CN113219955A - Multi-driver in-the-loop driving test platform - Google Patents
Multi-driver in-the-loop driving test platform Download PDFInfo
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- CN113219955A CN113219955A CN202110519547.2A CN202110519547A CN113219955A CN 113219955 A CN113219955 A CN 113219955A CN 202110519547 A CN202110519547 A CN 202110519547A CN 113219955 A CN113219955 A CN 113219955A
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- 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
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Abstract
The invention discloses a multi-driver in-the-loop driving test platform, which relates to the technical field of development and test of an automatic driving system and at least comprises a sensing simulation system, a vehicle dynamics simulation system, a driving simulator and a scene simulation system; the sensor simulation system is used for acquiring target-level sensing information and sending the target-level sensing information to the vehicle-mounted control system; the driving simulator is used for providing a driving environment and a driving scene for a real driver, outputting a driving instruction according to the driving intention of the real driver and then sending the driving instruction to the vehicle-mounted control system; the vehicle dynamics simulation system is used for determining vehicle pose information according to a control signal output by the vehicle-mounted control system; and the scene simulation system is used for updating the driving scene displayed in the driving simulator in real time according to the vehicle pose information. The invention can achieve the purposes of saving research and development cost and shortening research and development period.
Description
Technical Field
The invention relates to the technical field of development and testing of an automatic driving system, in particular to a multi-driver in-the-loop driving test platform.
Background
With the development of the automatic driving technology, the test evaluation technology of the automatic driving automobile also becomes an important link for the development and the test of the automatic driving system. According to the research of landes corporation, in order to reach the level of human drivers, at least 177 hundred million kilometers of data are accumulated for perfecting the automatic driving algorithm. Such a large number of mileage requirements cannot be completed by only relying on conventional closed field tests and open road tests, and the cost of economy and time consumed by the tests is also unbearable.
The automatic driving automobile simulation test platform is built to become a solution for development and test of an automatic driving system. However, there is currently a lack of relevant research.
Disclosure of Invention
The invention aims to provide an on-loop driving test platform for multiple drivers so as to achieve the purposes of saving research and development cost and shortening research and development period.
In order to achieve the purpose, the invention provides the following scheme:
a multi-driver in-the-loop driving test platform at least comprises a sensing simulation system, a vehicle dynamics simulation system, a driving simulator and a scene simulation system;
the sensor simulation system is used for acquiring target-level sensing information and sending the target-level sensing information to the vehicle-mounted control system;
the driving simulator is used for providing a driving environment and a driving scene for a real driver, outputting a driving instruction according to the driving intention of the real driver and then sending the driving instruction to the vehicle-mounted control system;
the vehicle dynamics simulation system is used for determining vehicle pose information according to a control signal output by the vehicle-mounted control system;
and the scene simulation system is used for updating the driving scene displayed in the driving simulator in real time according to the vehicle pose information.
Optionally, the sensor simulation system includes a main vehicle sensing simulation subsystem and a plurality of traffic vehicle sensing simulation subsystems, and the main vehicle sensing simulation subsystem and the traffic vehicle sensing simulation subsystem both include a sensing generation host, an ethernet-to-CAN module and a CAN bus; the sensing generation host and the Ethernet-to-CAN module are arranged in the cabinet;
the sensing generation host is used for transmitting the target-level sensing information to the Ethernet-to-CAN module in the form of Ethernet signals through the Ethernet;
the Ethernet-to-CAN module is used for converting the Ethernet signal into a vehicle-mounted CAN signal and transmitting the vehicle-mounted CAN signal to a vehicle-mounted control system through the CAN bus.
Optionally, the target-level sensing information is traffic target information acquired by a virtual sensor; the traffic target object information comprises traffic vehicle information, pedestrian information, lane line information and traffic light information; the virtual sensor is respectively arranged on the main vehicle and the traffic vehicle and comprises a camera and a millimeter wave radar.
