CN115877735A - Intelligent driving hardware-in-loop simulation system - Google Patents
Intelligent driving hardware-in-loop simulation system Download PDFInfo
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- CN115877735A CN115877735A CN202211633983.3A CN202211633983A CN115877735A CN 115877735 A CN115877735 A CN 115877735A CN 202211633983 A CN202211633983 A CN 202211633983A CN 115877735 A CN115877735 A CN 115877735A
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Abstract
The application provides an intelligent driving hardware is at ring simulation system includes: the system comprises a controller, a computer and a controller domain network card; the computer is used for simulating an actual vehicle, environment and position sensors; the controller is used for acquiring the simulated environment and the position of the simulated environment and the position sensor and the simulated vehicle information of the simulated actual vehicle, and sending a control instruction according to the simulated vehicle information, the simulated environment and the position; the controller domain network card is respectively connected with the computer and the controller and is used for realizing the communication between the computer and the controller. Therefore, the system provided by the application is directly in butt joint with the controller, a real controller running environment can be simulated, authenticity, effectiveness and accuracy of a simulation result are improved, the hardware structure of the system is simple, information forwarding and assignment are achieved through a software program, and the system can be conveniently modified and expanded according to requirements. And the software and hardware are easy to troubleshoot when problems occur.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to an intelligent driving hardware-in-loop simulation system.
Background
Intelligent driving refers to a technology in which a machine assists a person in driving and, in special cases, completely replaces human driving. In order to ensure the safety and stability of intelligent driving, a large number of real vehicle road tests are usually performed in the industry, but before the real vehicle road tests, sufficient simulation test verification needs to be performed on an intelligent driving algorithm and an intelligent driving system.
Traditional software simulation of intelligent driving of vehicles has high requirements on hardware, and is usually arranged in a high-performance workstation. In the prior art, the communication function is realized through software, so that the intelligent driving algorithm runs in a high-performance workstation, and the actual intelligent driving algorithm is influenced by a series of factors such as hardware, communication and the like when running in a controller, so that the simulation effectiveness and accuracy are lower due to greater difference compared with the actual vehicle running.
Disclosure of Invention
In view of the above, this summary is provided to introduce concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
The application aims to provide an intelligent driving hardware-in-loop simulation system, which can improve the authenticity, effectiveness and accuracy of simulation.
In order to achieve the purpose, the technical scheme is as follows:
the embodiment of the application provides an intelligent driving hardware-in-the-loop simulation system, which comprises: the system comprises a controller, a computer and a controller domain network card;
the computer is used for simulating an actual vehicle, environment and position sensors;
the controller is used for acquiring the simulated environment and position of the simulated environment and position sensor and the simulated vehicle information of the simulated actual vehicle, and sending a control command according to the simulated vehicle information, the simulated environment and the position;
the controller domain network card is respectively connected with the computer and the controller and is used for realizing communication between the computer and the controller.
In one possible implementation, the controller domain network card includes a message structure and a sending structure;
the sending structural body is respectively connected with the message structural body and the controller;
the message structure body is used for acquiring the simulated vehicle information, the simulated environment and the position;
the sending structure body is used for reading the simulated vehicle information, the simulated environment and the position sent by the message structure body and forwarding the information, the simulated environment and the position to the controller.
In a possible implementation manner, the controller domain network card further includes a reading structure;
the reading structure body is respectively connected with the message structure body and the controller;
the reading structure body is used for reading the data sent by the controller and forwarding the data to the message structure body;
and the message structure body is used for acquiring the control instruction and forwarding the control instruction to the computer.
In one possible implementation, the message structure includes a report structure;
the report structure is used for acquiring the simulated vehicle information, the simulated environment and the position from the computer and forwarding the information to the sending structure.
In one possible implementation, the message structure includes a control structure;
the control structure is used for selecting the control instruction from the data sent by the controller and transmitting the control instruction to the computer.
In one possible implementation manner, the computer and the controller domain network card communicate with each other through an ethernet network; the controller domain network card and the controller are communicated by adopting a controller domain network bus;
the controller domain network card is used for performing mutual conversion between the Ethernet signals and the controller domain network bus signals so as to realize communication between the computer and the controller.
