CN114326681A - Driving environment simulation device, method, system, equipment and storage medium - Google Patents
Driving environment simulation device, method, system, equipment and storage medium Download PDFInfo
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- CN114326681A CN114326681A CN202111667717.8A CN202111667717A CN114326681A CN 114326681 A CN114326681 A CN 114326681A CN 202111667717 A CN202111667717 A CN 202111667717A CN 114326681 A CN114326681 A CN 114326681A
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Abstract
The application relates to a driving environment simulation device, a method, a system, equipment and a storage medium, wherein the driving environment simulation device comprises: a drum having an absorbing portion and a reflecting portion; the rotary driving mechanism is used for driving the rotary drum to rotate; in the process that the rotary drum rotates along with the rotary driving mechanism, the absorption part absorbs a received target signal to simulate a first state, and the reflection part reflects the received target signal to simulate a second state; the first state is used for representing that an idle area exists, and the second state is used for representing that obstacle information exists. By utilizing the driving environment simulation device, the driving environment simulation method, the driving environment simulation system, the driving environment simulation equipment and the storage medium, obstacles and idle areas in the driving environment can be accurately simulated.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a driving environment simulation apparatus, a driving environment simulation method, a driving environment simulation system, a driving environment simulation device, and a storage medium.
Background
The statements herein merely provide background information related to the present application and may not necessarily constitute prior art.
At present, when a certain vehicle-mounted system is detected and tested on the whole vehicle, the test is usually not directly carried out in a real environment, but a simulation environment is firstly built for testing. With the progress of vehicle automation and intellectualization greatly increased, it is necessary to simulate the real environment of driving more truly.
Therefore, how to accurately simulate the driving environment is an urgent problem to be solved.
Disclosure of Invention
The application aims to provide a novel driving environment simulation device, a novel driving environment simulation method, a novel driving environment simulation system, a novel driving environment simulation device and a novel driving environment simulation storage medium, which are used for accurately simulating obstacles and free areas in a driving environment.
The purpose of the application is realized by adopting the following technical scheme. According to the driving environment simulation device that this application provided, driving environment simulation device includes: a drum having an absorbing portion and a reflecting portion; the rotary driving mechanism is used for driving the rotary drum to rotate; in the process that the rotary drum rotates along with the rotary driving mechanism, the absorption part absorbs a received target signal to simulate a first state, the reflection part reflects the received target signal to simulate a second state, the first state is used for representing that an idle area exists, and the second state is used for representing that obstacle information exists.
The object of the present application can be further achieved by the following technical measures.
The driving environment simulation apparatus described above, wherein a signal absorbing member for absorbing a signal of one or more sensors of the vehicle is provided on an outer surface of a part of the drum, thereby forming the absorbing portion.
The driving environment simulation device comprises a rotary drum, wherein the rotary drum is made of a non-metal material, the signal absorbing piece is adhered to a half circle of the rotary drum in the circumferential direction, and the signal absorbing piece is made of a signal absorbing material.
The driving environment simulation device comprises a housing, the housing comprises a cylindrical structure and a flat disc structure which are integrally formed, the flat disc structure is arranged in a cavity of the cylindrical structure, the housing is made of a non-metal material, the signal absorbing member is adhered to one half of the outer surface of the cylindrical structure in the circumferential direction, and the other half of the outer surface of the cylindrical structure, which is not adhered to the signal absorbing member, is formed into the reflecting part; the rotary drum further comprises a rotary disc which is arranged in the cavity of the cylindrical structure and fixedly connected to the flat disc structure, and the rotary disc receives the drive of the rotary driving mechanism and transmits the drive to the flat disc structure to drive the cylindrical structure to rotate.
In the driving environment simulation device, the rotation driving mechanism includes a stepping motor and a speed reducer, the stepping motor and the speed reducer are accommodated in the cavity of the cylindrical structure of the drum, the stepping motor is configured to generate a torque force, and the speed reducer is configured to transmit the torque force to the rotating disk according to a set transmission ratio to drive the rotating disk to rotate, so that the cylindrical structure is driven by the stepping motor to rotate.
In the driving environment simulation apparatus, the rotating disc includes a disc portion and a rod portion, which are integrally formed, the disc portion is fixedly connected to the flat disc structure of the housing, and the rod portion is fixedly connected to the speed reducer; the driving environment simulation device also comprises a supporting structure which is used for supporting the rotary drum and the rotary driving mechanism; the supporting structure comprises a base and one or more bearings, the base is connected with the outer side of the bearing to support the bearing, the rod-shaped part of the rotating disk penetrates through the inner side of the bearing, and the bearing is used for transmitting the supporting force of the base to the rotating disk.
The driving environment simulation device further comprises a translation mechanism, the translation mechanism is fixedly connected with the vehicle, and the translation mechanism is used for driving the driving environment simulation device to move relative to the vehicle.
The driving environment simulation device in the foregoing, wherein the target signal is a signal of one or more sensors of the vehicle, and the sensors include one or more of the following: a reverse collision avoidance radar, a front collision avoidance radar, a side collision avoidance radar, and a door opening obstacle detection radar.
The purpose of the application is also realized by adopting the following technical scheme. The driving environment simulation method provided by the application mainly comprises the following steps: controlling a rotation driving mechanism of any one of the driving environment simulation apparatuses to cause the driving environment simulation apparatus to simulate a first state and a second state, the first state being determined after an absorption portion of a drum of the driving environment simulation apparatus absorbs a received target signal, the second state being determined after a reflection portion of the drum reflects the received target signal; wherein the first state is used for representing that an idle area exists, and the second state is used for representing that obstacle information exists.
The object of the present application can be further achieved by the following technical measures.
The driving environment simulation method specifically comprises the following steps: the size of the free area and/or obstacle is characterized by controlling the rotation of the drum.
The driving environment simulation method includes the steps of controlling the rotation of the drum to represent the size of an idle area or an obstacle, and specifically includes: acquiring a motion signal of the vehicle, and acquiring a set size of a virtual idle area and/or an obstacle; calculating a time for the drum to maintain a first state according to the motion signal of the vehicle and a set size of the idle area, and/or calculating a time for the drum to maintain a second state according to the motion signal of the vehicle and a set size of the obstacle; and controlling the driving force output by the rotary driving mechanism according to the time for maintaining the first state and the time for maintaining the second state so as to simulate the size of an idle area and/or an obstacle.
The driving environment simulation method comprises the following steps: and controlling a translation mechanism of the driving environment simulation device to drive the driving environment simulation device to move relative to the vehicle so as to represent the relative position change between the vehicle and the obstacle.
The driving environment simulation method includes a virtual parking space simulation, a front or side obstacle simulation, or a vehicle door opening obstacle simulation.
The purpose of the application is also realized by adopting the following technical scheme. According to the driving environment simulation system that this application provided, the system mainly used: controlling a rotation driving mechanism of any one of the driving environment simulation apparatuses to cause the driving environment simulation apparatus to simulate a first state and a second state, the first state being determined after an absorption portion of a drum of the driving environment simulation apparatus absorbs a received target signal, the second state being determined after a reflection portion of the drum reflects the received target signal; wherein the first state is used for representing that an idle area exists, and the second state is used for representing that obstacle information exists.
The object of the present application can be further achieved by the following technical measures.
The driving environment simulation system described above, wherein the system includes: a size simulation module to characterize a size of the free area and/or the obstacle by controlling rotation of the drum.
The driving environment simulation system is characterized in that the size simulation module is specifically configured to: acquiring a motion signal of the vehicle, and acquiring a set size of a virtual idle area and/or an obstacle; calculating a time for the drum to maintain a first state according to the motion signal of the vehicle and a set size of the idle area, and/or calculating a time for the drum to maintain a second state according to the motion signal of the vehicle and a set size of the obstacle; and controlling the driving force output by the rotary driving mechanism according to the time for maintaining the first state and the time for maintaining the second state so as to simulate the size of an idle area and/or an obstacle.
The driving environment simulation system described above, wherein the system further includes: and the distance simulation module is used for controlling the translation mechanism of the driving environment simulation device to drive the driving environment simulation device to move relative to the vehicle so as to represent the relative position change between the vehicle and the obstacle.
The driving environment simulation system comprises a virtual parking space simulation, a front or side obstacle simulation, or a vehicle door opening obstacle simulation.
The purpose of the application is also realized by adopting the following technical scheme. According to this application, a driving environment simulation equipment includes: a memory for storing non-transitory computer readable instructions; and the processor is used for executing the computer readable instructions, so that the processor can realize any one of the driving environment simulation methods when being executed.
The purpose of the application is also realized by adopting the following technical scheme. A computer-readable storage medium according to the present application is provided for storing non-transitory computer-readable instructions which, when executed by a computer, cause the computer to perform any one of the aforementioned driving environment simulation methods.
Compared with the prior art, the method has obvious advantages and beneficial effects. By means of the technical scheme, the driving environment simulation device, the driving environment simulation method, the driving environment simulation system, the driving environment simulation equipment and the storage medium have the following advantages and beneficial effects:
1. by using the driving environment simulation device, method and system, obstacles and idle areas in the driving environment can be accurately simulated;
2. by applying the driving environment simulation device, method and system provided by the application to the simulation of the virtual parking space, the empty parking space and the obstacle in the parking process can be accurately simulated;
3. the driving environment simulation device, the driving environment simulation method and the driving environment simulation system are applied to the test of the automatic parking system of the vehicle, so that the electromagnetic immunity test condition of the whole vehicle of the automatic parking system can be met, the reverse sensor system can detect in real time and feed parking space information back to the automatic parking controller, the automatic parking function is started/stopped in the state switching process of continuously simulating the existence of an idle area and the existence of obstacle information, and whether the automatic parking system is always in an activated state can be detected;
4. by applying the driving environment simulation device, the driving environment simulation method and the driving environment simulation system provided by the application to the test of collision avoidance systems such as the front part and the side part, obstacles in the front or the side part can be accurately simulated.
The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical means of the present application more clearly understood, the present application may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present application more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic perspective view of a driving environment simulation apparatus according to an embodiment of the present application;
FIG. 2 is a schematic perspective view of a driving environment simulation apparatus with a cylindrical housing removed according to an embodiment of the present application;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a schematic view of the cross-sectional structure A-A of FIG. 3;
FIG. 5 is a perspective view of a driving environment simulation apparatus according to an embodiment of the present application;
FIG. 6 is a schematic cross-sectional view of a driving environment simulation apparatus according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a driving environment simulation apparatus simulating a first state and a second state according to an embodiment of the present application;
FIG. 8 is a flow chart of a driving environment simulation method according to an embodiment of the present application;
FIG. 9 is a schematic flow chart diagram for characterizing the dimensions of free areas and obstacles according to an embodiment of the present application;
fig. 10 is a schematic view of a driving environment simulation apparatus according to an embodiment of the present application.
Detailed Description
To further explain the technical means and effects of the present application for achieving the intended purpose, the following detailed description of the embodiments, structures, features and effects of the driving environment simulation device, method, system, apparatus and storage medium according to the present application will be made with reference to the accompanying drawings and preferred embodiments.
In the present application, the driving environment simulation is not the same as the vehicle driving on a real road surface, but a simulation of the vehicle driving. In some simulation processes, the vehicle is arranged in a test space, the vehicle can normally run on the ground, and some devices are arranged in the test space to simulate a vehicle running scene. Alternatively, in other simulation processes, the vehicle may be placed on a test platform, and although the engine or motor of the vehicle, the wheels of the vehicle, etc. are operating normally, the vehicle is substantially stationary or only moving slightly relative to the ground to facilitate system testing and detection. For example, the electromagnetic immunity test of the whole vehicle in the vehicle field needs to be performed in a half-wave darkroom, and how to activate the automatic parking function in the darkroom is a difficult problem. If only static test of the function is carried out, whether the actual function of the whole vehicle is abnormal or degraded cannot be detected in the test of the whole vehicle. Therefore, it is necessary to enable the reverse sensor system to detect the available parking space in real time by means of external environmental conditions, so as to activate the automatic parking function.
Referring to fig. 1 to 4, 5 and 6, a driving environment simulation apparatus according to an example of the present application mainly includes: a drum 100 and a rotary drive mechanism 200.
The drum 100 has an absorption unit 110 and a reflection unit 120. The absorption portion 110 is used for absorbing the received target signal, and the reflection portion 120 is used for reflecting the received target signal. The rotary drive mechanism 200 is used to drive the rotary drum 100 to rotate. Wherein, in the process that the rotary drum 100 rotates along with the rotary driving mechanism 200, the absorption part 110 absorbs the received target signal to simulate a first state; the reflection unit 120 reflects the received target signal to simulate a second state. The first state is used for representing that an idle area exists, and the second state is used for representing that obstacle information exists.
The driving environment simulation device provided by the application can be used for accurately simulating the obstacles and the idle areas in the driving environment.
Alternatively, a portion of the outer surface of the drum 100 is provided with a signal absorbing member for absorbing a signal of one or more sensors of the vehicle, thereby forming the absorbing portion 110. Alternatively, the outer surface of the drum 100 is made of a material that reflects the target signal, so that the outer surface of another portion of the drum 100 where no signal absorbing member is provided is formed as the reflection portion 120.
Alternatively, the signal absorbing member is made of a signal absorbing material. It is noted that the present application is not limited to the type of signal absorbing material, including but not limited to: electromagnetic wave absorbing material, laser absorbing material, ultrasonic wave absorbing material. The present application is not limited to a specific type of electromagnetic wave, including but not limited to millimeter waves.
Optionally, in the process that the rotary drum 100 rotates along with the rotary driving mechanism 200, when the rotary drum 100 is located in a position where the absorption portion 110 faces a target sensor to be detected or tested of the vehicle, a target signal sent by the sensor is absorbed by the absorption portion 110, so that the sensor does not receive a reflected target signal, and a first state is simulated; when the drum 100 is in the state where the reflection unit 120 faces the target sensor of the vehicle, the target signal emitted from the sensor is reflected by the reflection unit 120 so that the sensor can receive the reflected target signal, thereby simulating the second state.
In some alternative embodiments, the drum 100 is a rotatable drum-type drum. The drum 100 may be made of a non-metallic material and may reflect the signal of the vehicle sensor. A signal absorbing member is stuck to a half circle in the circumferential direction of the drum 100, and the signal absorbing member is made of a signal absorbing material so as to be formed as an absorbing portion 110 of the drum 100; and the half-turn of the drum 100 to which the signal absorbing material is not adhered is formed as the reflection part 120 of the drum 100. It should be noted that the drum-type rotating drum described above is only an alternative example of the present application, and the present application does not limit the shape of the rotating drum 100, and a cylindrical rotating drum may not be used.
Optionally, the driving environment simulation apparatus of the present application may further include a support structure 300 for supporting the drum 100 and the rotary drive mechanism 200.
Alternatively, the driving environment simulation apparatus of the present application may be coupled to a vehicle, including but not limited to being fixedly coupled to the vehicle via the support structure 300.
In some alternative embodiments of the present application, referring to fig. 5 and 6, the drum 100 may include a housing 130, and the housing 130 includes an integrally formed cylindrical structure 131 and a flat disc structure 132. The flat disc structure 132 is disposed in the cavity of the cylindrical structure 131. The housing 130 may be made of a non-metallic material. The outer surface of a half in the circumferential direction (i.e., a radial semicircle) of the cylindrical structure 131 is adhered with a signal absorbing member to form the absorbing part 110 described above. The other half of the outer surface of the cylindrical structure 131 to which the signal absorbing member is not attached is formed as the aforementioned reflection part 120.
Optionally, the drum 100 may further include a rotating disc 140 disposed in the cavity of the cylindrical structure 131 and fixedly connected to the flat disc structure 132. The rotating disc 140 receives the driving force of the rotating driving mechanism 200 and transmits the driving force to the flat disc structure 132 to rotate the cylindrical structure 131. Alternatively, the flat disk structure 132 of the housing 130 is secured to the rotating disk 140 by a plurality of bolts or pins that are not in a straight line.
Alternatively, the rotary drive mechanism 200 may include a stepper motor 210 and a reducer 220. The stepping motor 210 and the speed reducer 220 are accommodated in a cavity of the cylindrical structure 131 of the drum 100. The stepping motor 210 is used for generating a torque force, and the reducer 220 is used for transmitting the torque force to the rotating disc 140 according to a set transmission ratio so as to drive the rotating disc 140 to rotate, so that the cylindrical structure 131 is driven to rotate by the stepping motor 210. Optionally, the stepping motor 210 is specifically configured to convert the electrical pulse signal into a corresponding angular displacement. Alternatively, the reducer 220 transmits the torque amplification of the stepping motor 210 to the rotating disk 140. Alternatively, the stepper motor 210 may be controlled by a controller.
Alternatively, the rotating disk 140 may include a disk portion and a rod portion that are integrally formed. The disk portion of the turntable 140 is fixed to the flat disk structure 132 of the housing 130, and the rod portion of the turntable 140 is fixed to the speed reducer 220.
Optionally, the support structure 300 of the driving environment simulation apparatus may include a base and one or more bearings 320. The outer side of the bearing 320 is connected to the base, and the inner side of the bearing 320 is connected to the rotary disk 140. Specifically, the base is connected to the outer side of the bearing 320 to support the bearing 320, and the rod-shaped portion of the rotating disk 140 is inserted into the inner side of the bearing 320. The bearing 320 serves to transmit the supporting force of the base to the rotating disk 140. Optionally, the base specifically includes a mounting seat 311, supporting legs 312 and a base plate 313, the mounting seat 311 is connected to the rotating disk 140 through bearings 320, and the supporting legs 312 bear the force transmitted to the mounting seat 311 by the two bearings 320 and transmit the force to the base plate 313.
In some embodiments of the present application, the supporting structure 300 is not fixed to the vehicle, and the driving environment simulation apparatus further includes: and the translation mechanism is used for driving the driving environment simulation device to move relative to the vehicle. In particular, the movement of the translation mechanism may include approaching away from the vehicle, and/or rotating around the vehicle to simulate a change in position with the vehicle. In some optional examples, the drum 100 is indirectly connected to the vehicle, and the translation mechanism is fixedly connected to the vehicle and is used for driving the driving environment simulation device to move relative to the vehicle; for example, the translation mechanism may be a slide rail fixedly arranged on the vehicle, and the support structure of the driving environment simulation device may be provided with a sliding fitting piece matched with the slide rail, so that the driving environment simulation device can slide along the slide rail. In other optional examples, the driving environment simulation device may not be connected to the vehicle, and the translation mechanism may include an AGV (automatic navigation vehicle) and a corresponding track for driving the driving environment simulation device to translate; or the translation mechanism may comprise a robot, for example, a robot based on SLAM (simultaneous localization and mapping) technology, for moving the driving environment simulation device to translate. Optionally, the translation mechanism may be fixedly connected to the base, and is configured to drive the entire driving environment simulation apparatus to translate.
Optionally, the target signal is a signal of one or more sensors of the vehicle. It should be noted that the present application is not limited to the functional categories of vehicle sensors, including but not limited to: a back collision avoidance radar (back radar for short), a front collision avoidance radar, a side collision avoidance radar, a vehicle door opening obstacle detection radar and the like.
In addition, the present application does not limit the signal classes of vehicle sensors, including but not limited to: an electromagnetic wave sensor (e.g., a millimeter wave sensor), a laser sensor, an ultrasonic sensor, an infrared sensor, etc., i.e., the target signal includes one or more of an electromagnetic wave signal, a laser signal, an ultrasonic signal, and an infrared signal. The signal absorbing material may include one or more of an electromagnetic wave absorbing material, a laser absorbing material, an ultrasonic wave absorbing material, and an infrared absorbing material.
It should be noted that the signal absorbing material of the signal absorbing member should be selected to match the specific parameters of the signal emitted by the corresponding vehicle sensor so as to be able to absorb the signal. Taking the target signal as an electromagnetic wave signal as an example, a wave-absorbing material matched with the frequency of the electromagnetic wave emitted by the sensor should be selected. In addition, generally, the higher the absorption efficiency of the signal absorbing member is selected, the better.
As a specific example of the present application, taking the vehicle sensor as a reverse sensor, a half-circle wave-absorbing material is adhered to the circumference of the drum 100, and is used to absorb radar signals of the reverse sensor, and the drum 100 is controlled to rotate by the stepping motor 210, so that the reverse sensor detects intermittent virtual parking space information. The voltage level of the stepper motor 210 is adjusted to control the rotational speed of the drum 100 to simulate different parking space sizes. The device is placed in an area recognizable by a reversing radar at the tail of an automobile, and the automatic parking function is started, so that the reversing radar can detect available virtual parking spaces.
When the part of the rotary drum 100 without the wave-absorbing material rotates to the area which can be identified by the reversing radar sensor, the reversing radar can identify the part as an obstacle; when the part of the drum 100 adhered with the wave-absorbing material rotates to the area recognizable by the reversing radar sensor, the radar signal can be absorbed by the wave-absorbing material, and the reversing radar can be recognized as an idle area (idle parking space) if the reversing radar cannot receive the reflected signal. Thereby informing the automatic parking controller.
Fig. 7 is a schematic diagram illustrating a first simulation state in which a signal emitted from the radar is absorbed by the absorption portion 110 of the drum 100, and the radar cannot receive the reflected signal, thereby determining that there is an empty space in front of the radar; the lower part of fig. 7 shows a schematic diagram simulating a second state, in which a signal emitted by the radar is reflected by the reflecting part 120 of the drum 100, and the radar can receive the reflected signal, thereby detecting an obstacle.
Referring to fig. 7, during the entire test, as the drum 100 rotates, the reverse radar will always be: and detecting the state of the obstacle-an idle parking space-detecting the obstacle-the idle parking space. It is thus possible to detect whether the automatic parking system is always active.
It should be noted that the driving environment simulation device provided by the present application should be disposed in an area recognizable by the detected vehicle sensor. Taking the example that the vehicle sensor is a reversing radar, the driving environment simulation device should be placed in a region recognizable by the left and/or right angle radar of the automobile.
Referring to fig. 8, an embodiment of the present application further provides a driving environment simulation method, which mainly includes the following steps:
in step S11, the rotation driving mechanism 200 of any one of the driving environment simulation apparatuses is controlled so that the driving environment simulation apparatus simulates the first state and simulates the second state. The first state is determined after the absorption portion 110 of the drum 100 of the driving environment simulation apparatus absorbs the received target signal, and the second state is determined after the reflection portion 120 of the drum 100 reflects the received target signal. Wherein the first state of the drum 100 is used for indicating that the idle area exists, and the second state of the drum 100 is used for indicating that the obstacle information exists.
In some embodiments of the present application, the aforementioned step S11 specifically includes: the size of the free area and/or obstacle is characterized by controlling the rotation of the drum 100. As an optional specific example, please refer to fig. 9, the step specifically includes:
step S21, acquiring a motion signal of the vehicle, and acquiring a set size of a virtual idle area and/or an obstacle;
step S22, calculating a time for maintaining the first state of the drum 100 according to the motion signal of the vehicle and the set size of the free area, and/or maintaining the time for maintaining the second state of the drum 100 according to the motion signal of the vehicle and the set size of the obstacle;
in step S23, the driving force output from the rotary drive mechanism 200 is controlled according to the time for maintaining the first state and the time for maintaining the second state, so as to simulate the size of the vacant area and/or the obstacle.
In some embodiments of the present application, the driving environment simulation method of the present application further includes: and controlling a translation mechanism of the driving environment simulation device to drive the driving environment simulation device to move relative to the vehicle so as to represent the relative position change between the vehicle and the barrier.
Optionally, the driving environment simulation includes virtual parking space simulation, front or side obstacle simulation, or vehicle door opening obstacle simulation. Correspondingly, the simulated idle areas and obstacles comprise: virtual parking space simulation, front or side obstacle simulation, and idle areas and obstacles in vehicle door opening obstacle simulation.
The embodiment of the application further provides a driving environment simulation system, which is mainly used for: the rotation driving mechanism 200 of any one of the aforementioned driving environment simulation apparatuses is controlled so that the driving environment simulation apparatus simulates a first state and simulates a second state. The first state is determined after the absorption portion 110 of the drum 100 of the driving environment simulation apparatus absorbs the received target signal, and the second state is determined after the reflection portion 120 of the drum 100 reflects the received target signal. The first state is used for representing that an idle area exists, and the second state is used for representing that obstacle information exists.
In some embodiments of the present application, the driving environment simulation system specifically includes: and a dimension simulation module. The size simulation module is used to characterize the size of the free area and/or obstacle by controlling the rotation of the drum 100.
Optionally, the size simulation module is specifically configured to: acquiring a motion signal of a vehicle, and acquiring a set size of a virtual idle area and/or an obstacle; calculating a time for the drum 100 to maintain the first state according to the motion signal of the vehicle and the set size of the idle area, and/or calculating a time for the drum 100 to maintain the second state according to the motion signal of the vehicle and the set size of the obstacle; the driving force output from the rotary drive mechanism 200 is controlled according to the time for maintaining the first state and the time for maintaining the second state so as to simulate the size of the vacant area and/or the obstacle.
In some embodiments of the present application, the driving environment simulation system further includes: and the distance simulation module is used for controlling the translation mechanism of the driving environment simulation device to drive the driving environment simulation device to move relative to the vehicle so as to represent the relative position change between the vehicle and the barrier.
Optionally, the driving environment simulation includes virtual parking space simulation, front or side obstacle simulation, or vehicle door opening obstacle simulation.
Fig. 10 is a schematic block diagram illustrating a driving environment simulation apparatus according to an embodiment of the present invention. As shown in fig. 10, an embodiment of the present application further provides a driving environment simulation device 1000, which includes a memory 1001 and a processor 1002.
The memory 1001 is used to store non-transitory computer readable instructions. In particular, memory 1001 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc.
The processor 1002 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the driving environment simulation device 1000 to perform desired functions. In an embodiment of the present application, the processor 1002 is configured to execute the computer readable instructions stored in the memory 1001, so that the driving environment simulation apparatus 1000 executes all or part of the steps of the driving environment simulation method of the embodiments of the present application.
For the detailed description and the technical effects of the present embodiment, reference may be made to the corresponding descriptions in the foregoing embodiments, which are not repeated herein.
The embodiment of the present application further provides a computer storage medium, where computer instructions are stored in the computer storage medium, and when the computer instructions are run on a device, the device executes the above related method steps to implement the driving environment simulation method in the above embodiment.
Embodiments of the present application further provide a computer program product, which when running on a computer, causes the computer to execute the relevant steps described above, so as to implement the driving environment simulation method in the above embodiments.
In addition, embodiments of the present application also provide an apparatus, which may be specifically a chip, a component or a module, and may include a processor and a memory connected to each other; the memory is used for storing computer execution instructions, and when the device runs, the processor can execute the computer execution instructions stored in the memory, so that the chip can execute the driving environment simulation method in the above method embodiments.
The device, the computer storage medium, the computer program product, or the chip provided in the present application are all configured to execute the corresponding method provided above, and therefore, the beneficial effects achieved by the device, the computer storage medium, the computer program product, or the chip may refer to the beneficial effects in the corresponding method provided above, and are not described herein again.
Although the present application has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the application, and all changes, substitutions and alterations that fall within the spirit and scope of the application are to be understood as being covered by the following claims.
Claims (16)
1. A driving environment simulation apparatus, comprising:
a drum having an absorbing portion and a reflecting portion;
the rotary driving mechanism is used for driving the rotary drum to rotate;
in the process that the rotary drum rotates along with the rotary driving mechanism, the absorption part absorbs a received target signal to simulate a first state, and the reflection part reflects the received target signal to simulate a second state; the first state is used for representing that an idle area exists, and the second state is used for representing that obstacle information exists.
2. A driving environment simulation apparatus according to claim 1, wherein:
an outer surface of a portion of the drum is provided with a signal absorbing member for absorbing a signal of one or more sensors of a vehicle, thereby forming the absorbing portion.
3. A driving environment simulation apparatus according to claim 2, wherein:
the rotary drum is a drum-type rotary drum, the rotary drum is made of a non-metal material, the signal absorbing piece is adhered to a half circle in the circumferential direction of the rotary drum, and the signal absorbing piece is made of a signal absorbing material.
4. A driving environment simulation apparatus according to claim 3, wherein:
the drum comprises a shell, the shell comprises a cylindrical structure and a flat disc structure which are integrally formed, the flat disc structure is arranged in a cavity of the cylindrical structure, the shell is made of a non-metal material, the signal absorbing part is adhered to the outer surface of one half of the cylindrical structure in the circumferential direction, and the outer surface of the other half of the cylindrical structure, which is not adhered with the signal absorbing part, is formed into the reflecting part;
the rotary drum further comprises a rotary disc which is arranged in the cavity of the cylindrical structure and fixedly connected to the flat disc structure, and the rotary disc receives the drive of the rotary driving mechanism and transmits the drive to the flat disc structure to drive the cylindrical structure to rotate.
5. A driving environment simulation apparatus according to claim 4, wherein:
the rotary driving mechanism comprises a stepping motor and a speed reducer, the stepping motor and the speed reducer are accommodated in a cavity of the cylindrical structure of the rotary drum, the stepping motor is used for generating torque force, and the speed reducer is used for transmitting the torque force to the rotary disc according to a set transmission ratio so as to drive the rotary disc to rotate, so that the cylindrical structure is driven to rotate by the stepping motor.
6. A driving environment simulation apparatus according to claim 5, wherein:
the rotating disc comprises a disc part and a rod part which are integrally formed, the disc part is fixedly connected with the flat disc structure of the shell, and the rod part is fixedly connected with the speed reducer;
the driving environment simulation device also comprises a supporting structure which is used for supporting the rotary drum and the rotary driving mechanism;
the supporting structure comprises a base and one or more bearings, the base is connected with the outer side of the bearing to support the bearing, the rod-shaped part of the rotating disk penetrates through the inner side of the bearing, and the bearing is used for transmitting the supporting force of the base to the rotating disk.
7. A driving environment simulation apparatus according to any one of claims 1 to 6, wherein:
the device further comprises a translation mechanism, the translation mechanism is fixedly connected with the vehicle, and the translation mechanism is used for driving the driving environment simulation device to move relative to the vehicle.
8. A driving environment simulation apparatus according to any one of claims 1 to 6, wherein:
the target signal is a signal of one or more sensors of the vehicle, the sensors comprising one or more of: a reverse collision avoidance radar, a front collision avoidance radar, a side collision avoidance radar, and a door opening obstacle detection radar.
9. A driving environment simulation method is characterized by comprising the following steps:
controlling a rotational driving mechanism of a driving environment simulation apparatus according to any one of claims 1 to 8 so that the driving environment simulation apparatus simulates a first state determined after an absorption portion of a drum of the driving environment simulation apparatus absorbs a received target signal and simulates a second state determined after a reflection portion of the drum reflects the received target signal; wherein the first state is used for representing that an idle area exists, and the second state is used for representing that obstacle information exists.
10. A driving environment simulation method according to claim 9, wherein the method specifically comprises:
the size of the free area and/or obstacle is characterized by controlling the rotation of the drum.
11. A driving environment simulation method according to claim 10, wherein the characterizing of the size of the free area or obstacle by controlling the rotation of the drum specifically comprises:
acquiring a motion signal of the vehicle, and acquiring a set size of a virtual idle area and/or an obstacle;
calculating a time for the drum to maintain a first state according to the motion signal of the vehicle and a set size of the idle area, and/or calculating a time for the drum to maintain a second state according to the motion signal of the vehicle and a set size of the obstacle;
and controlling the driving force output by the rotary driving mechanism according to the time for maintaining the first state and the time for maintaining the second state so as to simulate the size of an idle area and/or an obstacle.
12. A driving environment simulation method according to claim 9, wherein the method further comprises:
and controlling a translation mechanism of the driving environment simulation device to drive the driving environment simulation device to move relative to the vehicle so as to represent the relative position change between the vehicle and the obstacle.
13. A driving environment simulation method according to claim 9,
the driving environment simulation comprises virtual parking space simulation, front or side obstacle simulation or vehicle door opening obstacle simulation.
14. A driving environment simulation system, the system being configured to:
controlling a rotational driving mechanism of a driving environment simulation apparatus according to any one of claims 1 to 8 so that the driving environment simulation apparatus simulates a first state determined after an absorption portion of a drum of the driving environment simulation apparatus absorbs a received target signal and simulates a second state determined after a reflection portion of the drum reflects the received target signal; wherein the first state is used for representing that an idle area exists, and the second state is used for representing that obstacle information exists.
15. A driving environment simulation apparatus comprising:
a memory for storing non-transitory computer readable instructions; and
a processor for executing the computer readable instructions, so that the computer readable instructions when executed by the processor implement the driving environment simulation method of claims 9 to 13.
16. A computer-readable storage medium comprising computer instructions which, when run on a device, cause the device to perform a driving environment simulation method according to any one of claims 9 to 13.
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