Optionally, the driving simulator comprises a main vehicle driving simulator and a plurality of traffic vehicle driving simulators, and the main vehicle driving simulator and the traffic vehicle driving simulator respectively comprise a seat, a steering wheel, an accelerator pedal, a brake pedal, a steering motor and a steering controller;
the driving modes loaded by the vehicle-mounted control system comprise an unmanned driving mode, a man-machine common driving mode and an artificial driving mode;
the steering controller is used for collecting an accelerator pedal opening signal, a brake pedal opening signal and a steering wheel angle signal when the driving mode of the vehicle-mounted control system is a manual driving mode, and transmitting the accelerator pedal opening signal, the brake pedal opening signal and the steering wheel angle signal to the vehicle-mounted control system through a CAN bus;
the steering controller is also used for controlling the steering motor to work according to a corner control mode when the driving mode of the vehicle-mounted control system is an unmanned driving mode;
and the steering controller is also used for controlling the steering motor to work according to a torque control mode when the driving mode of the vehicle-mounted control system is a man-machine driving mode.
Optionally, the main vehicle driving simulator is a double-station driving simulator, and the traffic vehicle driving simulator is a single-station driving simulator.
Optionally, the vehicle-mounted control system is configured to load different automatic driving algorithms according to different development and test requirements; and the vehicle-mounted control system is also used for determining a control signal according to the target level sensing information, the driving instruction and the automatic driving algorithm.
Optionally, the vehicle dynamics system includes a main vehicle dynamics subsystem and a transit vehicle dynamics subsystem, and both the main vehicle dynamics subsystem and the transit vehicle dynamics subsystem include a vehicle dynamics host; the vehicle dynamics host is used for setting different vehicle dynamics models according to different development requirements; the vehicle dynamics main engine is arranged in the cabinet;
the vehicle dynamics host is also used for simulating the vehicle motion process according to the vehicle dynamics model and the control signal and determining the vehicle pose information in real time.
Optionally, the scene simulation system includes a main vehicle scene simulation subsystem and a traffic vehicle scene simulation subsystem; the vehicle pose information comprises main vehicle pose information and traffic vehicle pose information;
the main vehicle scene simulation subsystem comprises a U-shaped projection screen, a projector, a main vehicle fusion machine and a main vehicle scene generation host; the U-shaped projection screen and the projector are arranged in a main vehicle cab; the main vehicle fusion machine and the main vehicle scene generation host are arranged in the cabinet; a master vehicle driving scene simulation model is arranged in the master vehicle scene generating host; the main vehicle scene generation host is used for determining a main vehicle driving scene in the current stage according to the main vehicle driving scene simulation model and the main vehicle pose information and sending the main vehicle driving scene to the main vehicle fusion machine; the main vehicle fusion machine is used for fusing the main vehicle driving scene in the current stage and projecting the fused main vehicle driving scene on the U-shaped projection screen through the projector;
the traffic vehicle scene simulation subsystem comprises a triple screen display and a traffic vehicle scene generation host; the triple screen display is arranged in a cab of the traffic vehicle; the traffic vehicle scene generation host is arranged in the cabinet; the traffic vehicle scene generating host is internally provided with a traffic vehicle driving scene simulation model; the traffic vehicle scene generation host is used for determining a traffic vehicle driving scene in the current stage according to the traffic vehicle driving scene simulation model and the traffic vehicle pose information, and sending the traffic vehicle driving scene in the current stage to the triple screen display for display.
Optionally, the U-shaped projection screen is a 270 ° U-shaped projection screen.
