CN115688481A - Hardware-in-loop simulation test system and method for man-machine common-driving type vehicle - Google Patents
Hardware-in-loop simulation test system and method for man-machine common-driving type vehicle Download PDFInfo
- Publication number
- CN115688481A CN115688481A CN202211462295.5A CN202211462295A CN115688481A CN 115688481 A CN115688481 A CN 115688481A CN 202211462295 A CN202211462295 A CN 202211462295A CN 115688481 A CN115688481 A CN 115688481A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- driving
- subsystem
- machine
- simulation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses a hardware-in-loop simulation test system and method for a man-machine co-driving type vehicle, wherein the system comprises a vehicle simulation subsystem, an environment simulation subsystem and a man-machine interaction subsystem; the vehicle simulation subsystem can perform trial simulation verification on the created vehicle model and the imported human-computer co-driving control strategy; the environment simulation subsystem can extract a plurality of traffic elements from the acquired real scene data to construct a virtual driving environment, and then receives a vehicle model and a man-machine co-driving control strategy which are not mistakenly tried and is led into the virtual driving environment to operate; the human-computer interaction subsystem can acquire a control instruction sent by a driver and input the control instruction into the environment simulation subsystem for response, can also receive a vehicle control result fed back by the environment simulation subsystem for strategy verification, and converts the vehicle control result into a sensing signal and transmits the sensing signal to the driver. The invention can realize the simulation test of the man-machine driving sharing control strategy and also can provide the simulation driving experience for the driver.
Description
Technical Field
The invention relates to the technical field of simulation test, in particular to a hardware-in-the-loop simulation test system and method for a man-machine co-driving type vehicle.
Background
Man-machine co-driving means that a human driver and an intelligent vehicle automatic system with independent driving capability cooperate to complete a driving task, and a road real vehicle testing method is usually adopted to complete the testing of the man-machine co-driving vehicle, but the method has the disadvantages of high cost, large potential safety hazard problem, dispute at the level of laws and regulations, and the like; later, technicians provide a simulation test for the control strategy of the man-machine common driving type vehicle on a software level, so that the problems existing in a road real vehicle test method can be solved, but the actual driving experience cannot be simulated.
Disclosure of Invention
The invention provides a hardware-in-loop simulation test system and method for a man-machine co-driving type vehicle, which are used for solving one or more technical problems in the prior art and at least providing a beneficial selection or creation condition.
The embodiment of the invention provides a hardware-in-loop simulation test system for a man-machine common-drive type vehicle, which comprises:
the vehicle simulation subsystem is used for carrying out trial simulation verification on the vehicle model established by the vehicle simulation subsystem and the pre-introduced man-machine co-driving control strategy;
the environment simulation subsystem is used for extracting a plurality of traffic elements from the acquired real scene data to construct a virtual driving environment, receiving a vehicle model and a man-machine co-driving control strategy which are not mistakenly tried, and importing the vehicle model and the man-machine co-driving control strategy into the virtual driving environment for operation;
the human-computer interaction subsystem is used for acquiring a control command sent by a driver and inputting the control command into the environment simulation subsystem for response; and the system is also used for receiving the vehicle control result fed back by the environment simulation subsystem to carry out strategy verification, converting the vehicle control result into a sensing signal and transmitting the sensing signal to a driver.
Further, the vehicle model comprises a vehicle kinematic model and a vehicle dynamic model, and the man-machine-driving control strategy comprises a transverse control strategy and a longitudinal control strategy of the vehicle model.
Further, the environmental simulation subsystem includes:
the real sensor module is used for acquiring the information of the surrounding environment where a real vehicle corresponding to the vehicle model is located when the real vehicle runs in a real scene;
the virtual scene simulation module is used for integrating and cutting a plurality of traffic elements carried by the surrounding environment information to generate a virtual driving environment; the system is also used for responding to the received control command by combining a man-machine co-driving control strategy so as to complete the operation control of the vehicle model;
and the virtual sensor module is used for acquiring running state information generated when the vehicle model runs in the virtual driving environment and feeding the running state information back to the human-computer interaction subsystem.
