CN113607433B - Rack verification platform of lane keeping auxiliary system based on driver physiological information - Google Patents
Rack verification platform of lane keeping auxiliary system based on driver physiological information Download PDFInfo
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- CN113607433B CN113607433B CN202111000425.9A CN202111000425A CN113607433B CN 113607433 B CN113607433 B CN 113607433B CN 202111000425 A CN202111000425 A CN 202111000425A CN 113607433 B CN113607433 B CN 113607433B
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- 238000012795 verification Methods 0.000 title claims description 23
- 238000004088 simulation Methods 0.000 claims abstract description 33
- 238000004891 communication Methods 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000003183 myoelectrical effect Effects 0.000 claims description 11
- 210000004556 brain Anatomy 0.000 claims description 8
- 230000004424 eye movement Effects 0.000 claims description 7
- 210000001364 upper extremity Anatomy 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 5
- 210000000852 deltoid muscle Anatomy 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract 1
- 238000011161 development Methods 0.000 description 6
- 230000001815 facial effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000008054 signal transmission Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
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Classifications
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/113—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for determining or recording eye movement
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
- A61B5/18—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state for vehicle drivers or machine operators
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/369—Electroencephalography [EEG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
Abstract
The invention relates to the technical field of vehicle driving safety, and discloses a rack checking platform of a lane keeping auxiliary system based on physiological information of a driver, which comprises a physiological sensor, a driving sensor and a driving sensor, wherein the physiological sensor is arranged on the skin of the driver and is used for acquiring the physiological information of the driver; a vehicle simulation rack comprising a lane keeping assist system for assisting a vehicle to keep in a lane and a vehicle running model for simulating a running state of the vehicle; the computer terminal is connected with the physiological sensor and the vehicle simulation bench and is used for receiving vehicle running information of the vehicle running model and controlling the lane keeping auxiliary system to work according to the vehicle running information, and the computer terminal receives collected data of the physiological sensor and checks the lane keeping auxiliary system according to the collected data. The invention introduces the physiological sensor, and can improve the accuracy of the detection of the lane keeping auxiliary system.
Description
Technical Field
The invention relates to the technical field of vehicle driving safety, in particular to a bench verification platform of a lane keeping auxiliary system based on physiological information of a driver.
Background
At present, traffic accidents are easily caused by lane departure of drivers due to fatigue driving or distraction. In order to improve the safety of lateral movement of vehicles, lane keeping assist systems are mounted in more and more vehicles, and in order to ensure the safety and reliability of the lane keeping assist systems during driving of vehicles, a large number of tests and checks are required from the development of the lane keeping assist systems to before shipment of the vehicles. In the course of the verification of the lane keeping assist system, it is generally determined from both the vehicle level and the driver state, and in terms of the driver state, the driving state of the driver is currently generally obtained by recognizing the facial features of the driver through a camera. However, there may be a lag in the driving state of the facial feature feedback captured by the camera, affecting the accuracy of the verification of the lane keeping aid system.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a platform for a lane keeping assist system based on physiological information of a driver, so as to solve the problem that in the prior art, there is a lag in capturing a driving state fed back by facial features by using a camera.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention relates to a rack verification platform of a lane keeping auxiliary system based on driver physiological information, which comprises:
the physiological sensor is arranged on the skin of the driver and is used for collecting physiological information of the driver;
a vehicle simulation rack comprising a lane keeping assist system for assisting a vehicle to keep in a lane and a vehicle running model for simulating a running state of the vehicle;
the computer terminal is connected with the physiological sensor and the vehicle simulation bench and is used for receiving vehicle running information of the vehicle running model and controlling the lane keeping auxiliary system to work according to the vehicle running information, and the computer terminal receives acquisition data of the physiological sensor and checks the lane keeping auxiliary system according to the acquisition data.
Preferably, the physiological sensor comprises a wearable electroencephalogram device, the wearable electroencephalogram device is arranged on the head of the driver, and the wearable electroencephalogram device is used for collecting brain region activity information.
Preferably, the physiological sensor comprises a myoelectric sensor, and the myoelectric sensor is arranged on the upper limb of the driver and is used for collecting upper limb effort information.
Preferably, the myoelectric sensor has a plurality of locations attached to the bicep, tricep and deltoid of the driver, respectively.