Optionally, the main vehicle driving scene simulation model and the traffic vehicle driving scene simulation model are both constructed according to static environment elements, dynamic traffic elements and meteorological environment elements.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a multi-driver in-the-loop driving test platform which at least comprises a sensing simulation system, a vehicle dynamics simulation system, a driving simulator and a scene simulation system; the invention overcomes the defects existing when the automatic driving algorithm is perfected by relying on the traditional closed field test and the traditional open road test through the virtual simulation technology and the real driver control driving simulator technology, and ensures the safety of the real driver. Therefore, the invention has the advantages of saving research and development cost and shortening research and development period.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a block diagram of a multi-driver in-the-loop driving test platform according to the present invention;
FIG. 2 is a connection relationship diagram of four systems inside a ring driving test platform for multiple drivers according to the present invention;
fig. 3 is a schematic structural diagram of a device applying a multi-driver in-loop driving test platform according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
The invention aims to provide a multi-driver in-the-loop driving test platform, which can solve the problem of irreproducibility of closed field test and open road test by utilizing a simulation platform to develop and test an automatic driving algorithm, can ensure the safety of testers, can save research and development cost, can shorten the research and development period and accelerate the commercialization process of an automatic driving technology.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
The embodiment of the invention provides a multi-driver in-the-loop driving test platform, which is applied to the technical field of development and test of an automatic driving system and at least comprises a sensing simulation system, a vehicle dynamics simulation system, a driving simulator and a scene simulation system as shown in figure 1.
The sensor simulation system is used for acquiring target-level sensing information and sending the target-level sensing information to the vehicle-mounted control system; the driving simulator is used for providing a driving environment and a driving scene for a real driver, outputting a driving instruction according to the driving intention of the real driver and then sending the driving instruction to the vehicle-mounted control system; the vehicle dynamics simulation system is used for simulating the vehicle motion process according to the control signal output by the vehicle-mounted control system and determining the vehicle pose information; and the scene simulation system is used for updating the driving scene displayed in the driving simulator in real time according to the vehicle pose information.
The following systems are described in detail.
The sensor simulation system comprises a main vehicle sensing simulation subsystem and a plurality of traffic vehicle sensing simulation subsystems, and the main vehicle sensing simulation subsystem and the traffic vehicle sensing simulation subsystem respectively comprise a sensing generation host, an Ethernet-to-CAN module and a CAN bus; the sensing generation host and the Ethernet-to-CAN module are arranged in the cabinet. Meanwhile, under the condition that the main vehicle sensing simulation subsystem and the traffic vehicle sensing simulation subsystem need to share one sensing generation host.
The sensing generation host is used for transmitting the target-level sensing information to the Ethernet-to-CAN module in the form of Ethernet signals through the Ethernet; the Ethernet-to-CAN module is used for converting the Ethernet signal into a standard vehicle-mounted CAN signal and sending the vehicle-mounted CAN signal to a vehicle-mounted control system for use through the CAN bus.
The target-level sensing information refers to traffic target information detected by virtual sensors such as a camera and a millimeter wave radar, and the traffic target information comprises traffic vehicle information (speed, pose, acceleration and the like), pedestrian information (speed, pose, acceleration and the like), lane line information (type, color, curvature, lane line cubic polynomial fitting parameters) and traffic light information (position and indicator light color); wherein, virtual sensor sets up respectively on main car and traffic car.
The driving simulator comprises a main vehicle driving simulator and a plurality of traffic vehicle driving simulators, and a real driver can control the traffic vehicles to provide a complex driving scene for the main vehicle through the driving simulator, so that an automatic driving algorithm of the main vehicle is developed and tested. The technical effect that a plurality of real drivers drive vehicles in the same driving scene is achieved by arranging the main vehicle driving simulator and the plurality of traffic vehicle driving simulators.
The main vehicle driving simulator is a double-station driving simulator, the traffic vehicle driving simulator is a single-station driving simulator, and the main vehicle driving simulator and the traffic vehicle driving simulator respectively comprise a seat, a steering wheel, an accelerator pedal, a brake pedal, a steering motor and a steering controller. Wherein the steering motor includes a steering angle control mode and a torque control mode.
The loadable driving modes of the vehicle-mounted control system comprise an unmanned driving mode, a man-machine driving mode and a manual driving mode.
The steering controller is used for collecting an accelerator pedal opening signal, a brake pedal opening signal and a steering wheel angle signal when the driving mode of the vehicle-mounted control system is a manual driving mode, sending the accelerator pedal opening signal, the brake pedal opening signal and the steering wheel angle signal to the CAN bus, and transmitting the signals to the vehicle-mounted control system through the CAN bus so as to control the vehicle to run.