Further, the real sensor module comprises a vehicle-mounted laser radar, a vehicle-mounted camera and a combined inertial navigation system.
Further, the plurality of traffic elements includes obstacle information, road topology, lane line object information, traffic lights, building information, and traffic flow data.
Further, the virtual scene simulation module allows configuring different vehicle driving behaviors in the virtual driving environment and road conditions under different lighting conditions and different weather conditions.
Further, the human-computer interaction subsystem comprises:
the cockpit module is used for collecting each driving action sent by a driver;
the human-computer interaction module is used for converting each driving action into a control instruction and then feeding the control instruction back to the environment simulation subsystem;
the virtual reality helmet module is used for acquiring physiological signals, eye movement signals and limb actions of a driver;
the driving information visualization module is used for carrying out interface display on a vehicle control result fed back by the environment simulation subsystem so as to verify the strategy effectiveness;
and the interactive information transmission module is used for converting the vehicle control result into a perception signal which can be acquired by a driver so as to make subjective evaluation.
Further, each driving action comprises a steering wheel angle, an accelerator pedal opening degree and a brake pedal opening degree, and the sensing signal comprises a sound signal and a vibration signal.
Further, the vehicle simulation subsystem, the environment simulation subsystem and the man-machine interaction subsystem are in data transmission with an external controller through a CAN-BUS BUS or a TCP/IP network.
In addition, the embodiment of the invention also provides a hardware-in-the-loop simulation test method for the man-machine co-driving type vehicle, which comprises the following steps:
building a vehicle simulation subsystem, an environment simulation subsystem and a man-machine interaction subsystem;
a vehicle model is created through the vehicle simulation subsystem according to the requirement of a test task, and then trial simulation verification is carried out by combining with a pre-introduced man-machine co-driving control strategy;
creating a virtual driving environment according to the acquired real scene data through the environment simulation subsystem;
leading a vehicle model which is not mistakenly tried and a man-machine co-driving control strategy into the environment simulation subsystem through the vehicle simulation subsystem so as to operate in the virtual driving environment;
acquiring each driving action sent by a driver through the human-computer interaction subsystem, converting the driving action into a control instruction and sending the control instruction to the environment simulation subsystem;
responding to the control command by the environment simulation subsystem through a man-machine co-driving control strategy to control a vehicle model to operate in the virtual driving environment, and meanwhile, collecting a vehicle control result in the operation process and feeding the vehicle control result back to the man-machine interaction subsystem;
and the vehicle control result is subjected to interface display through the man-machine interaction subsystem so as to verify the effectiveness of a man-machine co-driving control strategy, and meanwhile, the driving comfort is subjectively evaluated by a driver after the vehicle control result is converted into a perception signal.
The invention has at least the following beneficial effects: by building a simulation framework of a vehicle simulation subsystem, an environment simulation subsystem and a human-computer interaction subsystem, the simulation test of the human-computer co-driving control strategy can be realized without influencing the personal safety of a driver and causing the loss of a human-computer co-driving vehicle, and meanwhile, the simulation driving experience can be provided for the driver.
Drawings
The accompanying drawings are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and do not constitute a limitation thereof.
Fig. 1 is a schematic composition diagram of a hardware-in-the-loop simulation test system for a man-machine-co-driving vehicle according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a hardware-in-the-loop simulation test method for a man-machine co-driving type vehicle in the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that although functional block divisions are provided in the system drawings and logical orders are shown in the flowcharts, in some cases, the steps shown and described may be performed in different orders than the block divisions in the systems or in the flowcharts. The terms first, second and the like in the description and in the claims, as well as in the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Referring to fig. 1, fig. 1 is a schematic composition diagram of a hardware-in-the-loop simulation test system for a human-machine co-driven vehicle according to an embodiment of the present invention, where the system includes a vehicle simulation subsystem, an environment simulation subsystem, and a human-machine interaction subsystem, the vehicle simulation subsystem is connected to the environment simulation subsystem, and the environment simulation subsystem is connected to the human-machine interaction subsystem.
