CN113219955B - Multi-driver driving-in-loop test platform - Google Patents
Multi-driver driving-in-loop test platform Download PDFInfo
- Publication number
- CN113219955B CN113219955B CN202110519547.2A CN202110519547A CN113219955B CN 113219955 B CN113219955 B CN 113219955B CN 202110519547 A CN202110519547 A CN 202110519547A CN 113219955 B CN113219955 B CN 113219955B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- driving
- scene
- traffic
- main
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—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
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a multi-driver in-loop driving test platform, which relates to the technical field of automatic driving system development and testing 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 control signals output by the vehicle-mounted control system; 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 automatic driving system development and testing, in particular to a multi-driver in-loop driving test platform.
Background
With development of automatic driving technology, the test evaluation technology of the automatic driving automobile also becomes an important link of development and test of an automatic driving system. According to the research of the United states Rand company, at least 177 hundred million kilometers of data are accumulated for improving the automatic driving algorithm to reach the level of human drivers. Such a large test mileage requirement is not possible to accomplish by means of only conventional closed-field testing and open-road testing, and the economic and time costs consumed are also prohibitive.
The construction of the automatic driving automobile simulation test platform becomes a solution for development and test of an automatic driving system. However, there is currently no research.
Disclosure of Invention
The invention aims to provide a multi-driver on-loop driving test platform so as to achieve the purposes of saving research and development cost and shortening research and development period.
In order to achieve the above object, the present invention provides the following solutions:
the multi-driver on-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 control signals output by the vehicle-mounted control system; 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 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 comprise a sensing generation host, an ethernet-to-CAN module and a CAN bus; the sensing generation host and the Ethernet CAN conversion 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 signals into vehicle-mounted CAN signals and sending the vehicle-mounted CAN signals to a vehicle-mounted control system through the CAN bus.
Optionally, the target level sensing information is traffic target object information collected by a virtual sensor; the traffic target information comprises traffic information, pedestrian information, lane line information and traffic light information; the virtual sensor is arranged on the host vehicle and the traffic vehicle respectively, 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 simulators 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 co-driving mode and a manual driving mode;
the steering controller is used for acquiring an accelerator pedal opening signal, a brake pedal opening signal and a steering wheel corner 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 corner 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 turning angle control mode when the driving mode of the vehicle-mounted control system is an unmanned driving mode;
the steering controller is also used for controlling the steering motor to work in a steering angle control mode according to a torque control mode when the driving mode of the vehicle-mounted control system is a man-machine co-driving mode: the steering motor always tracks and sets the steering angle, and the steering angle control mode can be used for unmanned technology to replace a human driver to rotate a steering wheel so as to realize the steering of the vehicle;
optionally, the vehicle-mounted control system is used for loading different automatic driving algorithms according to different development and test requirements; 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 comprises a main vehicle dynamics subsystem and a traffic vehicle dynamics subsystem, and the main vehicle dynamics subsystem and the traffic vehicle dynamics subsystem comprise a vehicle dynamics host; the vehicle dynamics host is used for setting different vehicle dynamics models according to different development requirements; the vehicle dynamics host is arranged in the cabinet;
the vehicle dynamics host is also used for simulating a vehicle motion process according to the vehicle dynamics model and the control signal and determining vehicle pose information in real time.
Optionally, the scene simulation system comprises a main car scene simulation subsystem and a traffic car scene simulation subsystem; the vehicle pose information comprises main vehicle pose information and traffic vehicle pose information;
the main scene simulation subsystem comprises a U-shaped projection screen, a projector, a main scene fusion machine and a main scene generation host; the U-shaped projection screen and the projector are arranged in a driving room of a main vehicle; the main car fusion machine and the main car scene generation host are arranged in a cabinet; the main driving scene generation host is internally provided with a main driving scene simulation model; the main car scene generation host is used for determining a main car driving scene at the current stage according to the main car driving scene simulation model and the main car pose information and sending the main car driving scene to the main car fusion machine; the main car fusion machine is used for fusing the main car driving scene at the current stage and projecting the fused main car 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; wherein the triple screen display is arranged in a cab of the traffic vehicle; the traffic scene generating host is arranged in the cabinet; the traffic vehicle scene generation host is internally provided with a traffic vehicle driving scene simulation model; and the traffic vehicle scene generation host is used for determining the current-stage traffic vehicle driving scene according to the traffic vehicle driving scene simulation model and the traffic vehicle pose information, and sending the current-stage traffic vehicle driving scene 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-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, wherein the sensing simulation system is used for simulating the driving of a vehicle; the invention overcomes the defects existing when the automatic driving algorithm is perfected by means of 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 the research and development cost and shortening the research and development period.