And the steering controller is also used for controlling the steering motor to work according to a corner control mode when the driving mode of the vehicle-mounted control system is an unmanned driving mode.
And the steering controller is also used for controlling the steering motor to work according to a torque control mode when the driving mode of the vehicle-mounted control system is a man-machine driving mode.
And (3) turning angle control mode: the steering angle control mode can be used for unmanned technology and replaces a human driver to rotate a steering wheel so as to realize the steering of the vehicle.
Torque control mode: the motor output torque is used as a control target to carry out closed-loop control, an instruction given to a steering controller is a torque instruction, the steering motor always tracks a set torque, and the steering wheel angle is related to the steering wheel load. The torque control mode can be used for the man-machine co-driving technology; in the driving process of the real-person driver, a controller in the vehicle-mounted control system can intervene to correct the steering operation of the real-person driver, so that a man-machine co-driving algorithm can be developed and tested, and meanwhile, the man-machine co-driving algorithm can also run in the steering controller.
The human-machine co-driving algorithm has no specific content, and only the function of a multi-driver in-loop driving test platform is required to be described, so that not only can automatic driving algorithm development and test be carried out, but also the development and test of the human-machine co-driving algorithm can be supported.
The vehicle-mounted control system is used for loading different automatic driving algorithms according to different development and test requirements; and the vehicle-mounted control system is also used for determining a control signal according to the target level sensing information, the driving instruction and the automatic driving algorithm. Because the main vehicle and the traffic vehicle are respectively provided with the vehicle-mounted control system, the control signals comprise main vehicle control signals and traffic vehicle control signals.
The vehicle dynamics system comprises a main vehicle dynamics subsystem and a traffic vehicle dynamics subsystem; the main vehicle dynamics subsystem and the traffic vehicle dynamics subsystem both comprise a vehicle dynamics main engine, and the vehicle dynamics main engine is arranged in the cabinet.
The vehicle dynamics host is internally provided with a vehicle dynamics model, and the vehicle dynamics host is used for setting different vehicle dynamics models according to different development requirements, namely the vehicle dynamics model can be customized to meet the development and test requirements of different automatic driving algorithms. The vehicle dynamics host is also used for simulating the vehicle motion process according to the vehicle dynamics model and the control signal and determining the vehicle pose information in real time; the vehicle pose information comprises main vehicle pose information and traffic vehicle pose information; the main vehicle dynamics subsystem and the traffic vehicle dynamics subsystem can share one vehicle dynamics host, and when the main vehicle dynamics subsystem and the traffic vehicle dynamics subsystem share one vehicle dynamics host, a main vehicle dynamics model and a traffic vehicle dynamics model are built in the vehicle dynamics host.
The vehicle dynamics host is an industrial personal computer; the vehicle dynamics model is used for simulating the dynamics change process of real vehicles (main vehicles and traffic vehicles) during driving, is constructed by using commercial software (such as CarSim or CarRealTime), can be designed by self, and is written by programming software (such as matlab or Visual Studio). And the vehicle dynamics model is downloaded to an industrial personal computer, so that the real-time operation of vehicle dynamics can be ensured.
The scene simulation system provides a vivid driving view for a real driver; the scene simulation system comprises a main vehicle scene simulation subsystem and a traffic vehicle scene simulation subsystem.
The main vehicle scene simulation subsystem comprises a U-shaped projection screen, a projector, a main vehicle fusion machine and a main vehicle scene generation host; the U-shaped projection screen and the projector are arranged in a main vehicle cab; the main vehicle fusion machine and the main vehicle scene generation host are arranged in the cabinet; a master vehicle driving scene simulation model is arranged in the master vehicle scene generating host; the main vehicle scene generation host is used for determining a main vehicle driving scene in the current stage according to the main vehicle driving scene simulation model and the main vehicle pose information and sending the main vehicle driving scene to the main vehicle fusion machine; the main vehicle fusion machine is used for fusing the main vehicle driving scene in the current stage and projecting the fused main vehicle driving scene on the U-shaped projection screen through the projector so as to provide a vivid driving visual scene for a main vehicle real driver.
The U-shaped projection screen is 270 degrees, the 270 degrees U-shaped projection screen provides a wider driving visual field for a main vehicle real driver, the immersion sense of the main vehicle real driver is stronger, and the main vehicle real driver interacts with a main vehicle through the main vehicle driving simulator to generate a driving scene closer to a real traffic flow.
The traffic vehicle scene simulation subsystem comprises a triple screen display and a traffic vehicle scene generation host; the triple screen display is arranged in a cab of the traffic vehicle; the traffic vehicle scene generation host is arranged in the cabinet; the traffic vehicle scene generating host is internally provided with a traffic vehicle driving scene simulation model; the traffic vehicle scene generation host is used for determining the traffic vehicle driving scene in the current stage according to the traffic vehicle driving scene simulation model and the traffic vehicle pose information, and sending the traffic vehicle driving scene in the current stage to the triple screen display for display, so that a vivid driving visual scene is provided for a real driver of the traffic vehicle. Real-person drivers of the traffic vehicles can interact with the main vehicles in real time through the driving views of the traffic vehicles.
The main vehicle driving scene simulation model and the traffic vehicle driving scene simulation model are used for simulating the driving scene of the vehicle in the driving process.
The main vehicle driving scene simulation model and the traffic vehicle driving scene simulation model are constructed according to static environment elements (roads, traffic facilities, static obstacles and the like), dynamic traffic elements (traffic vehicles, pedestrians, animals and the like) and meteorological environment elements (illumination, rain, snow, fog and the like). In the real-time running process of the vehicle, the aim of updating the vehicle driving scene is fulfilled by updating elements in the main vehicle driving scene simulation model and the traffic vehicle driving scene simulation model.
The relationships between the sensing simulation system, the vehicle dynamics simulation system, the driving simulator, and the scene simulation system are shown in fig. 2.
The scene simulation system is used for simulating and generating a driving scene according to the static environment elements, the dynamic traffic elements and the meteorological environment elements and displaying the driving scene in an image form in real time; a real-person driver observes a real-time driving visual scene and operates a steering wheel, an accelerator pedal and a brake pedal in a driving simulator according to own driving intention; the sensing simulation system simulates virtual sensors such as a camera and a millimeter wave radar and sends information such as traffic signals, pedestrians, roads and traffic signals detected by the virtual sensors to an automatic driving controller (namely a vehicle-mounted control system); the automatic driving controller receives driving signals (steering wheel signals, accelerator pedal signals and brake pedal signals) from a driving simulator and sensing signals from a sensing simulation system, plans, decides and controls according to an automatic driving algorithm, and sends control signals to a vehicle dynamics simulation system; the vehicle dynamics simulation system simulates the real vehicle motion process, and after receiving the control signal, the vehicle dynamics model calculates that the vehicle pose changes, and transmits the vehicle pose information to the scene simulation system in real time; and the scene simulation system updates the driving scene in real time according to the change of the vehicle pose, so that a driving closed loop is formed.
Example two
The embodiment of the invention also provides a device for a multi-driver in-the-loop driving test platform, which is applied to the first embodiment, and as shown in fig. 3, the device provided by the embodiment comprises a main vehicle double-station driving simulator 1, a first single-station traffic vehicle driving simulator 2, a second single-station traffic vehicle driving simulator 3, a cabinet 4 and a display 5.
The main vehicle double-station driving simulator 1 provides a driving environment and a driving scene for a main vehicle real driver. The main car double-station driving simulator comprises 1U-shaped projection screen of 270 degrees, 5 projectors, 2 driving seats, 1 accelerator pedal, 1 brake pedal, 1 steering controller, 1 steering motor and 1 double-station frame built by aluminum profiles.
The first single-station traffic vehicle driving simulator 2 and the second single-station traffic vehicle driving simulator 3 provide driving environments and driving scenes for real drivers of traffic vehicles. First simplex position vehicle drives simulator 2 and second simplex position vehicle and drives simulator 3 and all includes 3 displays, 1 driver's seat, 1 accelerator pedal, 1 brake pedal, 1 steering controller, 1 steering motor and 1 simplex position frame of putting up with the aluminium alloy.
The cabinet 4 is used for fixedly mounting equipment required by a plurality of drivers on the ring driving test platform. The cabinet 4 includes 1 programmable power supply, 1 scene sensing host computer, 1 switch, 1 integration machine, 1 ethernet changes CAN module, 1 vehicle dynamics host computer, 1 controller (or be the MicroAutobox). The scene sensing host is an integrated structure of the scene generation host and the sensing generation host.
The display 5 is used for displaying a control interface of the scene sensing host.
The scene sensing host is provided with commercial traffic simulation software, simulates the whole driving scene, can install a virtual sensor (a camera and a millimeter wave radar) into a vehicle, can detect a traffic target by the virtual sensor, and can read and send traffic target information to the Ethernet by using an application programming interface programming program.
Compared with the prior art, the invention has the following advantages:
first, a multi-driver in-loop driving test platform can create more complex driving scenes for the main vehicle.
Secondly, most of the existing traffic vehicles with the automatic driving simulation platform are controlled by programs, and the multi-driver in-loop driving test platform provided by the invention is controlled by a real driver through a driving simulator and is closer to a real driving test working condition.
Thirdly, the multi-driver in-loop driving test platform provided by the invention can support a man-machine co-driving algorithm or an automatic driving algorithm to run in an industrial personal computer, a MicroAutobox and a controller, meets the requirements of software in-loop test and hardware in-loop test in the algorithm development and test process, can enable the algorithm to be iterated rapidly, and accelerates the algorithm development process of the automatic driving automobile.
Fourthly, the multi-driver in-the-loop driving test platform provided by the invention can save research and development cost, shorten research and development period and accelerate the commercialization process of the automatic driving technology.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A multi-driver in-the-loop driving test platform is characterized by at least comprising a sensing simulation system, a vehicle dynamics simulation system, a driving simulator and a scene simulation system;
the sensor simulation system is used for acquiring target-level sensing information and sending the target-level sensing information to the vehicle-mounted control system;
the driving simulator is used for providing a driving environment and a driving scene for a real driver, outputting a driving instruction according to the driving intention of the real driver and then sending the driving instruction to the vehicle-mounted control system;
the vehicle dynamics simulation system is used for determining vehicle pose information according to a control signal output by the vehicle-mounted control system;
and the scene simulation system is used for updating the driving scene displayed in the driving simulator in real time according to the vehicle pose information.
2. The multi-driver on-loop driving test platform according to claim 1, wherein the sensor simulation system comprises a main vehicle sensing simulation subsystem and a plurality of traffic vehicle sensing simulation subsystems, and the main vehicle sensing simulation subsystem and the traffic vehicle sensing simulation subsystem each comprise a sensing generation host, an ethernet-to-CAN module and a CAN bus; the sensing generation host and the Ethernet-to-CAN module are arranged in the cabinet;
the sensing generation host is used for transmitting the target-level sensing information to the Ethernet-to-CAN module in the form of Ethernet signals through the Ethernet;
the Ethernet-to-CAN module is used for converting the Ethernet signal into a vehicle-mounted CAN signal and transmitting the vehicle-mounted CAN signal to a vehicle-mounted control system through the CAN bus.
3. The multi-driver on-loop driving test platform according to claim 1, wherein the target-level sensing information is traffic target information collected by a virtual sensor; the traffic target object information comprises traffic vehicle information, pedestrian information, lane line information and traffic light information; the virtual sensor is respectively arranged on the main vehicle and the traffic vehicle and comprises a camera and a millimeter wave radar.
