CN116451439A - Parking hardware closed loop test system - Google Patents
Parking hardware closed loop test system Download PDFInfo
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Abstract
The invention provides a parking hardware closed-loop test system which comprises a scene simulation system, a data processing board card, a parking domain controller and a vehicle dynamics model system, wherein the scene simulation system builds different parking virtual simulation scenes and builds different virtual sensor models, and the parking domain controller fuses the perception information of target obstacles of different types of sensor models and controls virtual parking simulation in the parking simulation scenes. The invention can carry out virtual simulation parking test without real vehicle test, and solves the problem that the real vehicle test consumes manpower, material resources and financial resources in the development process of the automatic driving parking controller.
Description
Technical Field
The invention relates to the field of automatic driving simulation test, in particular to a parking hardware closed-loop test system.
Background
With the development of the automatic driving level becoming higher, the automatic parking technology also slowly changes from L2 automatic parking assistance to over L3 AVP automatic passenger parking, and the perception module only needs 12 ultrasonic radars from the first to the front view camera and the 360-degree looking-around camera.
Because parking belongs to the low-speed field of automatic driving, and the danger is not so great compared with the high-speed field, the real vehicle test is adopted for parking tests by various large OEMs (original equipment manufacturers), tier1 and the like at present, but the real vehicle test consumes manpower, material resources and financial resources, the problem reproduction rate is low, the test coverage is low, if internal logic is problematic, the reworking time and the labor cost are relatively great, the technical problems of scene fidelity, sensor precision, actuator simulation, vehicle dynamics calibration and the like exist in the HiL simulation at present, and a plurality of solution providers only stay on ppt in the parking simulation field, so that Tier1 has complete HiL simulation technical capability.
Disclosure of Invention
Aiming at the technical problems existing in the prior art, the invention provides a parking hardware closed-loop test system, which comprises a scene simulation system, a data processing board card, a parking domain controller and a vehicle dynamics model system;
the scene simulation system is used for building different parking simulation scenes and building sensor virtual models corresponding to different types of sensors so as to output the perception information of obstacle targets around the vehicle detected by the different types of sensors to the data processing board;
the data processing board card is used for processing the perception information of the obstacle targets around the vehicle and outputting the processing result to the parking domain controller;
the parking domain controller is used for fusing the perception information of the obstacle targets by the sensors of different types, and planning the parking track of the vehicle by combining the positioning information of the vehicle;
the vehicle dynamics model system is used for carrying out vehicle parking control according to the parking track and sending scene posture information in the vehicle parking process to the scene simulation system so that the scene simulation system carries out virtual parking simulation in a vehicle parking simulation scene according to the scene posture information.
On the basis of the technical scheme, the invention can also make the following improvements.
Optionally, the scene simulation system comprises a scene simulation module, an ultrasonic virtual radar model, a look-around camera virtual model and a front-view camera virtual model;
the scene simulation module is used for building corresponding parking simulation scenes according to different test cases, and respectively building an ultrasonic virtual radar model, an all-around camera virtual model and a front camera virtual model in a scene virtual vehicle according to real vehicle installation external parameters of the ultrasonic radar sensor, real vehicle installation external parameters of the all-around camera and installation external parameters of the front camera.
Optionally, the scene simulation module is configured to build a corresponding parking simulation scene according to different test cases, and includes:
different test cases are constructed according to the functional specifications and laws and regulations of the parking area controller, and the test cases cover horizontal parking, vertical parking, oblique parking, narrow road and wide road parking scenes.
Optionally, the data processing board card includes ultrasonic simulation board card, video injection board card and camera bellows, ultrasonic simulation board card pass through CAN/Eth with the virtual radar model of ultrasonic wave is connected, video injection board card pass through HDMI with the virtual model of looking around the camera is connected, the camera bellows pass through HDMI with the virtual model of front view camera is connected.
