CN115712295A - Intelligent driving test device and test method - Google Patents
Intelligent driving test device and test method Download PDFInfo
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- CN115712295A CN115712295A CN202211422997.0A CN202211422997A CN115712295A CN 115712295 A CN115712295 A CN 115712295A CN 202211422997 A CN202211422997 A CN 202211422997A CN 115712295 A CN115712295 A CN 115712295A
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Abstract
The disclosure relates to an intelligent driving test device and a test method. Wherein, the device includes: the upper computer is used for simulating a vehicle road scene and generating a vehicle road simulation signal; the real-time is used for realizing signal simulation and signal acquisition control scheduling of the board card assembly; the board card assembly is used for receiving a voltage signal, a current signal, a PWM signal and a digital signal; the fault injection board card is used for receiving the real-time signal and implementing fault injection control; the vehicle-mounted controller is used for receiving the vehicle operation information sent by the driving simulator and generating a vehicle control signal; the video camera bellows is used for realizing the acquisition and identification of the vehicle road simulation picture in the vehicle road simulation signal based on vehicle-mounted image acquisition equipment; the driving simulator comprises a first driving simulator and a second driving simulator, and is used for receiving vehicle operation information of a driver. The test condition coverage and the use efficiency of the test system are improved through the double-driving simulator.
Description
Technical Field
The disclosure relates to the field of intelligent driving, in particular to an intelligent driving testing device and an intelligent driving testing method.
Background
Hardware in-loop testing is basically an indispensable link in the whole vehicle development process, and the hardware is started later in China but developed rapidly. Along with the development degree of the automobile intellectualization in China is higher and higher, the requirements of a controller carrying intelligent driving control logic and an algorithm on HIL testing are also higher and higher. The respective main brands pay more and more attention to the HIL test of the controller, and the development in the field of the HIL test is also a sudden leap forward. With the development of the intelligent driving technology HIL test verification technology, a plurality of intelligent driving test systems are added with a driving simulator device for realizing that real natural people operate related vehicle components on the driving simulator to drive virtual vehicles and testing vehicle controllers in the real man-machine interaction process.
The existing intelligent driving hardware-in-loop test scheme mainly focuses on controlling the movement of a virtual traffic vehicle by compiling a control script in a simulated traffic scene and matching with a virtual main vehicle carrying a tested controller to meet the presentation of a test working condition, but for a vehicle running in the traffic scene, the vehicle running realized by the script can only be the operation closer to a real driver, the subjective activity of the real driver is difficult to simulate, and the control strategy and algorithm of the intelligent driving controller are tested and verified by the operation habit of the real driver driving the vehicle.
Accordingly, there is a need for one or more methods to address the above-mentioned problems.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
An object of the present disclosure is to provide an intelligent driving test apparatus and a test method, thereby overcoming, at least to some extent, one or more problems due to limitations and disadvantages of the related art.
According to an aspect of the present disclosure, there is provided an intelligent driving test apparatus, including:
the upper computer is in communication connection with the real-time machine through a network cable, is respectively connected with the first driving simulator, the second driving simulator and the video camera bellows through video cables, and is used for simulating a vehicle road scene and generating a vehicle road simulation signal, transmitting the vehicle road simulation signal to the real-time machine based on the network cable, and transmitting the vehicle road simulation signal to the first driving simulator, the second driving simulator and the video camera bellows based on the video cables;
the real-time machine is respectively in communication connection with the board card assembly and the fault injection board card through optical fibers, is used for realizing signal simulation and signal acquisition control scheduling on the board card assembly based on a real-time machine operating system, and is also used for realizing implementation of fault injection control based on communication with the fault injection board card;
the board card assembly comprises a digital board card, an analog board card and a bus board card, the board card assembly is in communication connection with the fault injection board card through a connector connection wiring harness, and the board card assembly is used for receiving a voltage signal, a current signal, a PWM signal and a digital signal;
the fault injection board card is in communication connection with the vehicle-mounted controller through a connector connection wiring harness and is used for receiving the real-time signal and implementing fault injection control;
the vehicle-mounted controller comprises an electric power steering controller, an integrated wire control brake system, an engine control management system, a vehicle-mounted gateway and an electric control actuator unit, the vehicle-mounted controller is in communication connection with a bus board of the board assembly through a CAN bus via the fault injection board, the vehicle-mounted controller is in communication connection with the first driving simulator through a connector connection wiring harness, and the vehicle-mounted controller is used for receiving first vehicle operation information sent by the first driving simulator and generating a first vehicle control signal based on the first vehicle operation information;
the video camera bellows is used for receiving the vehicle road simulation signal sent by the upper computer and realizing the collection and identification of the vehicle road simulation picture in the vehicle road simulation signal based on the vehicle-mounted image collection equipment;
the first driving simulator is used for showing a vehicle road simulation picture in the vehicle road simulation signal to a first driver and receiving first vehicle operation information of the first driver;
and the second driving simulator is used for displaying the vehicle road simulation picture in the vehicle road simulation signal to a second driver and receiving second vehicle operation information of the second driver.
