CN114414264A - Test system and method for monitoring taking over capability of driver of automatic driving system - Google Patents
Test system and method for monitoring taking over capability of driver of automatic driving system Download PDFInfo
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Abstract
The invention provides a test system and a test method for a monitoring system of the taking over capacity of a driver of an automatic driving system, wherein the test system comprises an upper computer software system, and an illumination simulation device, a simulation robot motor driving system and a data acquisition and analysis system which are connected with the upper computer software system; the simulation robot motor driving system is used for controlling the attitude action of the simulation robot; the illumination simulation device is used for simulating illumination in the process of driving and passing the vehicle. The invention has the beneficial effects that: a test system and a test method for a driver takeover capability monitoring system of an automatic driving system are disclosed, wherein under the condition that the automatic driving system simulates and executes a dynamic driving task, the function and the performance of the driver takeover capability monitoring system on the driver takeover capability are evaluated, and accurate and repeatable test data and evaluation results for the driver takeover capability monitoring system can be obtained based on the test system and the test method.
Description
Technical Field
The invention belongs to the field of automatic driving systems, and particularly relates to a test system and a test method for a monitoring system for taking over capacity of a driver of an automatic driving system.
Background
With the development of the automatic driving technology, the driving automation level of mass production products is gradually increasing. The Ministry of industry and correspondence issues a recommended national standard declaration post of automotive driving automation classification. Level 3 is conditional autonomous driving, and the level 3 driving automation system continuously performs all dynamic driving tasks under its design operating conditions. And for level 3 driving automation, the dynamic driving task backup user should take over in an appropriate manner. In the requirement for 3-level driving automation, it is indicated that the automated driving system should be able to recognize the takeover capability of the dynamic driving task for taking over the user. Therefore, the 3-level automatic driving system needs to monitor the taking over capability of the driver in real time so as to ensure that the automatic driving system still has the capability of taking over the dynamic driving task during the dynamic driving task executed by the automatic driving system. The control right switching stage between the driver and the automatic driving system is important for the safety of the vehicle, and the monitoring of the taking over capacity of the driver is a very critical loop in the control right switching. If the monitoring capability of the automatic driving system driver taking over capability monitoring system is not enough, huge potential safety hazard is brought to 3-level driving of the automatic vehicle.
Therefore, a testing system and method for an autopilot driver override capability monitoring system is desired.
Disclosure of Invention
In view of this, the present invention is directed to a test system and a test method for a takeover capability monitoring system of a driver of an automatic driving system, and provides a test system and a test method for a takeover capability monitoring system of a driver of an automatic driving system, so as to evaluate the function and performance of the takeover capability of the driver by the takeover capability monitoring system of the driver under the condition that the automatic driving system simulates and executes a dynamic driving task. The invention aims to provide a test system and a test method for a driver takeover capability monitoring system, which can obtain accurate and repeatable test data.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the first aspect of the invention discloses a test system of a monitoring system for the taking over capacity of a driver of an automatic driving system, which comprises an upper computer software system, and an illumination simulation device, a simulation robot motor driving system and a data acquisition and analysis system which are connected with the upper computer software system;
the simulation robot motor driving system is used for controlling the attitude action of the simulation robot;
the illumination simulation device is used for simulating illumination in the process of driving and passing the vehicle;
the upper computer software system is also connected with an automatic driving system, the automatic driving system judges whether the simulation robot is in an abnormal state or not by collecting the attitude action information of the simulation robot, and if the simulation robot is judged to be in the abnormal state, warning information is sent out;
the data acquisition and analysis system is used for recording the warning information condition and the warning information sending time sent by the automatic driving system to the behavior action executed by the simulation robot.
Further, the upper computer software system comprises a light source upper computer module for controlling the illumination simulation device, a robot upper computer module for controlling the simulation robot, and an automatic driving system signal simulation module for controlling the automatic driving system.
Further, the automatic driving system simulation module is used for providing a preposed signal for activating the automatic driving system of the vehicle and providing a signal required in the automatic driving function operation for the vehicle continuously in the process.