Drawings
For a clearer description of an embodiment of the invention or of the technical solutions of the prior art, the drawings that are needed in the embodiment will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art;
FIG. 1 is a block diagram of a multiple driver in-loop driving test platform according to the present invention;
FIG. 2 is a diagram showing the connection relationship between four systems of multiple drivers in the ring driving test platform according to the present invention;
FIG. 3 is a schematic diagram of a device structure of a driving test platform with multiple drivers.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a multi-driver on-loop driving test platform, which utilizes a simulation platform to develop and test an automatic driving algorithm, can solve irreproducibility of a closed field test and an open road test, can ensure safety of testers, can save research and development cost, can also shorten research and development period, and can accelerate commercialization process of an automatic driving technology.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
The embodiment of the invention provides a multi-driver in-loop driving test platform which is applied to the technical field of automatic driving system development and testing, 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 a vehicle movement process according to a control signal output by the vehicle-mounted control system and determining vehicle pose information; 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 below.
The sensor simulation system comprises a main vehicle sensing simulation subsystem and a plurality of traffic vehicle sensing simulation subsystems, wherein the main vehicle sensing simulation subsystem and the traffic vehicle sensing simulation subsystem comprise a sensing generation host, an Ethernet-to-CAN module and a CAN bus; the sensing generation host and the Ethernet CAN conversion module are arranged in the cabinet. Meanwhile, the main vehicle sensing simulation subsystem and the traffic vehicle sensing simulation subsystem can share one sensing generation host computer.
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 signals into standard vehicle-mounted CAN signals and sending the vehicle-mounted CAN signals to a vehicle-mounted control system for use through the CAN bus.
The target level sensing information refers to traffic target object information detected by a virtual sensor such as a camera, a millimeter wave radar and the like, wherein the traffic target object information comprises traffic information (speed, pose, acceleration and the like), pedestrian information (speed, pose, acceleration and the like), lane line information (type, color, curvature and lane line cubic polynomial fitting parameters), traffic light information (position and indicator light color); wherein the virtual sensors are respectively arranged on the host vehicle and the traffic vehicle.
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 complex driving scenes for the main vehicles through the driving simulators so as to develop and test automatic driving algorithms of the main vehicles. 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 traffic vehicle driving simulators.
The main car driving simulator is a double-station driving simulator, the traffic car driving simulator is a single-station driving simulator, and the main car driving simulator and the traffic car driving simulator all 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 driving modes which can be loaded by the vehicle-mounted control system comprise an unmanned mode, a man-machine co-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 rotation angle signal, sending the accelerator pedal opening signal, the brake pedal opening signal and the steering wheel rotation angle signal to a CAN bus, and then transmitting the signals to the vehicle-mounted control system through the CAN bus to control the vehicle to run;
the steering controller is used for acquiring an accelerator pedal opening signal, a brake pedal opening signal and a steering wheel corner 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 corner 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 turning angle control mode when the driving mode of the vehicle-mounted control system is an unmanned driving mode;
the steering controller is also used for controlling the steering motor to work in a steering angle control mode according to a torque control mode when the driving mode of the vehicle-mounted control system is a man-machine co-driving mode: the steering motor always tracks and sets the steering angle, and the steering angle control mode can be used for unmanned technology to replace a human driver to rotate a steering wheel so as to realize the steering of the vehicle.
Rotation angle control mode: the steering motor always tracks and sets the steering angle, and the steering angle control mode can be used for unmanned technology to replace a human driver to rotate a steering wheel so as to realize the steering of the vehicle.