Preferably, the physiological sensor comprises a telemetering eye tracker which is arranged at the eyes of the driver and is used for acquiring eye movement information.
Preferably, the computer terminal comprises an upper computer, a real-time machine and a terminal PC (personal computer), wherein the upper computer is in communication connection with the physiological sensor so as to store and analyze the acquired data of the physiological sensor, and the upper computer is in communication connection with the real-time machine so as to deploy a vehicle dynamics model in the real-time machine; the terminal PC is in communication connection with the real-time machine so as to build a driving scene and transmit initial driving information to the real-time machine; the real-time machine is in communication connection with the vehicle simulation bench and is used for running the vehicle dynamics model, receiving driving scene information and sending vehicle running state information to the vehicle simulation bench.
Preferably, the vehicle simulation bench further comprises a projection screen, wherein the projection screen is connected with the terminal PC and used for projecting a driving scene built by the terminal PC.
Preferably, the lane keeping assist system includes a camera for recognizing lane line information and obstacle information, an assist driving controller, and an electric power steering controller; the auxiliary driving controller is connected with the camera and is used for obtaining auxiliary torque according to the lane line information and the obstacle information; the electric power steering controller is connected with the auxiliary driving controller and the vehicle running model, and is used for controlling the vehicle running model according to the auxiliary torque and sending steering wheel angle information and steering wheel torque information to the computer terminal; and the auxiliary driving controller and the electric power steering controller are both in communication connection with the computer terminal.
Preferably, the vehicle running model comprises an accelerator pedal, a brake pedal, a steering wheel pipe column, a power-assisted motor, a rack-and-pinion steering gear and tire steering resistance moment simulation equipment, wherein the steering wheel is connected with the steering wheel pipe column, the steering wheel pipe column and the power-assisted motor are both connected with the rack-and-pinion steering gear, the tire steering resistance moment simulation equipment is connected with the rack-and-pinion steering gear, and the power-assisted motor is connected with the electric power-assisted steering controller; and the accelerator pedal, the brake pedal and the tire steering resistance moment simulation equipment are all connected with the computer terminal.
Compared with the prior art, the bench verification platform of the lane keeping auxiliary system based on the physiological information of the driver has the beneficial effects that:
the platform for checking the bogie of the embodiment of the invention collects the physiological information of the driver by using the physiological sensor, feeds back the driving state of the driver according to the physiological information of the driver, and checks the lane keeping auxiliary system. In addition, the lane keeping auxiliary system is deployed on the bench checking platform, the lane keeping auxiliary system is checked, an actual vehicle is not required to be adopted for checking the lane keeping auxiliary system, and in the development and iteration process of the control algorithm of the lane keeping auxiliary system, the bench checking platform can be used for improving the iteration speed of the control algorithm of the lane keeping auxiliary system and reducing the development cost; moreover, the bench verification platform can be suitable for the verification of lane keeping auxiliary systems of multiple vehicles, and the verification cost is reduced.