Optionally, the ultrasonic virtual radar model belongs to a multi-point light beam mode, a plurality of points on a target object within a vehicle setting range CAN be identified through ultrasonic waves, the point closest to the point is taken as a position point of a target obstacle, and the distance and position information of the target obstacle are sent to the ultrasonic simulation board card through CAN/Eth;
the circular camera virtual model is used for developing virtual fish-eye camera visual angle video according to resolution, frame rate, visual angle and distortion table of a real camera, solving distortion internal reference coefficients by using an OpenCV distortion grid method, and outputting perceived video streams around a vehicle to the video injection board card through HDMI;
the front-view camera virtual model is used for simulating a real scene acquired by a camera on a real vehicle according to scene animation acquired by the front-view camera; the real camera to be tested is placed in a camera, an image is identified by shooting a virtual road scene in front, a target obstacle is identified by image sensing, and image sensing information of the identified target obstacle is sent to the parking domain controller.
Optionally, the ultrasonic simulation board card comprises a processing module and a driving chip, wherein the processing module is connected with the scene simulation system through CAN/Eth, and is used for calculating the delay time according to an ultrasonic distance formula from the received distance information of the target obstacle, converting the delay time into high-level duration according to an ultrasonic time sequence, and transmitting the high-level duration to the driving chip through universal asynchronous receiving and transmitting transmitter Uart serial port communication;
the driving chip is used for forming an interactive interface with 12 paths of data channels in a DSI3 main station of the parking domain controller through a DSI3 bus protocol according to a preset coding rule of an ultrasonic carrier signal, and sending high-low level duration to the parking domain controller.
Optionally, the scene simulation system further comprises a temperature sensor for detecting the current room temperature in the vehicle; the processing module is configured to calculate a delay time from the received distance information of the target obstacle according to an ultrasonic distance formula, and includes:
S＝C*t/2；
C＝C0+0.607*T；
s is target obstacle distance information, C is sound wave speed, T is delay time under the influence of temperature, C0 is sound wave speed 332m/S at zero degree, and T is current room temperature in a vehicle, wherein the unit is ℃.
Optionally, the video injection board is configured to receive an HDMI video stream, output a GMSL2 video stream, and perform interface customization development by using an internal processing chip according to a model of a GMSL2 receiving end deserializer of the parking domain controller, whether an ISP exists, and timing information.
Optionally, the parking domain controller performs signal interaction with the ultrasonic simulation board DSI3 slave station interface through the DSI3 master station interface, performs image interaction with the video injection board card through the GMSL2 interface, performs signal interaction with the front-view camera through the CAN, fuses image perception and ultrasonic perception, combines positioning information of a vehicle, plans a parking track, and controls the vehicle dynamics model system through the vehicle control module.
Optionally, the vehicle dynamics model system comprises a softECU actuator model and a dynamics model;
the softECU executor is used for logically modeling according to a gear request, an acceleration and deceleration request and a steering wheel request sent by a vehicle control end of the parking domain controller, converting the gear request, the acceleration and deceleration request and the steering wheel request into corresponding throttle and brake actions by searching a throttle and brake calibration table according to the acceleration and deceleration, and adjusting and calibrating a dynamics model;
and fitting a corresponding two-dimensional table between the actions of the accelerator and the brake and the speeds and the acceleration and deceleration through vehicle tests under different conditions, and manufacturing an accelerator and brake calibration table.
The invention provides a parking hardware closed-loop test system, which comprises a scene simulation system, a data processing board card, a parking domain controller and a vehicle dynamics model system, wherein the scene simulation system builds different parking virtual simulation scenes and builds different virtual sensor models, and the parking domain controller fuses the perception information of target obstacles of different types of sensor models and controls virtual parking simulation in the parking simulation scenes. The invention can carry out virtual simulation parking test without real vehicle test, and solves the problem that the real vehicle test consumes manpower, material resources and financial resources in the development process of the automatic driving parking controller.
Drawings
Fig. 1 is a schematic structural diagram of a parking hardware closed loop test system provided by the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. In addition, the technical features of each embodiment or the single embodiment provided by the invention can be combined with each other at will to form a feasible technical scheme, and the combination is not limited by the sequence of steps and/or the structural composition mode, but is necessarily based on the fact that a person of ordinary skill in the art can realize the combination, and when the technical scheme is contradictory or can not realize, the combination of the technical scheme is not considered to exist and is not within the protection scope of the invention claimed.