Basically, the vehicle simulation subsystem is mainly used for completing trial simulation by combining a pre-introduced human-computer co-driving control strategy after a vehicle model is created so as to verify that the human-computer co-driving control strategy can normally control the vehicle model; the environment simulation subsystem is used for acquiring and obtaining real scene data and extracting a plurality of useful traffic elements from the real scene data, further determining a virtual driving environment by using the plurality of traffic elements, and then receiving a verified and error-free man-machine co-driving control strategy and a vehicle model transmitted by the vehicle simulation subsystem and simultaneously introducing the verified and error-free man-machine co-driving control strategy and the vehicle model into the virtual driving environment.
After the preparation work is finished, the man-machine interaction subsystem is used for obtaining a control instruction which is required to be executed by a driver and feeding the control instruction back to the environment simulation subsystem, the environment simulation subsystem is also used for making operation response to the control instruction and feeding a vehicle control result obtained in the operation process back to the man-machine interaction subsystem, and the man-machine interaction subsystem is also used for verifying a man-machine co-driving control strategy according to the vehicle control result, converting the vehicle control result to obtain a sensing signal and transmitting the sensing signal to the driver.
In the embodiment of the invention, the human-computer interaction subsystem, the environment simulation subsystem and the vehicle simulation subsystem CAN be connected with an external controller by utilizing the existing CAN-BUS BUS so as to realize data transmission in the running process of each system; or the human-computer interaction subsystem, the environment simulation subsystem and the vehicle simulation subsystem can also be connected with an external controller by utilizing a TCP/IP network so as to realize data transmission in the running process of each system.
In the embodiment of the invention, after acquiring a vehicle type which a user wants to simulate and a given associated parameter, a vehicle simulation subsystem constructs a vehicle model corresponding to the vehicle type by running MATLAB/Simulink software and according to the given associated parameter, wherein the vehicle model specifically comprises a vehicle dynamics model and a vehicle kinematics model, and the given associated parameter comprises a mass matrix, a damping matrix and a stiffness matrix; because the vehicle simulation subsystem is developed and applied by using the existing dSPACE real-time simulation system, when the vehicle simulation subsystem receives a man-machine co-driving control strategy transmitted by an external controller, the man-machine co-driving control strategy and the vehicle model are subjected to trial operation by using a configuration desk module and a control desk module provided by the dSPACE real-time simulation system, and the final man-machine co-driving control strategy and the vehicle model are led into the environment simulation subsystem under the condition that no error information is confirmed, wherein the mentioned man-machine co-driving control strategy specifically comprises a longitudinal control strategy and a transverse control strategy.
It should be noted that the dSPACE real-time simulation system is a software and hardware working platform developed by dSPACE corporation, germany, based on development of a MATLAB/Simulink control system and semi-physical simulation, and can realize complete seamless connection with MATLAB/Simulink.
In the embodiment of the invention, the environment simulation subsystem comprises a real sensor module, a virtual scene simulation module and a virtual sensor module; the real sensor module is mainly used for collecting the information of the surrounding environment when a real vehicle corresponding to the vehicle model runs in any real scene in advance, wherein the real sensor module comprises a vehicle-mounted camera, a vehicle-mounted laser radar and a combined inertial navigation system which are arranged on the real vehicle; because the virtual scene simulation module is developed and applied by using the existing SiLab traffic scene simulation software, the virtual scene simulation module can be used for analyzing the surrounding environment information collected by the real sensor module to obtain a plurality of traffic elements covered in the virtual scene simulation module, and then integrating and cutting the plurality of traffic elements by using the processing function of the SiLab traffic scene simulation software to generate the virtual driving environment where the vehicle model is located, wherein the plurality of traffic elements specifically comprise a road topological structure, traffic flow data, obstacle information, building information, traffic signal lamps and lane line object information.
