CN117193041A - Unmanned collection card is at ring test platform based on digit twin - Google Patents
Unmanned collection card is at ring test platform based on digit twin Download PDFInfo
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Abstract
The invention relates to a digital twinning-based unmanned integrated card ring test platform which comprises an unmanned integrated card, an Ethernet switch and video injection equipment and is characterized by further comprising a tested domain controller, a virtual simulation scene system and a real-time simulation system, wherein the virtual simulation scene system comprises an ultrasonic radar module, a millimeter wave radar module, a laser radar module, a camera module and a satellite positioning module, and the ultrasonic radar module and the millimeter wave radar module acquire port road condition truth information and package and output the truth information to the real-time simulation system. The invention not only avoids that the vehicle dynamics model in the HIL can not accurately simulate the motion performance and the motion trail of the vehicle, improves the accuracy of a simulation system, but also solves the industry bottleneck of unmanned integrated card automatic driving test.
Description
Technical Field
The invention relates to the technical field of unmanned integrated cards, in particular to an unmanned integrated card ring test platform based on digital twinning.
Background
The environmental characteristics of unmanned integrated circuit card operation are confined harbour environment, and the scene is single and fixed, and along with the development of high-level autopilot technique, unmanned integrated circuit card has realized L4 level autopilot in harbour environment. The unmanned integrated circuit card realizes automatic driving, senses road condition information around the integrated circuit card through sensors such as a laser radar and the like, performs fusion calculation on the road condition information and a port platform scheduling instruction, and plans a driving path of the integrated circuit card. In the development process of the unmanned integrated card automatic driving, a large number of test tasks are required to be experienced: wherein the main simulation test is a software in loop test (SIL) and a hardware in loop test (HIL); the main real vehicle test is a development road test, a closed field test and a certification test.
The SIL/HIL simulation modeling test has the advantages that: the test scene is rich; safety, high efficiency and good consistency; the domain controller is tested more comprehensively in function; the defects are as follows: the test precision depends on the model and test data, and the performance test evaluation cannot be performed; the system test link is lacking.
The real vehicle test has the advantages that: the method can cover the function and performance test required by the existing regulations; the test object is not limited to a single subsystem, and can be oriented to the whole vehicle; the defects are as follows: is limited by the test environment and has low efficiency; the test implementation cost is high; limited limit working conditions and difficult fault simulation; there is a test safety risk.
In the prior art, a patent (application number: 202110786302.6) discloses a VIL test platform based on a VTS, which comprises a real vehicle, a real-time simulation system and a virtual scene simulation platform; firstly, building a functional scene realized by a tested controller in a virtual scene simulation platform, then building a corresponding sensor model in the virtual scene simulation platform according to an input signal required by a tested object, and sending information to a real-time simulation system. The real-time simulation system positions the real vehicle integrated by the controlled controller and the virtual vehicle projected in the virtual simulation scene of the virtual scene simulation platform in real time, and the controlled algorithm feeds back the output signal to control the action of the real vehicle, so that the controller with the automatic driving algorithm is verified. However, the simulation System is based on a VT System (product of German Vector automobile electronics company) as a real-time simulation System, is a modularized hardware System and is a part of execution hardware of the System, but after the circuit structure of the System is simpler and high-frequency positioning information cannot be simulated, if the frequency requirement of the positioning algorithm loaded in the controller on input positioning data is higher, the simulation System cannot meet the requirement, and the positioning algorithm cannot identify positioning data information sent by the inertial navigation IMU.