In an exemplary embodiment of the present disclosure, in the apparatus:
the real-time machine is also used for generating a first virtual vehicle signal and a second virtual vehicle signal and sending the first virtual vehicle signal and the second virtual vehicle signal to the upper computer;
the upper computer is further used for receiving the first virtual vehicle signal and the second virtual vehicle signal which are sent in real time, and interactive simulation of a vehicle road scene is achieved based on the first virtual vehicle signal and the second virtual vehicle signal.
In an exemplary embodiment of the present disclosure, the apparatus further includes:
the intelligent driving area controller is in communication connection with vehicle-mounted image acquisition equipment of the video camera bellows through LVDS signal lines, the intelligent driving area controller is in communication connection with a vehicle-mounted gateway of the vehicle-mounted controller based on a CAN bus, the intelligent driving area controller is in communication connection with a bus board card of the board card assembly through the CAN bus, and the intelligent driving area controller is used for receiving a millimeter wave radar true value signal sent by the bus board card through a CAN FD signal and finishing acquisition of a sensing signal.
In an exemplary embodiment of the present disclosure, the apparatus further includes:
the integrated rack comprises a hydraulic assembly mechanism, and the integrated rack is used for fixing and installing the vehicle-mounted controller.
In an exemplary embodiment of the present disclosure, the first driving simulator in the apparatus further includes:
the electronic gear shifter is in communication connection with the vehicle controller based on a CAN bus and is used for generating gear shifting information of the first driver and sending the gear shifting information to the vehicle-mounted controller.
In one aspect of the present disclosure, there is provided an intelligent driving test method, the method including:
receiving first vehicle operation information and second vehicle operation information generated by a first driving simulator and a second driving simulator through a board card assembly and an on-board controller in real time, generating a first virtual vehicle simulation model and a second virtual vehicle simulation model based on the first vehicle operation information and the second vehicle operation information, and sending the first virtual vehicle simulation model and the second virtual vehicle simulation model to an upper computer;
the upper computer receives the first virtual vehicle simulation model and the second virtual vehicle simulation model, simulates a vehicle road scene based on preset vehicle road scene simulation software, generates vehicle road simulation signals, and respectively sends the vehicle road simulation signals to the first driving simulator, the second driving simulator and the video camera bellows;
the second driving simulator displays a vehicle road scene simulation picture to a second driver based on the vehicle road simulation signal, and receives second vehicle operation information generated by the second driver according to preset rules and interfering driving of the first virtual vehicle simulation model;
the first driving simulator displays a vehicle road scene simulation picture to a first driver based on the vehicle road simulation signal, and receives first vehicle operation information generated by interference driving of the first driver on the second virtual vehicle simulation model based on an intelligent driving function;
and the vehicle-mounted controller receives the first vehicle operation information and sends the first vehicle operation information to a real-time based on the fault injection board card and the board card assembly to complete the test of intelligent driving.
In an exemplary embodiment of the present disclosure, the method further comprises:
and receiving perception signals of vision and radar based on the video camera bellows and the intelligent driving area controller.
