module compiled through INCA Flow. The working condition control module gives a pre-programmed program by combining an engineering development process with actual experience, and can also realize online working condition adjustment. The safety control module comprises preventive measures which can affect the safety of the test under various working conditions and release measures for controlling the driving robot to fall into a dead cycle. Specifically, a safety program can be set in the INCA Flow, and once the vehicle speed is detected to exceed the preset maximum vehicle speed, the software automatically enters the preset brake-stop program. Meanwhile, the upper computer script provides an online operation function at the same time, and can be manually shut down under the condition of abnormal driving.
This embodiment increases safety monitoring, prevents that dangerous situation from taking place.
Fig. 8 is a schematic diagram of a hardware structure of an upper computer according to the present invention, which includes:
at least one processor 801; and the number of the first and second groups,
a memory 802 communicatively coupled to at least one of the processors 801; wherein,
the memory 802 stores instructions executable by at least one of the processors to enable the at least one of the processors to:
all the steps of the driving quality evaluation condition control method based on the driving robot are executed.
Fig. 8 illustrates an example of a processor 801.
The electronic device may further include: an input device 803 and a display device 804.
The processor 801, the memory 802, the input device 803, and the display device 804 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 802, as a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the driving quality assessment condition control method based on the driving robot in the embodiment of the present application, for example, the method flow shown in fig. 7. The processor 801 executes various functional applications and data processing by running the nonvolatile software programs, instructions, and modules stored in the memory 802, so as to implement the driving quality assessment condition control method based on the driving robot in the above-described embodiment.
The memory 802 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the driving quality evaluation condition control method based on the driving robot, and the like. Further, the memory 802 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 802 may optionally include a memory remotely located from the processor 801, and these remote memories may be connected via a network to a device that performs a method of controlling the behavior based on driving quality assessment of the driving robot. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 803 may receive an input of a user click and generate signal inputs related to user settings and function control of the behavior control method based on driving quality assessment of the driving robot. The display device 804 may include a display screen or the like.
When the one or more modules are stored in the memory 802, the method for estimating operating conditions based on driving quality of the robot according to any of the above-described method embodiments is performed when the one or more modules are executed by the one or more processors 801.
The driving robot is controlled by the upper computer based on different working conditions, the vehicle is tested by the whole vehicle rack platform to obtain platform test data, the vehicle test data is obtained by testing the vehicle in real time and is sent to the driving quality evaluation electronic equipment, and the driving performance under each working condition is objectively scored. And the scoring result is fed back to a software calibration engineer, and corresponding modification development work is carried out, so that the effect of closed-loop evaluation of drivability development is achieved. The method and the rack platform are beneficial to improving the real-time performance and the accuracy of the whole vehicle drivability development, improving the drivability development efficiency and saving the development cost.
Fig. 2 and 3 show a preferred embodiment of the present invention. The invention provides a driving robot-based whole vehicle driving quality evaluation method and a bench test platform, which can transfer a road test with strong randomness to a bench with higher test consistency, improve the accuracy of driving evaluation, and help to shorten the driving development time and improve the development efficiency.
The driving robot related to the invention consists of a controller 201, a servo motor 202, a connecting rod 203 and a mechanical leg 204, wherein the servo motor 202, the connecting rod 203 and the mechanical leg are respectively provided with two sets, and the two sets of mechanical structures are respectively and rigidly connected to transmit the acting force and the displacement of the servo motor. The controller is connected with the servo motor through a wire harness, and an I/O interface of the controller is a link for exchanging information between the controller 201 and the controlled object servo motor 202. The two sets of mechanical legs 204 are respectively defined as an accelerator pedal operating mechanism and a brake pedal operating mechanism, and can be in rigid contact with an accelerator pedal and an accelerator pedal of the whole vehicle. The telescopic motion of the two sets of mechanical legs of the driving robot can simulate the action of a driver for stepping on an accelerator and a brake pedal.
The position control of stepping on and releasing the accelerator and the brake pedal presets two methods of open loop and closed loop in the controller.