In the prior art, patent (application number: 202210683431.7) discloses a method and a system for simulating a scene of the Internet of vehicles, wherein the method comprises the following steps: SUMO-based traffic flow simulation software
Carrying out joint simulation by Omnet++ network communication simulation software, and constructing a V2X-based intersection driving scheme simulation scene; transmitting traffic information to VTD traffic simulation software through an SUMO interface, and secondarily developing SUMO-plug in plug-ins in the VTD to receive traffic information data transmitted by the SUMO; after the VTD plug-in matches and classifies the traffic information data, calling the own scene library of the VTD traffic simulation software to carry out traffic sign on vehicles, buildings, roads and traffic signs
And performing 3D rendering, generating real-time animation of the 3D visualized traffic simulation scene, and simulating the first visual angle animation of the driver. However, the simulation scene is based on VTD modeling, a vehicle dynamics model of the simulation scene also uses a built-in nested vehicle dynamics model library of the VTD, the built-in vehicle dynamics model cannot cover special vehicle types, and the dynamics simulation scene also has the problems of overlarge deviation from an actual vehicle dynamics parameter target characteristic curve and the like; in addition, in the scheme, the docking scheme of Trace in the SUMO and plug in the VTD is not described in detail, whether the information data stream is checked, whether frame loss occurs or not is also not described, and the accuracy of true value transmission of the simulation system cannot be ensured.
Disclosure of Invention
In view of the defects of the prior art, the invention provides the digital twinning-based unmanned integrated card ring test platform, which not only avoids the problem that a vehicle dynamics model in HIL cannot accurately simulate the motion performance and the motion track of a vehicle, improves the accuracy of a simulation system, but also solves the industry bottleneck of automatic driving test of the unmanned integrated card.
In order to achieve the above object and other related objects, the present invention provides the following technical solutions:
an unmanned set card-in-loop test platform based on digital twinning comprises an unmanned set card, an Ethernet switch, video injection equipment, a tested domain controller, a virtual simulation scene system and a real-time simulation system,
the virtual simulation scene system comprises an ultrasonic radar module, a millimeter wave radar module, a laser radar module, a camera module and a satellite positioning module, wherein the ultrasonic radar module and the millimeter wave radar module collect port road condition true value information and package the true value information to be output to the real-time simulation system, and the real-time simulation system processes the received packaged sensor information and then outputs a whole environment perception target list and sends the whole environment perception target list to the measured domain controller;
the laser radar module splices the acquired point cloud information to obtain virtual digital twin point clouds of the real port point cloud, and then transmits the virtual digital twin point clouds of the real port point cloud to the measured domain controller through the Ethernet switch in a UDP protocol;
the satellite positioning module converts the true value of the position of the collector card in the virtual scene into a Gaussian coordinate position through a related protocol and sends the Gaussian coordinate position to the real-time simulation system, the real-time simulation system processes the Gaussian coordinate position and sends the Gaussian coordinate position to the measured domain controller, and the measured domain controller is driven by the MCU and then converts the Gaussian coordinate position into positioning data input stream;
after receiving the digital twin virtual data input of the virtual simulation system, the detected domain controller obtains an actual control instruction and controls the unmanned aerial vehicle to automatically drive through the processing of a carrier algorithm, and meanwhile, the real-time simulation system reads updated position information of the unmanned aerial vehicle in the detected domain controller and inputs the updated position information of the unmanned aerial vehicle into the virtual simulation scene system, so that real-time synchronization of the real unmanned aerial vehicle and the unmanned aerial vehicle pose in the virtual scene is realized.
Further, the camera module transmits the collected virtual scene visual data set to the video injection device, the video injection device forms a video stream for the visual data set, converts the video stream into an Lvds format, and finally transmits the video stream to the detected domain controller.
Further, the environment information of the virtual simulation scene system for the unmanned set card comprises traffic identification information, road line information, port machine equipment model, container model and container loading and unloading animation data information.
Further, the detected domain controller is arranged on the unmanned aerial vehicle, the real-time simulation system drives signals of the virtual scene simulation system and inputs the signals to the detected domain controller, a specified unmanned aerial vehicle operation virtual simulation environment is built to input different working conditions and different scenes to the detected domain controller, and then the real unmanned aerial vehicle loaded in the detected domain controller and the virtual unmanned aerial vehicle projected in the virtual simulation scene system are positioned.
Further, the real-time simulation system is connected with the virtual scene simulation system, port environment information around the unmanned set card in the virtual simulation environment is obtained, the port environment information is input to an integral separation PID control algorithm in the tested domain controller after data conversion, and the integral separation PID control algorithm controls the real unmanned set card to automatically drive through outputting a control signal.
