CN113844391B - Initial verification system and method for automatic driving algorithm development - Google Patents
Initial verification system and method for automatic driving algorithm development Download PDFInfo
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- CN113844391B CN113844391B CN202111163027.9A CN202111163027A CN113844391B CN 113844391 B CN113844391 B CN 113844391B CN 202111163027 A CN202111163027 A CN 202111163027A CN 113844391 B CN113844391 B CN 113844391B
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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
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Abstract
The invention discloses an initial verification system and method for automatic driving algorithm development, wherein the system comprises an automatic driving control module, a whole vehicle gateway, a drive-by-wire executing mechanism and a verification gateway, wherein the automatic driving control module is connected with the verification gateway, and CAN communication is carried out between the verification gateway and the drive-by-wire executing mechanism through the whole vehicle gateway; the automatic driving control module sends a wire control instruction to the check gateway, the check gateway obtains data information in the DBC file, calculates reference check information, compares target check information in the wire control instruction with the reference check information, corrects the target check information if the data are unequal, and feeds back that the target check information is wrong; if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command. The initial verification system and the initial verification method for the automatic driving algorithm development greatly reduce the restarting times of the vehicle, reduce the testing difficulty, facilitate development engineers to quickly find problems, and improve the development efficiency.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an initial verification system and method for automatic driving algorithm development.
Background
Due to the continuous development of automobile technology, more and more intelligent automobiles are equipped with an automatic driving function, automatic driving can be realized according to various sensor inputs, but in the initial stage of development of an automatic driving algorithm, development engineers often need to verify a vehicle executing mechanism, the executing mechanism is in safety consideration, check positions calculated by a complex check algorithm can be increased, the check positions are troublesome to calculate, errors are not easy to find, and the test difficulty of 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 the required control signal is searched and verified when the whole vehicle is electrified and ignited, so that two conditions exist:
first case: if the controller does not send a drive-by-wire command, the bottom layer executing mechanism sends out temporary fault errors, and when the automatic driving function is not allowed to be started in the secondary driving process, the vehicle is restarted, so that the temporary fault can be eliminated.
Second case: the controller sends a drive-by-wire command, but check bit information of signals in the control command is sent incorrectly, a drive-by-wire executing mechanism selects a check method according to different CAN communication, transmits information in byte 0-byte (n-1) to calculate check information, sends the check information to the executing mechanism together, the executing mechanism CAN recalculate the check information for the accepted byte 0-byte (n-1) of the CAN information, compares the calculated check information twice, if the two check information are unequal, the executing mechanism CAN send out temporary fault errors, and when the automatic driving function is not allowed to be started in the secondary driving process, the vehicle CAN be restarted to eliminate the temporary fault.
Both of the above situations require that the vehicle restart party can clear the temporary fault to activate the autopilot function, wasting development engineer time to a great extent.
Disclosure of Invention
The invention aims to provide an initial verification system and method for automatic driving algorithm development, which greatly reduce the vehicle restarting times, reduce the testing difficulty, facilitate development engineers to quickly find problems and improve the development efficiency.
In order to achieve the above purpose, the invention provides an initial calibration system for automatic driving algorithm development, which comprises an automatic driving control module, a whole vehicle gateway, a drive-by-wire executing mechanism and a calibration gateway, wherein the automatic driving control module is connected with the calibration gateway, and CAN communication is carried out between the calibration gateway and the drive-by-wire executing mechanism through the whole vehicle gateway;
the automatic driving control module sends a wire control instruction to a check gateway, the check gateway obtains data information in the DBC file and calculates reference check information, the target check information in the wire control instruction is compared with the reference check information, if the data are not equal, the target check information is corrected, and the target check information is fed back that the time is wrong; if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command.
Further, the check gateway includes:
the correction module is used for correcting the wrong target verification information;
the feedback module is used for sending feedback information;
the algorithm processing module is used for calculating reference verification information and comparison verification information;
the algorithm processing module is respectively connected with the feedback module and the correction module.
And the check gateway is further used for sending out a command for canceling the automatic driving when the automatic driving control module does not send a wire control command, feeding back that the current automatic driving function is withdrawn due to signal interruption, and restarting the vehicle and checking.
Further, the check gateway also comprises an algorithm simulation controller for sending out a command for canceling automatic driving, and the algorithm simulation controller is connected with the algorithm processing module.
Further, the verification gateway is further configured to obtain data information in the DBC file, calculate reference verification information, and specifically:
acquiring data information in the DBC file, adding the first 7 byte information, AND then taking an AND value with 255; and then taking an exclusive OR value with 255 to obtain the verification information corresponding to the message.
The invention also provides an initial verification method for the development of the automatic driving algorithm, which comprises the following steps of:
the automatic driving control module sends a wire control instruction to the check gateway;
the verification gateway obtains data information in the DBC file and calculates reference verification information;
comparing the target check information in the drive-by-wire instruction with the reference check information;
if the data are not equal, correcting the target verification information, and feeding back that the target verification information is wrong;
if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command.
Further, the check gateway is further used for sending out a cancel automatic driving command when detecting that the automatic driving control module does not send a wire control command, feeding back that the current automatic driving function is withdrawn due to signal interruption, and restarting the vehicle and checking.
Compared with the prior art, the invention has the following advantages:
according to the initial verification system and method for automatic driving algorithm development, the verification gateway is added before the online control command is sent to the whole vehicle gateway, the verification gateway can calculate and verify, correction of verification information is achieved, feedback of error verification information is achieved, timely feedback of error verification information can be achieved, the vehicle is prevented from entering a temporary fault state, the vehicle restarting frequency is greatly reduced, testing difficulty is reduced, a development engineer can conveniently find problems rapidly, and development efficiency is improved; and can monitor that the automatic drive control module did not send the wire control command, check the gateway and send the canceling automatic drive command to the wire control actuating mechanism to feed back the current automatic drive function and withdraw from because of signal interruption, need restart the vehicle and examine, make things convenient for development engineer to discover the problem fast, improved development efficiency, avoided because signal interruption leads to the temporary fault error of wire control actuating mechanism.
Drawings
FIG. 1 is a schematic diagram of an initial calibration system for automatic driving algorithm development according to the present invention;
FIG. 2 is a flow chart of an initial calibration method for automatic driving algorithm development according to the present invention;
fig. 3 is a schematic diagram of a verification information storage location of a CAN communication message of a current main stream control mechanism.
In the figure: 1-automatic driving control module, 2-whole car gateway, 3-drive-by-wire actuating mechanism, 4-check gateway.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
Referring to fig. 1, the embodiment discloses an initial verification system for development of an autopilot algorithm, which is characterized by comprising an autopilot control module 1, a whole vehicle gateway 2, a drive-by-wire executing mechanism 3 and a verification gateway 4, wherein the autopilot control module 1 is connected with the verification gateway 4, and the verification gateway 4 and the drive-by-wire executing mechanism 3 are in CAN communication through the whole vehicle gateway 2;
the automatic driving control module 1 sends a wire control instruction to the check gateway 4, the check gateway 4 obtains data information in the DBC file, calculates reference check information, compares target check information in the wire control instruction with the reference check information, corrects the target check information if the data are not equal, and feeds back that the target check information is wrong; if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command. The error target verification information is fed back to the development engineer, so that the development engineer corrects the model when modifying 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 incorrectly at present can be avoided, the vehicle does not need to be restarted this time, the problem of quick 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 verification information;
the feedback module is used for sending feedback information;
the algorithm processing module is used for calculating reference verification information and comparison verification information;
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, when detecting that the autopilot control module 1 does not send a wire control command, send a cancel autopilot command, and feed back that the current autopilot function is exited due to signal interruption, restart the vehicle and check. Temporary fault errors of the drive-by-wire actuating mechanism caused by signal interruption are avoided.
In this embodiment, the verification gateway 4 further includes an algorithm analog controller for issuing a command to cancel autopilot, where the algorithm analog controller is connected to the algorithm processing module.
In this embodiment, the verification gateway 4 is further configured to obtain data information in the DBC file, and calculate reference verification information, specifically:
acquiring data information in the DBC file, adding the first 7 byte information, AND then taking an AND value with 255; and then taking an exclusive OR value with 255 to obtain the verification information corresponding to the message. The data information in the DBC file comprises byte 0-byte (n-1) in the DBC file, and the verification information is calculated according to the byte 0-byte (n-1) data.
Referring to fig. 2, the embodiment also discloses an initial verification method for developing an autopilot algorithm, and the initial verification system for developing the autopilot algorithm comprises the following steps:
the automatic driving control module 1 transmits a wire control instruction to the check gateway 4;
the verification gateway 4 acquires the data information in the DBC file and calculates reference verification information;
comparing the target check information in the drive-by-wire instruction with the reference check information;
if the data are not equal, correcting the target verification information, and feeding back that the target verification information is wrong;
if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command.
In this embodiment, the check gateway 4 is further configured to, when detecting that the autopilot control module 1 does not send a wire control command, send out a cancel autopilot command by the check gateway 4, and feed back that the current autopilot function is exited due to signal interruption, and restart the vehicle and check the vehicle.
According to the initial verification system and method for automatic driving algorithm development, the verification gateway is added before the online control command is sent to the whole vehicle gateway, the verification gateway can calculate and verify, correction of verification information is achieved, feedback of error verification information is achieved, timely feedback of error verification information can be achieved, the vehicle is prevented from entering a temporary fault state, the vehicle restarting frequency is greatly reduced, testing difficulty is reduced, a development engineer can conveniently find problems rapidly, and development efficiency is improved; and can monitor that the automatic drive control module did not send the wire control command, check the gateway and send the canceling automatic drive command to the wire control actuating mechanism to feed back the current automatic drive function and withdraw from because of signal interruption, need restart the vehicle and examine, make things convenient for development engineer to discover the problem fast, improved development efficiency, avoided because signal interruption leads to the temporary fault error of wire control actuating mechanism.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (5)
1. The initial calibration system for automatic driving algorithm development is characterized by comprising an automatic driving control module (1), a whole vehicle gateway (2), a drive-by-wire executing mechanism (3) and a calibration gateway (4), wherein the automatic driving control module (1) is connected with the calibration gateway (4), and CAN communication is carried out between the calibration gateway (4) and the drive-by-wire executing mechanism (3) through the whole vehicle gateway (2);
the automatic driving control module (1) sends a wire control instruction to the verification gateway (4), the verification gateway (4) acquires data information in the DBC file, calculates reference verification information, compares target verification information in the wire control instruction with the reference verification information, corrects the target verification information if the data are not equal, and feeds back that the target verification information is wrong; if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command;
the check gateway (4) is further used for sending a cancel automatic driving command when the automatic driving control module (1) is detected to not send a wire control command, feeding back that the current automatic driving function is withdrawn due to signal interruption, and restarting the vehicle and checking.
2. The initial verification system for development of an automatic driving algorithm according to claim 1, wherein the verification gateway (4) comprises:
the correction module is used for correcting the wrong target verification information;
the feedback module is used for sending feedback information;
the algorithm processing module is used for calculating reference verification information and comparison verification information;
the algorithm processing module is respectively connected with the feedback module and the correction module.
3. The initial verification system for development of an autopilot algorithm according to claim 1 or 2, wherein the verification gateway (4) further comprises an algorithm analog controller for issuing a cancel autopilot command, the algorithm analog controller being connected to an algorithm processing module.
4. The initial verification system for development of an automatic driving algorithm according to claim 1, wherein the verification gateway (4) is further configured to obtain data information in a DBC file and calculate reference verification information, specifically:
acquiring data information in the DBC file, adding the first 7 byte information, AND then taking an AND value with 255; and taking an exclusive OR value with 255 to obtain the verification information corresponding to the drive-by-wire instruction.
5. An initial verification method for development of an automatic driving algorithm, characterized in that the initial verification system for development of an automatic driving algorithm according to any one of claims 1 to 4 is developed by the steps of:
the automatic driving control module (1) sends a wire control instruction to the check gateway (4);
the verification gateway (4) acquires data information in the DBC file and calculates reference verification information;
comparing the target check information in the drive-by-wire instruction with the reference check information;
if the data are not equal, correcting the target verification information, and feeding back that the target verification information is wrong;
if the data are equal, the drive-by-wire executing mechanism executes the drive-by-wire command.
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