CN113310702A - Vehicle cutting control method for unmanned test vehicle - Google Patents
Vehicle cutting control method for unmanned test vehicle Download PDFInfo
- Publication number
- CN113310702A CN113310702A CN202110393303.4A CN202110393303A CN113310702A CN 113310702 A CN113310702 A CN 113310702A CN 202110393303 A CN202110393303 A CN 202110393303A CN 113310702 A CN113310702 A CN 113310702A
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- vehicle
- unmanned
- cutting
- test vehicle
- unmanned test
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The invention discloses a vehicle switching control method for an unmanned test vehicle, which comprises the steps of setting a plurality of parallel tracks on track management software, and continuously setting parameters during vehicle switching on the track management software; starting the unmanned test vehicle to run along a straight line, wherein in the running process, the client system judges the positions of the unmanned test vehicle and the unmanned test vehicle, the client system reaches a set vehicle cutting condition, a vehicle cutting command is sent to the server, and the server sends a vehicle cutting command to the unmanned test vehicle; and after the unmanned test vehicle receives the vehicle cutting instruction, re-planning a path at the vehicle end, cutting the vehicle to another parallel track, and stopping after running for a certain distance or time. Through the mode, the method can interactively design the vehicle cutting track on software, and configure the vehicle cutting parameters, so that what you see is what you get. The time distance between the unmanned automobile and the unmanned test can be judged in real time; after the conditions are met, the unmanned test vehicle immediately performs vehicle cutting action, and the test task can be completed more conveniently and accurately.
Description
Technical Field
The invention relates to a vehicle cutting control method for an unmanned test vehicle.
Background
The unmanned test vehicle is a test device, is used in an unmanned vehicle test field or a whole vehicle factory, can carry pedestrian/vehicle models, and is matched with an unmanned vehicle to perform various safety tests. Because the chassis is very low (less than 15 cm), the risk of damage to the test vehicle can be effectively reduced.
At present, a dummy motorcycle is placed on an unmanned test vehicle on the market, the unmanned test vehicle is matched with the unmanned vehicle to do vehicle cutting action, a preset fixed path is mostly executed to cut the vehicle, a good human-computer interaction interface is not provided, and the operation is not convenient for a user to see and obtain
In addition, a fixed vehicle cutting route is set in advance for the unmanned test vehicle, and when the unmanned test vehicle runs to a certain distance, the unmanned test vehicle is triggered to start, accelerate, change the route and stop. During the period, the speed of the unmanned automobile may change, but the trigger time of the unmanned automobile cannot be adjusted according to the change.
Disclosure of Invention
The invention mainly solves the technical problem of providing a method for controlling the vehicle cutting of the unmanned test vehicle, which can be graphically edited on the software of an upper computer and configure a left vehicle cutting path or a right vehicle cutting path. When the vehicle is cut, the system automatically gives a trigger command, the unmanned test vehicle can be cut to a specified path, and the vehicle cutting track and the driving track after the vehicle is cut can be automatically generated in the process.
In order to solve the technical problems, the invention adopts a technical scheme that: the provided vehicle cutting control method for the unmanned test vehicle comprises the following steps:
(1) a plurality of parallel tracks are arranged on the track management software and are used for the running linear track of the unmanned test vehicle or the running linear track after the vehicle is cut;
(2) continuously setting parameters during the switching on the track management software;
(3) starting the unmanned test vehicle to run along a straight line, wherein in the running process, the unmanned test vehicle sends the current position to the server, and the server sends the position to the client system;
(4) the client system judges the positions of the unmanned automobile and the unmanned test vehicle, the positions of the unmanned automobile and the unmanned test vehicle reach set automobile cutting conditions, an automobile cutting command is sent to the server, and the server sends an automobile cutting command to the unmanned test vehicle;
(5) and after the unmanned test vehicle receives the vehicle cutting instruction, re-planning a path at the vehicle end, cutting the vehicle to another parallel track, and stopping after running for a certain distance or time.
In a preferred embodiment of the present invention, in step (1), the trajectory management software is simple and easy-to-use graphical software.
In a preferred embodiment of the present invention, in the step (1), the number of the parallel tracks is 2 to 3.
In a preferred embodiment of the present invention, in step (2), the vehicle-cutting parameters include angles, trajectories or time-distance ranges between vehicles, wherein the trajectories include a left vehicle-cutting trajectory and a right vehicle-cutting trajectory; the angles are a left turn-cutting angle and a right turn-cutting angle.
In a preferred embodiment of the present invention, in the step (4), the diameter time interval between the unmanned vehicle and the unmanned test vehicle is 1 s-3 s.
In a preferred embodiment of the present invention, in step (4), the client system determines the positions of the unmanned vehicle and the unmanned test vehicle, or directly sends a vehicle-switching command to the server, and simultaneously sends target track information, thereby completing the vehicle-switching task.
In a preferred embodiment of the present invention, the speed of the unmanned test vehicle is 30-40km/h, and the speed of the unmanned vehicle is 20-30 km/h.
The invention has the beneficial effects that: the invention can interactively design the vehicle cutting track on software and configure the vehicle cutting parameters, so that the vehicle cutting track is obtained and is convenient to use. The time distance between the unmanned automobile and the unmanned test can be judged in real time. After the conditions are met, the unmanned test vehicle immediately performs vehicle cutting action, and the test task can be completed more conveniently and accurately.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments.
Thus, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. 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.
In the description of the invention, the orientation or positional relationship conventionally used in the manufacture of articles of the invention is for convenience and to simplify the description, and is not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and is not to be construed as limiting the invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, the first feature may be present on or under the second feature in direct contact with the first and second feature, or may be present in the first and second feature not in direct contact but in contact with another feature between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.
The embodiment of the invention comprises the following steps:
a vehicle cutting control method of an unmanned test vehicle comprises the following steps:
(1) a plurality of parallel tracks are arranged on the simple and easy-to-use graphical track management software and are used for the running linear track of the unmanned test vehicle or the running linear track after the vehicle is cut; the number of the parallel tracks is preferably 2-3, so that the abnormal driving route of the vehicle caused by mistakenly setting parameters is avoided.
(2) Continuously setting parameters during the switching on the track management software; angles, trajectories or time distance ranges between vehicles, wherein the trajectories include a left-hand vehicle-cutting trajectory and a right-hand vehicle-cutting trajectory; the angles are a left turn-cutting angle and a right turn-cutting angle.
(3) Starting the unmanned test vehicle to run along a straight line, wherein in the running process, the unmanned test vehicle sends the current position to the server, and the server sends the position to the client system;
(4) the client system judges the positions of the unmanned automobile and the unmanned test vehicle, the positions of the unmanned automobile and the unmanned test vehicle reach set automobile cutting conditions, an automobile cutting command is sent to the server, and the server sends an automobile cutting command to the unmanned test vehicle; the server can judge the current interval time of the two vehicles and then trigger the driverless test vehicle to change lanes in real time, so that the test result is more accurate. The optimal vehicle cutting condition is that the diameter time interval of the unmanned vehicle and the unmanned test vehicle is 1-3 s.
(5) After the unmanned test vehicle receives the vehicle cutting instruction, the path is re-planned at the vehicle end, the vehicle is cut to another parallel track, the unmanned test vehicle stops after running for a certain distance or time, and the running distance is specified in the protocol.
In addition, in the step (4), the client system judges the positions of the unmanned automobile and the unmanned test vehicle, or directly sends a vehicle switching command to the server, and simultaneously sends target track information, so that a vehicle switching task is completed, the vehicle stops after running for a certain distance or time, and the running distance is specified in the protocol.
The preferred embodiment of the invention is as follows: the unmanned test vehicle runs in a straight line on one lane at the speed of 30-40km/h, and the unmanned test vehicle runs in a straight line on the other lane at the speed of 20-30 km/h. When the distance between the unmanned automobile and the test vehicle reaches 1-3 s hour distance, the trolley keeps running at the original speed in the direction of the appointed course angle; and after the current course is driven for a specified distance, the original straight line driving course is recovered to continue to drive for a specified time or distance, and then the vehicle is stopped.
The invention can interactively design the vehicle cutting track on software and configure the vehicle cutting parameters, so that the vehicle cutting track is obtained and is convenient to use. The time distance between the unmanned automobile and the unmanned test can be judged in real time. After the conditions are met, the unmanned test vehicle immediately performs vehicle cutting action, and the test task can be completed more conveniently and accurately.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A vehicle cutting control method of an unmanned test vehicle is characterized by comprising the following steps:
(1) a plurality of parallel tracks are arranged on the track management software and are used for the running linear track of the unmanned test vehicle or the running linear track after the vehicle is cut;
(2) continuously setting parameters during the switching on the track management software;
(3) starting the unmanned test vehicle to run along a straight line, wherein in the running process, the unmanned test vehicle sends the current position to the server, and the server sends the position to the client system;
(4) the client system judges the positions of the unmanned automobile and the unmanned test vehicle, the positions of the unmanned automobile and the unmanned test vehicle reach set automobile cutting conditions, an automobile cutting command is sent to the server, and the server sends an automobile cutting command to the unmanned test vehicle;
(5) and after the unmanned test vehicle receives the vehicle cutting instruction, re-planning a path at the vehicle end, cutting the vehicle to another parallel track, and stopping after running for a certain distance or time.
2. The method for controlling the switching of the unmanned test vehicle according to claim 1, wherein in the step (1), the trajectory management software adopts simple and easy-to-use graphical software.
3. The method for controlling the cutting of the unmanned test vehicle according to claim 1, wherein in the step (1), the number of the parallel tracks is 2-3.
4. The unmanned test vehicle switching control method according to claim 1, wherein in the step (2), the parameters during vehicle switching comprise angles, tracks or time distance ranges among vehicles, wherein the tracks comprise a left vehicle switching track and a right vehicle switching track; the angles are a left turn-cutting angle and a right turn-cutting angle.
5. The method for controlling the cutting of the unmanned test vehicle according to claim 1, wherein in the step (4), the cutting condition is that the diameter time interval between the unmanned vehicle and the unmanned test vehicle is 1 s-3 s.
6. The method according to claim 1, wherein in step (4), the client system determines the positions of the unmanned vehicle and the unmanned test vehicle, or directly sends a vehicle-cutting command to the server, and simultaneously sends target track information, thereby completing a vehicle-cutting task.
7. The cutting control method of the unmanned test vehicle according to claim 1, wherein the speed of the unmanned test vehicle is 30-40km/h, and the speed of the unmanned vehicle is 20-30 km/h.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110393303.4A CN113310702A (en) | 2021-04-13 | 2021-04-13 | Vehicle cutting control method for unmanned test vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110393303.4A CN113310702A (en) | 2021-04-13 | 2021-04-13 | Vehicle cutting control method for unmanned test vehicle |
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| CN113310702A true CN113310702A (en) | 2021-08-27 |
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| CN202110393303.4A Pending CN113310702A (en) | 2021-04-13 | 2021-04-13 | Vehicle cutting control method for unmanned test vehicle |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106627582A (en) * | 2016-12-09 | 2017-05-10 | 重庆长安汽车股份有限公司 | Path planning system and method for overtaking vehicle on adjacent lane in single-lane automatic drive mode |
| CN106671982A (en) * | 2017-01-09 | 2017-05-17 | 厦门大学 | Multi-intelligent agent based unmanned electric car automatic overtaking system and method |
| CN107315411A (en) * | 2017-07-04 | 2017-11-03 | 合肥工业大学 | A kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck |
| CN111081046A (en) * | 2020-01-03 | 2020-04-28 | 北京百度网讯科技有限公司 | Vehicle lane changing method, device, electronic equipment and medium |
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2021
- 2021-04-13 CN CN202110393303.4A patent/CN113310702A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627582A (en) * | 2016-12-09 | 2017-05-10 | 重庆长安汽车股份有限公司 | Path planning system and method for overtaking vehicle on adjacent lane in single-lane automatic drive mode |
| CN106671982A (en) * | 2017-01-09 | 2017-05-17 | 厦门大学 | Multi-intelligent agent based unmanned electric car automatic overtaking system and method |
| CN107315411A (en) * | 2017-07-04 | 2017-11-03 | 合肥工业大学 | A kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck |
| CN111081046A (en) * | 2020-01-03 | 2020-04-28 | 北京百度网讯科技有限公司 | Vehicle lane changing method, device, electronic equipment and medium |
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