It should be noted that the silb traffic scene simulation software is a traffic scene simulation software developed by germany Ergoneers company, and can provide scene simulation in a driving simulation system built by software, and can also be integrated with a third-party driving simulation device (hardware) to form a driving simulation system; in the process of generating the virtual driving environment, the virtual scene simulation module utilizes SiLab traffic scene simulation software to mainly create a virtual road network, a road surface identifier, a roadside sign, a road traffic signal lamp and a road shoulder landscape which need to appear in the virtual driving environment according to the plurality of traffic elements, can also configure driving behaviors of other different vehicles such as automobiles, trucks, buses and trucks which may possibly run in the virtual driving environment, and can also configure driving road conditions under different specific lighting conditions and driving road conditions under different specific weather conditions.
After the virtual scene simulation module completes the construction task of the virtual driving environment, the trial-and-error-free man-machine co-driving control strategy and the vehicle model provided by the vehicle simulation subsystem are preferably led into the virtual driving environment to run, namely the vehicle model can be controlled by the man-machine co-driving control strategy to run in the virtual driving environment; secondly, after the control instruction fed back by the man-machine interaction subsystem is received, a man-machine co-driving control strategy is called to analyze the control instruction, and then corresponding motion control adjustment is further carried out on a vehicle model; and in the process that the vehicle model operates in the virtual driving environment, the virtual sensor module is mainly used for acquiring and acquiring each operating state information generated by the vehicle model, packaging the operating state information into a vehicle control result, and transmitting the vehicle control result to the human-computer interaction subsystem.
In the embodiment of the invention, the human-computer interaction subsystem comprises a cockpit module, a human-computer interaction module, a virtual reality helmet module, a driving information visualization module and an interaction information transmission module; the driving cabin module is internally provided with an executing mechanism and is mainly used for acquiring relevant driving actions when a driver autonomously controls the executing mechanism, the human-computer interaction module is mainly used for identifying and converting the driving actions transmitted by the driving cabin module so as to acquire a control command which the driver wants to execute by a vehicle model, and then transmitting the control command to the virtual scene simulation module for operation, wherein the driving actions specifically comprise the opening degree of a brake pedal, the opening degree of an accelerator pedal and the turning angle of a steering wheel, which are randomly generated by the driver for the executing mechanism.
The driving information visualization module is mainly used for visually presenting the vehicle control result transmitted by the virtual sensor module on the display interface after receiving the vehicle control result, wherein the vehicle control result actually represents the actual running condition of a vehicle model in the virtual driving environment, and at the moment, a driver can judge the effectiveness of a man-machine co-driving control strategy by checking the display interface; the interactive information transmission module is mainly used for outputting actual feedback in equal proportion after receiving the vehicle control result transmitted by the virtual sensor module so as to convert the vehicle control result into a perception signal, and at the moment, a driver can subjectively evaluate the comfort of a man-machine co-driving process through the perception signal, wherein the perception signal specifically comprises a vibration signal and a sound signal which can be intuitively perceived by the driver; the virtual reality helmet module is mainly used for acquiring physiological signals generated in the whole control process of the vehicle model by a driver, and is also provided with a camera unit which is mainly used for acquiring and acquiring limb actions and eye movement signals generated in the whole control process of the vehicle model by the driver.
In the embodiment of the invention, by constructing a simulation framework of a vehicle simulation subsystem-environment simulation subsystem-human-computer interaction subsystem, the simulation test of the human-computer co-driving control strategy can be realized without influencing the personal safety of a driver and causing the loss of a human-computer co-driving vehicle, and meanwhile, the simulation driving experience can be provided for the driver.
Referring to fig. 2, fig. 2 is a schematic flow chart of a hardware-in-the-loop simulation testing method for a man-machine-driven vehicle according to an embodiment of the present invention, where the method includes the following steps:
s100, building a man-machine interaction subsystem, an environment simulation subsystem and a vehicle simulation subsystem;
s200, creating a corresponding vehicle model by combining the vehicle simulation subsystem with a test task requirement, and performing trial simulation verification on a pre-introduced man-machine co-driving control strategy and the vehicle model;
step S300, acquiring real scene data through the environment simulation subsystem, and creating a corresponding virtual driving environment by using the real scene data;
step S400, transmitting the verification error-free man-machine co-driving control strategy and the vehicle model to the environment simulation subsystem through the vehicle simulation subsystem, and limiting the operation in the virtual driving environment;
s500, acquiring and converting each driving action generated by a driver into a corresponding control instruction through the human-computer interaction subsystem, and transmitting the control instruction to the environment simulation subsystem;
step S600, a man-machine co-driving control strategy is directly called by the environment simulation subsystem to respond to the control command, so that a vehicle model is controlled to operate in the virtual driving environment, and a generated vehicle control result is collected and transmitted to the man-machine interaction subsystem in the whole operation process;
s700, visually displaying the vehicle control result through the human-computer interaction subsystem, so as to verify the effectiveness of a human-computer co-driving control strategy; and meanwhile, converting the vehicle control result into a perception signal which can be acquired by a driver, and subjectively evaluating the driving comfort by the driver.
