CN111899625A - Intelligent driving assisting development device - Google Patents

Abstract

The present application relates to an intelligent assisted driving development device, which is applied in a laboratory simulation environment. The device body includes: an environment perception component for acquiring motion information of the device body on a simulated road and/or road condition information on the simulated road; a motion component , used to control the main body of the device to drive on the simulated road; the processing component is used to generate control instructions according to the current data obtained by the environment perception component, and send the control instructions to the motion component, and the current data includes motion information and/or road condition information; The data transmission component is used to receive and forward the data in the environment perception component, the motion component and the processing component; the data transmission component is respectively connected with the environment perception component, the movement component and the processing component. The device can operate in a laboratory environment, enabling development experiments in a limited space and reducing development costs. In addition, various road conditions can be simulated in the laboratory, which improves development efficiency.

Description

Intelligent assisted driving development device

technical field

The present application relates to the technical field of intelligent driving development, in particular to an intelligent auxiliary driving development device.

Background technique

Cars are an indispensable means of transportation in people's life and work. They have increasingly stronger intelligence, especially the automatic driving function, which brings great convenience to people. In the process of autonomous driving, the parameters in the vehicle kinematics and dynamic models are uncertain, and in the complex and random road environment, there will be other motor vehicles, pedestrians, etc., the behavior of these agents is random to the vehicle. Independent decision-making brings great difficulty and challenges. Therefore, in order to improve the safety performance of autonomous vehicles during driving, it is necessary to develop the autonomous driving functions of vehicles.

SUMMARY OF THE INVENTION

The purpose of this application is to provide an intelligent assisted driving development device, which can develop the automatic driving function of the vehicle in a laboratory environment, and improve the development efficiency of the automatic driving function.

In order to achieve the above purpose, the present application provides an intelligent assisted driving development device, which is applied in a laboratory simulation environment, and includes a device main body, where the device main body includes:

an environment perception component, configured to acquire motion information of the device body in the simulated road and/or road condition information of the simulated road;

a motion component for controlling the main body of the device to drive in the simulated road;

a processing component, configured to generate a control instruction according to the current data acquired by the environment perception component, and send the control instruction to the motion component, where the current data includes the motion information and/or the road condition information;

a data transmission component for receiving and forwarding data in the environment perception component, the motion component and the processing component;

Wherein, the data transmission component is respectively connected with the environment perception component, the motion component and the processing component.

In one embodiment, the context-aware component includes:

a speed measuring module for measuring the running speed of the device body;

an obstacle detection module for detecting obstacle information in the simulated road;

The image acquisition module is used for acquiring lane line information of the simulated road.

In one embodiment, the number of the obstacle detection modules is multiple and uniformly arranged on the device main body.

In one embodiment, the speed measurement module is a radar sensor, the obstacle detection module is an ultrasonic sensor, and the image acquisition module is a camera.

In one embodiment, the data transfer component includes:

a plurality of first peripheral interfaces for connecting with the environment perception component, the motion component and the processing component;

The processing component includes: a second peripheral interface connected to the first peripheral interface;

Wherein, one of the second peripheral interfaces corresponds to at least one of the first peripheral interfaces.

In one embodiment, the data transfer component includes:

The network module is used to establish network connection with external terminals.

In one embodiment, the motion assembly includes:

drive wheel;

a driving module for driving the driving wheel to rotate;

Wherein, the driving module is connected with the data transmission assembly.

In one embodiment, the device body further includes:

Program storage component for storing assisted driving programs;

Wherein, the program storage component is connected with the data processing component.

In one embodiment, the device body further includes:

a power supply assembly, used to provide power to the device body;

Wherein, the power supply component is connected with the data transmission component.

In one embodiment, the power supply component is a model aircraft battery.

Compared with the prior art, the intelligent assisted driving development device in the embodiment of the present application can operate in a laboratory environment, so that development experiments can be performed in a limited space, and development costs are reduced. In addition, various road conditions can be simulated in the laboratory, which improves the development efficiency.

Description of drawings

1 is a schematic structural diagram of an intelligent assisted driving development device provided by an embodiment of the application;

FIG. 2 is a schematic structural diagram of a processing component on an intelligent assisted driving development device according to an embodiment of the present application.

Detailed ways

The technical solutions of the present application will be described in further detail below through the accompanying drawings and embodiments.

Referring to FIG. 1 , the intelligent assisted driving development device provided by the embodiment of the present application is mainly used in a laboratory simulation environment, and simulated roads, signal lights, obstacles, etc. can be set in the laboratory to simulate real road condition information; wherein , the space available for the movement of the intelligent assisted driving development device in the laboratory is a limited space, and the limited space may be smaller than the preset space size, for example, the area of the limited space is less than 20 square meters. The intelligent assisted driving development device includes a device body, wherein the device body includes: an environment perception component, a motion component, a processing component 3, a data transmission component 4, a power supply component and a program storage component. The data transmission component 4 is respectively connected with the environment perception component, the motion component, the processing component 3, the power supply component, and the program storage component; for example, plug-in, cable connection, etc.