Torque control mode: and the motor output torque is used as a control target to carry out closed-loop control, a command given to the steering controller is a torque command, the steering motor always tracks the set torque, and the steering wheel angle and the steering wheel load are related. The torque control mode can be used for man-machine co-driving technology; in the driving process of the real driver, the controller in the vehicle-mounted control system can intervene to correct the steering operation of the real driver, so that the man-machine co-driving algorithm can be developed and tested, and meanwhile, the man-machine co-driving algorithm can also operate in the steering controller.
It should be noted that the man-machine co-driving algorithm has no specific content, but only aims to explain the functions of the multi-driver driving-around test platform, so that not only can the development and the test of the automatic driving algorithm be carried out, but also the development and the test of the man-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; 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. Since the vehicle-mounted control systems are respectively arranged on the main vehicle and the traffic vehicle, the control signals comprise a main vehicle control signal and a traffic vehicle control signal.
The vehicle dynamics system comprises a main vehicle dynamics subsystem and a traffic vehicle dynamics subsystem; the main vehicle power subsystem and the traffic vehicle power subsystem each comprise a vehicle dynamics host, and the vehicle dynamics host is arranged in the cabinet.
The vehicle dynamics host is internally provided with vehicle dynamics models, and is used for setting different vehicle dynamics models according to different development requirements, namely, the vehicle dynamics models can be customized to meet the development and test requirements of different automatic driving algorithms. The vehicle dynamics host is also used for simulating a vehicle motion process according to the vehicle dynamics model and the control signal and determining 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 a vehicle dynamics main machine, and when the main vehicle dynamics subsystem and the traffic vehicle dynamics subsystem share the vehicle dynamics main machine, the main vehicle dynamics model and the traffic vehicle dynamics model are built in the vehicle dynamics main machine.
The vehicle dynamics host is an industrial personal computer; the vehicle dynamics model is used for simulating the dynamics change process of a real vehicle (a host vehicle and a traffic vehicle) during running, is constructed by adopting commercial software (such as CarSim or CarRealTime), and can be designed by self and written by programming software (such as matlab or Visual Studio). The vehicle dynamics model is downloaded to the industrial personal computer, so that the real-time running of the vehicle dynamics can be ensured.
The scene simulation system provides a realistic driving view for a real driver; the scene simulation system comprises a main car scene simulation subsystem and a traffic car scene simulation subsystem.
The main scene simulation subsystem comprises a U-shaped projection screen, a projector, a main scene fusion machine and a main scene generation host; the U-shaped projection screen and the projector are arranged in a driving room of a main vehicle; the main car fusion machine and the main car scene generation host are arranged in a cabinet; the main driving scene generation host is internally provided with a main driving scene simulation model; the main car scene generation host is used for determining a main car driving scene at the current stage according to the main car driving scene simulation model and the main car pose information and sending the main car driving scene to the main car fusion machine; the main car fusion machine is used for fusing the main car driving scene at the current stage and projecting the fused main car driving scene on the U-shaped projection screen through the projector so as to provide a realistic driving view for a real driver of the main car.
The U-shaped projection screen is 270 degrees, the 270 degrees U-shaped projection screen provides wider driving vision for a real driver of the host vehicle, so that the real driver of the host vehicle has stronger immersion feeling, and the real driver of the host vehicle interacts with the host vehicle through the host vehicle driving simulator to generate a driving scene which is closer to real traffic flow.
The traffic vehicle scene simulation subsystem comprises a triple screen display and a traffic vehicle scene generation host; wherein the triple screen display is arranged in a cab of the traffic vehicle; the traffic scene generating host is arranged in the cabinet; the traffic vehicle scene generation host is internally provided with a traffic vehicle driving scene simulation model; the traffic vehicle scene generation host is used for determining a current-stage traffic vehicle driving scene according to the traffic vehicle driving scene simulation model and the traffic vehicle pose information, and sending the current-stage traffic vehicle driving scene to the triple screen display for display so as to provide a realistic driving view for a traffic vehicle real driver. Real-time interaction can be carried out between a real driver of the traffic vehicle and the host vehicle through a driving view of the traffic vehicle.
The main car driving scene simulation model and the traffic car driving scene simulation model are used for simulating driving scenes in the running process of the vehicle.
The main vehicle driving scene simulation model and the traffic vehicle driving scene simulation model are both 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 main vehicle driving scene simulation model and elements in the traffic vehicle driving scene simulation model are updated to achieve the purpose of updating the vehicle driving scene.
