CN113671937B - AEB function optimization re-verification method - Google Patents
AEB function optimization re-verification method Download PDFInfo
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- CN113671937B CN113671937B CN202110961446.0A CN202110961446A CN113671937B CN 113671937 B CN113671937 B CN 113671937B CN 202110961446 A CN202110961446 A CN 202110961446A CN 113671937 B CN113671937 B CN 113671937B
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- 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
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses an AEB function optimization re-verification method, which comprises the following steps: collecting original data of a vehicle, wherein the original data at least comprises sensing data and whole vehicle bus data which are obtained through an AEB sensor; time synchronization is carried out on the sensing data and the whole bus data, and the synchronized sensing data and the synchronized whole bus data are injected into an AEB controller; inputting a control instruction of the AEB controller into a virtual scene model constructed based on the original data so as to simulate an AEB function; and adjusting the AEB control strategy according to the simulation result of the AEB function until the test result meets the requirement. According to the AEB function optimization re-verification method, the sensing data and the whole bus data are injected into the AEB controller, the AEB test scene can be reproduced, the virtual scene model is built, the control behavior of the AEB after being started is simulated, the AEB controller and the virtual scene model are combined to realize the closed-loop debugging control strategy, and the control strategy is continuously optimized so as to be verified again after the AEB function is optimized.
Description
Technical Field
The invention relates to the technical field of auxiliary driving, in particular to an AEB function optimization re-verification method.
Background
AEB (Autonomous Emergency Braking, automatic emergency brake) is an active safety technology for automobiles. Under the condition that the automobile keeping amount in China continuously increases, the driving safety is gradually valued by passengers. The reliability of the active safety technology is the key of trust of people, and the automatic emergency brake must be tested and verified enough to face the market.
At present, two methods are mainly adopted to test and verify AEB, the first method is to verify AEB functions through virtual tests, build virtual scenes by using scene software, and test an AEB controller; the second approach is to verify the AEB function through real vehicle testing (i.e., field testing and open road testing).
The first method has the defects that a virtual scene is built in a virtual simulation mode, the built virtual scene is known and limited, and a virtual target is transmitted to an AEB controller in the simulation process at present through an input mode, so that the surrounding detection situation cannot be completely and truly simulated. The second method has the defects that because the method is a real vehicle test, the site test and the scene in the method are self-built, the method is limited by equipment and sites, the test working conditions are fewer, and various functional conditions cannot be completely verified; through open road test, the function can be comprehensively verified, but the road test is random, and the measured test problem can not be subjected to scene restoration.
Therefore, there is a need for an AEB function optimization re-verification method.
Disclosure of Invention
The invention aims to provide an AEB function optimization re-verification method, which is used for solving the problems in the prior art and can reproduce the scene during road test and carry out closed loop on the test problems.
The invention provides an AEB function optimization re-verification method, which comprises the following steps:
collecting original data of a vehicle, wherein the original data at least comprises sensing data and whole vehicle bus data, wherein the sensing data is acquired through an AEB sensor, and the sensing data comprises millimeter wave radar data and video data;
performing time synchronization on the sensing data and the whole bus data, and injecting the synchronized sensing data and the synchronized whole bus data into an AEB controller;
inputting a control instruction of the AEB controller into a virtual scene model constructed based on the original data so as to simulate an AEB function;
and adjusting the AEB control strategy according to the simulation result of the AEB function until the test result meets the requirement.
The AEB function optimization re-verification method as described above, wherein preferably the raw data further comprises truth data obtained by a lidar.
The AEB function optimization re-verification method as described above, wherein preferably, the AEB function optimization re-verification method further includes:
comparing the perceptual data injected into the AEB controller with the truth data;
and judging whether the target object detected by the AEB sensor is identical with the target object detected by the laser radar according to the comparison result of the perception data and the true value data so as to determine whether a missed detection and/or false detection target object exists.