Drawings
FIG. 1 is a system block diagram of a bench verification platform of a lane keeping assist system based on driver physiological information in accordance with an embodiment of the invention;
FIG. 2 is a schematic deployment view of a driving scenario in the present invention;
FIG. 3 is a schematic illustration of the transmission of driving instructions in the present invention;
FIG. 4 is a schematic signal transmission diagram of the electric power steering controller activation of the present invention;
FIG. 5 is a schematic representation of the signal transmission of a tire steering resistance simulation in accordance with the present invention;
in the figure, 1, a physiological sensor; 11. wearable electroencephalogram equipment; 12. myoelectric sensor; 13. a telemetry eye movement instrument; 2. a camera; 3. an auxiliary driving controller; 4. an electric power steering controller; 51. a brake pedal; 52. an accelerator pedal; 53. a steering wheel; 54. steering wheel column; 55. a steering wheel torque sensor; 56. a rack and pinion steering gear; 57. tire steering resistance moment simulation equipment; 58. a pull pressure sensor; 59. a booster motor; 6. an upper computer; 7. a real-time machine; 711. a digital-to-analog converter; 712. an analog-to-digital converter; 72. a vehicle dynamics model; 73. a CAN card; 74. a load closed loop controller; 8. a terminal PC; 81. a projection screen; 9. and a CAN bus.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
The bench verification platform of the lane keeping auxiliary system based on the physiological information of the driver is used for verifying the lane keeping auxiliary system in early development and verifying the lane keeping auxiliary system in the vehicle. The bench verification platform comprises a physiological sensor 1, a vehicle simulation bench and a computer terminal, wherein the physiological sensor 1 is arranged on the skin of a driver and is used for collecting physiological information of the driver, and the driving state of the driver is fed back by utilizing the physiological information of the driver so as to acquire the driving state information of the driver more timely and accurately; the vehicle simulation bench comprises a lane keeping auxiliary system and a vehicle running model, wherein the lane keeping auxiliary system is used for assisting a vehicle to keep in a lane, the vehicle running model is used for simulating the running state of the vehicle, and a real vehicle running environment is carried; the computer terminal is connected with the physiological sensor 1 and the vehicle simulation bench, and is used for receiving vehicle running information of the vehicle running model, deploying a lane keeping auxiliary system control algorithm, controlling the lane keeping auxiliary system to work according to the vehicle running information, improving algorithm iteration speed, receiving acquired data of the physiological sensor 1, checking the lane keeping auxiliary system according to the acquired data, checking reliability of the lane keeping auxiliary system control algorithm, improving algorithm iteration speed and reducing checking cost.
As shown in fig. 1, in this embodiment, the physiological sensor 1 includes one or more of a wearable electroencephalogram device 11, a myoelectric sensor 12, and a telemetric eye tracker 13. The wearable electroencephalogram device 11 is arranged on the head of a driver, the wearable electroencephalogram device 11 is used for collecting brain region activity information and is realized by collecting brain region activity bioelectricity signals, the wearable electroencephalogram device comprises four basic brain wave information, power information and spectrum information of different brain regions, the brain motion state of the driver is detected, the brain excitation state of the driver can be obtained, and whether the driver is tired in driving and distracted can be accurately judged. The myoelectric sensor 12 is disposed on an upper limb of the driver, and is configured to collect upper limb force information, and for the moment of the steering wheel 53 measured by the steering wheel moment sensor 55, the upper limb force state measured by the myoelectric sensor 12 can be more accurately determined, so that the driving steering comfort of the driver can be more accurately determined when the lane keeping assistance system starts the interventional vehicle to run. Further, the myoelectric sensor 12 has a plurality of myoelectric sensors respectively attached to the biceps, triceps and deltoid positions of the driver, which is beneficial to more accurately judging the force conditions of different muscle positions in the steering process of the vehicle, and compared with the torque sensor of the steering wheel 53, the force condition of the driver can be measured in advance by utilizing the myoelectric sensor 12 attached to the muscle. The remote measuring eye movement instrument 13 is arranged on the eyes of a driver, the remote measuring eye movement instrument 13 is used for collecting eye movement information and tracking eye movement, so that whether the driver has driving fatigue and distraction can be accurately judged, whether the driver has active lane change can be judged, and smoothness of transition of the lane keeping auxiliary system between lane keeping and lane change can be verified.
In the present invention, the data of the various physiological sensors 1 are stored in the data storage device after being acquired. The data synchronization of the physiological sensors 1 mainly comprises two modes, wherein the first mode is to trigger three physiological sensor 1 devices through a switch at the same time to realize the data synchronization; the second mode is to use database software based on time sequence storage, and the collected data is stored while being attached with a time stamp to realize the effect of data synchronization.