In an intelligent driving test apparatus and a test method in an exemplary embodiment of the present disclosure, the apparatus includes: the upper computer is used for simulating a vehicle road scene and generating a vehicle road simulation signal; the real-time is used for realizing signal simulation and signal acquisition control scheduling of the board card assembly; the board card assembly is used for receiving a voltage signal, a current signal, a PWM signal and a digital signal; the fault injection board card is used for receiving the real-time signal and implementing fault injection control; the vehicle-mounted controller is used for receiving the vehicle operation information sent by the driving simulator and generating a vehicle control signal; the video camera bellows is used for realizing the acquisition and identification of the vehicle road simulation picture in the vehicle road simulation signal based on vehicle-mounted image acquisition equipment; the driving simulator comprises a first driving simulator and a second driving simulator, and is used for receiving vehicle operation information of a driver. This is disclosed has improved test condition coverage and availability factor of test system through two driving simulators.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The above and other features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
FIG. 1 shows a schematic block diagram of an intelligent driving test device according to an exemplary embodiment of the present disclosure
FIG. 2 illustrates a flow chart of a smart driving test method according to an exemplary embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus, a repetitive description thereof will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the embodiments of the disclosure can be practiced without one or more of the specific details, or with other methods, components, materials, devices, steps, and so forth. In other instances, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in the form of software, or in one or more software-hardened modules, or in different networks and/or processor devices and/or microcontroller devices.
In the present exemplary embodiment, first, an intelligent driving test apparatus is provided; referring to fig. 1, the intelligent driving test device may include the following modules:
the upper computer is in communication connection with the real-time machine through a network cable, is respectively connected with the first driving simulator, the second driving simulator and the video camera bellows through video cables, and is used for simulating a vehicle road scene and generating a vehicle road simulation signal, transmitting the vehicle road simulation signal to the real-time machine based on the network cable, and transmitting the vehicle road simulation signal to the first driving simulator, the second driving simulator and the video camera bellows based on the video cables;
the real-time machine is respectively in communication connection with the board card assembly and the fault injection board card through optical fibers, is used for realizing signal simulation and signal acquisition control scheduling on the board card assembly based on a real-time machine operating system, and is also used for realizing implementation of fault injection control based on communication with the fault injection board card;
the board card assembly comprises a digital board card, an analog board card and a bus board card, the board card assembly is in communication connection with the fault injection board card through a connector connection wiring harness, and the board card assembly is used for receiving a voltage signal, a current signal, a PWM (pulse width modulation) signal and a digital signal;
the fault injection board card is in communication connection with the vehicle-mounted controller through a connector connection wiring harness, and is used for receiving the real-time signal and implementing fault injection control;
the vehicle-mounted controller comprises an electric power steering controller, an integrated wire control brake system, an engine control management system, a vehicle-mounted gateway and an electric control actuator unit, the vehicle-mounted controller is in communication connection with a bus board of the board assembly through a CAN bus via the fault injection board, the vehicle-mounted controller is in communication connection with the first driving simulator through a connector connection wiring harness, and the vehicle-mounted controller is used for receiving first vehicle operation information sent by the first driving simulator and generating a first vehicle control signal based on the first vehicle operation information;
the video camera bellows is used for receiving the vehicle road simulation signal sent by the upper computer and realizing the collection and identification of the vehicle road simulation picture in the vehicle road simulation signal based on the vehicle-mounted image collection equipment;
the first driving simulator is used for showing a vehicle road simulation picture in the vehicle road simulation signal to a first driver and receiving first vehicle operation information of the first driver;
and the second driving simulator is used for displaying the vehicle road simulation picture in the vehicle road simulation signal to a second driver and receiving second vehicle operation information of the second driver.
In an intelligent driving test apparatus and a test method in an exemplary embodiment of the present disclosure, the apparatus includes: the upper computer is used for simulating a vehicle road scene and generating a vehicle road simulation signal; the real-time is used for realizing signal simulation and signal acquisition control scheduling of the board card assembly; the board card assembly is used for receiving a voltage signal, a current signal, a PWM signal and a digital signal; the fault injection board card is used for receiving the real-time signal and implementing fault injection control; the vehicle-mounted controller is used for receiving the vehicle operation information sent by the driving simulator and generating a vehicle control signal; the video camera bellows is used for realizing the acquisition and identification of the vehicle road simulation picture in the vehicle road simulation signal based on vehicle-mounted image acquisition equipment; the first driving simulator and the second driving simulator are used for receiving vehicle operation information of a driver. This is disclosed has improved test condition coverage and availability factor of test system through two driving simulators.
Next, a description will be further made of an intelligent driving test apparatus in the present exemplary embodiment.