The AEB function optimization re-verification method as described above, preferably, the time synchronizing the sensing data and the whole bus data, and injecting the synchronized sensing data and whole bus data into an AEB controller, specifically includes:
synchronizing time axes of the millimeter wave radar data, the video data and the whole vehicle bus data;
and injecting the synchronized sensing data and the synchronized whole bus data into an AEB controller in a reverse time playback mode.
The AEB function optimization re-verification method as described above, wherein preferably, synchronizing the time axis of the millimeter wave radar data, the video data and the whole vehicle bus data specifically includes:
taking a clock signal in an industrial personal computer as a synchronous source, and synchronizing the acquired millimeter wave radar data, the acquired video data and the acquired whole bus data;
and storing the synchronized millimeter wave radar data, the video data and the whole vehicle bus data into an industrial personal computer, and storing each frame of the millimeter wave radar data and/or the video data and a corresponding time stamp signal when the data are stored.
The AEB function optimization re-verification method as described above, wherein preferably, the injecting the synchronized sensing data and the whole bus data into the AEB controller in a reverse time playback manner specifically includes:
and injecting the synchronized sensing data and the whole bus data into an AEB controller through custom hardware equipment, wherein the custom hardware equipment comprises video injection equipment and USBcan equipment.
Preferably, the method for optimizing and re-verifying an AEB function according to the present invention further includes injecting, by a custom hardware device, the synchronized sensing data and the whole bus data into an AEB controller in a reverse time playback manner, the method specifically including:
transmitting a time stamp of data stored in the industrial personal computer to the fixed port;
clock alignment is carried out on the stored data according to the time stamp;
and injecting the data with the aligned clocks into the AEB controller in a reverse time playback mode through the custom hardware device.
The AEB function optimization re-verification method as described above, wherein preferably, the raw data further includes video data captured by a plurality of cameras provided in front of, and/or left in front of, and/or right in front of, and/or behind, and/or left behind, and/or right behind the vehicle.
The AEB function optimization re-verification method as described above, wherein preferably, the inputting the control instruction of the AEB controller into the virtual scene model constructed based on the raw data to simulate the AEB function specifically includes:
constructing a virtual scene model according to video data shot by each camera and/or the sensing data and/or the whole bus data acquired by an AEB sensor;
acquiring a control instruction corresponding to the sensing data acquired by an AEB sensor in the AEB controller, wherein the control instruction is used as a control instruction when an AEB function is started after sensing data are injected;
inputting the control instruction into a virtual scene model, injecting the sensing data and the whole bus data of the period, and simulating the running track of a target vehicle through a vehicle dynamics model in the virtual scene model;
and determining whether the test result of the AEB function meets the requirement according to the running track of the target vehicle and the state of the target objects around the target vehicle.
According to the AEB function optimization re-verification method, preferably, the AEB control strategy is adjusted according to the simulation result of the AEB function until the test result meets the requirement, and the method specifically comprises the following steps of;
if the test result of the AEB function does not meet the requirements, adjusting a control instruction of the AEB controller, inputting the adjusted control instruction into the virtual scene model, and judging whether the test result of the AEB function meets the requirements again;
and if the test result meets the requirement, ending the optimization process of the AEB function.
According to the AEB function optimization re-verification method, the sensing data and the whole bus data are injected into the AEB controller, the AEB test scene can be reproduced, the virtual scene model is built, the control behavior after the AEB is started is simulated, the AEB controller and the virtual scene model are combined to realize the closed-loop debugging control strategy, the sensing situation and the control situation are reproduced, and the control strategy is continuously optimized so as to be verified again after the AEB function is optimized.
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For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of an embodiment of an AEB function optimization re-verification method provided by the present invention.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments should be construed as exemplary only and not limiting unless otherwise specifically stated.
"first", "second", as used in this disclosure: and similar words are not to be interpreted in any order, quantity, or importance, but rather are used to distinguish between different sections. The word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements. "upper", "lower", etc. are used merely to denote relative positional relationships, which may also change accordingly when the absolute position of the object to be described changes.