Wherein, the environment perception component can acquire the motion information of the device main body in the simulated road and/or the road condition information of the simulated road. The motion information includes the driving speed, heading angle, etc. of the main body of the device, and the road condition information includes whether there are obstacles, road wetness, lane line information, etc.

The motion component can control the body of the device to drive on the simulated road. In one example, the motion assembly 2 includes a drive wheel 21 and a drive module. The driving module is mainly used for driving the driving wheel 21 to rotate. The driving module is electrically connected with the data transmission assembly 3 . Optionally, the drive module is a drive motor.

The processing component 3 may be configured to generate control instructions according to current data acquired by the environment perception component, and send the control instructions to the motion component, where the current data includes motion information and/or road condition information. For example, when the lane line information indicates that the lane line is curved to the left, a control command for turning to the left may be generated, thereby controlling the main body of the device to drive to the left. Optionally, the processing component is a field programmable gate array FPGA.

The data transmission component 4 may receive and forward data in the environment awareness component, the motion component and the processing component.

The power supply assembly can provide power to the device body. Optionally, the power supply component is a model aircraft battery.

The program storage component can store the assisted driving program. The assisted driving program is pre-written, and then the program is stored in the program storage component. After the program runs, the main body of the device can drive according to the operation mode written in the program. Optionally, the program storage component may be a secure digital memory card (Secure Digital Memory Card/SDcard, SD card), a U disk, or the like.

Next, the environment perception component, processing component 3 and data transmission component 4 are introduced.

The environment perception component may include one or more of a speed measurement module 11 , an obstacle detection module 12 and an image acquisition module 13 . The speed measurement module 11 is mainly used to measure the driving speed of the main body of the device; the obstacle detection module 12 is mainly used to detect the obstacle information in the simulated road; the image acquisition module 13 is mainly used to collect the lane line information of the simulated road.

Optionally, the speed measuring module 11 may be a radar sensor, and in this case, a launch plate for reflecting radar waves may be provided on the simulated road, and the running speed of the main body of the device may be determined by analyzing the echoes of the radar sensor. Optionally, the radar sensor is a dual-channel K-band narrow beam radar sensor of the IVS (Innosent VCO stereo) series, which supports FSK/FMCW/CW working modes and adopts a planar microstrip antenna structure. This kind of circuit; in addition, its energy consumption is low when working, which can save electric energy.

The number of obstacle detection modules 12 can be multiple, such as 2, 3, 4, etc., and are evenly arranged on the main body of the device to detect the obstacle information on the simulated road in an all-round way. Wherein, the obstacle detection module 12 and the simulated road are at a preset angle, such as an angle of 60 degrees, so as to detect obstacles on the simulated road. Optionally, the obstacle detection module 12 may be an ultrasonic sensor. In this case, the ultrasonic sensor is used to continuously or intermittently emit ultrasonic waves to detect obstacle information on the simulated road.

The image acquisition module 13 may be a camera, and the camera collects lane line information, traffic sign recognition, pedestrian and object detection, anti-collision warning and the like on the simulated road through the camera. For example, an image of the road surface of the simulated road is captured by a camera, and then image edge operators such as Canny operator are used to analyze and process the image to obtain lane line information on the simulated road. In addition, the image acquisition module 13 can also be used to obtain the wetness of the road surface of the simulated road. For example, the image acquired by the image acquisition module 13 is analyzed and processed to determine the reflective degree of the road surface, and then according to the preset reflective degree and The mapping relationship between the wet slip degrees determines the wet slip degree of the current road surface. Optionally, the image acquisition module 13 is connected to the main body of the device through a rotatable bracket 131; the rotatable bracket 131 enables the image acquisition module 13 to rotate up, down, left, right, and tilt to meet the needs of multi-directional target detection.

Referring to FIG. 2 , the processing component 3 may include: a processing module, a plurality of second peripheral interfaces, and a network module. The processing module is mainly used to process the data of the environment perception component and the motion component. The second peripheral interface is mainly used to connect with the second peripheral interface on the data transmission component 4 . The network module is mainly used to establish a network connection with the external terminal; through the network module, the data obtained by the environment perception component can be transmitted to the external terminal for display and so on. Wherein, the processing module, the second peripheral interface and the network module can be integrated on a data board.

Optionally, the processing module is a field programmable logic gate array FPGA, and the network module is a Bluetooth module and/or a WIFI module.

Optionally, the second peripheral interface includes: a USB Type-C (JTAG&UART) interface, an SD card slot, a USB communication female port, an Ethernet interface, an HDMI interface, an audio interface, a power interface, a digital-to-analog conversion interface, and a camera interface and many more. Among them, the audio interface includes two interfaces, one in and one out, which can realize audio input and output.

In addition, a mode switching button, such as a self-starting mode button and a debugging mode button, may also be set on the processing component 3 . Optionally, the self-starting mode means that the device body can automatically run the program in the program storage component after booting; the debugging mode means that the device body can be debugged and controlled by using an external device.

The data transmission component 4 includes: a plurality of first peripheral interfaces. Wherein, multiple first peripheral interfaces may simultaneously correspond to one second peripheral interface. The first peripheral interface is mainly used to connect with the environment perception component, the motion component and the processing component 3; wherein, one end of the first peripheral interface is connected to an external component (such as an environment perception component, etc.), and the other end of the first peripheral interface Connect with the second peripheral interface. The data transmission component 4 is used to expand the number of peripheral interfaces on the processing component 3, so that sufficient environment perception components can be arranged in the limited space on the main body of the device, so as to increase the amount of data collected in the environment, thereby improving the development efficiency; for example, If only three peripheral interfaces can be arranged on the processing component 3, in the absence of the data transmission component 4, a maximum of three radar sensors can be arranged on the main body of the device, but after the data transmission component 4 is added, the data transmission component Five peripheral interfaces are arranged on 4, and these five peripheral interfaces can be connected to one peripheral interface on processing component 3 at the same time, so that in addition to connecting two radar sensors on processing component 3, you can also connect to the data transmission component. 4 is connected to 5 radar sensors, which greatly increases the number of radar sensors. Wherein, multiple first peripheral interfaces may be integrated on one data board.

In addition, the data transmission component 4 may also include an installation interface for installing the environment awareness component.

In an example, the data transmission component 4 further includes a power conversion module, and the environment perception component, the motion component, and the processing component 3 are powered by the power conversion module.

The following describes the use process and data flow of the intelligent assisted driving development device provided by the embodiments of the present application.

First, write a program for controlling the operation of the intelligent assisted driving development device, and copy the program into the program storage component in the device main body.

Next, select the self-start mode on the processing component, and the program starts to run. The processing component sends control commands to the motion component, and the motion component starts to drive the main body of the device to travel on the simulated road.

Then, when the main body of the device is running, the camera, radar sensor and ultrasonic sensor on it are in working state. The digital image collected by the camera is transmitted to the processing component through the data transmission component. After being processed by the processing module in the processing component, it can be transmitted to the host computer for display through Bluetooth. The radar sensor obtains the radar echo, transmits it to the processing component through the data transmission component, and processes it by the processing module in the processing component to obtain the driving speed of the main body of the device, and then transmits it to the host computer for display through Bluetooth. The ultrasonic waves obtained by the ultrasonic sensor can also be transmitted to the processing component through the data transmission component, and processed by the processing module in the processing component to obtain the obstacle information on the simulated road, and then transmitted to the host computer for display through Bluetooth.

Finally, by analyzing and processing the data in the running process of the main body of the device, the defects existing in the process of program development are determined and improved.

To sum up, the intelligent assisted driving development device provided by the embodiments of the present application can operate in a laboratory environment, so that development experiments can be performed in a limited space, and development costs are reduced. In addition, various road conditions can be simulated in the laboratory, which improves the development efficiency.

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above descriptions are only specific embodiments of the present application, and are not intended to limit the Within the scope of protection, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims (10)

1. an intelligent assisted driving development device, characterized in that, when applied in a laboratory simulation environment, comprising a device main body, and the device main body comprises: an environment perception component, configured to acquire motion information of the device body in the simulated road and/or road condition information of the simulated road; a motion component for controlling the main body of the device to drive in the simulated road; a processing component, configured to generate a control instruction according to the current data acquired by the environment perception component, and send the control instruction to the motion component, where the current data includes the motion information and/or the road condition information; a data transmission component for receiving and forwarding data in the environment perception component, the motion component and the processing component; Wherein, the data transmission component is respectively connected with the environment perception component, the motion component and the processing component. 2. The intelligent assisted driving development device according to claim 1, wherein the environment perception component comprises: a speed measuring module for measuring the running speed of the device body; an obstacle detection module for detecting obstacle information in the simulated road; The image acquisition module is used for acquiring lane line information of the simulated road. 3 . The intelligent assisted driving development device according to claim 2 , wherein there are multiple obstacle detection modules, and they are evenly arranged on the device main body. 4 . 4 . The intelligent assisted driving development device according to claim 2 , wherein the speed measurement module is a radar sensor, the obstacle detection module is an ultrasonic sensor, and the image acquisition module is a camera. 5 . 5. The intelligent assisted driving development device according to claim 1, wherein the data transmission component comprises: a plurality of first peripheral interfaces for connecting with the environment perception component, the motion component and the processing component; The processing component includes: a second peripheral interface connected to the first peripheral interface; Wherein, one of the second peripheral interfaces corresponds to at least one of the first peripheral interfaces. 6. The intelligent assisted driving development device according to claim 1, wherein the data transmission component comprises: The network module is used to establish network connection with external terminals. 7. The intelligent assisted driving development device according to claim 1, wherein the motion component comprises: drive wheel; a driving module for driving the driving wheel to rotate; Wherein, the driving module is connected with the data transmission assembly. 8. The intelligent assisted driving development device according to any one of claims 1-7, wherein the device body further comprises: Program storage component for storing assisted driving programs; Wherein, the program storage component is connected with the data processing component. 9. The intelligent assisted driving development device according to any one of claims 1-7, wherein the device body further comprises: a power supply assembly, used to provide power to the device body; Wherein, the power supply component is connected with the data transmission component. 10 . The intelligent assisted driving development device according to claim 9 , wherein the power supply component is a model aircraft battery. 11 .

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