The first embodiment is as follows:
the intelligent driving test device comprises:
the upper computer is in communication connection with the real-time machine through a network cable, is respectively connected with the first driving simulator, the second driving simulator and the video camera bellows through video cables, and is used for simulating a vehicle road scene and generating a vehicle road simulation signal, transmitting the vehicle road simulation signal to the real-time machine based on the network cable, and transmitting the vehicle road simulation signal to the first driving simulator, the second driving simulator and the video camera bellows based on the video cables;
the real-time machine is respectively in communication connection with the board card assembly and the fault injection board card through optical fibers, is used for realizing signal simulation and signal acquisition control scheduling on the board card assembly based on a real-time machine operating system, and is also used for realizing implementation of fault injection control based on communication with the fault injection board card;
the board card assembly comprises a digital board card, an analog board card and a bus board card, the board card assembly is in communication connection with the fault injection board card through a connector connection wiring harness, and the board card assembly is used for receiving a voltage signal, a current signal, a PWM (pulse width modulation) signal and a digital signal;
the fault injection board card is in communication connection with the vehicle-mounted controller through a connector connection wiring harness and is used for receiving the real-time signal and implementing fault injection control;
the vehicle-mounted controller comprises an electric power steering controller, an integrated line control brake system, an engine control management system, a vehicle-mounted gateway and an electric control actuator unit, the vehicle-mounted controller is in communication connection with a bus board card of the board card assembly through a CAN bus via the fault injection board card, the vehicle-mounted controller is in communication connection with the first driving simulator through a connector connection wiring harness, and the vehicle-mounted controller is used for receiving first vehicle operation information sent by the first driving simulator and generating a first vehicle control signal based on the first vehicle operation information;
the video camera bellows is used for receiving the vehicle road simulation signal sent by the upper computer and realizing the collection and identification of the vehicle road simulation picture in the vehicle road simulation signal based on the vehicle-mounted image collection equipment;
the first driving simulator is used for displaying a vehicle road simulation picture in the vehicle road simulation signal to a first driver and receiving first vehicle operation information of the first driver;
and the second driving simulator is used for displaying the vehicle road simulation picture in the vehicle road simulation signal to a second driver and receiving second vehicle operation information of the second driver.
In an embodiment of the present example, in the apparatus:
the real-time is also used for generating a first virtual vehicle signal and a second virtual vehicle signal and sending the first virtual vehicle signal and the second virtual vehicle signal to the upper computer;
the upper computer is further used for receiving the first virtual vehicle signal and the second virtual vehicle signal sent in real time and realizing interactive simulation of a vehicle road scene based on the first virtual vehicle signal and the second virtual vehicle signal.
In an embodiment of the present example, the apparatus further comprises:
the intelligent driving area controller is in communication connection with vehicle-mounted image acquisition equipment of the video camera bellows through LVDS signal lines, the intelligent driving area controller is in communication connection with a vehicle-mounted gateway of the vehicle-mounted controller based on a CAN bus, the intelligent driving area controller is in communication connection with a bus board card of the board card assembly through the CAN bus, and the intelligent driving area controller is used for receiving a millimeter wave radar true value signal sent by the bus board card through a CAN FD signal and finishing acquisition of a sensing signal.
In an embodiment of the present example, the apparatus further comprises:
the integrated rack comprises a hydraulic assembly mechanism, and the integrated rack is used for fixing and installing the vehicle-mounted controller.
In an embodiment of the present example, the first driving simulator in the apparatus further comprises:
the electronic gear shifter is in communication connection with the vehicle controller based on a CAN bus, and is used for generating gear shifting information of the first driver and sending the gear shifting information to the vehicle-mounted controller.
The second embodiment:
in the embodiment of the example, the structure of the testing device comprises an upper computer, a real-time operating system processor, a board card assembly, a fault injection board card, an integrated rack for loading EPS, IPB, EMS, GW gateway, IDDC controller and corresponding execution mechanisms of the controller, a video camera bellows, a first driving simulator and a second driving simulator.
In the embodiment of the present example, the host computer, the personal computer or the office computer may be used, and the minimum configuration is: the processor CORE four-CORE and the memory 16GB RAM are provided with a display card and a gigabit network card with three-channel output, and run with vehicle road scene simulation software.
In the embodiment of the example, the upper computer is connected with a computer equipped with a real-time operating system, such as SCALEXIO RTPC chassis of dSPACE corporation, and supports downloading the Matlab/simulink compiled model files and performing online calibration, and the computer of the real-time operating system supports a network card interface and an optical fiber interface and runs a virtual vehicle inside.
In the embodiment of the example, the board assembly comprises an analog and digital signal simulation board assembly, a voltage signal, current signal, PWM signal and digital signal acquisition board assembly and supports an optical fiber interface.