Based on the problems in the background technology, the invention provides a parking hardware closed-loop test system, each module in the test system needs to ensure precision, and real vehicles are used for calibration, so that the HiL environment is high in precision and high in confidence. The method is beneficial to finding problems of logic errors, code bugs and the like of early development of the parking domain controller, and quickening the research and development process.
Fig. 1 is a schematic diagram of a parking hardware closed loop test system provided by the invention, which mainly comprises a scene simulation system, a data processing board card, a parking domain controller and a vehicle dynamics model system.
The scene simulation system is used for building different parking simulation scenes and building sensor virtual models corresponding to different types of sensors so as to output the perception information of obstacle targets around the vehicle detected by the different types of sensors to the data processing board; the data processing board card is used for processing the perception information of the obstacle targets around the vehicle and outputting the processing result to the parking domain controller; the parking domain controller is used for fusing the perception information of the obstacle targets by the sensors of different types, and planning the parking track of the vehicle by combining the positioning information of the vehicle; the vehicle dynamics model system is used for carrying out vehicle parking control according to the parking track and sending scene posture information in the vehicle parking process to the scene simulation system so that the scene simulation system carries out virtual parking simulation in a vehicle parking simulation scene according to the scene posture information.
It can be understood that the embodiment of the invention utilizes the scene simulation system to build different parking simulation scenes, such as different parking modes, and performs parking at different speeds and different accelerations. In the parking process, different types of sensors are arranged on the vehicle, different modes of sensing are carried out on target barriers around the vehicle, and the sensing information of the target barriers around the vehicle is processed and then sent to a parking domain controller. The parking field controller fuses the target obstacle perception information in different modes, plans the parking track, and sends the vehicle scene posture information in the parking process to the scene simulation system, and the scene simulation system realizes parking in a virtual scene according to the scene posture information of the vehicle so as to test the parking field controller.
The scene simulation system comprises a scene simulation module, an ultrasonic virtual radar model, a look-around camera virtual model and a front-view camera virtual model; the scene simulation module is used for building corresponding parking simulation scenes according to different test cases, and respectively building an ultrasonic virtual radar model, an all-around camera virtual model and a front camera virtual model in a scene virtual vehicle according to real vehicle installation external parameters of the ultrasonic radar sensor, real vehicle installation external parameters of the all-around camera and installation external parameters of the front camera.
It can be understood that the scene simulation system is mainly used for constructing virtual simulation scenes, and comprises a virtual parking scene and various sensor virtual models, wherein the scene simulation module constructs different test cases according to the functional specification and laws and regulations of the parking field controller, covers the scenes of horizontal parking, vertical parking, oblique parking, narrow road, wide road parking and the like, and sequentially tests by utilizing the constructed environments, thereby being beneficial to finding problems of early development logic errors, code bug and the like of the parking field controller and accelerating the research and development process.
The various sensor virtual models mainly comprise an ultrasonic virtual radar model, a looking-around camera virtual model and a front-view camera virtual model, and the ultrasonic virtual radar model, the looking-around camera virtual model and the front-view camera virtual model are respectively built in the scene virtual vehicle according to real vehicle installation external parameters of the ultrasonic radar sensor, real vehicle installation external parameters of the looking-around camera and installation external parameters of the front-view camera.
Wherein the data processing board card comprises an ultrasonic simulation board card, a video injection board card and a camera, the ultrasonic simulation board card is connected with the ultrasonic virtual radar model through CAN/Eth, the video injection board card is connected with the looking-around camera virtual model through HDMI, and the camera bellows is connected with the front-view camera virtual model through HDMI.
It CAN be understood that the scene simulation system comprises 12 paths of ultrasonic virtual radar models, 4 paths of fish-eye looking-around camera virtual models and 1 path of forward-looking camera virtual models, wherein the ultrasonic virtual radar models are installed and externally referred according to real vehicles of ultrasonic radars, are built in the scene virtual vehicles, belong to a multi-point light beam mode, CAN identify a plurality of points on a target vehicle body in an ultrasonic identification range, take the point closest to the point as a target obstacle position, and send the distance and position information of the target obstacle to an ultrasonic simulation board card through CAN/Eth. The 4-path fish-eye looking-around camera virtual model is built in a scene virtual vehicle according to real vehicle installation external parameters of the looking-around camera, virtual fish-eye camera visual angle videos are developed by combining resolution, frame rate, visual angle, distortion table and the like of a real camera, distortion internal parameter coefficients are obtained by using an OpenCV (Open Source Computer Vision Library, a cross-platform computer vision library) distortion grid method, matching with a parking domain controller sensing end is facilitated, and video streams of the developed fish-eye camera visual angles are output through HDMI and sent to a video injection board card.
The front-view camera virtual model is simulated in a camera black box mode, and the main principle is that scene animation acquired by a camera is used for simulating a real scene acquired by the camera on a real vehicle. The real camera to be tested is placed in a camera bellows, an image is recognized by shooting a virtual road scene in front, a target is recognized by image perception, and a recognized target signal is sent to a parking domain controller.
The scene simulation system mainly uses 12 paths of ultrasonic radars and 4 paths of around-the-road cameras for fusion perception, wherein the interfaces of the cameras are GMSL2 (Gigabit Multimedia Serial Links, chinese names are gigabit multimedia serial links, and are high-speed serial interfaces which are proposed by Maxim company and are suitable for transmission of audio, video and control signals), the ultrasonic radars adopt DSI3 bus communication (the 3rd generation Distributed System Interface, third-generation distributed system interfaces) to encode ultrasonic radars, interference can be reduced by using the encoded ultrasonic radars, a plurality of radars can emit waves at the same time, refreshing time is shortened, and system refreshing rate is improved. The whole parking area controller is communicated with the actuator end through CAN.
As an embodiment, the ultrasonic simulation board card includes a processing module and a driving chip, and mainly converts a distance signal sent by the ultrasonic virtual radar model into DSI3 bus encoded data and sends the DSI3 bus encoded data to the parking domain controller. The processing module is used for being connected with the scene simulation system through CAN/Eth, and is used for calculating the delay time according to an ultrasonic distance formula from the received distance information of the target obstacle, converting the delay time into high-level duration according to an ultrasonic time sequence, and transmitting the high-level duration to the driving chip through universal asynchronous receiver transmitter Uart serial port communication.
The driving chip is used for forming an interactive interface with 12 paths of data channels in a DSI3 main station of the parking domain controller through a DSI3 bus protocol according to a preset coding rule of an ultrasonic carrier signal, and sending high-low level duration to the parking domain controller.
The processing module is configured to calculate a delay time according to an ultrasonic distance formula from the received distance information of the target obstacle, and includes:
S＝C*t/2；
s is target obstacle distance information, C is sound wave speed, the influence of temperature is relatively large, and t is delay time.
The sound wave speed is greatly influenced by temperature, a temperature sensor is needed to be added for ensuring accuracy, and the sound wave speed at the current room temperature is calculated according to the following empirical calculation formula of temperature and sound wave speed.
C＝C0+0.607*T；
The sound wave velocity at C0 is 332m/s at zero degrees, T is the current room temperature in the vehicle in degrees Celsius.
It should be noted that if there is no obstacle in the sensor view angle range, a timeout period is set for the delay time, and the timeout period indicates that no obstacle is detected in the sensor view angle range.
As an embodiment, the video injection board is configured to receive an HDMI video stream output by the virtual model of the 4-way looking-around camera, output a GMSL2 video stream, and perform interface customized development by using an internal processing chip according to a model of a GMSL2 receiving end deserializer of the parking domain controller, whether an ISP exists, and timing information.
The parking domain controller performs signal interaction with the ultrasonic simulation board DSI3 slave station interface through the DSI3 master station interface, performs image interaction with the video injection board card through the GMSL2 interface, performs signal interaction with the front-view camera through the CAN, fuses image perception and ultrasonic perception, plans a parking track by combining positioning information of a vehicle, and controls a vehicle dynamics model system through the vehicle control module.
The vehicle dynamics model system comprises a softECU actuator model and a dynamics model, wherein the softECU actuator is mainly used for judging logic modeling of CAN communication, logic modeling is carried out on a gear request, an acceleration and deceleration request and a steering wheel request sent by a vehicle control end of a parking domain controller, the acceleration and deceleration is converted into corresponding accelerator and brake in a table look-up mode, and parameter adjustment and calibration of vehicle dynamics are all fine-tuned through the module. The manufacturing of the accelerator and brake calibration table is carried out by carrying out a large number of vehicle tests under different conditions, fitting a corresponding two-dimensional table between the actions of the accelerator and the brake and the vehicle speed and the acceleration and deceleration, and the part can be carried out by utilizing a deep learning mode.
It can be understood that the softECU executor converts the gear request, the acceleration and deceleration request and the steering wheel request sent by the vehicle control end into corresponding accelerator and brake operations. The dynamic model is used for solving and calculating vehicle posture information to update the simulation posture in real time by combining different test working conditions, performance curves, corresponding parameters and the like of the real vehicle.
After the scene simulation system receives the gesture update signal, vehicle gesture update is carried out, parking is realized in the constructed virtual simulation scene, and at the moment, sensor perception corresponds to update and sends out a signal, so that a complete parking HiL closed loop system is constructed.
The closed loop test system for the parking hardware provided by the invention can perform virtual simulation parking test without actual vehicle test, and solves the problem that the actual vehicle test consumes manpower, material resources and financial resources in the development process of an automatic driving parking controller. The test system comprises a scene simulation system, an ultrasonic simulation board, a video injection board, a camera, a parking controller and a vehicle dynamics model system, wherein each module guarantees accuracy, and real vehicles are used for calibrating, so that high HiL environment accuracy and high confidence level are guaranteed.
By utilizing the built environment, different test cases are built according to the functional specification and laws and regulations of the parking controller, and the test is sequentially carried out, so that the problems of logic errors, code bug and the like of early development of the parking domain controller can be found, and the research and development process can be accelerated.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. The parking hardware closed-loop test system is characterized by comprising a scene simulation system, a data processing board card, a parking domain controller and a vehicle dynamics model system;
the scene simulation system is used for building different parking simulation scenes and building sensor virtual models corresponding to different types of sensors so as to output the perception information of obstacle targets around the vehicle detected by the different types of sensors to the data processing board;
the data processing board card is used for processing the perception information of the obstacle targets around the vehicle and outputting the processing result to the parking domain controller;
the parking domain controller is used for fusing the perception information of the obstacle targets by the sensors of different types, and planning the parking track of the vehicle by combining the positioning information of the vehicle;
the vehicle dynamics model system is used for carrying out vehicle parking control according to the parking track and sending scene posture information in the vehicle parking process to the scene simulation system so that the scene simulation system carries out virtual parking simulation in a vehicle parking simulation scene according to the scene posture information.
2. The parking hardware closed loop test system of claim 1, wherein the scene simulation system comprises a scene simulation module, an ultrasonic virtual radar model, a look-around camera virtual model, and a forward-looking camera virtual model;
the scene simulation module is used for building corresponding parking simulation scenes according to different test cases, and respectively building an ultrasonic virtual radar model, an all-around camera virtual model and a front camera virtual model in a scene virtual vehicle according to real vehicle installation external parameters of the ultrasonic radar sensor, real vehicle installation external parameters of the all-around camera and installation external parameters of the front camera.
3. The parking hardware closed loop test system according to claim 2, wherein the scene simulation module is configured to build a corresponding parking simulation scene according to different test cases, and includes:
different test cases are constructed according to the functional specifications and laws and regulations of the parking area controller, and the test cases cover horizontal parking, vertical parking, oblique parking, narrow road and wide road parking scenes.
4. The parking hardware closed loop test system of claim 1, wherein the data processing board card comprises an ultrasonic simulation board card, a video injection board card, and a camera.
5. The parking hardware closed loop test system according to claim 4, wherein the ultrasonic virtual radar model belongs to a multi-point light beam mode, a plurality of points on a target object within a set range of a vehicle CAN be identified through ultrasonic waves, a point closest to the target object is taken as a position point of the target object, and distance and position information of the target object are sent to the ultrasonic simulation board card through CAN/Eth;
the circular camera virtual model is used for developing virtual fish-eye camera visual angle video according to resolution, frame rate, visual angle and distortion table of a real camera, solving distortion internal reference coefficients by using an OpenCV distortion grid method, and outputting perceived video streams around a vehicle to the video injection board card through HDMI;
the front-view camera virtual model is used for simulating a real scene acquired by a camera on a real vehicle according to scene animation acquired by the front-view camera; the real camera to be tested is placed in a camera, an image is identified by shooting a virtual road scene in front, a target obstacle is identified by image sensing, and image sensing information of the identified target obstacle is sent to the parking domain controller.
6. The parking hardware closed loop test system according to claim 5, wherein the ultrasonic simulation board card comprises a processing module and a driving chip, the processing module is connected with the scene simulation system through CAN/Eth, and is used for calculating delay time according to an ultrasonic distance formula from the received distance information of the target obstacle, converting the delay time into high-level duration according to an ultrasonic time sequence, and transmitting the high-level duration to the driving chip through universal asynchronous receiver-transmitter (Uart) serial port communication;
the driving chip is used for forming an interactive interface with 12 paths of data channels in a DSI3 main station of the parking domain controller through a DSI3 bus protocol according to a preset coding rule of an ultrasonic carrier signal, and sending high-low level duration to the parking domain controller.
7. The parking hardware closed loop test system of claim 6, wherein the scene simulation system further comprises a temperature sensor for detecting a current room temperature in the vehicle; the processing module is configured to calculate a delay time from the received distance information of the target obstacle according to an ultrasonic distance formula, and includes:
S＝C*t/2；
C＝C0+0.607*T；
s is target obstacle distance information, C is sound wave speed, T is delay time under the influence of temperature, C0 is sound wave speed 332m/S at zero degree, and T is current room temperature in a vehicle, wherein the unit is ℃.
8. The parking hardware closed loop test system according to claim 4, wherein the video injection board is configured to receive an HDMI video stream and output a GMSL2 video stream, and the internal processing chip performs interface customized development according to a model number, whether an ISP exists, and timing information of a GMSL2 receiving end deserializer of the parking domain controller.
9. The system of claim 4, wherein the parking domain controller performs signal interaction with the DSI3 slave station interface of the ultrasonic simulation board card through the DSI3 master station interface, performs image interaction with the video injection board card through the GMSL2 interface, performs signal interaction with the front-view camera through the CAN, fuses image perception and ultrasonic perception, combines positioning information of a vehicle, plans a parking track, and controls the vehicle dynamics model system through the vehicle control module.
10. The park hardware closed loop test system of claim 9, wherein the vehicle dynamics model system comprises a softECU actuator model and a dynamics model;
the softECU executor is used for logically modeling according to a gear request, an acceleration and deceleration request and a steering wheel request sent by a vehicle control end of the parking domain controller, converting the gear request, the acceleration and deceleration request and the steering wheel request into corresponding throttle and brake actions by searching a throttle and brake calibration table according to the acceleration and deceleration, and adjusting and calibrating a dynamics model;
and fitting a corresponding two-dimensional table between the actions of the accelerator and the brake and the speeds and the acceleration and deceleration through vehicle tests under different conditions, and manufacturing an accelerator and brake calibration table.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117631645A (en) * | 2023-11-27 | 2024-03-01 | 北京理工大学 | Full-flow electronic and electric information architecture virtual simulation test platform and method |
| CN117971660A (en) * | 2024-01-10 | 2024-05-03 | 镁佳(北京)科技有限公司 | Method, device, system, equipment and medium for testing automatic parking auxiliary algorithm |
| CN118466469A (en) * | 2024-07-10 | 2024-08-09 | 中汽智联技术有限公司 | Domain controller parking function test system based on DSI3 protocol |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117631645A (en) * | 2023-11-27 | 2024-03-01 | 北京理工大学 | Full-flow electronic and electric information architecture virtual simulation test platform and method |
| CN117971660A (en) * | 2024-01-10 | 2024-05-03 | 镁佳(北京)科技有限公司 | Method, device, system, equipment and medium for testing automatic parking auxiliary algorithm |
| CN118466469A (en) * | 2024-07-10 | 2024-08-09 | 中汽智联技术有限公司 | Domain controller parking function test system based on DSI3 protocol |
| CN118466469B (en) * | 2024-07-10 | 2024-09-27 | 中汽智联技术有限公司 | Domain controller parking function test system based on DSI3 protocol |
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