As shown in fig. 1, the lane keeping assist system includes a camera 2, a driver assist controller 3, and an electric power steering controller 4, where the camera 2 is configured to identify lane line information and obstacle information, obtain an offset distance between a current vehicle position and lane lines on both sides, and transmit the identification information to the driver assist controller 3; the driving assisting controller 3 is connected with the camera 2 and is used for receiving lane line information and obstacle information transmitted by the camera 2; the auxiliary driving controller 3 is used for obtaining auxiliary torque according to the lane line information and the obstacle information; the electric power steering controller 4 is connected with the auxiliary driving controller 3 and the vehicle running model, the electric power steering controller 4 is used for receiving and executing auxiliary torque transmitted by the auxiliary driving controller 3, controlling the vehicle running model according to the auxiliary torque, the electric power steering controller 4 is connected with the steering wheel torque sensor 55, and the electric power steering controller 4 sends steering wheel angle information and steering wheel torque information measured by the steering wheel torque sensor 55 to the computer terminal; the auxiliary driving controller 3 and the electric power steering controller 4 are both in communication connection with the computer terminal, and the auxiliary driving controller 3 runs a lane keeping auxiliary system control algorithm deployed in the real-time machine 7 to obtain an auxiliary torque and transmits the auxiliary torque to the electric power steering controller 4; the electric power steering controller 4 sends steering wheel angle information and steering wheel moment information to the real-time machine 7 of the computer terminal, specifically to a CAN card 73 in the real-time machine 7 through a CAN bus 9, and the steering wheel angle information and the steering wheel moment information are sent to a lateral motion control interface of a vehicle dynamics model 72 in the real-time machine 7 by the CAN card 73.
As shown in fig. 1, the vehicle running model includes an accelerator pedal 52, a brake pedal 51, a steering wheel 53, a steering wheel column 54, a booster motor 59, a rack and pinion steering gear 56, and a tire steering resistance moment simulation device 57, the steering wheel 53 is connected to the steering wheel column 54, the booster motor 59 are connected to the rack and pinion steering gear 56, the tire steering resistance moment simulation device 57 is connected to the rack and pinion steering gear 56, the booster motor 59 is connected to the electric power steering controller 4, and the booster motor 59 is controlled according to an assist moment, thereby controlling the rotation of the steering wheel 53; the accelerator pedal 52, the brake pedal 51, and the tire steering resistance moment simulation equipment 57 are all connected to the computer terminal. The accelerator pedal 52 and the brake pedal 51 collect a longitudinal movement command of the driver and transmit the longitudinal movement command of the driver to the longitudinal movement control interface of the vehicle dynamics model 72 of the real-time machine 7 to control the operation of the vehicle dynamics model 72 according to the longitudinal movement command.
As shown in fig. 1, the computer terminal includes a host computer 6, a real-time machine 7 and a terminal PC 8, where the host computer 6 is in communication connection with the physiological sensor 1, the physiological sensor 1 transmits collected physiological data of the driver to the host computer 6, the host computer 6 is configured to store and analyze the collected data of the physiological sensor 1, obtain driving status information of the driver according to the collected data of the physiological sensor 1, and visually present the collected data and analysis structures, so as to use the driving status information of the driver to verify the lane keeping auxiliary system, where different physiological sensors 1 are equipped with different data collecting software and data analysis software; the upper computer 6 is in communication connection with the real-time machine 7 to deploy the vehicle dynamics model 72 in the real-time machine 7, and input target vehicle parameters into the vehicle dynamics model 72; the terminal PC 8 is in communication connection with the real-time machine 7 to build a driving scene and transmit initial driving information to the real-time machine 7, so that the real-time machine 7 can conveniently apply the initial driving information to the vehicle dynamics model 72, and the terminal PC 8 can collect position and posture information of the vehicle dynamics model 72 after operation; the terminal PC 8 adopts an ROS or Linux real-time system to build driving scenes including urban roads, highways, complex intersections, expressways and the like so as to realize different road curvature models. Driving scenarios may also include extreme driving scenarios, such as racetracks and the like.
The real-time machine 7 is in communication connection with the vehicle simulation bench, the real-time machine 7 has a communication function, and the real-time machine 7 is used for running the vehicle dynamics model 72, acquiring real-time position and posture information of the vehicle dynamics model 72 after running, and sending the real-time position and posture information to the terminal PC 8; the real-time machine 7 is also used for receiving driving scene information and acquiring initial position and initial posture information of the vehicle; the real-time machine 7 is also used to send vehicle travel state information to the vehicle simulation rack, including vehicle speed information, wheel speed information, transmitter state information, yaw rate information, and lateral acceleration information. Specifically, the real-time machine 7 is connected with the auxiliary driving controller 3 and the electric power steering controller 4 through a CAN bus 9, as shown in fig. 3, a CAN card 73 is arranged in the real-time machine 7 and is connected with the CAN bus 9, steering wheel angle information and steering wheel moment information sent by the electric power steering controller 4 are transmitted through the CAN bus 9, and the steering wheel angle information and the steering wheel moment information are transmitted to a transverse motion control interface of the vehicle dynamics model 72; the real-time machine 7 transmits the vehicle dynamics data in the lane keeping assist system control algorithm to the assist drive controller 3 via the CAN bus 9. As shown in fig. 3, a digital-to-analog converter 711 is provided in the real-time machine 7, the digital-to-analog converter 711 receives the accelerator pedal information and the brake pedal information, converts the voltage signals generated by the accelerator pedal 52 and the brake pedal 51 into longitudinal movement commands of the driver, including an acceleration command and a deceleration command, and transmits the acceleration command and the deceleration command to the longitudinal movement control interface of the vehicle dynamics model 72.