In the embodiment of the present example, the fault injection unit: the wiring harness connection between the test assembly and the controller is connected through the fault injection unit and the connector, so that fault injection from short circuit to high voltage, ground, open circuit and the like can be realized.
In the embodiment of the present example, the onboard controllers (EPS, IPB, EMS, GW, IDDC): the system comprises controller hardware, a wire harness, a connector and an electric control actuator unit.
In the embodiment of the present example, the integrated gantry: the vehicle-mounted controller is installed and integrated on the integrated rack in a centralized mode and comprises a brake hydraulic assembly mechanism.
In the embodiment of the present example, the video camera bellows: the installation of the vehicle-mounted intelligent driving main camera and the recognition of the virtual scene picture can be met.
In the embodiment of the present example, the first driving simulator: the steering column assembly of the steering wheel of the real vehicle and a load motor for simulating wheel end torque are installed, and the brake pedal, the accelerator pedal and the electronic gear shifter of the real vehicle are installed.
In the embodiment of the present example, the second driving simulator: the simulation steering wheel, the brake pedal, the accelerator pedal and the gear shifting simulator are installed, and the three can transmit the action signal to the IO board card of the cabinet through the simulation signal.
As shown in the structure diagram of the testing device in fig. 1, the network card interface of the upper computer communicates with the network card interface of the real-time through a network cable to realize the control of the real-time and the signal acquisition, and in addition, the simulation traffic scene in the upper computer is realized to perform signal interaction with the virtual vehicle in the real-time through network communication; the communication between the optical fiber and the board card assembly is connected through the optical fiber interface in real time, a real-time operating system in the real-time machine is responsible for signal simulation and signal acquisition control scheduling of the board card assembly, and the optical fiber interface of the real-time machine is connected with the optical fiber interface of the fault injection board card through the optical fiber to control implementation of fault injection; the simulation signal and the acquisition signal of the board card assembly are connected with a connector of the fault injection unit through a connector connecting wire harness, and the fault injection board card is connected with a connector of the vehicle-mounted controller through another connector connecting wire harness; the IO pin of the vehicle-mounted controller is connected with a board card channel in the board card assembly through a hard wire, and each channel is injected into the board card through a fault, so that the mutual transmission of simulation data and collected data and the simulation of the fault are realized; CAN nodes of EPS, IPB, EMS and GW are simultaneously hung on a CAN bus and connected to a bus board card on a board card assembly through a fault injection board card (realizing bus electrical fault injection), and in addition, the GW and an intelligent driving area controller IDDC establish an ADAS CAN network through the CAN bus; the traffic scene simulated by the upper computer is output through three video lines, a video line 26 transmits a scene image of a main camera view angle to a camera obscura display for camera identification, a camera identification signal is connected to IDDC through an LVDS signal line, a bus board card in the board card assembly transmits a real value signal of the millimeter wave radar to the IDDC controller through a CANFD signal, and the acquisition of a sensing signal is completed; a scene display on the first driving simulator obtains a simulated main vehicle driver visual angle animation on an upper computer through a video line 27, a steering, braking and accelerator pedal is connected with a real controller on an integrated rack, and a real electronic gear shifter is installed, and the electronic gear shifter performs signal interaction with other bus nodes of a virtual simulation vehicle through a CAN bus and transmits the operation information of a driver to a real vehicle-mounted controller; the scene display on the second driving simulator obtains the traffic vehicle driver visual angle animation simulated on the upper computer through the video line 28, and the steering, braking, accelerator and gear shifting simulator transmits a driver operation signal to the virtual traffic vehicle through a simulation board card in the board card assembly through a simulation signal, and then drives the virtual traffic vehicle.