In the step S100, the vehicle simulation subsystem is connected to the environment simulation subsystem, and the environment simulation subsystem is connected to the human-computer interaction subsystem; the human-computer interaction subsystem, the environment simulation subsystem and the vehicle simulation subsystem CAN be connected with an external controller by utilizing the existing CAN-BUS BUS so as to realize data transmission in the running process of each system; or the human-computer interaction subsystem, the environment simulation subsystem and the vehicle simulation subsystem can also be connected with an external controller by utilizing a TCP/IP network so as to realize data transmission in the running process of each system.
In the embodiment of the present invention, the vehicle simulation subsystem is developed and applied by using an existing dSPACE real-time simulation system, and the specific implementation process of the step S200 includes the following steps:
step S210, preferentially acquiring a vehicle type which a user wants to simulate and a given associated parameter through the vehicle simulation subsystem, then running MATLAB/Simulink software and constructing a vehicle model corresponding to the vehicle type according to the given associated parameter; the given correlation parameters comprise a mass matrix, a damping matrix and a rigidity matrix, and the vehicle model specifically comprises a vehicle dynamics model and a vehicle kinematics model;
step S220, when the human-computer co-driving control strategy transmitted by the external controller is received through the vehicle simulation subsystem, the configuration desk module and the ControlDesk module provided by the dSPACE real-time simulation system are used for performing trial operation on the human-computer co-driving control strategy and the vehicle model, and the final human-computer co-driving control strategy and the final vehicle model are led into the environment simulation subsystem under the condition that no error information is confirmed; the above-mentioned man-machine co-driving control strategy specifically includes a longitudinal control strategy and a transverse control strategy.
In the embodiment of the invention, the environment simulation subsystem comprises a real sensor module and a virtual scene simulation module, wherein the real sensor module comprises a vehicle-mounted camera, a vehicle-mounted laser radar and a combined inertial navigation system which are arranged on a real vehicle, and the virtual scene simulation module is developed and applied by utilizing the existing SiLab traffic scene simulation software; the specific implementation process of the step S300 includes the following steps:
step S310, collecting the information of the surrounding environment when a real vehicle corresponding to the vehicle model runs in any real scene in advance through the real sensor module;
step S320, analyzing the surrounding environment information collected by the real sensor module through the virtual scene simulation module to obtain a plurality of traffic elements covered in the virtual scene simulation module; the plurality of traffic elements specifically comprise a road topological structure, traffic flow data, obstacle information, building information, traffic signal lamps and lane line object information;
and step S330, integrating and cutting the plurality of traffic elements by the virtual scene simulation module by utilizing the processing function of SiLab traffic scene simulation software, and then generating the virtual driving environment of the vehicle model.
It should be noted that, in the process of generating the virtual driving environment by the virtual scene simulation module, the sipab traffic scene simulation software may create, according to the multiple traffic elements, a virtual road network, a road surface identifier, a roadside sign, a road traffic signal lamp, and a road shoulder landscape that need to appear in the virtual driving environment, may configure driving behaviors of other different vehicles such as cars, trucks, buses, and trucks that may possibly run in the virtual driving environment, and may configure driving road conditions under different specific lighting conditions and driving road conditions under different specific weather conditions.