Under certain driving conditions, the driver can quickly step on a fixed accelerator or pedal position without change. In this case, open loop control of the pedal position is required. Open loop control requires pre-learning of pedal position before the test begins. Firstly, the position of the driving robot needs to be fixed, secondly, the driving pedal position signal of the VCU and the mechanical leg stretching position signal fed back by the driving robot are used for one-to-one corresponding learning, and the learning value is automatically recorded. By means of the learning value of the pedal position, the controller can automatically match the stretching position of the mechanical leg of the driving robot according to the position signal required value sent from the upper computer, and sends a signal to be transmitted to the servo motor for execution. The control strategy is to correspond the position signals of the mechanical legs and the strokes of the servo motors one by one so as to achieve the purpose of rapidly controlling the mechanical legs to reach the required positions. The open-loop control can fully utilize the control speed of the servo motor and realize the rapid control of the pedal position to the maximum extent by adjusting the PID parameters of the motor.
The closed-loop control is used under the running condition that the pedal position needs to be accurately controlled, and a PID control loop is added to the position control layer. The position of the closed-loop regulating pedal can be used for carrying out self-adaptive regulation on position control, and parameters of the PID can be regulated to balance overshoot and stable time. The difference between the actual amount of pedal position and the target position is used as the negative feedback of the PID to adjust the telescopic position of the mechanical leg. The method can be applied to simulating the actual driving process of repeatedly adjusting the accelerator according to the speed of the vehicle.
The INCA Flow upper computer 305 according to the present invention includes a script developed based on INCA Flow, and has a function of sending an instruction to a robot controller. Through CAN bus communication, the host computer 305 CAN receive vehicle real-time signals including accelerator pedal position, brake pedal position, vehicle speed, and the like. The signals are monitored in real time, the execution condition of the driving robot execution mechanism can be obtained through feedback, and real-time feedback signals are provided for the next execution, so that the problems of execution conflict and the like are prevented. By means of signal monitoring, a long-acting safety mechanism can be compiled by means of INCA Flow, and possible driving robot runaway, vehicle stalling and the like can be prevented. According to the invention, a safety program is set in the INCA Flow, and once the vehicle speed is detected to exceed the preset maximum vehicle speed, the software automatically enters the preset braking program. Meanwhile, the upper computer script provides an online operation function at the same time, and can be manually shut down under the condition of abnormal driving. Preventing dangerous situations from occurring.
The test bench provided by the invention is a four-wheel-drive performance rotating hub test bench and can be used for performing performance tests on two-wheel-drive and four-wheel-drive vehicles. The rack comprises a fan, a rotating hub, a rack control device, software and the like. Unlike conventional gantries, the present invention employs a vehicle rear mounted with an acceleration sensor 304 fixed to the vehicle. In the simulated road driving, the bench acceleration sensor gives a real-time longitudinal acceleration signal of the vehicle. The rotating hub test stand 303 comprises a rotating hub, rotating hub control software, a fan and a vehicle tail gas collecting channel. The bench is a four-wheel drive performance rotating hub test bench provided by AVL company, and can be used for performing performance related tests on front-wheel drive vehicles and four-wheel drive vehicles. The rack acceleration sensor 304 comprises a fixing device between the whole vehicle and the rack, an acceleration sensor and an acceleration signal filtering processing module. The acceleration sensor of the bench needs to be subjected to position measurement, installation and calibration, and compared with the actual road acceleration so as to meet the requirement of vehicle driving quality development.
The running working condition is developed and sent to the driving robot to operate the accelerator and the brake pedal of the vehicle in real time based on the development Flow and through the INCA Flow pre-programmed driving quality, and the vehicle can run according to the preset working condition. Data such as pedal position, vehicle speed, transmission gear, engine speed and torque while driving are recorded by the VCU and sent to the drivability assessment electronics 306, which is equipped with drivability assessment software AVL Drive.
The AVL Drive will give an objective score based on the data from the VCU in combination with the longitudinal acceleration sent by the acceleration sensor. The driving quality evaluation software AVL Drive can obtain objective scoring based on the driving data of the vehicle under various working conditions and the longitudinal acceleration signal data, and reflects the level of the vehicle on the market and the implementation effect of the driving quality related function block on the whole vehicle.
The driving robot and the upper computer realize CAN bus communication with a VCU of the whole vehicle through an On Board Diagnostics (OBD) interface of the vehicle. The communication structure is built according to the architecture principle of a CAN bus, and the communication network comprises a connecting wire, a resistor, a CAN card, a bus data analyzer, data acquisition and analysis software INCA and MDA.