It should be noted that although in the above detailed description several modules or units of an intelligent driving test apparatus are mentioned, this division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
In addition, in the present exemplary embodiment, an intelligent driving test method is also provided. Referring to fig. 2, the intelligent driving test method includes:
receiving first vehicle operation information and second vehicle operation information generated by a first driving simulator and a second driving simulator through a board card assembly and an on-board controller in real time, generating a first virtual vehicle simulation model and a second virtual vehicle simulation model based on the first vehicle operation information and the second vehicle operation information, and sending the first virtual vehicle simulation model and the second virtual vehicle simulation model to an upper computer;
the upper computer receives the first virtual vehicle simulation model and the second virtual vehicle simulation model, simulates a vehicle road scene based on preset vehicle road scene simulation software, generates vehicle road simulation signals, and respectively sends the vehicle road simulation signals to the first driving simulator, the second driving simulator and the video camera bellows;
the second driving simulator displays a vehicle road scene simulation picture to a second driver based on the vehicle road simulation signal, and receives second vehicle operation information generated by the second driver according to preset rules and interfering driving of the first virtual vehicle simulation model;
the first driving simulator displays a vehicle road scene simulation picture to a first driver based on the vehicle road simulation signal, and receives first vehicle operation information generated by the first driver based on the interference driving of the second virtual vehicle simulation model implemented by the intelligent driving function;
and the vehicle-mounted controller receives the first vehicle operation information and sends the first vehicle operation information to a real-time based on the fault injection board card and the board card assembly to complete the test of intelligent driving.
In the embodiment of the example, the video camera bellows and the intelligent driving area controller are used for receiving visual and radar perception signals.
In the embodiment of the example, a virtual simulation vehicle model is operated in the real-time machine, and signal interaction is formed with the EPS, the IPB, the EMS, the GW and the IDDC through the board card assembly;
in the embodiment of the example, operating software for operating the real-time machine is run in the upper computer to set and control parameters of the equipment system and the virtual vehicle;
in the embodiment of the present example, the upper computer runs the traffic scene simulation software:
outputting a main camera visual angle video to a camera through a display in a camera bellows; outputting a visual angle video of the main driver to a driving scene display of the first driving simulator through a video line; and outputting the visual angle video of the driver of the traffic vehicle to a driving scene display of the second driving simulator through a video line.
In the embodiment of the example, the display in the camera obscura transmits the visual signals of the main camera visual angle to the camera, and meanwhile, the real-time machine interior simulates the millimeter wave radar CANFD bus signals to the IDDC intelligent driving area controller through a true value, so that the IDDC intelligent driving area controller receives the visual signals and the radar sensing signals.
In the embodiment of the example, the driver A drives the virtual main vehicle through the first driving simulator, the driver B drives the virtual traffic vehicle through the second driving simulator, and information parameters such as the posture, the speed, the visual perception and the radar perception of the vehicle are interacted with traffic scene simulation software in the upper computer in real time through Ethernet communication.
In the embodiment of the example, on a section of closed high-speed + on-ramp + suburban highway, except for other traffic vehicles arranged in scripts, one tested host vehicle driven by a natural human driver and another traffic vehicle driven by a natural human driver are driven in the scene, the host vehicle is driven according to the driving habits of the driver A, intelligent driving functions (such as ACC, AEB and LKA functions) are started, the traffic vehicle driver tries to create various traffic interference actions to interfere the normal driving of the host vehicle, and the activation, the inhibition and the exit of the intelligent driving functions of the host vehicle are observed.
In the embodiment of the example, the method can restore the habit of driving the vehicle of a real driver to a higher degree than the habit of driving the vehicle written by the script in the virtual environment, and can obviously improve the coverage of the intelligent driving control logic and the algorithm virtual simulation test; the compiling of a large number of vehicle running script sequences with complex actions is reduced, and the development cycle is shortened for a plurality of special intelligent driving test verification working conditions; the driver of the traffic vehicle can comprehensively consider the temporary change driving strategy according to the real-time state of the tested main vehicle, and the construction of the random test working condition is realized.
It should be noted that although the steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order or that all of the depicted steps must be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.
Furthermore, the above-described figures are merely schematic illustrations of processes involved in methods according to exemplary embodiments of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed, for example, synchronously or asynchronously in multiple modules.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is to be limited only by the terms of the appended claims.
