CN216791221U - Test system, test equipment and vehicle for verifying null shift estimation algorithm - Google Patents
Test system, test equipment and vehicle for verifying null shift estimation algorithm Download PDFInfo
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Abstract
The application discloses a test system, test equipment and a vehicle for verifying a null shift estimation algorithm, wherein the test system for verifying the null shift estimation algorithm comprises a vehicle body electronic stabilizing system, a satellite navigation system, a CAN gateway, an algorithm operation controller and a test host. The electronic vehicle body stabilizing system is mounted on a chassis of a vehicle and used for acquiring a sensor measuring signal of a vehicle body motion attitude; the satellite navigation system is arranged on the vehicle body and is used for measuring a true value signal of the motion attitude of the vehicle body; the CAN gateway is connected with the satellite navigation system and the arithmetic operation controller to play a role of signal relay; the algorithm operation controller is connected with the CAN gateway and receives the sensor measurement signal through the CAN gateway so as to obtain the calculation results of the null shift estimation algorithm and the vehicle body attitude estimation algorithm; and the test host is connected with the CAN gateway and the algorithm operation controller, and calculates the result errors of the null shift estimation algorithm and the vehicle body attitude estimation algorithm. The zero drift estimation method can be evaluated and verified.
Description
Technical Field
The application relates to the technical field of intelligent driving test development, in particular to a test system, test equipment and a vehicle for verifying a null shift estimation algorithm.
Background
In general, when a vehicle with an intelligent driving function is in an automatic driving mode, an automatic driving system of the vehicle needs to acquire vehicle body motion attitude parameters for performing closed-loop control on vehicle motion. Specifically, the vehicle body motion attitude parameters include yaw rate, longitudinal acceleration, lateral acceleration, and the like. In particular, the vehicle in the automatic driving mode acquires the vehicle body motion attitude parameters through a motion attitude sensor mounted on a chassis, and then the motion attitude sensor tends to have a null shift phenomenon. The null shift phenomenon means that the motion attitude sensor can display a very small value under the condition that the motion attitude parameter of the vehicle body is actually 0, and the value is the null shift value. And the null shift values of the same type of sensor are different in size and direction, and the null shift values of the same sensor can be different when the vehicle is in different environments and moving postures.
Of course, for the null shift phenomenon of these vehicle body attitude sensors, in an automatic driving system, a corresponding algorithm is usually designed to estimate the null shift value in real time, and then perform corresponding measurement compensation, so that the acceleration and angular velocity measured by the motion attitude sensor are closer to the true acceleration and angular velocity. However, correctness tests for these estimation algorithms are currently lacking.
SUMMERY OF THE UTILITY MODEL
The main purpose of the present application is to provide a test system for verifying a null shift estimation algorithm, which aims to solve the technical problem that the null shift estimation algorithm cannot be evaluated.
In order to achieve the above object, the present application provides a test system for verifying a null shift estimation algorithm, including:
the electronic vehicle body stabilizing system is arranged on a chassis of a vehicle and comprises at least one vehicle body motion attitude sensor for acquiring a sensor measurement signal of a vehicle body motion attitude;
the satellite navigation system is arranged on the body of the vehicle and used for measuring a true value signal of the motion attitude of the body;
the CAN gateway is connected with the satellite navigation system and the electronic vehicle body stabilization system and plays a role in signal relay;
the algorithm operation controller is connected with the CAN gateway and is used for receiving the sensor measurement signal of the vehicle body motion attitude through the CAN gateway so as to obtain the calculation results of the null shift estimation algorithm and the vehicle body attitude estimation algorithm;
the test host is connected with the CAN gateway and the arithmetic operation controller, acquires a sensor measurement signal and a true value signal of the vehicle body motion attitude through the CAN gateway, and acquires the calculation result through the arithmetic operation controller; and calculating the result errors of the null shift estimation algorithm and the vehicle body attitude estimation algorithm.