The relationship between the sensor simulation system, the vehicle dynamics simulation system, the driving simulator, and the scene simulation system is 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; real-time driving views are observed by a real driver, and a steering wheel, an accelerator pedal and a brake pedal are operated in a driving simulator according to the driving intention of the driver; the sensing simulation system simulates virtual sensors such as cameras and millimeter wave radars, and sends information such as traffic vehicles, 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 the driving simulator and sensing signals from the sensing simulation system, then performs planning, decision making and control according to an automatic driving algorithm, and issues control signals to the vehicle dynamics simulation system; the vehicle dynamics simulation system simulates a real vehicle movement process, and after receiving a control signal, the vehicle dynamics simulation system calculates the vehicle position and posture, and transmits the vehicle position and posture information to the scene simulation system in real time; the scene simulation system updates the driving scene in real time according to the vehicle pose change, thereby forming a driving closed loop.
Example two
The embodiment of the invention also provides a device for applying the multi-driver on-loop driving test platform in the embodiment, 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 host vehicle double-station driving simulator 1 provides a driving environment and driving scene for a host 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 the real human driver of the traffic vehicle. The first single-station traffic vehicle driving simulator 2 and the second single-station traffic vehicle driving simulator 3 comprise 3 displays, 1 driving seat, 1 accelerator pedal, 1 brake pedal, 1 steering controller, 1 steering motor and 1 single-station frame built by aluminum profiles.
The cabinet 4 is used for fixedly installing equipment required by multiple drivers on the circular driving test platform. The cabinet 4 comprises 1 programmable power supply, 1 scene sensing host, 1 exchanger, 1 fusion machine, 1 Ethernet-to-CAN module, 1 vehicle dynamics host and 1 controller (or MicroAutobox). The scene sensing host is an integrated structure of the scene generating host and the sensing generating host.
The display 5 is used for displaying a control interface of the scene sensing host.
The commercial traffic simulation software is installed in the scene sensing host, the whole driving scene is simulated, the virtual sensor (the camera and the millimeter wave radar) can be installed in the vehicle, the virtual sensor can detect traffic targets, and the traffic target information can be read and sent to the Ethernet by using the application programming interface programming program.
Compared with the prior art, the invention has the following advantages:
first, multiple drivers can create more complex driving scenarios for the host vehicle on a loop driving test platform.
Secondly, most of the existing automatic driving simulation platform traffic vehicles are controlled by programs, and the multi-driver on-loop driving test platform provided by the invention is controlled by a real driver through a driving simulator, so that the traffic vehicles are more similar to real drive test working conditions.
Thirdly, the multi-driver in-loop driving test platform provided by the invention can support the operation of a man-machine co-driving algorithm or an automatic driving algorithm in an industrial personal computer, a MicroAutobox and a controller, meets the requirements of software in-loop testing and hardware in-loop testing in the process of algorithm development and testing, can enable the algorithm to iterate rapidly, and accelerates the development process of the automatic driving automobile algorithm.