In a possible implementation manner, the format of the data sent by the controller includes a controller area network bus protocol database file.
In a possible implementation manner, the reading structure is configured to parse the controller area network bus protocol database file to generate a file in a prototo format.
In one possible implementation, the control command includes a brake command, a throttle command, and/or a steering wheel command.
In one possible implementation, the simulated environment includes simulated obstacle information.
Compared with the prior art, the embodiment of the application has the following beneficial effects:
the embodiment of the application provides an intelligent driving hardware-in-the-loop simulation system, which comprises: the system comprises a controller, a computer and a controller domain network card; the computer is used for simulating an actual vehicle, environment and position sensor; the controller is used for acquiring the simulated environment and position of the simulated environment and position sensor and the simulated vehicle information of the simulated actual vehicle, and sending a control command according to the simulated vehicle information, the simulated environment and the position; the controller domain network card is respectively connected with the computer and the controller and is used for realizing the communication between the computer and the controller. Therefore, the system provided by the application is directly butted with the controller, the running environment of the real controller can be simulated, the authenticity, the effectiveness and the accuracy of a simulation result are improved, the hardware structure of the system is simple, information forwarding and assignment are realized through a software program, and the system can be conveniently modified and expanded according to requirements. And the software and hardware are easy to find out problems.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 shows a schematic diagram of an intelligent driving hardware-in-loop simulation hardware system provided in an embodiment of the present application;
fig. 2 shows a schematic diagram of an intelligent driving hardware-in-loop simulation software system provided in an embodiment of the present application.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways than those described herein, and it will be apparent to those of ordinary skill in the art that the present application is not limited by the specific embodiments disclosed below.
As described in the background, smart driving refers to a technique in which a robot assists a human in driving, and in a special case, completely replaces human driving. In order to ensure the safety and stability of intelligent driving, a large number of real vehicle road tests are usually performed in the industry, but the intelligent driving algorithm and the intelligent driving system need to be fully simulated, tested and verified before the real vehicle road tests.
Traditional software simulation of intelligent driving of vehicles has high requirements on hardware, and is usually arranged in a high-performance workstation. In the prior art, the communication function is realized through software, so that the intelligent driving algorithm runs in a high-performance workstation, while the actual intelligent driving algorithm is influenced by a series of factors such as hardware, communication and the like when running in a controller, so that the simulation effectiveness and the simulation accuracy are lower compared with the actual vehicle running.
In order to solve the above technical problem, an embodiment of the present application provides an intelligent driving hardware-in-loop simulation system, including: the system comprises a controller, a computer and a controller domain network card; the computer is used for simulating an actual vehicle, environment and position sensor; the controller is used for acquiring the simulated environment and the position of the simulated environment and the position sensor and the simulated vehicle information of the simulated actual vehicle, and sending a control instruction according to the simulated vehicle information, the simulated environment and the position; the controller domain network card is respectively connected with the computer and the controller and is used for realizing the communication between the computer and the controller. Therefore, the system provided by the application is directly in butt joint with the controller, a real controller running environment can be simulated, authenticity, effectiveness and accuracy of a simulation result are improved, the hardware structure of the system is simple, information forwarding and assignment are achieved through a software program, and the system can be conveniently modified and expanded according to requirements. And the software and hardware are easy to find out problems.
In the embodiment of the application, the intelligent driving simulation process is closed-loop control, namely 1, environment and position information is obtained through a sensor 2, planning and decision 3 are carried out through sensed environment information, corresponding signals are sent to an executing mechanism according to the planning decision 4, and the vehicle can move forwards and backwards according to the action of the executing mechanism.
The intelligent driving hardware in-loop simulation purpose is to achieve rapid testing by replacing corresponding parts. The hardware is a controller part in a ring real object, and the environment and the vehicle are provided with virtual simulation software.
The hardware-in-loop simulation, also called semi-physical simulation, is a simulation system in which part of system hardware to be simulated is directly put into a simulation loop, which not only makes up for many defects in pure digital simulation, but also improves the confidence of the whole model.