Furthermore, the posture action change of different parts of the motor driving system of the simulation robot is controlled by a head front-back rotating motor, a head left-right rotating motor, a mouth control motor, an eyelid control motor, an upper body left-right rotating motor and an upper body front-back rotating motor.
Furthermore, the data acquisition and analysis system is also used for acquiring data information of the motor driving system of the simulation robot, the illumination simulation device and the detected vehicle.
Further, the illumination simulation device comprises an arc-shaped rod, a horizontal sliding rail and a vertical sliding rail, the illumination simulation lamp is arranged on the vertical sliding rail, and a first driving motor is arranged on the vertical sliding rail and used for driving the illumination simulation lamp to move up and down on the vertical sliding rail;
the top of the vertical slide rail is connected with the horizontal slide rail in a sliding manner, and the horizontal slide rail is provided with a second driving motor for driving the vertical slide rail and the illumination simulation lamp to move on the horizontal plane;
the illumination simulation device is provided with a light source motor driving module for controlling the first driving motor and the second driving motor.
Further, the horizontal slide rail comprises an annular rail, and the vehicle to be detected is arranged in the annular rail;
the vertical slide rail comprises an arc-shaped rail, and the inner arc surface of the arc-shaped rail faces towards the vehicle to be tested.
The scheme discloses a test method of a take-over capability monitoring system of a driver of an automatic driving system, and the test system based on the take-over capability monitoring system of the driver of the automatic driving system comprises a function test method:
tests are respectively carried out in the daytime environment and the night environment, when the automatic driving system is in an activated state and normally runs, the behavior actions specified by testers are carried out according to all monitoring modes and judgment condition thresholds provided by a finished automobile manufacturer, and for each behavior action, a monitoring object can be singly executed or combined to be executed;
in the test process, each tester carries out various different behaviors and/or behavior combination to trigger the warning information of the automatic driving system, the interval time of the behaviors is set, and the synchronous camera of the data acquisition and analysis system is used for monitoring and recording whether the behavior is manually recorded by the tester and the judgment condition that the behavior does not meet the takeover capability is met, but the system does not send the warning information;
and judging whether the function test is qualified according to warning information sent by the system in the test in the day and at night.
Further, the method comprises a performance test method:
executing preset behavior actions according to all monitoring modes and judgment condition thresholds provided by a finished automobile manufacturer, setting each behavior action to be executed singly or in combination, and simultaneously setting the execution times and the interval time for executing the behavior actions;
automatically recording the warning information condition and warning information sending time sent by an automatic driving system to the behavior action execution of a monitored object through a data acquisition system, and recording an event meeting the requirement of sending correct warning information as a positive check; recording the error as false detection when the content of the warning message is earlier than the specified time; if the time is later than the specified time range or no warning message is sent, the detection is recorded as missed.
Compared with the prior art, the test system and the test method for the automatic driving system driver takeover capability monitoring system have the following beneficial effects:
a test system and a test method for a driver takeover capability monitoring system of an automatic driving system are disclosed, wherein under the condition that the automatic driving system simulates and executes a dynamic driving task, the function and the performance of the driver takeover capability monitoring system on the driver takeover capability are evaluated, and accurate and repeatable test data and evaluation results for the driver takeover capability monitoring system can be obtained based on the test system and the test method.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a test system and method for an autopilot system driver takeover capability monitoring system according to an embodiment of the invention;
FIG. 2 is a block diagram and a signal flow of a test system according to an embodiment of the present invention (including FIG. 2a) and FIG. 2 b);
FIG. 3 is a block diagram of a motor driving system of a simulation robot according to an embodiment of the present invention;
fig. 4 is a schematic view of a head rotation shaft and angle definitions according to an embodiment of the present invention (including fig. 4a), fig. 4c), and fig. 4 d));
fig. 5 is a schematic view of the upper body rotation axis and angle definition (including fig. 5a) and fig. 5b) according to an embodiment of the invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The invention aims to realize a precise test system and a test method aiming at a driver takeover capability monitoring system by the following measures.
1. The automatic driving system driver based on the simulation robot takes over the whole test system of the ability monitoring system:
the overall test system based on the simulation robot comprises an upper computer software system, an illumination simulation device, a simulation robot motor driving system and a data acquisition system.
(1) Illumination simulation device
Because most of the existing automatic driving system driver taking over capability monitoring systems comprise a camera visual identification module, the change of a light source can cause non-negligible influence on the systems. Therefore, the test device can simulate the change of sunlight, and can realize the change of the 360-degree annular light source shooting position and the change of the longitudinal height by taking the head backrest of a driver in a vehicle as the center. The illumination simulation device is driven by a motor. The light source simulation system can meet the light source simulation of different incidence angles.
The illumination simulation system is provided with a motor, a vertical rod upper slide rail and a rotating shaft are arranged in a dotted line part in a) in fig. 2 and a dotted line part in b) in fig. 2, and the simulation of the horizontal angle and the simulation of the vertical incident angle of the light source can be realized by driving the motor. Horizontal incident angle shift and longitudinal incident angle change of the light source in the illumination simulation system can be realized, so that simulation of the light source at different incident angles is realized.
TABLE 1 recommended light Source Point location
(2) Motor driving system of simulation robot
The face and upper body characteristics of the simulation robot meet the requirement of GB/T10000 for the human body size of Chinese adults. The simulation robot needs to realize the actions of blinking, head rotation, mouth opening and closing, forward leaning of the body and the like. The fatigue condition of the driver can be reflected according to the occupation ratio of the eyelid closing time length in a specific time period, the blinking times in the specific time period, the duration of single eye closing, the duration of single yawning and the interval duration of two continuous head rotating actions of the driver. The abnormal state of the driver's head-the duration of the head deflection at the abnormal angle, the abnormal state of the driver's upper body-the duration of the upper body deflection at the abnormal angle may reflect the physical state of the driver.
z the set of motor driving system of the simulation robot needs to control motor modules which are used for controlling the closing of the eyelids, the opening and closing of the mouth part, the rotation of the head part, the front and back inclination and the left and right inclination of the head part of a driver in advance.
The eyelid control motor is used for controlling eye closure and simulating the proportion of the eyelid closure time length in a specific time period, a blink test in the specific time period and the duration of single eye closure. The mouth control motor is used to simulate a single yawning duration. The head left-right rotating motor and the head front-back rotating motor are used for simulating the head abnormal state of a driver, and the definition of a simulation robot coordinate system and a rotating angle is shown in figure 4. The upper half body forward and backward rotating motor and the upper half body left and right rotating motor can simulate the abnormal state of the upper half body of a driver, and the coordinate system and the rotating angle of the upper half body are shown in figure 5.
(3) Upper computer software system
The information flow chart of the upper computer software system is shown in figure 1, and the upper computer software comprises a light source upper computer module, a robot upper computer module and a dynamic driving task signal simulation module.
The light source parameter input module inputs a horizontal incident angle and a vertical incident angle according to the test process, and calculates the displacement moving position of the light source in each direction through the moving angle of the light source along the guide rail and the moving angle of the vertical light source along the vertical guide rail by the calculating module in the light source upper computer.
The robot upper computer module is divided into two sub-modules, namely an action definition library and an execution case module. The first sub-module is an action definition library, namely, various action serial numbers, action names and contained detailed parameters including duration, blinking frequency, single blinking time, head two-axis rotation angles, mouth opening and closing angles and front, rear, left and right two-axis inclination angles of the upper half body are defined in the module. And the second module executes the case module, sets an execution time point and an action, and sends a corresponding signal to be executed to the motor driving system of the simulation robot for execution.
The automatic driving system simulation module is a simulation module used for providing a preposed signal for activating the automatic driving system of the vehicle and continuously providing a signal required in the automatic driving function operation for the vehicle in the process.