4. The multi-driver on-loop driving test platform according to claim 1, wherein the driving simulator comprises a main vehicle driving simulator and a plurality of traffic vehicle driving simulators, and the main vehicle driving simulator and the traffic vehicle driving simulator each comprise a seat, a steering wheel, an accelerator pedal, a brake pedal, a steering motor and a steering controller;
the driving modes loaded by the vehicle-mounted control system comprise an unmanned driving mode, a man-machine common driving mode and an artificial driving mode;
the steering controller is used for collecting an accelerator pedal opening signal, a brake pedal opening signal and a steering wheel angle signal when the driving mode of the vehicle-mounted control system is a manual driving mode, and transmitting the accelerator pedal opening signal, the brake pedal opening signal and the steering wheel angle signal to the vehicle-mounted control system through a CAN bus;
the steering controller is also used for controlling the steering motor to work according to a corner control mode when the driving mode of the vehicle-mounted control system is an unmanned driving mode;
and the steering controller is also used for controlling the steering motor to work according to a torque control mode when the driving mode of the vehicle-mounted control system is a man-machine driving mode.
5. The multi-driver on-loop driving test platform according to claim 4, wherein the main vehicle driving simulator is a double-station driving simulator, and the traffic vehicle driving simulator is a single-station driving simulator.
6. The multi-driver in-loop driving test platform according to claim 1, wherein the vehicle-mounted control system is used for loading different automatic driving algorithms according to different development and test requirements; and the vehicle-mounted control system is also used for determining a control signal according to the target level sensing information, the driving instruction and the automatic driving algorithm.
7. The multi-driver on-loop driving test platform of claim 1, wherein the vehicle dynamics system comprises a primary vehicle dynamics subsystem and a transit vehicle dynamics subsystem, and the primary vehicle dynamics subsystem and the transit vehicle dynamics subsystem each comprise a vehicle dynamics master; the vehicle dynamics host is used for setting different vehicle dynamics models according to different development requirements; the vehicle dynamics main engine is arranged in the cabinet;
the vehicle dynamics host is also used for simulating the vehicle motion process according to the vehicle dynamics model and the control signal and determining the vehicle pose information in real time.
8. The multi-driver on-loop driving test platform according to claim 1, wherein the scene simulation system comprises a main vehicle scene simulation subsystem and a traffic vehicle scene simulation subsystem; the vehicle pose information comprises main vehicle pose information and traffic vehicle pose information;
the main vehicle scene simulation subsystem comprises a U-shaped projection screen, a projector, a main vehicle fusion machine and a main vehicle scene generation host; the U-shaped projection screen and the projector are arranged in a main vehicle cab; the main vehicle fusion machine and the main vehicle scene generation host are arranged in the cabinet; a master vehicle driving scene simulation model is arranged in the master vehicle scene generating host; the main vehicle scene generation host is used for determining a main vehicle driving scene in the current stage according to the main vehicle driving scene simulation model and the main vehicle pose information and sending the main vehicle driving scene to the main vehicle fusion machine; the main vehicle fusion machine is used for fusing the main vehicle driving scene in the current stage and projecting the fused main vehicle driving scene on the U-shaped projection screen through the projector;
the traffic vehicle scene simulation subsystem comprises a triple screen display and a traffic vehicle scene generation host; the triple screen display is arranged in a cab of the traffic vehicle; the traffic vehicle scene generation host is arranged in the cabinet; the traffic vehicle scene generating host is internally provided with a traffic vehicle driving scene simulation model; the traffic vehicle scene generation host is used for determining a traffic vehicle driving scene in the current stage according to the traffic vehicle driving scene simulation model and the traffic vehicle pose information, and sending the traffic vehicle driving scene in the current stage to the triple screen display for display.
9. The multi-driver on-loop driving test platform according to claim 8, wherein the U-shaped projection screen is a 270 ° U-shaped projection screen.
10. The multi-driver on-loop driving test platform according to claim 8, wherein the main vehicle driving scene simulation model and the traffic vehicle driving scene simulation model are constructed according to static environment elements, dynamic traffic elements and meteorological environment elements.
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