As shown in fig. 4, external signals and trigger signals are required for starting the electric power steering controller 4, and the real-time machine 7 sends the engine/driving motor state, the vehicle speed signal, the wheel speed signal and the battery state information to the electric power steering controller 4 through the CAN card 73 so as to simulate a normal real vehicle environment, and at the same time, the electric power steering controller 4 is started by triggering the ignition signal.
As shown in fig. 5, in order to simulate the tire steering resistance moment, the real-time machine 7 is connected to a booster motor 59, and controls the operations of the rack and pinion steering gear 56 and the tire steering resistance moment simulation equipment 57. The real-time machine 7 generates a desired load by using the vehicle dynamics model 72, measures an actual load voltage signal by using the pull pressure sensor 58, converts the actual load voltage signal into an actual load by using the analog-to-digital converter 712 in the real-time machine 7, acquires a load deviation according to the desired load and the actual load, generates a desired servo moment by using the load closed-loop controller 74, generates a servo voltage by using the digital-to-analog converter 711 of the real-time machine 7, gives a torque command to the tire steering resistance moment simulation equipment 57, and generates corresponding servo torques according to different servo voltages by using the tire steering resistance moment simulation equipment 57, thereby realizing closed-loop tire steering resistance moment simulation.
As shown in fig. 1 and fig. 2, in the present invention, the vehicle simulation rack further includes a projection screen 81, where the projection screen 81 is connected to the terminal PC 8, and is used for projecting a driving scene built by the terminal PC 8, so that the camera 2 can identify lane line information, obstacle information, and the like. The terminal PC 8 may further include a virtual camera module, where the virtual camera module is connected to the driving assistance controller 3, and transfers lane information and obstacle information in the driving scene to the driving assistance controller 3 through the virtual camera module.
In summary, the embodiment of the invention provides a bench verification platform of a lane keeping auxiliary system based on physiological information of a driver, which collects the physiological information of the driver by using a physiological sensor 1 and feeds back the driving state of the driver according to the physiological information of the driver to verify the lane keeping auxiliary system. In addition, the lane keeping auxiliary system is deployed on the bench checking platform, the lane keeping auxiliary system is checked, an actual vehicle is not required to be adopted for checking the lane keeping auxiliary system, and in the development and iteration process of the control algorithm of the lane keeping auxiliary system, the bench checking platform can be used for improving the iteration speed of the control algorithm of the lane keeping auxiliary system and reducing the development cost; moreover, the bench verification platform can be suitable for the verification of lane keeping auxiliary systems of multiple vehicles, and the verification cost is reduced.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (7)
1. A bench verification platform of a lane keeping assist system based on physiological information of a driver, comprising:
the physiological sensor is arranged on the skin of the driver and is used for collecting physiological information of the driver;
a vehicle simulation rack comprising a lane keeping assist system for assisting a vehicle to keep in a lane and a vehicle running model for simulating a running state of the vehicle; the lane keeping auxiliary system comprises a camera, an auxiliary driving controller and an electric power steering controller, wherein the camera is used for identifying lane line information and obstacle information; the auxiliary driving controller is connected with the camera and is used for obtaining auxiliary torque according to the lane line information and the obstacle information; the electric power steering controller is connected with the auxiliary driving controller and the vehicle running model, and is used for controlling the vehicle running model according to the auxiliary torque and sending steering wheel angle information and steering wheel torque information to the computer terminal; the auxiliary driving controller and the electric power steering controller are both in communication connection with the computer terminal;
the computer terminal is connected with the physiological sensor and the vehicle simulation bench and is used for receiving vehicle running information of the vehicle running model and controlling the lane keeping auxiliary system to work according to the vehicle running information, and the computer terminal receives acquisition data of the physiological sensor and checks the lane keeping auxiliary system according to the acquisition data;
the computer terminal comprises an upper computer, a real-time machine and a terminal PC (personal computer), wherein the upper computer is in communication connection with the physiological sensor so as to store and analyze the acquired data of the physiological sensor, and the upper computer is in communication connection with the real-time machine so as to deploy a vehicle dynamics model in the real-time machine; the terminal PC is in communication connection with the real-time machine so as to build a driving scene and transmit initial driving information to the real-time machine; the real-time machine is in communication connection with the vehicle simulation bench and is used for running the vehicle dynamics model, receiving driving scene information and sending vehicle running state information to the vehicle simulation bench;
the real-time machine is internally provided with an analog-digital converter and a digital-analog converter, the real-time machine utilizes a vehicle dynamics model to generate an expected load, a pull pressure sensor is utilized to measure an actual load voltage signal, the actual load voltage signal is converted into an actual load through the analog-digital converter in the real-time machine, load deviation is obtained according to the expected load and the actual load, the load deviation generates an expected servo moment through a load closed-loop controller, the servo moment generates a servo voltage through the digital-analog converter of the real-time machine, and a torque instruction is sent to the vehicle dynamics model;
the real-time machine is connected with the auxiliary driving controller and the electric power steering controller through a CAN bus, transmits steering wheel corner information and steering wheel moment information sent by the electric power steering controller through the CAN bus, and transmits the steering wheel corner information and the steering wheel moment information to a transverse motion control interface of the vehicle dynamics model; the real-time machine sends vehicle dynamics data in a lane keeping auxiliary system control algorithm to the auxiliary driving controller through the CAN bus, receives accelerator pedal information and brake pedal information, converts the accelerator pedal information and the brake pedal information into longitudinal movement instructions of a driver, comprises an acceleration instruction and a deceleration instruction, and transmits the acceleration instruction and the deceleration instruction to a longitudinal movement control interface of a vehicle dynamics model;
external signals and trigger signals are needed for starting the electric power steering controller, and the real-time machine sends an engine/driving motor state, a vehicle speed signal, a wheel speed signal and storage battery state information to the electric power steering controller through the CAN card so as to simulate a normal real-vehicle environment, and meanwhile, the electric power steering controller is started through triggering of an ignition signal.
2. The lane keep-aid system rack verification platform based on driver physiological information of claim 1, wherein the physiological sensor comprises a wearable electroencephalogram device provided on a head of a driver for collecting brain region activity information.
3. The bench verification platform of a lane keeping assist system based on physiological information of a driver of claim 1, wherein the physiological sensor comprises a myoelectric sensor provided to an upper limb of the driver for collecting upper limb effort information.
4. A bench verification platform of a lane keeping assist system based on driver physiological information as claimed in claim 3 wherein said electromyographic sensor has a plurality of locations attached to the biceps brachii, triceps brachii and deltoid muscle of the driver, respectively.
5. The lane keep-aid rack verification platform based on driver physiological information of claim 1, wherein the physiological sensor comprises a telemetric eye tracker disposed on the driver's eye for collecting eye movement information.
6. The platform for checking the lane keeping assist system based on the physiological information of the driver according to claim 1, wherein the vehicle simulation platform further comprises a projection screen, and the projection screen is connected with the terminal PC and is used for projecting a driving scene built by the terminal PC.
7. The skid verification platform of a lane keeping assist system based on driver physiological information of claim 1, wherein said vehicle operation model comprises an accelerator pedal, a brake pedal, a steering wheel column, a booster motor, a rack and pinion steering, and a tire steering resistance moment simulation device, said steering wheel being connected to said steering wheel column, said booster motor being connected to said rack and pinion steering, said tire steering resistance moment simulation device being connected to said rack and pinion steering, said booster motor being connected to said electric power steering controller; and the accelerator pedal, the brake pedal and the tire steering resistance moment simulation equipment are all connected with the computer terminal.
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