Fourth, the multi-driver on-loop driving test platform provided by the invention can save the research and development cost, shorten the research and development period and accelerate the commercialization process of the automatic driving technology.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (5)
1. The multi-driver on-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 sensing simulation system is used for acquiring target-level sensing information and sending the target-level sensing information to the vehicle-mounted control system; the target level sensing information is traffic target object information acquired by a virtual sensor; the traffic target information comprises traffic information, pedestrian information, lane line information and traffic light information; the virtual sensors are respectively arranged on the host vehicle and the traffic vehicle;
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 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 simulators comprise seats, steering wheels, accelerator pedals, brake pedals, steering motors and steering controllers;
the vehicle-mounted control system is used for determining a control signal according to the target level sensing information, the driving instruction and an automatic driving algorithm; the driving modes which can be loaded by the vehicle-mounted control system comprise an unmanned driving mode, a man-machine co-driving mode and a manual driving mode;
the steering controller is used for acquiring an accelerator pedal opening signal, a brake pedal opening signal and a steering wheel corner 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 corner 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 turning angle control mode when the driving mode of the vehicle-mounted control system is an unmanned driving mode;
the steering controller is also used for controlling the steering motor to work in a steering angle control mode according to a torque control mode when the driving mode of the vehicle-mounted control system is a man-machine co-driving mode: the steering motor always tracks and sets the steering angle, and the steering angle control mode can be used for unmanned technology to replace a human driver to rotate a steering wheel so as to realize the steering of the vehicle;
rotation angle control mode: the steering motor always tracks and sets the steering angle, and the steering angle control mode can be used for unmanned technology to replace 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, a command to a steering controller is used as a torque command, the steering motor always tracks the set torque, and the steering wheel angle and the steering wheel load are related; the torque control mode can be used for man-machine co-driving technology; in the driving process of a real driver, a controller in the vehicle-mounted control system can intervene to correct the steering operation of the real driver, so that a man-machine co-driving algorithm can be developed and tested, and meanwhile, the man-machine co-driving algorithm can also operate in the steering controller;
the vehicle dynamics simulation system is used for determining vehicle pose information according to control signals output by the vehicle-mounted control system;
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 scene simulation system comprises a main car scene simulation subsystem and a traffic car scene simulation subsystem; the vehicle pose information comprises main vehicle pose information and traffic vehicle pose information;
the main scene simulation subsystem comprises a U-shaped projection screen, a projector, a main scene fusion machine and a main scene generation host; the U-shaped projection screen and the projector are arranged in a driving room of a main vehicle; the main car fusion machine and the main car scene generation host are arranged in a cabinet; the main driving scene generation host is internally provided with a main driving scene simulation model; the main car scene generation host is used for determining a main car driving scene at the current stage according to the main car driving scene simulation model and the main car pose information and sending the main car driving scene to the main car fusion machine; the main car fusion machine is used for fusing the main car driving scene at the current stage and projecting the fused main car 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; wherein the triple screen display is arranged in a cab of the traffic vehicle; the traffic scene generating host is arranged in the cabinet; the traffic vehicle scene generation host is internally provided with a traffic vehicle driving scene simulation model; the traffic vehicle scene generation host is used for determining a current-stage traffic vehicle driving scene according to the traffic vehicle driving scene simulation model and the traffic vehicle pose information, and sending the current-stage traffic vehicle driving scene to the triple screen display for display;
the vehicle-mounted control system is used for loading different automatic driving algorithms according to different development and test requirements;
the vehicle dynamics simulation system comprises a main vehicle dynamics subsystem and a traffic vehicle dynamics subsystem, wherein the main vehicle dynamics subsystem and the traffic vehicle dynamics subsystem both comprise vehicle dynamics hosts; the vehicle dynamics host is used for setting different vehicle dynamics models according to different development requirements; the vehicle dynamics host is arranged in the cabinet;
the vehicle dynamics host is also used for simulating a vehicle motion process according to the vehicle dynamics model and the control signal and determining vehicle pose information in real time;
the U-shaped projection screen is a 270-degree U-shaped projection screen.
2. The multi-driver on-loop driving test platform according to claim 1, wherein the sensing 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 CAN conversion 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 signals into vehicle-mounted CAN signals and sending the vehicle-mounted CAN signals to a vehicle-mounted control system through the CAN bus.
3. The multi-driver in-loop driving test platform of claim 1, wherein the virtual sensor comprises a camera and a millimeter wave radar.
4. The multiple driver in-loop driving test platform of claim 1, wherein the main vehicle driving simulator is a double-station driving simulator and the traffic vehicle driving simulator is a single-station driving simulator.
5. The multiple driver in-loop driving test platform of claim 1, wherein the main vehicle driving scene simulation model and the traffic vehicle driving scene simulation model are each constructed from static environmental elements, dynamic traffic elements and meteorological environmental elements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110519547.2A CN113219955B (en) | 2021-05-13 | 2021-05-13 | Multi-driver driving-in-loop test platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110519547.2A CN113219955B (en) | 2021-05-13 | 2021-05-13 | Multi-driver driving-in-loop test platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113219955A CN113219955A (en) | 2021-08-06 |
| CN113219955B true CN113219955B (en) | 2023-04-25 |
Family
ID=77095408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110519547.2A Active CN113219955B (en) | 2021-05-13 | 2021-05-13 | Multi-driver driving-in-loop test platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113219955B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113867315B (en) * | 2021-09-24 | 2023-06-02 | 同济大学 | Virtual-real combined high-fidelity traffic flow intelligent vehicle test platform and test method |
| CN114063466A (en) * | 2021-09-30 | 2022-02-18 | 威凯检测技术有限公司 | Auxiliary driving system detection method based on virtual simulation scene |
| CN114323698B (en) * | 2022-02-11 | 2023-09-08 | 吉林大学 | Real vehicle experiment platform testing method for man-machine co-driving intelligent vehicle |
| CN114547772A (en) * | 2022-02-19 | 2022-05-27 | 苏州壹心汽车科技有限公司 | Steering assembly equipment based on automatic driving simulator |
| CN114894499A (en) * | 2022-07-14 | 2022-08-12 | 苏州英特模汽车科技有限公司 | Distributed multi-system test system and method |
| CN115346417A (en) * | 2022-08-08 | 2022-11-15 | 武汉未来幻影科技有限公司 | Scene control method and scene control system of driving simulator |
| CN115472013B (en) * | 2022-09-08 | 2024-05-17 | 江苏大学 | New energy automobile energy management test platform based on virtual traffic scene |
| WO2024065080A1 (en) * | 2022-09-26 | 2024-04-04 | 清华大学 | Self-driving motorcade hardware-in-the-loop dynamic testing system and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101716964A (en) * | 2009-12-23 | 2010-06-02 | 奇瑞汽车股份有限公司 | Automobile positive development-oriented vehicle man-machine engineering test platform |
| CN106681312A (en) * | 2017-03-13 | 2017-05-17 | 吉林大学 | In-the-loop test method and test platform support for electric control air suspension controller |
| CN109035960A (en) * | 2018-06-15 | 2018-12-18 | 吉林大学 | Driver's driving mode analysis system and analysis method based on simulation driving platform |
| CN110046833A (en) * | 2019-05-13 | 2019-07-23 | 吉林大学 | A kind of traffic congestion auxiliary system virtual test system |
| CN111752168A (en) * | 2020-07-17 | 2020-10-09 | 吉林大学 | Human-vehicle cooperative steering controller evaluation method based on driver in-loop experiment |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2474007A (en) * | 2009-08-27 | 2011-04-06 | Simon R Daniel | Communication in and monitoring of a disaster area, optionally including a disaster medical pack |
| CN102708722A (en) * | 2011-03-28 | 2012-10-03 | 上海日浦信息技术有限公司 | People-vehicle-road environment driving simulation experimental system |
| CN102621980A (en) * | 2012-04-19 | 2012-08-01 | 上海卡鲁自动化科技有限公司 | Hardware-in-loop testing platform used for wind power generation electric variable-pitch system |
| CN103236199B (en) * | 2013-04-09 | 2015-02-25 | 北京理工大学 | Automatic testing system and testing method for street crossing of pedestrians |
| US9389989B2 (en) * | 2014-03-19 | 2016-07-12 | International Business Machines Corporation | Self verifying device driver for multi-version compatible data manipulation devices |
| CN108657268B (en) * | 2018-03-30 | 2020-10-09 | 天津英创汇智汽车技术有限公司 | Experiment platform truck and control system thereof |
| CN108829087B (en) * | 2018-07-19 | 2019-09-10 | 山东省科学院自动化研究所 | A kind of intelligent test system of autonomous driving vehicle |
| CN109147465A (en) * | 2018-08-13 | 2019-01-04 | 南京越博动力系统股份有限公司 | A kind of automobile driving simulator test macro and control method |
| CN109658768B (en) * | 2018-12-27 | 2020-12-25 | 交通运输部科学研究院 | Virtual reality's many people are with scene mixed traffic flow simulation experiment platform |
| CN110174274A (en) * | 2019-05-28 | 2019-08-27 | 初速度（苏州）科技有限公司 | A kind of modification method and device of intelligent driving algorithm |
| CN110509930A (en) * | 2019-08-16 | 2019-11-29 | 上海智驾汽车科技有限公司 | It is man-machine to drive control method and device, electronic equipment, storage medium altogether |
| CN111861128B (en) * | 2020-06-20 | 2024-03-22 | 清华大学 | Method, system and storage medium for evaluating connection pipe comfort in man-machine cooperative control process of automatic driving vehicle |
| CN111775949B (en) * | 2020-07-09 | 2023-11-21 | 中国人民解放军国防科技大学 | Personalized driver steering behavior auxiliary method of man-machine co-driving control system |
| CN112684423A (en) * | 2020-12-30 | 2021-04-20 | 东风汽车有限公司 | Automatic driving function test system and test method |
-
2021
- 2021-05-13 CN CN202110519547.2A patent/CN113219955B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101716964A (en) * | 2009-12-23 | 2010-06-02 | 奇瑞汽车股份有限公司 | Automobile positive development-oriented vehicle man-machine engineering test platform |
| CN106681312A (en) * | 2017-03-13 | 2017-05-17 | 吉林大学 | In-the-loop test method and test platform support for electric control air suspension controller |
| CN109035960A (en) * | 2018-06-15 | 2018-12-18 | 吉林大学 | Driver's driving mode analysis system and analysis method based on simulation driving platform |
| CN110046833A (en) * | 2019-05-13 | 2019-07-23 | 吉林大学 | A kind of traffic congestion auxiliary system virtual test system |
| CN111752168A (en) * | 2020-07-17 | 2020-10-09 | 吉林大学 | Human-vehicle cooperative steering controller evaluation method based on driver in-loop experiment |
Non-Patent Citations (5)
| Title |
|---|
| Ji Li.Dual-loop online intelligent programming for driver-oriented predict energy management of plug-in hybrid electric vehicles.Applied Energy.2019,第1-13页. * |
| 余如.自主驾驶车辆的预测避障控制.信息与控制.2015,第117-123页. * |
| 朱冰 .基于场景的自动驾驶汽车虚拟测试研究进展.中国公路学报.2019,第1-19页. * |
| 田顺.驾驶模拟器的发展历程及最新应用实例.汽车技术.2018,第35-38页. * |
| 陈 虹.智能时代的汽车控制.自动化学报.2020,第1-5页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113219955A (en) | 2021-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113219955B (en) | Multi-driver driving-in-loop test platform | |
| CN112987703B (en) | System and method for developing and testing in-loop automatic driving of whole vehicle in laboratory | |
| CN110160804B (en) | Test method, device and system for automatically driving vehicle | |
| JP7428988B2 (en) | Method and system for modifying a control unit of an autonomous vehicle | |
| CN108803607B (en) | Multifunctional simulation system for automatic driving | |
| CN112526893B (en) | Intelligent automobile's test system | |
| CN110987464B (en) | Sensor testing environment cabin for vehicle in-loop testing and testing method | |
| CN112130472A (en) | Automatic driving simulation test system and method | |
| CN109884916A (en) | A kind of automatic Pilot Simulation Evaluation method and device | |
| CN112925291B (en) | Digital twin automatic driving test method based on camera dark box | |
| CN111353221A (en) | Automatic driving simulation method and device, electronic equipment and storage medium | |
| CN112015164A (en) | Intelligent networking automobile complex test scene implementation system based on digital twin | |
| CN109461342B (en) | Teaching system for unmanned motor vehicle and teaching method thereof | |
| CN110837697A (en) | Intelligent traffic simulation system and method for intelligent vehicle | |
| CN112114580B (en) | ACC simulation test system and method | |
| CN110930811B (en) | System suitable for unmanned decision learning and training | |
| CN114296424A (en) | Simulation test system and method | |
| CN114063466A (en) | Auxiliary driving system detection method based on virtual simulation scene | |
| CN116167255B (en) | Vehicle-road collaborative closed-loop simulation test method and system based on VTD | |
| WO2022236754A1 (en) | Mutli-driver-in-the-loop driving test platform | |
| CN113625594B (en) | Automatic driving simulation method and simulation system | |
| CN115626173A (en) | Vehicle state display method and device, storage medium and vehicle | |
| Zhang et al. | Development and verification of traffic confrontation simulation test platform based on PanoSim | |
| von Neumann-Cosel et al. | Testing of image processing algorithms on synthetic data | |
| Fan et al. | A Co-Simulation Platform for Powertrain Controls Development |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |