CN113504734A - Image display-based lane line simulation test method and system - Google Patents
Image display-based lane line simulation test method and system Download PDFInfo
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- CN113504734A CN113504734A CN202110525520.4A CN202110525520A CN113504734A CN 113504734 A CN113504734 A CN 113504734A CN 202110525520 A CN202110525520 A CN 202110525520A CN 113504734 A CN113504734 A CN 113504734A
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Abstract
The invention discloses a lane line simulation test method based on image display, which comprises the following steps: collecting running parameters of a real vehicle test of a test vehicle simulating operation under various working conditions; digitizing the test vehicle into a vehicle running model according to the vehicle body parameters of the test vehicle and the running parameters of the real vehicle test; according to the set environment variable and the set running path variable, the visual follow-up of the virtual lane line is obtained through the simulation of the vehicle running model when the running test of the test vehicle is carried out, and the visual follow-up is output and displayed; and outputting the running parameters in real time to enable the vehicle running model and the test vehicle to synchronously execute the same test case, and displaying the output virtual lane line to the test vehicle in real time, so that the environment sensing system and/or the intelligent driving system of the test vehicle can detect the displayed virtual lane line. The invention overcomes the defects of insufficient virtual simulation reduction degree, high cost and low efficiency of real vehicle road test in the prior art, and can meet the driving test requirements of the test vehicle under different road conditions.
Description
Technical Field
The invention relates to the field of automobiles, in particular to a lane line simulation test method based on image display. The invention also relates to a lane line simulation test system based on image display.
Background
The detection of the lane line is one of the core technologies of the intelligent driving system. Because the structured road lane line has obvious edge characteristics, and the lane line width and the road width have certain standards, the constraint conditions create good conditions for the accurate identification of the lane line.
In the existing intelligent driving test, some tests are performed through virtual simulation tests, and some tests are performed through real vehicle road tests. Both create problems in that: the virtual simulation test can only be used as auxiliary verification, the fidelity of the virtual environment is not enough, and the simulation test result cannot be completely relied on. And the real vehicle road test faces many restrictions, for example, the test period is long, the efficiency of the research and development of the automatic driving technology is greatly influenced, the test cost is huge, the running safety is not easy, and the like.
The biggest problem of the laboratory scheme is that the field is limited, and the real vehicle needs a long enough lane line for an intelligent driving system to recognize. At present, two schemes are generally adopted for solving the problem of lane line simulation, one scheme is to simulate the environment, perception and vehicle environment based on synthetic data, for example, a point cloud information of a laser radar is utilized to simulate the lane lines around the vehicle body; the other method is that a GPS module is utilized to mark a virtual lane line track in a test site and load the virtual lane line track into a vehicle-mounted high-precision map to form a virtual lane line for an intelligent driving system to recognize, and the completely virtual lane line simulation scheme is far from meeting the test requirement.
Disclosure of Invention
In this summary, a series of simplified form concepts are introduced that are simplifications of the prior art in this field, which will be described in further detail in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The invention aims to provide a lane line simulation test method which can combine vehicle mechanical test and virtual test to realize synchronous test based on image display.
Correspondingly, the invention also provides a lane line simulation test system which can combine the vehicle mechanical test and the virtual test to realize the synchronous test based on the image display.
In order to solve the technical problem, the invention provides a lane line simulation test method based on image display, which comprises the following steps:
s1, collecting the driving parameters of the real vehicle test of the test vehicle simulating operation under various working conditions;
s2, digitizing the test vehicle into a vehicle running model according to the vehicle body parameters of the test vehicle and the running parameters of the real vehicle test;
s3, obtaining the visual follow-up of the virtual lane line and outputting and displaying when the test vehicle runs through the vehicle running model simulation according to the set environment variable and the running path variable;
and S4, outputting the driving parameters in real time to enable the vehicle operation model and the test vehicle to synchronously execute the same test case, and displaying the output virtual lane line to the test vehicle in real time, so that the environment perception system and/or the intelligent driving system of the test vehicle can detect the displayed virtual lane line.
Optionally, the image display-based lane line simulation test method is further improved, and the vehicle body parameters of the test vehicle refer to the inherent dimensions and data among various parts of the vehicle, such as: vehicle length, wheel base, wheel diameter, etc.
Optionally, the method for testing lane line simulation based on image display is further improved, where the driving parameters refer to parameters that change dynamically after the vehicle is driven, such as: vehicle speed, steering angle, acceleration, etc.
Optionally, the method for testing lane line simulation based on image display is further improved, and the environment variables include: lane line type and number of lanes. The lane line types include: variable lane lines, one-way lane lines, and the like include, but are not limited to, lane lines defined based on traffic regulations.
Optionally, the method for testing lane line simulation based on image display is further improved, and the travel path variables include: a driving path parameter and a driving road parameter. The travel path parameters include, but are not limited to: path width, path length, path corners, etc. The road parameters include, but are not limited to: uphill slope, downhill slope, friction coefficient, road surface material and the like.
In order to solve the above technical problem, the present invention provides an image display-based lane line simulation test system, including:
the real vehicle test device can execute vehicle simulation test operation and is used for acquiring running parameters of real vehicle tests for testing the vehicle simulation operation under various working conditions;
the simulation device digitalizes the test vehicle into a vehicle running model according to the vehicle body parameters of the test vehicle and the running parameters of the real vehicle test;
and according to the set environment variable and the running path variable, obtaining the visual follow-up of the virtual lane line when the running test of the test vehicle is carried out through the simulation of the vehicle running model, and outputting the visual follow-up to the display device;
the display device is arranged in front of the acquisition device and is used for displaying the virtual lane line to the test vehicle in real time;
and the input device is used for inputting the running parameters in real time so that the vehicle running model and the test vehicle synchronously execute the same test case.
Optionally, the image display-based lane line simulation test system is further improved, the real vehicle test device is an automobile bench test bed, the simulation device is simulation software realized by a computer programming technology, and the display device is a display screen.
It should be noted that the vehicle bench test bed can simulate functions including, but not limited to, real vehicle running; the virtual device can be any existing analog simulation software which can digitize a test vehicle into a vehicle operation model according to the vehicle body parameters of the test vehicle and the running parameters of the real vehicle; the display device can be a single display screen or formed by splicing a plurality of display screens, such as a plurality of LEDs.
Optionally, the image display-based lane line simulation test system is further improved, the vehicle body parameters of the test vehicle refer to the inherent size and data among various parts of the vehicle, the driving parameters refer to the parameters which change dynamically after the vehicle is driven,
optionally, the image display-based lane line simulation test system is further improved, and the environment variables include: lane line type and number of lanes.
Optionally, the image display-based lane line simulation test system is further improved, and the travel path variables include: a driving path parameter and a driving road parameter.
Various parameters of a test vehicle running under an automobile bench test bed (or other modes capable of obtaining real vehicle running parameters of the tested vehicle) are transmitted (subjected to data processing) through a CAN bus and input into simulation software, and the simulation software CAN simulate a virtual vehicle according to the data parameters of the test vehicle and is used for realizing the visual effect of the real vehicle in the running process;
and setting environment variables such as lane line types, lane quantity and the like according to needs, and planning specific driving paths and road characteristics. And the vehicle motion model designed according to the real vehicle running parameters visually follows the virtual lane line during the real vehicle running test.
Outputting the simulated lane line animation to a display screen, and synchronizing the lane line animation with a vehicle motion model simulated by software in real time, namely keeping the virtual vehicle and a test vehicle of an automobile bench test bed synchronous; the lane line can be displayed on a screen according to the test expectation, so that the test vehicle can detect the lane line information through an environment perception system and/or an intelligent driving system (such as a vehicle-mounted camera, a sensor and the like) and can be used for testing a lane departure early warning system, lane keeping, emergency lane training and the like in intelligent driving.
The invention utilizes simulation software to produce the animation of the lane line, and realizes the simulation of the lane line by connecting with a display screen and synchronously outputting the lane line animation. The real vehicle and the virtual simulation are combined, so that the vehicle has the advantages of both. The defects of insufficient virtual simulation reduction degree, high cost and low efficiency of real vehicle road test in the prior art are overcome. Moreover, the problems that the response is slow and the delay is large under the complex structure of the display screen simulation lane line based on the mechanical structure design and a single lane line cannot meet various working conditions are solved, the utilization rate of the test equipment is greatly improved, the characteristics of low delay and good synchronism are achieved, and the driving test requirements of the test vehicle under different road conditions are met.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification. The drawings are not necessarily to scale, however, and may not be intended to accurately reflect the precise structural or performance characteristics of any given embodiment, and should not be construed as limiting or restricting the scope of values or properties encompassed by exemplary embodiments in accordance with the invention. The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
FIG. 1 is a schematic flow chart of a second embodiment of the present invention.
Fig. 2 is a schematic view of a fourth embodiment of the present invention.
FIG. 3 is a schematic diagram of a fourth embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and technical effects of the present invention will be fully apparent to those skilled in the art from the disclosure in the specification. The invention is capable of other embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the general spirit of the invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. The following exemplary embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the specific embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the technical solutions of these exemplary embodiments to those skilled in the art.
It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present. Like reference numerals refer to like elements throughout the drawings. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items
A first embodiment;
the invention provides a lane line simulation test method based on image display, which comprises the following steps:
s1, collecting the driving parameters of the real vehicle test of the test vehicle simulating operation under various working conditions;
s2, digitizing the test vehicle into a vehicle running model according to the vehicle body parameters of the test vehicle and the running parameters of the real vehicle test;
s3, obtaining the visual follow-up of the virtual lane line and outputting and displaying when the test vehicle runs through the vehicle running model simulation according to the set environment variable and the running path variable;
and S4, outputting the driving parameters in real time to enable the vehicle operation model and the test vehicle to synchronously execute the same test case, and displaying the output virtual lane line to the test vehicle in real time, so that the environment perception system and/or the intelligent driving system of the test vehicle can detect the displayed virtual lane line.
A second embodiment;
as shown in fig. 1, the present invention provides a lane line simulation test method based on image display, which comprises the following steps:
s1, collecting the driving parameters of the real vehicle test of the test vehicle simulating operation under various working conditions;
s2, digitizing the test vehicle into a vehicle running model according to the vehicle body parameters of the test vehicle and the running parameters of the real vehicle test;
s3, obtaining the visual follow-up of the virtual lane line and outputting and displaying when the test vehicle runs through the vehicle running model simulation according to the set environment variable and the running path variable;
and S4, outputting the driving parameters in real time to enable the vehicle operation model and the test vehicle to synchronously execute the same test case, and displaying the output virtual lane line to the test vehicle in real time, so that the environment perception system and/or the intelligent driving system of the test vehicle can detect the displayed virtual lane line.
The test vehicle body parameters refer to the inherent dimensions and data among various parts of the vehicle, the running parameters refer to the parameters which change dynamically after the vehicle runs, and the environment variables comprise: lane line type and number of lanes, the travel path variables including: a driving path parameter and a driving road parameter.
A third embodiment;
the invention provides a lane line simulation test system based on image display, which comprises:
the real vehicle test device can execute vehicle simulation test operation and is used for acquiring running parameters of real vehicle tests for testing the vehicle simulation operation under various working conditions;
the simulation device digitalizes the test vehicle into a vehicle running model according to the vehicle body parameters of the test vehicle and the running parameters of the real vehicle test;
and according to the set environment variable and the running path variable, obtaining the visual follow-up of the virtual lane line when the running test of the test vehicle is carried out through the simulation of the vehicle running model, and outputting the visual follow-up to the display device;
the display device is arranged in front of the acquisition device and is used for displaying the virtual lane line to the test vehicle in real time;
and the input device is used for inputting the running parameters in real time so that the vehicle running model and the test vehicle synchronously execute the same test case.
A fourth embodiment;
as shown in fig. 2 and fig. 3, the present invention provides a lane line simulation test system based on image display, including:
the embodiment of the real vehicle testing device adopts an automobile bench test bed, can execute vehicle simulation test operation, and is used for acquiring running parameters of real vehicle tests for testing the vehicle simulation operation under various working conditions;
connecting a DB9 connector of a vehicle CAN bus with a CAN card of a data processing system, outputting characteristic parameters of a vehicle to data processing software (the data processing system CAN select an existing data processing tool and mainly aims at converting data into an analog simulation device/software to be capable of identifying and processing), and outputting processed parameters to the analog simulation software;
the simulation device is simulation software realized by a computer programming technical means and can digitize a test vehicle into a vehicle operation model according to vehicle body parameters of the test vehicle and running parameters of a real vehicle test;
and according to the set environment variable and the running path variable, obtaining the visual follow-up of the virtual lane line when the running test of the test vehicle is carried out through the simulation of the vehicle running model, and outputting the visual follow-up to the display device;
the display device selects a display screen which can meet the requirement of the vehicle test area on the ground, splices each independent screen into a whole by using the video splicing processor and the sending and receiving cards, connects the signal wire of the HDMI with the output port of the analog simulation software, is arranged in front of the acquisition device and is used for displaying the virtual lane line to the test vehicle in real time;
and the input device is used for inputting the running parameters in real time so that the vehicle running model and the test vehicle synchronously execute the same test case.
The test vehicle body parameters refer to the inherent dimensions and data among various parts of the vehicle, the running parameters refer to the parameters which change dynamically after the vehicle runs, and the environment variables comprise: lane line type and number of lanes, the travel path variables including: a driving path parameter and a driving road parameter.
When a test vehicle is tested, vehicle running parameters are output in real time through the CAN bus to perform data processing, the processed parameters are output to analog simulation software in real time, the virtual vehicle running model is controlled to move by using the parameters and is synchronous with the test vehicle, and therefore the lane line output in real time is the preset lane line.
When the type and the scene of the specified lane line need to be displayed, the lane line information can be edited through simulation software.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.
Claims (10)
1. A lane line simulation test method based on image display is characterized by comprising the following steps:
s1, collecting the driving parameters of the real vehicle test of the test vehicle simulating operation under various working conditions;
s2, digitizing the test vehicle into a vehicle running model according to the vehicle body parameters of the test vehicle and the running parameters of the real vehicle test;
s3, obtaining the visual follow-up of the virtual lane line and outputting and displaying when the test vehicle runs through the vehicle running model simulation according to the set environment variable and the running path variable;
and S4, outputting the driving parameters in real time to enable the vehicle operation model and the test vehicle to synchronously execute the same test case, and displaying the output virtual lane line to the test vehicle in real time, so that the environment perception system and/or the intelligent driving system of the test vehicle can detect the displayed virtual lane line.
2. The image display-based lane line simulation test method of claim 1, wherein: the test vehicle body parameters refer to the inherent dimensions and data between the various components of the vehicle.
3. The image display-based lane line simulation test method of claim 1, wherein: the driving parameters refer to parameters that change dynamically after the vehicle is driven.
4. The image display-based lane line simulation test method of claim 1, wherein: the environment variables include: lane line type and number of lanes.
5. The image display-based lane line simulation test method of claim 1, wherein: the travel path variables include: a driving path parameter and a driving road parameter.
6. A lane line simulation test system based on image display is characterized by comprising:
the real vehicle test device can execute vehicle simulation test operation and is used for acquiring running parameters of real vehicle tests for testing the vehicle simulation operation under various working conditions;
the simulation device digitalizes the test vehicle into a vehicle running model according to the vehicle body parameters of the test vehicle and the running parameters of the real vehicle test;
and according to the set environment variable and the running path variable, obtaining the visual follow-up of the virtual lane line when the running test of the test vehicle is carried out through the simulation of the vehicle running model, and outputting the visual follow-up to the display device;
the display device is arranged in front of the acquisition device and is used for displaying the virtual lane line to the test vehicle in real time;
and the input device is used for inputting the running parameters in real time so that the vehicle running model and the test vehicle synchronously execute the same test case.
7. The image display-based lane line simulation test system of claim 6, wherein: the real vehicle test device is an automobile bench test bed, the simulation device is simulation software realized by a computer programming technical means, and the display device is a display screen.
8. The image display-based lane line simulation test system of claim 6, wherein: the test vehicle body parameters refer to the inherent sizes and data among various parts of the vehicle, and the running parameters refer to the parameters which change dynamically after the vehicle runs.
9. The image display-based lane line simulation test system of claim 6, wherein: the environment variables include: lane line type and number of lanes.
10. The image display-based lane line simulation test system of claim 6, wherein: the travel path variables include: a driving path parameter and a driving road parameter.
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