Further, the step of controlling the real unmanned set card to automatically drive by the integral separation PID control algorithm through outputting a control signal comprises the following steps:
u1. performing obstacle cluster analysis based on port environment information around the unmanned aerial vehicle in the virtual simulation environment, performing obstacle avoidance control on the unmanned aerial vehicle by adopting an artificial potential field algorithm, and outputting obstacle avoidance amount data information of the unmanned aerial vehicle;
u2. a preset threshold value is set based on the obstacle avoidance amount data information of the unmanned aerial vehicle, if the obstacle avoidance amount data information of the unmanned aerial vehicle is smaller than the preset threshold value, the step U3 is entered, and if the obstacle avoidance amount data information of the unmanned aerial vehicle is larger than the preset threshold value, the step U1 is returned;
u3. according to the obstacle avoidance amount data information of the unmanned aerial vehicle, establishing an unmanned aerial vehicle control function F (x),
，
wherein k is p For proportional control parameter, k i To integrate the control parameters, k d As differential control parameters, x is a time variable, obstale (x) is a variable of an obstacle at x time, j is a time component, and beta is a switching coefficient of an integral term;
u4. based on the unmanned set card control function F (x), the control data information of the unmanned set card is obtained.
Further, in step U3, the constraint condition of the switching coefficient β of the integral term is:
，
where m is the integrated differentiation value of the unmanned collector card obstacle amount, and obstacle (x) is the variable of the obstacle at time x.
Further, the system also comprises a power supply system, the power supply system provides testing environments of voltage fluctuation under different working conditions, the influence of power supply voltage on the work of the tested domain controller is tested, and the power supply system simulates the storage battery of the unmanned integrated card.
Further, the motion information of the unmanned aerial vehicle comprises speed data information of the unmanned aerial vehicle, acceleration data information of the unmanned aerial vehicle and course angle data information of the unmanned aerial vehicle.
The invention has the following positive effects:
1. aiming at the port unmanned integrated card automatic driving function test, the invention uses the real unmanned integrated card to replace the vehicle simulation model in the HIL, thereby avoiding that the vehicle dynamics model in the HIL can not accurately simulate the motion performance and the motion trail of the vehicle, greatly improving the accuracy of the simulation system, and further carrying out more accurate functional verification on the unmanned integrated card automatic driving algorithm.
2. The real unmanned collection card automatic driving test needs to be carried out in a designated port, the port operation is delayed, the dangerous working condition of the extreme end cannot be tested, the real unmanned collection card is embedded into a virtual port simulation scene through a digital twin technology, the unmanned collection card can be tested in any port operation scene only in an open field, so that the manpower test cost is greatly reduced, the unmanned collection card automatic driving test can be carried out in dangerous port traffic and operation scenes, and the industry bottleneck of the unmanned collection card automatic driving test is solved.
3. The invention has flexible and convenient use configuration, not only aims at the automatic return algorithm of the unmanned integrated card, but also can be matched with a plurality of different automatic driving domain controllers through the software and hardware configuration of the real-time simulation system, test the automatic driving algorithm of each level, has better reusability, can build the traffic scene which can cope with other road conditions without building the accurate port traffic operation scene by the virtual simulation scene system, and can be iterated and perfected continuously by the scene library, so that the test time of the automatic driving algorithm is shortened continuously, the scene coverage is improved continuously, and the development time of the automatic driving algorithm is saved.
Drawings
FIG. 1 is a schematic diagram of a system framework of the present invention;
FIG. 2 is a schematic diagram of simulation modeling of an ultrasonic radar sensor of the present invention;
FIG. 3 is a schematic diagram of a camera module simulation architecture according to the present invention;
fig. 4 is a schematic diagram of a satellite positioning module simulation architecture according to the present invention.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Example 1: as shown in fig. 1 or fig. 2, the digital twinning-based unmanned set card ring test platform comprises an unmanned set card, an ethernet switch, video injection equipment, a tested domain controller, a virtual simulation scene system and a real-time simulation system,
the virtual simulation scene system comprises an ultrasonic radar module, a millimeter wave radar module, a laser radar module, a camera module and a satellite positioning module, wherein the ultrasonic radar module and the millimeter wave radar module collect port road condition true value information and package the true value information to be output to the real-time simulation system, and the real-time simulation system processes the received packaged sensor information and then outputs a whole environment perception target list and sends the whole environment perception target list to the measured domain controller;
the laser radar module splices the acquired point cloud information to obtain virtual digital twin point clouds of the real port point cloud, and then transmits the virtual digital twin point clouds of the real port point cloud to the measured domain controller through the Ethernet switch in a UDP protocol;
as shown in fig. 4, the satellite positioning module converts the true value of the position of the set card in the virtual scene into a gaussian coordinate position through a related protocol, and sends the gaussian coordinate position to the real-time simulation system, the real-time simulation system processes the gaussian coordinate position and sends the gaussian coordinate position to the measured domain controller, and the measured domain controller is driven by the MCU and then converts the gaussian coordinate position into a positioning data input stream;
after receiving the digital twin virtual data input of the virtual simulation system, the detected domain controller obtains an actual control instruction and controls the unmanned aerial vehicle to automatically drive through the processing of a carrier algorithm, and meanwhile, the real-time simulation system reads updated position information of the unmanned aerial vehicle in the detected domain controller and inputs the updated position information of the unmanned aerial vehicle into the virtual simulation scene system, so that real-time synchronization of the real unmanned aerial vehicle and the unmanned aerial vehicle pose in the virtual scene is realized.
In this embodiment, as shown in fig. 3, the camera module transmits the collected virtual scene visual data set to the video injection device, and the video injection device forms a video stream on the visual data set and converts the video stream into an Lvds format, and finally transmits the video stream to the domain controller under test.
In this embodiment, the environment information of the virtual simulation scene system for the unmanned set card includes traffic identification information, road line information, port machine equipment model, container model and container loading and unloading animation data information.
Example 2: the invention is further illustrated and described below on the basis of a digital twinning-based unmanned set card of embodiment 1 on a loop test platform.
As shown in fig. 1 or fig. 2, the digital twinning-based unmanned set card ring test platform comprises an unmanned set card, an ethernet switch, video injection equipment, a tested domain controller, a virtual simulation scene system and a real-time simulation system,
the virtual simulation scene system comprises an ultrasonic radar module, a millimeter wave radar module, a laser radar module, a camera module and a satellite positioning module, wherein the ultrasonic radar module and the millimeter wave radar module collect port road condition true value information and package the true value information to be output to the real-time simulation system, and the real-time simulation system processes the received packaged sensor information and then outputs a whole environment perception target list and sends the whole environment perception target list to the measured domain controller;
the laser radar module splices the acquired point cloud information to obtain virtual digital twin point clouds of the real port point cloud, and then transmits the virtual digital twin point clouds of the real port point cloud to the measured domain controller through the Ethernet switch in a UDP protocol;
as shown in fig. 4, the satellite positioning module converts the true value of the position of the set card in the virtual scene into a gaussian coordinate position through a related protocol, and sends the gaussian coordinate position to the real-time simulation system, the real-time simulation system processes the gaussian coordinate position and sends the gaussian coordinate position to the measured domain controller, and the measured domain controller is driven by the MCU and then converts the gaussian coordinate position into a positioning data input stream;
after receiving the digital twin virtual data input of the virtual simulation system, the detected domain controller obtains an actual control instruction and controls the unmanned aerial vehicle to automatically drive through the processing of a carrier algorithm, and meanwhile, the real-time simulation system reads updated position information of the unmanned aerial vehicle in the detected domain controller and inputs the updated position information of the unmanned aerial vehicle into the virtual simulation scene system, so that real-time synchronization of the real unmanned aerial vehicle and the unmanned aerial vehicle pose in the virtual scene is realized.
In this embodiment, the tested domain controller is disposed on the unmanned aerial vehicle, the real-time simulation system drives signals of the virtual scene simulation system and inputs the signals to the tested domain controller, a specified unmanned aerial vehicle operation virtual simulation environment is built to input different working conditions and different scenes to the tested domain controller, and then a real unmanned aerial vehicle loaded in the tested domain controller and a virtual unmanned aerial vehicle projected in the virtual simulation scene system are positioned.
In this embodiment, the real-time simulation system is connected to the virtual scene simulation system, and obtains port environment information around the unmanned cluster card in the virtual simulation environment, and the port environment information is input to the integral separation PID control algorithm in the detected domain controller after data conversion, and the integral separation PID control algorithm controls the real unmanned cluster card to perform automatic driving by outputting a control signal.
In this embodiment, the step of controlling the real unmanned set card to perform automatic driving by outputting a control signal by the integral separation PID control algorithm includes:
u1. performing obstacle cluster analysis based on port environment information around the unmanned aerial vehicle in the virtual simulation environment, performing obstacle avoidance control on the unmanned aerial vehicle by adopting an artificial potential field algorithm, and outputting obstacle avoidance amount data information of the unmanned aerial vehicle;
u2. a preset threshold value is set based on the obstacle avoidance amount data information of the unmanned aerial vehicle, if the obstacle avoidance amount data information of the unmanned aerial vehicle is smaller than the preset threshold value, the step U3 is entered, and if the obstacle avoidance amount data information of the unmanned aerial vehicle is larger than the preset threshold value, the step U1 is returned;
u3. according to the obstacle avoidance amount data information of the unmanned aerial vehicle, establishing an unmanned aerial vehicle control function F (x),
，
wherein k is p For proportional control parameter, k i To integrate the control parameters, k d As differential control parameters, x is a time variable, obstale (x) is a variable of an obstacle at x time, j is a time component, and beta is a switching coefficient of an integral term;
u4. based on the unmanned set card control function F (x), the control data information of the unmanned set card is obtained.
Further, in step U3, the constraint condition of the switching coefficient β of the integral term is:
，
where m is the integrated differentiation value of the unmanned collector card obstacle amount, and obstacle (x) is the variable of the obstacle at time x.
In this embodiment, the system further includes a power supply system, where the power supply system provides a test environment for voltage fluctuation under different working conditions, and tests an influence of a power supply voltage on the operation of the tested domain controller, and the power supply system simulates the storage battery of the unmanned integrated circuit card.
In this embodiment, the motion information of the unmanned aerial vehicle includes speed data information of the unmanned aerial vehicle, acceleration data information of the unmanned aerial vehicle, and heading angle data information of the unmanned aerial vehicle.
In conclusion, the vehicle dynamic model simulation method and the vehicle dynamic model simulation system not only avoid the situation that the vehicle dynamic model in the HIL cannot accurately simulate the motion performance and the motion track of the vehicle, improve the accuracy of a simulation system, but also solve the industry bottleneck of unmanned integrated card automatic driving test.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (10)
1. The digital twinning-based unmanned set card ring test platform comprises an unmanned set card, an Ethernet switch and video injection equipment, and is characterized by also comprising a tested domain controller, a virtual simulation scene system and a real-time simulation system,
the virtual simulation scene system comprises an ultrasonic radar module, a millimeter wave radar module, a laser radar module, a camera module and a satellite positioning module, wherein the ultrasonic radar module and the millimeter wave radar module collect port road condition true value information and package the true value information to be output to the real-time simulation system, and the real-time simulation system processes the received packaged sensor information and then outputs a whole environment perception target list and sends the whole environment perception target list to the measured domain controller;
the laser radar module splices the acquired point cloud information to obtain virtual digital twin point clouds of the real port point cloud, and then transmits the virtual digital twin point clouds of the real port point cloud to the measured domain controller through the Ethernet switch in a UDP protocol;
the satellite positioning module converts the true value of the position of the collector card in the virtual scene into a Gaussian coordinate position through a related protocol and sends the Gaussian coordinate position to the real-time simulation system, the real-time simulation system processes the Gaussian coordinate position and sends the Gaussian coordinate position to the measured domain controller, and the measured domain controller is driven by the MCU and then converts the Gaussian coordinate position into positioning data input stream;
after receiving the digital twin virtual data input of the virtual simulation system, the detected domain controller obtains an actual control instruction and controls the unmanned aerial vehicle to automatically drive through the processing of a carrier algorithm, and meanwhile, the real-time simulation system reads updated position information of the unmanned aerial vehicle in the detected domain controller and inputs the updated position information of the unmanned aerial vehicle into the virtual simulation scene system, so that real-time synchronization of the real unmanned aerial vehicle and the unmanned aerial vehicle pose in the virtual scene is realized.
2. The digital twinning-based unmanned set card-in-loop test platform of claim 1, wherein: the camera module transmits the acquired virtual scene visual data set to the video injection equipment, the video injection equipment forms a video stream for the visual data set, converts the video stream into an Lvds format and finally transmits the video stream to the detected domain controller.
3. The digital twinning-based unmanned set card-in-loop test platform of claim 1, wherein: the environment information of the virtual simulation scene system, which aims at the unmanned integrated card, comprises traffic identification information, road line information, port machine equipment model, container model and container loading and unloading animation data information.
4. The digital twinning-based unmanned set card-in-loop test platform of claim 1, wherein: the virtual simulation scene system is used for building all port scenes where the unmanned set card is located, extracting the operation scenes of the unmanned set card automatic driving function by combining the traffic and operation environment of the unmanned set card, and inputting data information of a distributed video stream to an algorithm to be calculated for algorithm verification.
5. The digital twinning-based unmanned set card-in-loop test platform of claim 1, wherein: the real-time simulation system drives signals of the virtual scene simulation system and inputs the signals to the tested domain controller, a specified virtual simulation environment for operation of the tested domain controller is built to input different working conditions and different scenes of the tested domain controller, and then the real unmanned set carried in the tested domain controller and the virtual unmanned set projected in the virtual simulation scene system are positioned.
6. The digital twinning-based unmanned set card-in-loop test platform of claim 1, wherein: the real-time simulation system is connected with the virtual scene simulation system, port environment information around the unmanned collector card in the virtual simulation environment is obtained, the port environment information is input into an integral separation PID control algorithm in the tested domain controller after data conversion, and the integral separation PID control algorithm controls the real unmanned collector card to automatically drive through outputting a control signal.
7. The digital twinning-based unmanned set-card-in-loop test platform of claim 6, wherein: the integral separation PID control algorithm controls the real unmanned integrated card to automatically drive by outputting a control signal, and the integral separation PID control algorithm comprises the following steps:
u1. performing obstacle cluster analysis based on port environment information around the unmanned aerial vehicle in the virtual simulation environment, performing obstacle avoidance control on the unmanned aerial vehicle by adopting an artificial potential field algorithm, and outputting obstacle avoidance amount data information of the unmanned aerial vehicle;
u2. a preset threshold value is set based on the obstacle avoidance amount data information of the unmanned aerial vehicle, if the obstacle avoidance amount data information of the unmanned aerial vehicle is smaller than the preset threshold value, the step U3 is entered, and if the obstacle avoidance amount data information of the unmanned aerial vehicle is larger than the preset threshold value, the step U1 is returned;
u3. according to the obstacle avoidance amount data information of the unmanned aerial vehicle, establishing an unmanned aerial vehicle control function F (x),
，
wherein k is p For proportional control parameter, k i To integrate the control parameters, k d For differential control parameters, x is the time variable, and obstacle (x) is the time xJ is a time component and β is a switching coefficient of an integral term;
u4. based on the unmanned set card control function F (x), the control data information of the unmanned set card is obtained.
8. The digital twinning-based unmanned set-up test platform of claim 7, wherein in step U3, the constraint on the switching coefficient β of the integral term is:
，
where m is the integrated differentiation value of the unmanned collector card obstacle amount, and obstacle (x) is the variable of the obstacle at time x.
9. The digital twinning-based unmanned set card-in-loop test platform of claim 1, wherein: the system also comprises a power supply system, wherein the power supply system provides testing environments of voltage fluctuation under different working conditions, the influence of power supply voltage on the work of the tested domain controller is tested, and the power supply system simulates the storage battery of the unmanned integrated card.
10. The digital twinning-based unmanned set card-in-loop test platform of claim 1, wherein: the motion information of the unmanned aerial vehicle comprises speed data information of the unmanned aerial vehicle, acceleration data information of the unmanned aerial vehicle and course angle data information of the unmanned aerial vehicle.
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