Claims (7)
1. An intelligent driving test device, the device comprising:
the upper computer is in communication connection with the real-time machine through a network cable, is respectively connected with the first driving simulator, the second driving simulator and the video camera bellows through video cables, and is used for simulating a vehicle road scene and generating a vehicle road simulation signal, transmitting the vehicle road simulation signal to the real-time machine based on the network cable, and transmitting the vehicle road simulation signal to the first driving simulator, the second driving simulator and the video camera bellows based on the video cables;
the real-time machine is respectively in communication connection with the board card assembly and the fault injection board card through optical fibers, is used for realizing signal simulation and signal acquisition control scheduling on the board card assembly based on a real-time machine operating system, and is also used for realizing implementation of fault injection control based on communication with the fault injection board card;
the board card assembly comprises a digital board card, an analog board card and a bus board card, the board card assembly is in communication connection with the fault injection board card through a connector connection wiring harness, and the board card assembly is used for receiving a voltage signal, a current signal, a PWM (pulse width modulation) signal and a digital signal;
the fault injection board card is in communication connection with the vehicle-mounted controller through a connector connection wiring harness and is used for receiving the real-time signal and implementing fault injection control;
the vehicle-mounted controller comprises an electric power steering controller, an integrated wire control brake system, an engine control management system, a vehicle-mounted gateway and an electric control actuator unit, the vehicle-mounted controller is in communication connection with a bus board of the board assembly through a CAN bus via the fault injection board, the vehicle-mounted controller is in communication connection with the first driving simulator through a connector connection wiring harness, and the vehicle-mounted controller is used for receiving first vehicle operation information sent by the first driving simulator and generating a first vehicle control signal based on the first vehicle operation information;
the video camera bellows is used for receiving the vehicle road simulation signal sent by the upper computer and realizing the collection and identification of the vehicle road simulation image in the vehicle road simulation signal based on the vehicle-mounted image collection equipment;
the first driving simulator is used for displaying a vehicle road simulation picture in the vehicle road simulation signal to a first driver and receiving first vehicle operation information of the first driver;
and the second driving simulator is used for displaying the vehicle road simulation picture in the vehicle road simulation signal to a second driver and receiving second vehicle operation information of the second driver.
2. The apparatus of claim 1, wherein in the apparatus:
the real-time is also used for generating a first virtual vehicle signal and a second virtual vehicle signal and sending the first virtual vehicle signal and the second virtual vehicle signal to the upper computer;
the upper computer is further used for receiving the first virtual vehicle signal and the second virtual vehicle signal sent in real time and realizing interactive simulation of a vehicle road scene based on the first virtual vehicle signal and the second virtual vehicle signal.
3. The apparatus of claim 1, wherein the apparatus further comprises:
the intelligent driving area controller is in communication connection with vehicle-mounted image acquisition equipment of the video camera bellows through LVDS signal lines, the intelligent driving area controller is in communication connection with a vehicle-mounted gateway of the vehicle-mounted controller based on a CAN bus, the intelligent driving area controller is in communication connection with a bus board card of the board card assembly through the CAN bus, and the intelligent driving area controller is used for receiving a millimeter wave radar true value signal sent by the bus board card through a CAN FD signal and finishing acquisition of a sensing signal.
4. The apparatus of claim 1, wherein the apparatus further comprises:
the integrated rack comprises a hydraulic assembly mechanism, and the integrated rack is used for fixing and installing the vehicle-mounted controller.
5. The apparatus of claim 1, wherein a first driving simulator in the apparatus further comprises:
the electronic gear shifter is in communication connection with the vehicle controller based on a CAN bus, and is used for generating gear shifting information of the first driver and sending the gear shifting information to the vehicle-mounted controller.
6. An intelligent driving test method, the method comprising:
receiving first vehicle operation information and second vehicle operation information generated by a first driving simulator and a second driving simulator through a board card assembly and an on-board controller in real time, generating a first virtual vehicle simulation model and a second virtual vehicle simulation model based on the first vehicle operation information and the second vehicle operation information, and sending the first virtual vehicle simulation model and the second virtual vehicle simulation model to an upper computer;
the upper computer receives the first virtual vehicle simulation model and the second virtual vehicle simulation model, simulates a vehicle road scene based on preset vehicle road scene simulation software, generates vehicle road simulation signals, and respectively sends the vehicle road simulation signals to the first driving simulator, the second driving simulator and the video camera bellows;
the second driving simulator displays a vehicle road scene simulation picture to a second driver based on the vehicle road simulation signal, and receives second vehicle operation information generated by the second driver according to preset rules and interfering driving of the first virtual vehicle simulation model;
the first driving simulator displays a vehicle road scene simulation picture to a first driver based on the vehicle road simulation signal, and receives first vehicle operation information generated by the first driver based on the interference driving of the second virtual vehicle simulation model implemented by the intelligent driving function;
and the vehicle-mounted controller receives the first vehicle operation information and sends the first vehicle operation information to the real-time based on the fault injection board card and the board card assembly to finish the test of intelligent driving.
7. The method of claim 6, wherein the method further comprises:
and receiving perception signals of vision and radar based on the video camera bellows and the intelligent driving area controller.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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