In this disclosure, when a particular element is described as being located between a first element and a second element, there may or may not be intervening elements between the particular element and the first element or the second element. When it is described that a specific component is connected to other components, the specific component may be directly connected to the other components without intervening components, or may be directly connected to the other components without intervening components.
All terms (including technical or scientific terms) used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs, unless specifically defined otherwise. 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.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification.
As shown in fig. 1, in the actual execution process, the AEB function optimization re-verification method provided in this embodiment specifically includes the following steps:
s1, acquiring original data of a vehicle, wherein the original data at least comprise sensing data and whole vehicle bus data acquired through an AEB sensor, and the sensing data comprise millimeter wave radar data and video data.
Wherein the AEB sensor is a sensor configured by the vehicle itself having the AEB function.
And S2, performing time synchronization on the sensing data and the whole bus data, and injecting the synchronized sensing data and the synchronized whole bus data into an AEB controller.
And the synchronized data are injected into the AEB controller, so that the AEB controller can perform circulated calculation on all data detected in the road test process conveniently. In one embodiment of the AEB function optimization re-verification method of the present invention, the step S2 may specifically include:
and S21, synchronizing time axes of the millimeter wave radar data, the video data and the whole vehicle bus data.
By synchronizing the time axes of the above data, it is possible to ensure that the time between the sensing data and the bus data of the whole vehicle is consistent. In one embodiment of the AEB function optimization re-verification method of the present invention, the step S21 may specifically include:
step S211, synchronizing the acquired millimeter wave radar data, the video data and the whole bus data by taking a clock signal in the industrial personal computer as a synchronization source.
Step S212, the synchronized millimeter wave radar data, the video data and the whole vehicle bus data are stored in an industrial personal computer, and each frame of the millimeter wave radar data and/or the video data and a corresponding time stamp signal are stored when the data are stored.
In a specific implementation, each frame of millimeter wave radar data and video data is followed by a time stamp signal and stored in an industrial personal computer.
And S22, injecting the synchronized sensing data and the whole bus data into an AEB controller in a reverse time playback mode.
Specifically, the synchronized sensing data and the whole bus data are injected into an AEB controller through custom hardware equipment, wherein the custom hardware equipment comprises video injection equipment and USBcan equipment.
In one embodiment of the AEB function optimization re-verification method of the present invention, the step S22 may specifically include:
step S221, the time stamp of the data stored in the industrial personal computer is sent to the fixed port.
Step S222, performing clock alignment on the stored data according to the time stamp.
And S223, injecting the data with the aligned clocks into the AEB controller in a reverse time playback mode through the custom hardware equipment.
Therefore, in reverse time playback, a time stamp is sent to a fixed port, and then various types of stored data are clock-aligned according to the time stamp and then injected into the respective data.
And step S3, inputting a control instruction of the AEB controller into a virtual scene model constructed based on the original data so as to simulate an AEB function.
Further, the raw data further includes video data photographed by a plurality of cameras provided in front of, and/or behind. After data are collected, each camera is stored in the industrial personal computer so as to facilitate modeling of the later virtual scene. In the present invention, the number of cameras is not particularly limited, and preferably, the number of cameras is 6, and the cameras are respectively disposed in front of the vehicle, in front of the left, in front of the right, in the rear of the left, and in the rear of the right. In one embodiment of the AEB function optimization re-verification method of the present invention, the step S3 may specifically include:
and S31, constructing a virtual scene model according to video data shot by each camera and/or the sensing data and/or the whole bus data acquired by the AEB sensor.
Specifically, a virtual scene model at this time, and a vehicle dynamics model in the virtual scene model are built in the scene software.
Step S32, a control instruction corresponding to the sensing data acquired by the AEB sensor is acquired in the AEB controller and used as a control instruction when the AEB function is started after the sensing data are injected.