The invention discloses a driving quality evaluation method based on a driving robot and a complete vehicle rack platform, and mainly aims to perform online calibration, test, verification and feedback on a control function block of driving quality in a VCU (complete vehicle controller) so as to realize the effect of developing closed-loop evaluation by driving quality calibration. The driving quality evaluation method based on the driving robot and the whole vehicle rack platform are suitable for a calibration development stage in a vehicle development process, and are greatly helpful for improving the software calibration development efficiency of the driving quality module of the whole vehicle controller and improving the accuracy of problem point reproduction.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A driving manipulation method of a driving robot, characterized by comprising:
receiving control information of the driving robot determined by the upper computer according to the working condition to be detected;
and controlling a driving robot placed in the test vehicle to drive the test vehicle to control according to the control information, placing the test vehicle on a whole vehicle rack platform, and evaluating the driving quality of the test vehicle by using vehicle test data generated by the test vehicle under the driving control through driving quality evaluation electronic equipment and combining the whole vehicle rack platform with the platform test data obtained by testing the test vehicle.
2. The driving control method of the driving robot according to claim 1, wherein the control information includes a target pedal position, and the controlling the driving robot placed in the test vehicle to perform the driving control on the test vehicle according to the control information specifically includes:
determining driving electric quantity corresponding to the pedal position based on the corresponding relation between the pedal position and the driving electric quantity according to the pedal target position;
the driving electric quantity is adopted to control a mechanical leg driving motor of the driving robot, the mechanical leg driving motor drives a mechanical leg of the driving robot to drive the test vehicle to control, and the mechanical leg is in contact with a pedal of the test vehicle.
3. The driving control method of the driving robot according to claim 2, wherein the determining the driving electric quantity corresponding to the pedal position based on the corresponding relationship between the pedal position and the driving electric quantity specifically includes:
pre-driving mechanical legs of a driving robot to a plurality of mechanical leg stretching positions;
when the mechanical leg reaches a mechanical leg stretching position, acquiring a pedal position from a pedal position sensor of the vehicle, and storing the pedal position in association with the corresponding mechanical leg stretching position to obtain the corresponding relation between the pedal position and the mechanical leg stretching position;
determining the mechanical leg stretching position corresponding to the pedal target position according to the corresponding relation between the pedal position and the mechanical leg stretching position;
and determining the driving electric quantity corresponding to the telescopic position of the mechanical leg according to the telescopic position of the mechanical leg.
4. The driving control method of the driving robot according to claim 1, wherein the control information includes a target pedal position, and the controlling the driving robot placed in the test vehicle to perform the driving control on the test vehicle according to the control information specifically includes:
controlling a mechanical leg driving motor of a driving robot, wherein the mechanical leg driving motor drives a mechanical leg of the driving robot to drive and control the test vehicle, and the mechanical leg is in contact with a pedal of the test vehicle;
and detecting the real-time position of the pedal, and adjusting the driving electric quantity of the mechanical leg driving motor according to the difference value between the real-time position of the pedal and the target position of the pedal.
5. A driving manipulation electronic device of a driving robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to: all the steps of the driving manipulation method of the driving robot according to any one of claims 1 to 4 are performed.
6. A driving quality evaluation method based on a driving robot is characterized by comprising the following steps:
the method comprises the steps that vehicle test data are obtained from a test vehicle, the vehicle test data are generated by driving and controlling the test vehicle according to control information of a driving robot determined by an upper computer according to a working condition to be tested after the driving robot placed in the test vehicle receives the control information, and the test vehicle is placed on a whole vehicle rack platform;
acquiring platform test data obtained by testing the test vehicle by the whole vehicle rack platform;
and evaluating the driving quality of the test vehicle based on the vehicle test data and the platform test data.
7. An electronic device for evaluating driving quality based on a driving robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to: all the steps of the driving robot-based driving quality assessment method according to claim 6 are performed.
8. A driving quality evaluation working condition control method based on a driving robot is characterized by comprising the following steps:
acquiring a working condition to be detected, and determining control information of the driving robot according to the working condition to be detected;
and sending the control information to driving control electronic equipment of the driving robot, wherein the control information is used for controlling the driving robot placed in the test vehicle to drive the test vehicle according to the control information by the driving control electronic equipment, and the test vehicle is placed on a whole vehicle rack platform.
9. The driving quality evaluation condition control method based on the driving robot according to claim 8, characterized by further comprising:
monitoring vehicle test data generated by the test vehicle under driving control;
and if the vehicle test data meet the safety triggering condition, stopping outputting the control information, and controlling the driving robot to stop driving and controlling the test vehicle when the driving control electronic equipment stops receiving the control information.
10. A host computer, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to: all the steps of the driving robot-based driving quality evaluation condition control method according to any one of claims 8 to 9 are performed.
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