CN113844391A - Automatic driving algorithm development initial calibration system and method - Google Patents
Automatic driving algorithm development initial calibration system and method Download PDFInfo
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- CN113844391A CN113844391A CN202111163027.9A CN202111163027A CN113844391A CN 113844391 A CN113844391 A CN 113844391A CN 202111163027 A CN202111163027 A CN 202111163027A CN 113844391 A CN113844391 A CN 113844391A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
Abstract
The invention discloses an automatic driving algorithm development initial calibration system and method, wherein the system comprises an automatic driving control module, a whole vehicle gateway, a line control execution mechanism and a calibration gateway, the automatic driving control module is connected with the calibration gateway, and the calibration gateway and the line control execution mechanism are in CAN communication through the whole vehicle gateway; the automatic driving control module sends a drive-by-wire instruction to the verification gateway, the verification gateway obtains data information in the DBC file to calculate reference verification information, target verification information in the drive-by-wire instruction is compared with the reference verification information, if the data are unequal, the target verification information is corrected, and the target verification information is fed back to be wrong; and if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command. The automatic driving algorithm development initial calibration system and method greatly reduce the vehicle restart times, reduce the test difficulty, facilitate the development engineers to quickly find the problems and improve the development efficiency.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a system and a method for checking an initial stage of development of an automatic driving algorithm.
Background
Because of the continuous development of automobile technology, more and more intelligent automobiles are provided with an automatic driving function and can realize automatic driving according to input of various sensors, but in the initial development stage of an automatic driving algorithm, development engineers often need to verify a vehicle execution mechanism, the execution mechanism is in safety consideration, check bits calculated by a complex check algorithm can be increased, but the check bits are troublesome to calculate, errors are not easy to find, and the test difficulty of the development engineers is increased.
The drive-by-wire actuating mechanism (steering wheel, brake, accelerator or electric door) of each automatic driving vehicle has a protection mechanism, and when the whole vehicle is electrically ignited, a required control signal is searched and verified, so that two conditions exist:
in the first case: if no controller sends a drive-by-wire command, the bottom layer execution mechanism sends out a temporary fault error, when the automatic driving function is not allowed to be started in the process of driving, and the temporary fault can be eliminated by restarting the vehicle.
In the second case: the method comprises the steps that a controller sends a line control command, but check bit information of signals in the control command is sent wrongly, a line control mechanism of a line control execution mechanism selects a check method aiming at different CAN communication, check information is calculated according to transmitted information in byte 0-byte (n-1), the check information is sent to the execution mechanism, the execution mechanism recalculates the check information of byte 0-byte (n-1) of received CAN information, the check information calculated twice is compared, if the check information and the check information are not equal, the execution mechanism sends out a temporary fault error, when an automatic driving function is not allowed to be started in the driving process, and a vehicle is restarted to eliminate the temporary fault.
In both cases, the automatic driving function can be activated only by removing the temporary fault in the vehicle restarting process, and the time of development engineers is wasted to a great extent.
Disclosure of Invention
The invention aims to provide a system and a method for checking the initial stage of development of an automatic driving algorithm, which greatly reduce the vehicle restarting times, reduce the testing difficulty, facilitate the development engineer to quickly find problems and improve the development efficiency.
In order to achieve the aim, the invention provides an initial calibration system for development of an automatic driving algorithm, which comprises an automatic driving control module, a finished automobile gateway, a line control execution mechanism and a calibration gateway, wherein the automatic driving control module is connected with the calibration gateway, and the calibration gateway and the line control execution mechanism are in CAN communication through the finished automobile gateway;
the automatic driving control module sends a drive-by-wire instruction to the verification gateway, the verification gateway acquires data information in the DBC file to calculate reference verification information, target verification information in the drive-by-wire instruction is compared with the reference verification information, if the data are unequal, the target verification information is corrected, and the target verification information is fed back to be wrong; and if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command.
Further, the verification gateway includes:
the correction module is used for correcting the wrong target check information;
a feedback module for sending feedback information;
and an algorithm processing module for calculating reference verification information and comparison verification information;
and the algorithm processing module is respectively connected with the feedback module and the correction module.
Further, the check gateway is also used for sending an automatic driving canceling command when detecting that the automatic driving control module does not send a drive-by-wire command, and feeding back that the current automatic driving function exits due to signal interruption, and the vehicle needs to be restarted and checked.
Further, the verification gateway also comprises an algorithm simulation controller used for sending out an automatic driving cancellation command, and the algorithm simulation controller is connected with the algorithm processing module.
Further, the check gateway is further configured to obtain data information calculation reference check information in the DBC file, specifically:
acquiring data information in the DBC file, adding the first 7 bytes of information, AND taking an AND value with 255; and then the XOR value is taken with 255 to obtain the check information corresponding to the message.
The invention also provides an automatic driving algorithm development initial calibration method, which utilizes the automatic driving algorithm development initial calibration system and comprises the following steps:
the automatic driving control module sends a wire control command to the verification gateway;
the check gateway acquires data information in the DBC file and calculates reference check information;
comparing target verification information in the line control instruction with reference verification information;
if the data are not equal, correcting the target verification information and feeding back that the target verification information is wrong;
and if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command.
Further, the check gateway is also used for sending an automatic driving canceling command when detecting that the automatic driving control module does not send a drive-by-wire command, feeding back that the current automatic driving function exits due to signal interruption, and restarting the vehicle and checking.
Compared with the prior art, the invention has the following advantages:
according to the automatic driving algorithm development initial calibration system and method, a calibration gateway is added before a line control command is sent to a finished automobile gateway, the calibration gateway can perform calculation and verification, can also correct calibration information and feed back calibration information with errors, can feed back the wrong calibration information in time, prevents a vehicle from entering a temporary fault state, greatly reduces the vehicle restart times, reduces the test difficulty, facilitates a development engineer to quickly find problems, and improves the development efficiency; and the automatic driving control module can be monitored when the drive-by-wire command is not sent, the check gateway sends a command for canceling the automatic driving to the drive-by-wire execution mechanism, and feeds back that the current automatic driving function exits due to signal interruption, and the vehicle needs to be restarted and checked, so that a development engineer can conveniently and quickly find problems, the development efficiency is improved, and the temporary fault error of the drive-by-wire execution mechanism caused by signal interruption is avoided.
Drawings
FIG. 1 is a schematic structural diagram of an early calibration system for automated driving algorithm development according to the present invention;
FIG. 2 is a flow chart of an initial verification method for automated driving algorithm development of the present invention;
fig. 3 is a schematic diagram of a check information storage location of a current master control mechanism CAN communication packet.
In the figure: the system comprises an automatic driving control module, a vehicle-finishing gateway, a 3-line control execution mechanism and a 4-calibration gateway.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1, the embodiment discloses an initial calibration system for development of an automatic driving algorithm, which is characterized by comprising an automatic driving control module 1, a finished automobile gateway 2, a line control execution mechanism 3 and a calibration gateway 4, wherein the automatic driving control module 1 is connected with the calibration gateway 4, and the calibration gateway 4 and the line control execution mechanism 3 are in CAN communication through the finished automobile gateway 2;
the automatic driving control module 1 sends a drive-by-wire instruction to the verification gateway 4, the verification gateway 4 acquires data information in the DBC file to calculate reference verification information, target verification information in the drive-by-wire instruction is compared with the reference verification information, if the data are unequal, the target verification information is corrected, and the target verification information is fed back that the target verification information is wrong; and if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command. The wrong target verification information is fed back to the development engineer, so that the development engineer corrects the model next time, the problem that the automatic driving function of the vehicle cannot be started due to the fact that the verification information is sent wrongly at present, the vehicle does not need to be restarted at this time, the problem of rapid locking can be solved, and the development efficiency is improved.
In this embodiment, the verification gateway 4 includes:
the correction module is used for correcting the wrong target check information;
a feedback module for sending feedback information;
and an algorithm processing module for calculating reference verification information and comparison verification information;
and the algorithm processing module is respectively connected with the feedback module and the correction module.
In this embodiment, the verification gateway 4 is further configured to send an automatic driving cancellation command when it is detected that the automatic driving control module 1 does not send a drive-by-wire command, and feed back that the current automatic driving function exits due to signal interruption, and the vehicle needs to be restarted and checked. Temporary failure errors of the linear control actuating mechanism caused by signal interruption are avoided.
In this embodiment, the verification gateway 4 further includes an algorithm simulation controller for issuing a command to cancel automatic driving, and the algorithm simulation controller is connected to the algorithm processing module.
In this embodiment, the check gateway 4 is further configured to obtain data information in the DBC file and calculate reference check information, specifically:
acquiring data information in the DBC file, adding the first 7 bytes of information, AND taking an AND value with 255; and then the XOR value is taken with 255 to obtain the check information corresponding to the message. The data information in the DBC file comprises bytes 0- (n-1) in the DBC file, and check information is calculated according to the bytes 0- (n-1) data.
Referring to fig. 2, the present embodiment further discloses an initial calibration method for developing an automatic driving algorithm, where the initial calibration method for developing an automatic driving algorithm includes the following steps:
the automatic driving control module 1 sends a drive-by-wire instruction to the verification gateway 4;
the check gateway 4 acquires data information in the DBC file to calculate reference check information;
comparing target verification information in the line control instruction with reference verification information;
if the data are not equal, correcting the target verification information and feeding back that the target verification information is wrong;
and if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command.
In this embodiment, the verification gateway 4 is further configured to, when it is detected that the automatic driving control module 1 does not send the drive-by-wire command, send a command to cancel the automatic driving, and feed back that the current automatic driving function exits due to signal interruption, and the vehicle needs to be restarted and checked.
According to the automatic driving algorithm development initial calibration system and method, a calibration gateway is added before a line control command is sent to a finished automobile gateway, the calibration gateway can perform calculation and verification, can also correct calibration information and feed back calibration information with errors, can feed back the wrong calibration information in time, prevents a vehicle from entering a temporary fault state, greatly reduces the vehicle restart times, reduces the test difficulty, facilitates a development engineer to quickly find problems, and improves the development efficiency; and the automatic driving control module can be monitored when the drive-by-wire command is not sent, the check gateway sends a command for canceling the automatic driving to the drive-by-wire execution mechanism, and feeds back that the current automatic driving function exits due to signal interruption, and the vehicle needs to be restarted and checked, so that a development engineer can conveniently and quickly find problems, the development efficiency is improved, and the temporary fault error of the drive-by-wire execution mechanism caused by signal interruption is avoided.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (7)
1. An initial calibration system for development of an automatic driving algorithm is characterized by comprising an automatic driving control module (1), a whole vehicle gateway (2), a line control execution mechanism (3) and a calibration gateway (4), wherein the automatic driving control module (1) is connected with the calibration gateway (4), and the calibration gateway (4) and the line control execution mechanism (3) are in CAN communication through the whole vehicle gateway (2);
the automatic driving control module (1) sends a drive-by-wire instruction to the verification gateway (4), the verification gateway (4) acquires data information in the DBC file to calculate reference verification information, target verification information in the drive-by-wire instruction is compared with the reference verification information, if the data are unequal, the target verification information is corrected, and the target verification information is fed back to be wrong; and if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command.
2. The autopilot algorithm development incipient calibration system according to claim 1, characterized in that the calibration gateway (4) comprises:
the correction module is used for correcting the wrong target check information;
a feedback module for sending feedback information;
and an algorithm processing module for calculating reference verification information and comparison verification information;
and the algorithm processing module is respectively connected with the feedback module and the correction module.
3. The system for initial verification of automated driving algorithm development according to claim 1 or 2, wherein the verification gateway (4) is further configured to issue a cancel automated driving command when detecting that the automated driving control module (1) does not send a drive-by-wire command, and feed back that the current automated driving function exits due to signal interruption, and the vehicle needs to be restarted and checked.
4. The automated driving algorithm development initial verification system according to claim 3, wherein the verification gateway (4) further comprises an algorithm simulation controller for issuing a cancel automated driving command, the algorithm simulation controller being connected to the algorithm processing module.
5. The system for checking the initial stage of development of an autopilot algorithm according to claim 1, characterized in that the check gateway (4) is further configured to obtain data information in the DBC file and calculate reference check information, specifically:
acquiring data information in the DBC file, adding the first 7 bytes of information, AND taking an AND value with 255; and then the XOR value is taken with 255 to obtain the check information corresponding to the message.
6. An automated driving algorithm development initial verification method, characterized in that, with the automated driving algorithm development initial verification system according to any one of claims 1 to 5, the steps include:
the automatic driving control module (1) sends a drive-by-wire command to the verification gateway (4);
the checking gateway (4) acquires data information in the DBC file to calculate reference checking information;
comparing target verification information in the line control instruction with reference verification information;
if the data are not equal, correcting the target verification information and feeding back that the target verification information is wrong;
and if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command.
7. The method for initial verification of automated driving algorithm development according to claim 5, wherein the verification gateway (4) is further configured to issue a cancel automated driving command when detecting that the automated driving control module (1) does not send a drive-by-wire command, and feed back that the current automated driving function exits due to signal interruption, and the vehicle needs to be restarted and checked.
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