Optionally, the test host includes:
the data storage module is connected with the arithmetic operation controller, the CAN gateway and used for receiving and storing a calculation result sent by the arithmetic operation controller, a sensor measurement signal and a true value signal sent by the CAN gateway;
the data processing module is connected with the data storage module and used for calculating the result errors of the null shift estimation algorithm and the vehicle body attitude estimation algorithm according to the calculation result, the sensor measurement signal and the true value signal;
and the interaction module is connected with the data processing module and is used for carrying out data interaction.
Optionally, the data storage module includes:
the first data storage unit is connected with the CAN gateway and used for accessing and storing a sensor measurement signal and a true value signal sent by the CAN gateway;
and the second data storage unit is connected with the arithmetic operation controller and is used for accessing and storing the calculation result sent by the arithmetic operation controller.
Optionally, the data processing module includes:
the null shift calculation unit is connected with the first data storage unit and used for calculating the actual null shift value of the vehicle chassis attitude sensor according to the true value signal;
and the error estimation unit is connected with the first data storage unit, the second data storage unit and the null shift calculation unit and is used for calculating an estimation result error of a null shift estimation algorithm and an estimation result error of a vehicle body attitude estimation algorithm according to the actual null shift value, the sensor measurement signal and the calculation result.
Optionally, the interaction module includes:
the information configuration unit is used for acquiring configuration information and sending the configuration information to the data processing module;
and the display unit is used for displaying the actual null shift value calculated by the error estimation unit, the estimation result error of the null shift estimation algorithm and the estimation result error of the vehicle body attitude estimation algorithm.
Optionally, the satellite navigation system comprises:
an inertial sensor for measuring a true acceleration value and a true angular velocity value of the vehicle;
and the positioning unit is used for positioning the vehicle.
Optionally, the vehicle body electronic stabilizing system comprises the following vehicle body motion attitude sensors:
the angle increment acquisition unit comprises at least one angular speed sensor and is used for measuring an angular speed signal of the vehicle;
and the speed increment acquisition unit comprises at least one acceleration sensor and is used for measuring an acceleration signal of the vehicle.
Optionally, the CAN gateway is connected to the body electronic stability system through an OBD port connected to a vehicle.
In order to achieve the above object, the present application further provides a test apparatus for verifying a null shift estimation algorithm, where the test apparatus for verifying a null shift estimation algorithm includes a test system for verifying the null shift estimation algorithm, and the test system for verifying the null shift estimation algorithm includes:
the electronic vehicle body stabilizing system is arranged on a chassis of a vehicle and is used for measuring a sensor measuring signal of a vehicle body motion attitude;
the satellite navigation system is arranged on the body of the vehicle and used for measuring a true value signal of the motion attitude of the body;
the CAN gateway is connected with the satellite navigation system and the electronic vehicle body stabilization system and plays a role in signal relay;
the algorithm operation controller is connected with the CAN gateway and is used for receiving the sensor measurement signal through the CAN gateway so as to obtain the calculation results of a null shift estimation algorithm and a vehicle body attitude estimation algorithm;
the test host is connected with the CAN gateway and the arithmetic operation controller, obtains sensor measurement signals and true value signals of the vehicle body motion attitude through the CAN gateway, and obtains the calculation result through the arithmetic operation controller; and calculating the result errors of the null shift estimation algorithm and the vehicle body attitude estimation algorithm.
In order to achieve the above object, the present application also proposes a vehicle including the test device verified by the null shift estimation algorithm.
The method comprises the steps of running a null shift estimation algorithm and a vehicle body attitude estimation algorithm in real time through an algorithm operation controller to obtain a calculation result, comparing the calculation result with a true value tested by a satellite navigation system to obtain a result error of the null shift estimation algorithm and the vehicle body attitude estimation algorithm, and accordingly, objective evaluation can be conducted on the effects of the null shift estimation algorithm and the vehicle body attitude estimation algorithm of a vehicle body motion attitude sensor.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art according to the structures shown in the drawings without creative efforts.
FIG. 1 is a block diagram of a structural connection of an embodiment of a test system verified by a null shift estimation algorithm of the present application;
FIG. 2 is a block diagram of an embodiment of a test system verified by the null shift estimation algorithm of the present application;
FIG. 3 is a block diagram of an embodiment of a test host in the test system verified by the null shift estimation algorithm of the present application;
FIG. 4 is a block diagram of an embodiment of a data storage module in a test system verified by the null shift estimation algorithm of the present application;
FIG. 5 is a block diagram of an embodiment of a data processing unit in a test system verified by the null shift estimation algorithm of the present application;
FIG. 6 is a block diagram of an embodiment of an interaction module in a test system verified by the null shift estimation algorithm of the present application;
FIG. 7 is a block diagram of an embodiment of a satellite navigation system in a test system verified by the null shift estimation algorithm of the present application;
fig. 8 is a schematic block diagram of an embodiment of an electronic vehicle body stability system in a test system verified by the null shift estimation algorithm.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
The reference numbers illustrate:
| reference numerals | Name(s) | Reference numerals | Name (R) |
| 11 | Vehicle body |
156 | Zero |
| 12 | |
157 | |
| 13 | CAN |
158 | |
| 14 | |
159 | |
| 15 | |
121 | |
| 151 | |
122 | |
| 152 | |
111 | Angle |
| 153 | |
112 | Speed |
| 154 | First |
155 | Second data storage unit |
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that all the directional indications (such as up, down, left, right, front, and rear … …) in the embodiment of the present application are only used to explain the relative position relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indication is changed accordingly.
In addition, the descriptions referred to as "first", "second", etc. in this application are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
In general, when a vehicle with an intelligent driving function is in an automatic driving mode, an automatic driving system of the vehicle needs to acquire vehicle body motion attitude parameters for performing closed-loop control on vehicle motion. Specifically, the vehicle body motion attitude parameters include yaw rate, longitudinal acceleration, lateral acceleration, and the like. In particular, the vehicle in the automatic driving mode acquires the vehicle body motion attitude parameters through a motion attitude sensor mounted on a chassis, and then the motion attitude sensor tends to have a null shift phenomenon. The null shift phenomenon means that the motion attitude sensor can display a very small value under the condition that the motion attitude parameter of the vehicle body is actually 0, and the value is the null shift value. And the null shift values of the same type of sensor are different in size and direction, and the null shift values of the same sensor can be different when the vehicle is in different environments and moving postures.
Of course, for the null shift phenomenon of these vehicle body attitude sensors, in an automatic driving system, a corresponding algorithm is usually designed to estimate the null shift value in real time, and then perform corresponding measurement compensation, so that the acceleration and angular velocity measured by the motion attitude sensor are closer to the true acceleration and angular velocity. However, correctness tests for these estimation algorithms are currently lacking.
In view of the above problem, the present application provides a test system for verifying a null shift estimation algorithm, and referring to fig. 1, in an embodiment of the present application, the test system for verifying a null shift estimation algorithm includes:
the electronic vehicle body stabilizing system 11 is arranged on a chassis of a vehicle and comprises at least one vehicle body motion attitude sensor for obtaining a sensor measurement signal of a vehicle body motion attitude;
the satellite navigation system 12 is installed on the body of the vehicle and used for measuring a true value signal of the motion attitude of the body;
the CAN gateway 13 is connected with the satellite navigation system 12, is connected with the vehicle body electronic stabilization system 11 and plays a role of signal relay;
the algorithm operation controller 14 is connected with the CAN gateway 13, and receives the sensor measurement signal through the CAN gateway 13 to obtain the calculation results of a null shift estimation algorithm and a vehicle body attitude estimation algorithm;
the test host 15 is connected with the CAN gateway 13 and the arithmetic operation controller 14, acquires a sensor measurement signal and a true value signal of the vehicle body motion attitude through the CAN gateway 13, and acquires the calculation result through the arithmetic operation controller 14; and calculating the result errors of the null shift estimation algorithm and the vehicle body attitude estimation algorithm.
In this embodiment, the electronic body stabilization system 11 is mounted on the chassis of the vehicle, and includes an anti-lock brake system, a brake assist system, and an acceleration slip control system for monitoring the driving state of the vehicle by at least one motion attitude sensor, and preventing the vehicle from deviating from an ideal trajectory when understeering or oversteering occurs during emergency obstacle avoidance or turning. In this embodiment, the electronic vehicle body stabilization system 11 is in communication connection with an external CAN gateway 13CAN through an OBD interface on the vehicle, and transmits a sensor measurement signal measured by the motion attitude sensor to the CAN gateway 13. The OBD interface is a universal standard interface in the automobile industry, and CAN read CAN message signals sent by any control system of the whole automobile communication network through the OBD interface.
In this embodiment, the satellite navigation system 12 is fixed on the vehicle body and is configured to measure a true value signal of the vehicle body motion attitude, where the true value signal refers to a true value of vehicle body motion attitude parameters such as yaw rate, longitudinal acceleration, lateral acceleration, and the like measured by the satellite navigation system 12.
In this embodiment, the CAN gateway 13 is connected to the vehicle body electronic stabilization system 11 and the satellite navigation system 12 in the CAN communication mode, and is also connected to the external arithmetic operation controller 14 and the test host 15 in the CAN communication mode, so as to function as a signal relay. Specifically, the CAN gateway 13CAN avoid the problem of communication interference caused by repetition of message IDs of different CAN segments, so that the test system verified by the null shift estimation algorithm has better compatibility.
In this embodiment, the arithmetic operation controller 14 receives the sensor measurement signal through the CAN gateway 13, and is connected to the test host 15 through network communication, for calculating an estimated value of the vehicle body motion attitude, and sending the estimated value to the test host 15 in real time. Specifically, the arithmetic operation controller 14 is a high-performance arithmetic operation device, in which a null shift estimation algorithm and a vehicle body attitude estimation algorithm of a vehicle body motion attitude to be tested are operated, and an operation result can be obtained by real-time calculation according to a sensor measurement signal and is sent to the test host 15 by a network communication mode. The test host 15CAN simultaneously receive the sensor measurement signal and the true value signal relayed and forwarded by the CAN gateway 13 and the calculation result of the null shift estimation algorithm and the vehicle body attitude estimation algorithm sent by the algorithm operation controller 14, and compare the true value signal with the calculation result to obtain the result error of the null shift estimation algorithm and the vehicle body attitude estimation algorithm.
In the application, the zero drift estimation algorithm is operated in real time through the algorithm operation controller 14, the vehicle body attitude estimation algorithm of the algorithm operation controller 14 is operated in real time, a calculation result is obtained, the calculation result is compared with a true value tested by the satellite navigation system 12, and a result error of the zero drift estimation algorithm and the vehicle body attitude estimation algorithm is obtained, so that objective evaluation can be made on the effects of the zero drift estimation algorithm and the vehicle body attitude estimation algorithm of the vehicle body attitude sensor, the method is used in the development period of the zero drift estimation algorithm and the vehicle body attitude estimation algorithm of the vehicle body attitude sensor, the development time can be shortened, and the vehicle type and the estimation algorithm can be matched and the parameters can be debugged more quickly and better.
Further, the test host 15 includes:
a data storage module 151 connected to the arithmetic operation controller 14, connected to the CAN gateway 13, and configured to receive and store a calculation result sent by the arithmetic operation controller 14, and a sensor measurement signal and a true value signal sent by the CAN gateway 13;
a data processing module 152 connected to the data storage module 151 for calculating the result errors of the null shift estimation algorithm and the vehicle body attitude estimation algorithm according to the calculation result, the sensor measurement signal and the true value signal;
and the interaction module 153 is connected with the data processing module 152 and is used for performing data interaction.
In this embodiment, the test host 15 includes a data storage module 151, a data processing module 152, and an interaction module 153. The data storage module 151 is connected with the arithmetic operation controller 14, connected with the CAN gateway 13, and configured to receive a calculation result sent by the arithmetic operation controller 14, and a sensor measurement signal and a true value signal sent by the CAN gateway 13; and stores the data into a database, and the data processing module 152 respectively calculates the actual null shift value of the vehicle chassis attitude sensor, the estimation result error of the null shift estimation algorithm, the estimation result error of the vehicle body attitude estimation algorithm, and the KPI (including the mean square error MAE and the root mean square error RMSE of each chassis attitude sensor null shift estimation algorithm and the vehicle body attitude estimation algorithm) according to the read accessed calculation result, sensor measurement signal and true value signal, and the configuration information set by the user and acquired from the interaction module 153. After the actual null shift value, the estimation result error of the null shift estimation algorithm, and the estimation result error of the vehicle body attitude estimation algorithm are obtained through calculation, the above information is displayed on the display interface of the interaction module 153.
Further, the data storage module 151 includes:
a first data storage unit 154 connected to the CAN gateway 13, and configured to access and store the sensor measurement signal and the true value signal sent by the CAN gateway 13;
and the second data storage unit 155 is connected to the arithmetic operation controller 14, and is configured to access and store the calculation result sent by the arithmetic operation controller 14.
Further, the data processing module 152 includes:
a null shift calculation unit 156 connected to the first data storage unit 154 for calculating an actual null shift value of the vehicle chassis attitude sensor according to the true value signal;
and an error estimation unit 157, connected to the first data storage unit 154, the second data storage unit 155 and the null shift calculation unit 156, for calculating an estimation result error of the null shift estimation algorithm and an estimation result error of the vehicle body attitude estimation algorithm according to the actual null shift value, the sensor measurement signal and the calculation result.
Further, the interaction module 153 includes:
an information configuration unit 158, configured to obtain configuration information and send the configuration information to the data processing module 152;
and a display unit 159 for displaying the actual null shift value calculated by the error estimation unit 157, the estimation result error of the null shift estimation algorithm, and the estimation result error of the vehicle body attitude estimation algorithm.
Further, the satellite navigation system 12 includes:
an inertial sensor 121 for measuring a true acceleration value and a true angular velocity value of the vehicle;
a positioning unit 122, configured to position the vehicle.
In this embodiment, the inertial sensor 121 of the satellite navigation system 12 is mainly used for measuring the real-valued signals of the vehicle motion process, wherein the real-valued signals include the true acceleration value and the true angular velocity value. Further, the inertial sensor 121 includes a three-axis accelerometer, so the true acceleration value includes a true acceleration value along the x-axis, a true acceleration value along the y-axis, and a true acceleration value along the z-axis. The Positioning unit 122 includes an RTK (Real-time kinematic) module and a GPS (global Positioning system) module, and the RTK module and the GPS module, the RTK module and the GPS module complete Positioning of the vehicle together.
Further, the vehicle body electronic stabilization system 11 includes:
an angle increment acquisition unit 111 comprising at least one angular velocity sensor for measuring an angular velocity signal of the vehicle;
a speed increment acquisition unit 112 comprising at least one acceleration sensor for measuring an acceleration signal of said vehicle.
In this embodiment, the angular velocity sensor and the acceleration sensor are both mounted on the vehicle chassis, and the sensor measurement signals include the angular velocity signal and the acceleration signal described above.
Further, the CAN gateway 13 is connected to the vehicle body electronic stability system 11 through an OBD port connected to a vehicle.
In addition, the present application further provides a test device for verifying the null shift estimation algorithm, where the test device for verifying the null shift estimation algorithm includes the test system for verifying the null shift estimation algorithm, and it can be understood that, because the test system for verifying the null shift estimation algorithm is used in the detection device, the embodiment of the detection device includes all technical solutions of all embodiments of the test system for verifying the null shift estimation algorithm, and the achieved technical effects are also completely the same, and are not described herein again.
In addition, the application also provides a vehicle which comprises the test equipment verified by the null shift estimation algorithm.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications and equivalents of the subject matter of the present application, which is intended to be covered by the claims and their equivalents, or which are directly or indirectly applicable to other related arts are intended to be included within the scope of the present application.
Claims (10)
1. A test system for verifying null shift estimation algorithm, wherein the test system for verifying null shift estimation algorithm comprises:
the electronic vehicle body stabilizing system is arranged on a chassis of a vehicle and comprises at least one vehicle body motion attitude sensor for acquiring a sensor measurement signal of a vehicle body motion attitude;
the satellite navigation system is arranged on the body of the vehicle and used for measuring a true value signal of the motion attitude of the body;
the CAN gateway is connected with the satellite navigation system and the electronic vehicle body stabilization system and plays a role in signal relay;
the algorithm operation controller is connected with the CAN gateway and is used for receiving the sensor measurement signal through the CAN gateway so as to obtain the calculation results of a null shift estimation algorithm and a vehicle body attitude estimation algorithm;
the test host is connected with the CAN gateway and the arithmetic operation controller, obtains the measurement signal and the true value signal of the vehicle body motion attitude sensor through the CAN gateway, and obtains the calculation result through the arithmetic operation controller; and calculating the result errors of the null shift estimation algorithm and the vehicle body attitude estimation algorithm.
2. The null-shift estimation algorithm verified test system of claim 1, wherein the test host comprises:
the data storage module is connected with the arithmetic operation controller, the CAN gateway and used for receiving and storing a calculation result sent by the arithmetic operation controller, a sensor measurement signal and a true value signal sent by the CAN gateway;
the data processing module is connected with the data storage module and used for calculating the result errors of the null shift estimation algorithm and the vehicle body attitude estimation algorithm according to the calculation result, the sensor measurement signal and the true value signal;
and the interaction module is connected with the data processing module and is used for carrying out data interaction.
3. The null-shift estimation algorithm verified test system of claim 2, wherein the data storage module comprises:
the first data storage unit is connected with the CAN gateway and used for accessing and storing a sensor measurement signal and a true value signal sent by the CAN gateway;
and the second data storage unit is connected with the arithmetic operation controller and is used for accessing and storing the calculation result sent by the arithmetic operation controller.
4. The null-shift estimation algorithm verified test system of claim 3, wherein the data processing module comprises:
the null shift calculation unit is connected with the first data storage unit and used for calculating an actual null shift value of the vehicle chassis attitude sensor according to the true value signal;
and the error estimation unit is connected with the first data storage unit, the second data storage unit and the null shift calculation unit and is used for calculating an estimation result error of a null shift estimation algorithm and an estimation result error of a vehicle body attitude estimation algorithm according to the actual null shift value, the sensor measurement signal and the calculation result.
5. The null shift estimation algorithm verified test system of claim 4, wherein the interaction module comprises:
the information configuration unit is used for acquiring configuration information and sending the configuration information to the data processing module;
and the display unit is used for displaying the actual null shift value calculated by the error estimation unit, the estimation result error of the null shift estimation algorithm and the estimation result error of the vehicle body attitude estimation algorithm.
6. The null shift estimation algorithm verified test system of claim 1, wherein the satellite navigation system comprises:
an inertial sensor for measuring a true acceleration value and a true angular velocity value of the vehicle;
and the positioning unit is used for positioning the vehicle.
7. The null shift estimation algorithm verified test system of claim 1, wherein the body electronics stability system comprises:
the angle increment acquisition unit comprises at least one angular speed sensor and is used for measuring an angular speed signal of the vehicle;
and the speed increment acquisition unit comprises at least one acceleration sensor and is used for measuring an acceleration signal of the vehicle.
8. The null shift estimation algorithm verified test system of claim 1, wherein the CAN gateway is connected to the body electronic stability system through an OBD port connected to a vehicle.
9. A null-shift estimation algorithm verification test device characterized in that the null-shift estimation algorithm verification test device comprises a null-shift estimation algorithm verification test system according to any one of claims 1 to 8.
10. A vehicle comprising a test apparatus validated by the null shift estimation algorithm of claim 9.
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