In the embodiment of the present invention, the human-computer interaction subsystem includes a cockpit module and a human-computer interaction module, and an execution mechanism is disposed inside the cockpit module, and the specific implementation process of the step S500 includes the following steps:
step S510, when a driver autonomously controls the executing mechanism, relevant driving actions are collected through the cockpit module; the driving actions specifically comprise the opening degree of a brake pedal, the opening degree of an accelerator pedal and the turning angle of a steering wheel, which are randomly generated by a driver for the executing mechanism;
and S520, identifying and converting each driving action transmitted by the cockpit module through the human-computer interaction module to obtain a control instruction which is required by a driver to be executed by a vehicle model, and transmitting the control instruction to the virtual scene simulation module for operation.
In an embodiment of the present invention, the environment simulation subsystem further includes a virtual sensor module, and the specific implementation process of step S600 includes: firstly, after receiving the control instruction fed back by the human-computer interaction module through the virtual scene simulation module, calling a human-computer co-driving control strategy to analyze the control instruction and further making corresponding motion control adjustment on a vehicle model; and secondly, in the process that the vehicle model operates in the virtual driving environment, acquiring and packaging each operating state information generated by the vehicle model into a vehicle control result through the virtual sensor module, and transmitting the vehicle control result to the human-computer interaction subsystem.
In the embodiment of the present invention, the human-computer interaction subsystem further includes a driving information visualization module and an interaction information conduction module, the driving information visualization module actually provides a display interface, and the driving information visualization module visually presents the vehicle control result transmitted by the virtual sensor module on the display interface in the step S700, where the vehicle control result actually represents an actual operating condition of the vehicle model in the virtual driving environment, so that a driver can determine the effectiveness of the human-computer co-driving control strategy by looking at the display interface; the interactive information conducting module outputs the vehicle control result transmitted by the virtual sensor module in equal proportion and actually feeds back the vehicle control result to be converted into a perception signal in step S700, so that a driver can subjectively evaluate the comfort of a man-machine driving process through the perception signal, wherein the perception signal specifically comprises a vibration signal and a sound signal which can be intuitively perceived by the driver.
In addition, the human-computer interaction subsystem also comprises a virtual reality helmet module which can collect physiological signals generated by a driver in the whole process of controlling the vehicle model to run; and the virtual reality helmet module is also provided with a camera unit which can collect limb actions and eye movement signals generated in the whole process of controlling the vehicle model to run by a driver.
In the embodiment of the invention, by constructing a simulation framework of a vehicle simulation subsystem-environment simulation subsystem-human-computer interaction subsystem, the simulation test of the human-computer co-driving control strategy can be realized without influencing the personal safety of a driver and causing the loss of a human-computer co-driving vehicle, and meanwhile, the simulation driving experience can be provided for the driver.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the hardware-in-loop simulation testing method for a man-machine-shared-drive-type vehicle in the above-mentioned embodiment is implemented. The computer-readable storage medium includes, but is not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks, ROMs (Read-Only memories), RAMs (Random AcceSS memories), EPROMs (EraSable Programmable Read-Only memories), EEPROMs (Electrically EraSable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards. That is, a storage device includes any medium that stores or transmits information in a form readable by a device (e.g., a computer, a cell phone, etc.), which may be a read-only memory, a magnetic or optical disk, or the like.
While the description of the present application has been presented in considerable detail and with particular reference to several illustrated embodiments, it is not intended to be limited to any such detail or embodiment or any particular embodiment, but rather should be construed to effectively cover the intended scope of the application by providing a broad interpretation of such claims in view of the prior art, and by reference to the appended claims. Further, the foregoing describes the present application in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial changes from the present application, not presently foreseen, may nonetheless represent equivalents thereto.
Claims (10)
1. A hardware-in-loop simulation test system for a man-machine-driven vehicle, which is characterized by comprising:
the vehicle simulation subsystem is used for carrying out trial simulation verification on the vehicle model established by the vehicle simulation subsystem and the pre-introduced man-machine co-driving control strategy;
the environment simulation subsystem is used for extracting a plurality of traffic elements from the acquired real scene data to construct a virtual driving environment, receiving a vehicle model and a man-machine co-driving control strategy which are not mistakenly tried, and importing the vehicle model and the man-machine co-driving control strategy into the virtual driving environment for operation;
the human-computer interaction subsystem is used for acquiring a control instruction sent by a driver and inputting the control instruction into the environment simulation subsystem for response; and the system is also used for receiving the vehicle control result fed back by the environment simulation subsystem to carry out strategy verification, converting the vehicle control result into a sensing signal and transmitting the sensing signal to a driver.