Referring to fig. 1, a schematic diagram of an intelligent driving hardware-in-loop simulation system provided in an embodiment of the present application includes: controller, computer (PC) and Controller Area Network (net-can) cards;
the computer is used for simulating an actual vehicle, environment and position sensor;
the controller is used for acquiring the simulated environment and the position of the simulated environment and the position sensor and the simulated vehicle information of the simulated actual vehicle, and sending a control instruction according to the simulated vehicle information, the simulated environment and the position;
the controller domain network card is respectively connected with the computer and the controller and used for realizing the communication between the computer and the controller.
Therefore, the closed-loop simulation is realized by data interaction between the PC and the controller. The PC terminal simulates a sensor and a simulated actual vehicle through simulation software, and the controller is responsible for sensing the environment and sending a control instruction. The realization of hardware-in-the-loop simulation comprises two parts of hardware and software.
The system provided by the application is directly butted with the controller, the running environment of the real controller can be simulated, the authenticity, the effectiveness and the accuracy of a simulation result are improved, the hardware structure of the system is simple, information forwarding and assignment are realized through a software program, and the system can be conveniently modified and expanded according to requirements. And the software and hardware are easy to find out problems.
In one possible implementation, referring to fig. 1, the computer and the controller domain network card communicate with each other through ethernet; the controller domain network card and the controller are communicated by adopting a controller domain network bus; the controller domain network card is used for performing interconversion between Ethernet signals and controller domain network bus signals so as to realize communication between the computer and the controller.
For the controller, the controller receives can messages, and the PC generally performs data transmission through ethernet or USB. Therefore, the can card is introduced, and the Ethernet can be converted into a can signal to realize the communication between the PC and the controller.
For example, referring to fig. 1, the communication between the controller area network card and the controller may be realized by a plurality of controller area network buses can1, can2, can3, and can 4.
In a possible implementation manner, referring to fig. 2, a controller domain network card provided in the embodiment of the present application may include a Message Structure (MSG) and a sending structure; the sending structure body (send.proto) is respectively connected with the message structure body and the controller;
the message structure body is used for acquiring the simulated vehicle information, the simulated environment and the position;
and the sending structure body is used for reading the simulated vehicle information, the simulated environment and the position sent by the message structure body and forwarding the simulated environment and the position to the controller.
Specifically, send.proto is to package and send signals in the message structure to the can bus, so that the controller can obtain the simulated vehicle information, the simulated environment and the simulated position simulated in the simulation software.
In a possible implementation manner, when the sensor module communicating through the can is a chassis can, the chassis can includes status information reading and control information sending of the vehicle, and therefore, the controller domain network card provided in the embodiment of the present application may further include a reading structure (get).
The reading structure body is respectively connected with the message structure body and the controller; the reading structure body is used for reading data sent by the controller and forwarding the data to the message structure body; and the message structure body is used for acquiring the control instruction and forwarding the control instruction to the computer.
Optionally, the format of the data sent by the controller includes a controller area network bus protocol Database file (DBC, database Can). The reading structure body is used for analyzing the controller local area network bus protocol database file to generate a file in a Proto format. proto can transmit and receive data through can bus, wherein get.
In one possible implementation, the message structure provided by the embodiment of the present application may include a report structure (report) configured to obtain the simulated vehicle information, the simulated environment and the location from a computer and forward the information to the sending structure. And send, which packs the signal in the report and sends it to the can bus.
Optionally, the report structure is responsible for reading real-time vehicle and environment information from simulation software, such as vehicle speed, obstacle information obtained by a sensor, and the like, that is, the simulated environment in the embodiment of the present application may include simulated obstacle information.
In a possible implementation manner, a message structure provided in the embodiment of the present application includes a control structure (control); the control structure body is used for selecting a control instruction from the data sent by the controller and forwarding the control instruction to the computer. The control commands include brake commands, throttle commands, and/or steering wheel commands.
Namely, the control structure body is responsible for sending the control information in the bus to the simulation software such as a brake, an accelerator, a steering wheel and the like.
In the embodiment of the application, other sensor modules which communicate through the can do not need control information compared with the chassis, so that only a report module is included, system resources are saved, and the hardware structure of the system is simpler and more convenient.
In addition, the message structure provided in the embodiment of the present Application and the simulation software part of the computer communicate with each other through an api Interface (Application Programming Interface).
The embodiment of the application provides an intelligent driving hardware-in-the-loop simulation system, which comprises: the system comprises a controller, a computer and a controller domain network card; the computer is used for simulating an actual vehicle, environment and position sensor; the controller is used for acquiring the simulated environment and the position of the simulated environment and the position sensor and the simulated vehicle information of the simulated actual vehicle, and sending a control instruction according to the simulated vehicle information, the simulated environment and the position; the controller domain network card is respectively connected with the computer and the controller and is used for realizing the communication between the computer and the controller. Therefore, the system provided by the application is directly butted with the controller, the running environment of the real controller can be simulated, the authenticity, the effectiveness and the accuracy of a simulation result are improved, the hardware structure of the system is simple, information forwarding and assignment are realized through a software program, and the system can be conveniently modified and expanded according to requirements. And the software and hardware are easy to find out problems.
And the hardware connection between the simulation machine and the controller is realized through the can card. And finally, the mutual communication between the simulation software and the controller is realized by analyzing the can bus data.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from other embodiments.
The foregoing is merely a preferred embodiment of the present application and, although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application. Those skilled in the art can make numerous possible variations and modifications to the disclosed solution, or modify it to equivalent embodiments, using the methods and techniques disclosed above, without departing from the scope of the claimed solution. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application still fall within the protection scope of the technical solution of the present application without departing from the content of the technical solution of the present application.
Claims (10)
1. An intelligent driving hardware-in-loop simulation system, comprising: the system comprises a controller, a computer and a controller domain network card;
the computer is used for simulating an actual vehicle, environment and position sensor;
the controller is used for acquiring the simulated environment and the position of the simulated environment and position sensor and the simulated vehicle information of the simulated actual vehicle, and sending a control instruction according to the simulated vehicle information, the simulated environment and the position;
the controller domain network card is respectively connected with the computer and the controller and is used for realizing the communication between the computer and the controller.
2. The system of claim 1, wherein the controller domain network card comprises a message structure and a send structure;
the sending structural body is respectively connected with the message structural body and the controller;
the message structure body is used for acquiring the simulated vehicle information, the simulated environment and the position;
the sending structure body is used for reading the simulated vehicle information, the simulated environment and the position sent by the message structure body and forwarding the information, the simulated environment and the position to the controller.
3. The system of claim 2, wherein the controller domain network card further comprises a read fabric;
the reading structure body is respectively connected with the message structure body and the controller;
the reading structure body is used for reading the data sent by the controller and forwarding the data to the message structure body;
and the message structure body is used for acquiring the control instruction and forwarding the control instruction to the computer.
4. The system of any of claims 2-3, wherein the message structure comprises a report structure;
the report structure is used for acquiring the simulated vehicle information, the simulated environment and the position from the computer and forwarding the information to the sending structure.
5. The system of claim 4, wherein the message structure comprises a control structure;
the control structure is used for selecting the control instruction from the data sent by the controller and transmitting the control instruction to the computer.
6. The system of claim 1, wherein the computer and the controller domain network card communicate via ethernet; the controller domain network card and the controller are communicated by adopting a controller domain network bus;
the controller domain network card is used for performing mutual conversion between the Ethernet signals and the controller domain network bus signals so as to realize communication between the computer and the controller.
7. The system of claim 3, wherein the format of the data sent by the controller comprises a controller area network bus protocol database file.
8. The system of claim 7, wherein the read structure is configured to parse the controller area network bus protocol database file to generate a file in a Protoproto format.
9. The system of claim 1, wherein the control commands comprise a brake command, a throttle command, and/or a steering wheel command.
10. The system of claim 1, wherein the simulated environment includes simulated obstacle information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211633983.3A CN115877735A (en) | 2022-12-19 | 2022-12-19 | Intelligent driving hardware-in-loop simulation system |
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| CN202211633983.3A CN115877735A (en) | 2022-12-19 | 2022-12-19 | Intelligent driving hardware-in-loop simulation system |
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