And step S33, inputting the control instruction into a virtual scene model, injecting the sensing data and the whole bus data of the period, and simulating the running track of the target vehicle through a vehicle dynamics model in the virtual scene model.
Step S34, determining whether the test result of the AEB function meets the requirement according to the running track of the target vehicle and the state of the target object around the target vehicle.
And S4, adjusting an AEB control strategy according to the simulation result of the AEB function until the test result meets the requirement.
Specifically, if the test result of the AEB function does not meet the requirements, adjusting a control instruction of the AEB controller, inputting the adjusted control instruction into the virtual scene model, and judging whether the test result of the AEB function meets the requirements again;
and if the test result meets the requirement, ending the optimization process of the AEB function.
Therefore, the AEB controller judges whether the AEB control strategy is proper or not according to the control instruction (such as the expected deceleration) sent by the AEB controller when the dangerous target is tested to appear through the injected millimeter wave radar data, video data and whole bus data, if not, the strategy is modified, the sensing data of the period is injected again, the AEB starting condition is reproduced, and the effect of the AEB strategy after optimization is verified.
For example, when a bicycle is driven laterally in front of the vehicle, the AEB sensor detects that the bicycle is a dangerous target, and the AEB controller issues a control command of a highest value of the desired deceleration to command the vehicle to decelerate at the maximum deceleration. The expected deceleration of the AEB controller is input into a vehicle dynamics model, the vehicle is found to be decelerated too fast, the surrounding vehicles enter a dangerous state, and the front bicycle keeps the original speed to pass through quickly.
At this time, it is necessary to modify the AEB control strategy so that the AEB controller issues a control instruction of a lower deceleration. And playing back the sensing data injected into the time interval in reverse time again, wherein the AEB sends out lower deceleration, and the vehicle is found to continue running by avoiding the bicycle through the virtual scene model, so that no danger occurs.
In one example, if the front bicycle is stopped, the expected deceleration is required to be continuously adjusted, other situations, such as a target pedestrian in front, if the starting time of the AEB controller is too late, the pedestrian is frightened, if the starting time is too early, the comfort of the driver is affected, and the scene can be reproduced through the steps S3 and S4 of the invention, and the control strategy is repeatedly debugged.
Further, the raw data also includes true value data obtained by the lidar.
The laser radar is installed in the vehicle front, is more accurate than the millimeter wave radar, and the laser radar is stored in the industrial personal computer after data acquisition. In some embodiments, the AEB function optimization re-verification method further comprises:
and S5, comparing the perceived data injected into the AEB controller with the truth value data, and judging whether the target object detected by the AEB sensor is identical with the target object detected by the laser radar or not according to the comparison result of the perceived data and the truth value data so as to determine whether the target object which is missed and/or misdetected is present or not.
If there is a missing or misdetected target, the step S1 needs to be returned to collect the original data of the vehicle again.
The laser radar is a sensor with highest accuracy of the parameters of the detected target at present, so that the data acquired by the laser radar can be used as true value data. The laser radar can judge whether the AEB perception result is correct or not through the distance between the target object and the vehicle and the auxiliary parameters such as the speed and the acceleration.
According to the AEB function optimization re-verification method provided by the embodiment of the invention, the sensing data and the whole bus data are injected into the AEB controller, so that the AEB test scene can be reproduced, a virtual scene model is established, the control behavior after the AEB is started is simulated, the AEB controller and the virtual scene model are combined to realize a closed-loop debugging control strategy, the sensing situation and the control situation are reproduced, and the control strategy is continuously optimized so as to be verified again after the AEB function is optimized.
Thus, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that the foregoing embodiments may be modified and equivalents substituted for elements thereof without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (8)
1. An AEB function optimization re-verification method, comprising the steps of:
collecting original data of a vehicle, wherein the original data at least comprises sensing data and whole vehicle bus data, wherein the sensing data is acquired through an AEB sensor, and the sensing data comprises millimeter wave radar data and video data;
performing time synchronization on the sensing data and the whole bus data, and injecting the synchronized sensing data and the synchronized whole bus data into an AEB controller;
inputting a control instruction of the AEB controller into a virtual scene model constructed based on the original data so as to simulate an AEB function;
according to the simulation result of the AEB function, adjusting the AEB control strategy until the test result meets the requirement,
inputting a control instruction of the AEB controller into a virtual scene model constructed based on the original data so as to simulate an AEB function, wherein the method specifically comprises the following steps of:
constructing a virtual scene model according to video data shot by each camera and/or the sensing data and/or the whole bus data acquired by an AEB sensor;
acquiring a control instruction corresponding to the sensing data acquired by an AEB sensor in the AEB controller, wherein the control instruction is used as a control instruction when an AEB function is started after sensing data are injected;
inputting the control instruction into a virtual scene model, injecting the sensing data and the whole bus data of the period, and simulating the running track of a target vehicle through a vehicle dynamics model in the virtual scene model;
determining whether the test result of the AEB function meets the requirement according to the running track of the target vehicle and the state of the target object around the target vehicle,
according to the simulation result of the AEB function, the AEB control strategy is adjusted until the test result meets the requirement, and the method specifically comprises the following steps:
if the test result of the AEB function does not meet the requirements, adjusting a control instruction of the AEB controller, inputting the adjusted control instruction into the virtual scene model, and judging whether the test result of the AEB function meets the requirements again;
and if the test result meets the requirement, ending the optimization process of the AEB function.
2. The AEB function optimization re-verification method according to claim 1, wherein the raw data further comprises truth data obtained by a lidar.
3. The AEB function optimization re-verification method according to claim 2, further comprising:
comparing the perceptual data injected into the AEB controller with the truth data;
and judging whether the target object detected by the AEB sensor is identical with the target object detected by the laser radar according to the comparison result of the perception data and the true value data so as to determine whether a missed detection and/or false detection target object exists.
4. The AEB function optimization re-verification method according to claim 1, wherein the time-synchronizing the sensing data and the whole bus data, and injecting the synchronized sensing data and whole bus data into an AEB controller, specifically comprises:
synchronizing time axes of the millimeter wave radar data, the video data and the whole vehicle bus data;
and injecting the synchronized sensing data and the synchronized whole bus data into an AEB controller in a reverse time playback mode.
5. The AEB function optimization re-verification method according to claim 4, wherein synchronizing the time axes of the millimeter wave radar data, the video data, and the whole vehicle bus data specifically comprises:
taking a clock signal in an industrial personal computer as a synchronous source, and synchronizing the acquired millimeter wave radar data, the acquired video data and the acquired whole bus data;
and storing the synchronized millimeter wave radar data, the video data and the whole vehicle bus data into an industrial personal computer, and storing each frame of the millimeter wave radar data and/or the video data and a corresponding time stamp signal when the data are stored.
6. The AEB function optimization re-verification method according to claim 5, wherein the injecting the synchronized sensing data and the whole bus data into the AEB controller in a reverse time playback manner specifically comprises:
and injecting the synchronized sensing data and the whole bus data into an AEB controller through custom hardware equipment, wherein the custom hardware equipment comprises video injection equipment and USBcan equipment.
7. The AEB function optimization re-verification method according to claim 6, wherein the injecting the synchronized sensing data and the whole bus data into the AEB controller in a reverse time playback manner by the custom hardware device specifically comprises:
transmitting a time stamp of data stored in the industrial personal computer to the fixed port;
clock alignment is carried out on the stored data according to the time stamp;
and injecting the data with the aligned clocks into the AEB controller in a reverse time playback mode through the custom hardware device.
8. The AEB function optimization re-verification method according to claim 1, wherein the raw data further includes video data captured by a plurality of cameras provided in front of, and/or behind.
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| CN116257299B (en) * | 2023-02-27 | 2023-09-01 | 北京辉羲智能科技有限公司 | AEB function open-loop verification method based on message middleware in Linux environment |
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