2. The hardware-in-the-loop simulation test system for the human-machine co-driving type vehicle as claimed in claim 1, wherein the vehicle model comprises a vehicle kinematic model and a vehicle dynamics model, and the human-machine co-driving control strategy comprises a transverse control strategy and a longitudinal control strategy for the vehicle model.
3. The hardware-in-the-loop simulation test system for a human-machine-driven vehicle according to claim 1, wherein the environment simulation subsystem comprises:
the real sensor module is used for acquiring surrounding environment information of a real vehicle corresponding to the vehicle model when the real vehicle runs in a real scene;
the virtual scene simulation module is used for integrating and cutting a plurality of traffic elements carried by the surrounding environment information to generate a virtual driving environment; the system is also used for responding to the received control command by combining a man-machine co-driving control strategy so as to complete the operation control of the vehicle model;
and the virtual sensor module is used for acquiring running state information generated when the vehicle model runs in the virtual driving environment and feeding the running state information back to the human-computer interaction subsystem.
4. The hardware-in-the-loop simulation test system for the human-machine-co-driver-type-oriented vehicle according to claim 3, wherein the real sensor module comprises a vehicle-mounted laser radar, a vehicle-mounted camera and a combined inertial navigation system.
5. The hardware-in-the-loop simulation test system for human-machine-co-driving-type vehicles according to claim 3, wherein the plurality of traffic elements comprise obstacle information, road topology, lane line object information, traffic lights, building information, and traffic flow data.
6. The hardware-in-the-loop simulation test system for a human-machine-driven-type vehicle as claimed in claim 3, wherein the virtual scene simulation module allows different vehicle driving behaviors and road conditions under different lighting conditions and different weather conditions to be configured in the virtual driving environment.
7. The human-machine co-driver type vehicle-oriented hardware-in-the-loop simulation test system according to claim 1, wherein the human-machine interaction subsystem comprises:
the cockpit module is used for collecting each driving action sent by a driver;
the human-computer interaction module is used for converting each driving action into a control command and then feeding the control command back to the environment simulation subsystem;
the virtual reality helmet module is used for acquiring physiological signals, eye movement signals and limb actions of a driver;
the driving information visualization module is used for carrying out interface display on the vehicle control result fed back by the environment simulation subsystem so as to verify the effectiveness of the strategy;
and the interactive information transmission module is used for converting the vehicle control result into a perception signal which can be acquired by a driver so as to make subjective evaluation.
8. The hardware-in-the-loop simulation test system for a human-machine co-driving type vehicle according to claim 7, wherein the driving actions include a steering wheel angle, an accelerator pedal opening degree and a brake pedal opening degree, and the sensing signal includes a sound signal and a vibration signal.
9. The hardware-in-the-loop simulation test system for the man-machine co-driving type vehicle as claimed in claim 1, wherein the vehicle simulation subsystem, the environment simulation subsystem and the man-machine interaction subsystem perform data transmission with an external controller through a CAN-BUS BUS or a TCP/IP network.