(4) Data acquisition and analysis system
The data acquisition and analysis system acquires the timestamp, the position data returned by the light source module, the execution action data of the simulation robot, the in-vehicle alarm signal data (CAN/serial port/Ethernet), and the data acquired by the driving position and interactive interface synchronous camera.
2. Test method for automatic driving system driver takeover capability monitoring system
The test aiming at the monitoring system for the taking over capability of the driver is divided into a function test and a performance test, and the test content comprises a multidimensional test of the driver at a driving position, the driving attention of the driver and the driving capability of the driver.
2.1 functional testing
(1) Monitoring an object
The monitoring object here mainly refers to a test person.
The monitored objects are adults (3), are familiar with the automatic driving test regulations, master the operation method of the automatic driving test, and have the safety control and emergency disposal capabilities of the automatic driving vehicle in an emergency state. And the monitoring object must not be a person involved in the design and development of the monitoring system.
(2) Test flow
Tests are respectively carried out in closed places at day and night, and when the automatic driving system is in an activated state and normally runs, a tester executes the behavior actions specified in the table 1-1 according to all monitoring modes and judgment condition thresholds provided by a finished automobile manufacturer. For each behavioral action, the monitoring objects may be performed singly or in combination.
In the test process, each monitored object needs to perform 5 different behavior actions and/or behavior action combinations to trigger warning information of the system, the interval of single behavior action is at least 10s, and the condition that whether the behavior action meets the judgment condition without taking over capacity but the system does not send the warning information is monitored and recorded by a synchronous camera of a data acquisition and analysis system except that a tester manually records whether the behavior action meets the judgment condition without taking over capacity is detected.
TABLE 1-1 functional requirements tester behavioral actions Single execution completion definition
(principle is that action is designed to significantly exceed the threshold for determining driver state normality/fall within the threshold for driver abnormality.)
(3) Evaluation index
In the day and night test, if the system sends out the warning information for 5 times, it is qualified. If the system does not send the information meeting the times, the system is unqualified.
2.1 Performance testing
(1) Monitoring an object
The test monitoring object is a simulation robot in a test system of which the driver of the automatic driving system takes over the capability monitoring system.
(2) Procedure of the test
The test was conducted in a laboratory. And setting behavior actions to be executed by the monitoring object through a table 1-1 according to all monitoring modes and judgment condition thresholds provided by the finished automobile manufacturer. For each behavioral action, it can be set to be performed singly or in combination. The specific execution times should satisfy the requirement of table 2, and the interval of single action is at least [10s ].
Automatically recording the warning information condition and warning information sending time sent by an automatic driving system to the behavior action execution of a monitored object through a data acquisition system, and recording an event meeting the requirement of sending correct warning information as a positive check; recording the error as false detection when the content of the warning message is earlier than the specified time; if the time is later than the specified time range or no warning message is sent, the detection is recorded as missed.
(3) Evaluation index
The detection rate is the percentage between the number of positive detections and the number of real events (number of missed detections + number of positive detections).
The accuracy is the percentage between the number of positive detections and the number of detected events (number of positive detections + number of false detections).
Table 2 performance requirements tester behavioral actions single execution completion definition
(principle is that action is designed to significantly exceed the threshold for determining driver state normality/fall within the threshold for driver abnormality.)
a. The light source horizontal spot location is recommended with reference to table 1.
b. The light source vertical position is recommended with reference to table 1.
Those of ordinary skill in the art will appreciate that the elements and method steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of clearly illustrating the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed method and system may be implemented in other ways. For example, the above described division of elements is merely a logical division, and other divisions may be realized, for example, multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not executed. The units may or may not be physically separate, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. Test system of ability monitoring system is taken over to autopilot system driver, its characterized in that: the system comprises an upper computer software system, and an illumination simulation device, a simulation robot motor driving system and a data acquisition and analysis system which are connected with the upper computer software system;
the simulation robot motor driving system is used for controlling the attitude action of the simulation robot;
the illumination simulation device is used for simulating illumination in the process of driving and passing the vehicle;
the upper computer software system is also connected with an automatic driving system, the automatic driving system judges whether the simulation robot is in an abnormal state or not by collecting the attitude action information of the simulation robot, and if the simulation robot is judged to be in the abnormal state, warning information is sent out;
the data acquisition and analysis system is used for recording the warning information condition and the warning information sending time sent by the automatic driving system to the behavior action executed by the simulation robot.
2. The autopilot system driver takeover capability monitoring system test system of claim 1 wherein: the upper computer software system comprises a light source upper computer module for controlling the illumination simulation device, a robot upper computer module for controlling the simulation robot, and an automatic driving system signal simulation module for controlling the automatic driving system.
3. The autopilot system driver takeover capability monitoring system test system of claim 2 wherein: and the automatic driving system simulation module is used for providing a preposed signal for activating the automatic driving system of the vehicle and continuously providing a signal required in the automatic driving function operation for the vehicle in the process.
4. The autopilot system driver takeover capability monitoring system test system of claim 1 wherein: the posture action change of different parts of the motor driving system of the simulation robot is controlled by a head front-back rotating motor, a head left-right rotating motor, a mouth control motor, an eyelid control motor, an upper body left-right rotating motor and an upper body front-back rotating motor.
5. The autopilot system driver takeover capability monitoring system test system of claim 1 wherein: the data acquisition and analysis system is also used for acquiring data information of the motor driving system of the simulation robot, the illumination simulation device and the detected vehicle.
6. The autopilot system driver takeover capability monitoring system test system of claim 1 wherein: the illumination simulation device comprises an arc-shaped rod, a horizontal sliding rail and a vertical sliding rail, the illumination simulation lamp is arranged on the vertical sliding rail, and a first driving motor is arranged on the vertical sliding rail and used for driving the illumination simulation lamp to move up and down on the vertical sliding rail;
the top of the vertical slide rail is connected with the horizontal slide rail in a sliding manner, and the horizontal slide rail is provided with a second driving motor for driving the vertical slide rail and the illumination simulation lamp to move on the horizontal plane;
the illumination simulation device is provided with a light source motor driving module for controlling the first driving motor and the second driving motor.
7. The autopilot system driver takeover capability monitoring system test system of claim 1 wherein: the horizontal sliding rail comprises an annular rail, and the vehicle to be detected is arranged in the annular rail;
the vertical slide rail comprises an arc-shaped rail, and the inner arc surface of the arc-shaped rail faces towards the vehicle to be tested.
8. A test method for an autopilot driver takeover capability monitoring system, based on the test system for an autopilot driver takeover capability monitoring system of any one of claims 1 to 7, characterized by comprising a functional test method:
tests are respectively carried out in the daytime environment and the night environment, when the automatic driving system is in an activated state and normally runs, the behavior actions specified by testers are carried out according to all monitoring modes and judgment condition thresholds provided by a finished automobile manufacturer, and for each behavior action, a monitoring object can be singly executed or combined to be executed;
in the test process, each tester carries out various different behaviors and/or behavior combination to trigger the warning information of the automatic driving system, the interval time of the behaviors is set, and the synchronous camera of the data acquisition and analysis system is used for monitoring and recording whether the behavior is manually recorded by the tester and the judgment condition that the behavior does not meet the takeover capability is met, but the system does not send the warning information;
and judging whether the function test is qualified according to warning information sent by the system in the test in the day and at night.
9. The method of testing an autopilot system driver takeover capability monitoring system of claim 8 including the performance testing method:
executing preset behavior actions according to all monitoring modes and judgment condition thresholds provided by a finished automobile manufacturer, setting each behavior action to be executed singly or in combination, and simultaneously setting the execution times and the interval time for executing the behavior actions;
automatically recording the warning information condition and warning information sending time sent by an automatic driving system to the behavior action execution of a monitored object through a data acquisition system, and recording an event meeting the requirement of sending correct warning information as a positive check; recording the error as false detection when the content of the warning message is earlier than the specified time; if the time is later than the specified time range or no warning message is sent, the detection is recorded as missed.
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