10. A hardware-in-loop simulation test method for a man-machine common-drive type vehicle is characterized by comprising the following steps:
building a vehicle simulation subsystem, an environment simulation subsystem and a man-machine interaction subsystem;
a vehicle model is created through the vehicle simulation subsystem according to the requirement of a test task, and then trial simulation verification is carried out by combining with a pre-introduced man-machine co-driving control strategy;
creating a virtual driving environment according to the acquired real scene data through the environment simulation subsystem;
leading a vehicle model which is not mistakenly tried and a man-machine co-driving control strategy into the environment simulation subsystem through the vehicle simulation subsystem so as to operate in the virtual driving environment;
acquiring each driving action sent by a driver through the human-computer interaction subsystem, converting the driving action into a control instruction and sending the control instruction to the environment simulation subsystem;
responding to the control command by the environment simulation subsystem through a man-machine co-driving control strategy to control a vehicle model to operate in the virtual driving environment, and meanwhile, collecting a vehicle control result in the operation process and feeding the vehicle control result back to the man-machine interaction subsystem;
and displaying the vehicle control result through the human-computer interaction subsystem so as to verify the effectiveness of a human-computer co-driving control strategy, and subjectively evaluating the driving comfort by a driver after converting the vehicle control result into a sensing signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211462295.5A CN115688481A (en) | 2022-11-22 | 2022-11-22 | Hardware-in-loop simulation test system and method for man-machine common-driving type vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211462295.5A CN115688481A (en) | 2022-11-22 | 2022-11-22 | Hardware-in-loop simulation test system and method for man-machine common-driving type vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115688481A true CN115688481A (en) | 2023-02-03 |
Family
ID=85054717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211462295.5A Pending CN115688481A (en) | 2022-11-22 | 2022-11-22 | Hardware-in-loop simulation test system and method for man-machine common-driving type vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115688481A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117135100A (en) * | 2023-10-26 | 2023-11-28 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | System and method for testing signal transmission of vehicle-mounted optical fiber Ethernet of automobile |
-
2022
- 2022-11-22 CN CN202211462295.5A patent/CN115688481A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117135100A (en) * | 2023-10-26 | 2023-11-28 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | System and method for testing signal transmission of vehicle-mounted optical fiber Ethernet of automobile |
| CN117135100B (en) * | 2023-10-26 | 2024-02-02 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | System and method for testing signal transmission of vehicle-mounted optical fiber Ethernet of automobile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108428357B (en) | Parallel remote control driving system for intelligent internet vehicle | |
| CN110794810B (en) | Method for carrying out integrated test on intelligent driving vehicle | |
| CN110333730B (en) | Verification method, platform and storage medium for safety of expected function of automatic driving algorithm | |
| CN108319249B (en) | Unmanned driving algorithm comprehensive evaluation system and method based on driving simulator | |
| CN110673590B (en) | Method, device and equipment for judging reliability of automatic driving system and storage medium | |
| CN112613169B (en) | Expected function safety analysis method for misoperation of automatic driving vehicle | |
| CN109901546B (en) | Hardware-in-loop simulation test method and system for auxiliary driving vehicle | |
| CN108647437A (en) | A kind of autonomous driving vehicle evaluation method and evaluation system | |
| CN112180921B (en) | Automatic driving algorithm training system and method | |
| Galko et al. | Vehicle-Hardware-In-The-Loop system for ADAS prototyping and validation | |
| CN113022540B (en) | Real-time remote driving system and method for monitoring multiple vehicle states | |
| CN112654933A (en) | Computer-implemented simulation method and apparatus for testing control devices | |
| CN110389893A (en) | System for testing automatic Pilot motor vehicles | |
| Skruch et al. | The simulation strategy and its realization in the development process of active safety and advanced driver assistance systems | |
| CN115688481A (en) | Hardware-in-loop simulation test system and method for man-machine common-driving type vehicle | |
| Schwab et al. | Consistent test method for assistance systems | |
| CN112764984A (en) | Automatic driving test system and method, electronic device and storage medium | |
| CN116818362A (en) | Lane departure warning function testing equipment and method | |
| CN213042144U (en) | Fusion test bench for automatic driving system | |
| KR20030029360A (en) | Driving simulator system | |
| CN115626173A (en) | Vehicle state display method and device, storage medium and vehicle | |
| US20220358024A1 (en) | Computer-implemented method for scenario-based testing and / or homologation of at least partially autonomous driving functions to be tested by means of key performance indicators (kpi) | |
| WO2022183449A1 (en) | Automatic driving testing method and system, vehicle and storage medium | |
| Di Russo et al. | Microsimulation-based evaluation of an eco-approach strategy for automated vehicles using vehicle-in-the-loop | |
| Fan et al. | A Co-Simulation Platform for Powertrain Controls Development |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |