CN116540563A - Automatic driving simulation test system - Google Patents
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Abstract
The embodiment of the invention discloses an automatic driving simulation test system. The system comprises: the system comprises an upper computer, a real-time machine, an electronic control unit to be tested and a video camera bellows with built-in video acquisition equipment, wherein the upper computer comprises a host and display equipment, and simulation software is operated on the host; the simulation software is used for obtaining vehicle information of the virtual vehicle and setting up an automatic driving scene of the virtual vehicle, and sending the vehicle information and sensing information detected in the automatic driving scene to the electronic control unit; the video acquisition equipment is used for acquiring the automatic driving scene played by the display equipment and sending the acquired image information to the electronic control unit; and the electronic control unit is used for obtaining control information according to the vehicle information, the sensing information and the image information and sending the control information to real time so as to realize simulation test of the virtual vehicle. According to the technical scheme provided by the embodiment of the invention, the accuracy of automatic driving in the aspect of simulation test can be improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to an automatic driving simulation test system.
Background
With the continuous development of the automatic driving technology, the automatic driving function of the vehicle is gradually improved, and the higher and higher requirements are put forward on the algorithm function test of the current automatic driving stage L2-L3.
The traditional vehicle enterprise mostly adopts a real vehicle road test scheme to verify the corresponding automatic driving function, but faces the situations of various automatic driving scenes, complex test working conditions and the like, and the test scheme has certain potential safety hazards and leads to a longer test period because of low test efficiency.
Therefore, simulation testing is a necessary means to solve the problem of automatic driving testing. However, the simulation test schemes currently employed have to be improved in terms of accuracy.
Disclosure of Invention
The embodiment of the invention provides an automatic driving simulation test system which can improve the accuracy of automatic driving in the aspect of simulation test.
According to an aspect of the present invention, there is provided an automatic driving simulation test system, which may include: the system comprises an upper computer, a real time machine in communication connection with the upper computer, an electronic control unit to be tested in communication connection with the real time machine and a video camera bellows, wherein the upper computer comprises a host and display equipment, simulation software is operated on the host, and the video camera bellows is internally provided with video acquisition equipment in communication connection with the electronic control unit; wherein,,
the simulation software is used for obtaining vehicle information of the virtual vehicle by realizing the whole vehicle dynamics response of the virtual vehicle, constructing an automatic driving scene of the virtual vehicle, and sending the vehicle information and the sensing information detected in the automatic driving scene to the electronic control unit;
the video acquisition device is used for acquiring the automatic driving scene played by the display device and sending the acquired image information to the electronic control unit;
and the electronic control unit is used for obtaining the control information of the virtual vehicle according to the received vehicle information, the sensing information and the image information and sending the control information to the real time so as to realize the simulation test of the virtual vehicle.
The automatic driving simulation test system described in the embodiment of the invention can comprise: the system comprises an upper computer, a real time machine in communication connection with the upper computer, an electronic control unit to be tested in communication connection with the real time machine and a video camera bellows, wherein the upper computer comprises a host and display equipment, simulation software is operated on the host, and the video camera bellows is internally provided with video acquisition equipment in communication connection with the electronic control unit; the vehicle dynamics response of the virtual vehicle can be realized through simulation software, vehicle information of the virtual vehicle is obtained, an automatic driving scene of the virtual vehicle is built, and the vehicle information and sensing information detected in the automatic driving scene are sent to the electronic control unit; the automatic driving scene played by the display equipment is collected through the video collection equipment, and the collected image information is sent to the electronic control unit; and the electronic control unit obtains control information of the virtual vehicle according to the received vehicle information, the sensing information and the image information, and sends the control information to the real time so as to realize simulation test of the virtual vehicle. According to the technical scheme, besides the fact that the vehicle information and the sensing information are sent to the real-time machine for simulation test, the real video acquisition equipment is arranged in the video camera bellows to acquire the simulated automatic driving scene, and the acquired image information is sent to the real-time machine, so that the accuracy of the sensing information in the real-time machine is improved, and the accuracy of automatic driving in the simulation test is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention, nor is it intended to be used to limit the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of an automated driving simulation test system provided by an embodiment of the present invention;
FIG. 2 is a block diagram of another automated driving simulation test system provided by an embodiment of the present invention;
FIG. 3 is a block diagram of another automated driving simulation test system provided by an embodiment of the present invention;
FIG. 4 is a block diagram of another automated driving simulation test system provided by an embodiment of the present invention;
FIG. 5a is a block diagram of an alternative example of an automated driving simulation test system provided in accordance with an embodiment of the present invention;
FIG. 5b is a schematic diagram of simulation software in an alternative example of an automated driving simulation test system provided in accordance with an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. The cases of "target", "original", etc. are similar and will not be described in detail herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
FIG. 1 is a block diagram of an automated driving simulation test system provided in an embodiment of the present invention. The embodiment is applicable to the case of performing a simulation test for automatic driving. Referring to fig. 1, an automatic driving simulation test system according to an embodiment of the present invention may include: the upper computer 1, the real-time machine 2 which is in communication connection with the upper computer 1, the electronic control unit 3 to be tested which is in communication connection with the real-time machine 2 and the video camera bellows 4 are arranged, the upper computer 1 comprises a display device 11 and a host 12, simulation software 121 is operated on the host 12, and the video camera bellows 4 is internally provided with a video acquisition device 5 which is in communication connection with the electronic control unit 3; wherein,,
simulation software 121, configured to obtain vehicle information of a virtual vehicle by implementing a vehicle dynamics response of the virtual vehicle, and build an autopilot scene of the virtual vehicle, and send the vehicle information and sensing information detected in the autopilot scene to the electronic control unit 3;
the video acquisition device 5 is used for acquiring the automatic driving scene played through the display device 11 and sending the acquired image information to the electronic control unit 3;
the electronic control unit 3 is configured to obtain control information of the virtual vehicle according to the received vehicle information, the sensing information and the image information, and send the control information to the real time 2, so as to implement a simulation test of the virtual vehicle.
The upper computer 1 comprises a display device 11 and a host 12. The display device 11 may be used for displaying a simulation scene, in particular an autopilot scene, simulated by the simulation software 121, and on this basis, may also be used for displaying a complete vehicle dynamics model of the virtual vehicle, and at the same time may be used as an input for the video capture device 5. The host 12 is provided with simulation software 121, and functional software such as test management software and automated test software can be also provided on the basis of the simulation software. The simulation software 121, in conjunction with the application scenario that may be involved in the embodiments of the present invention, may include, for example, a vehicle dynamics model, a driver and road model, a scene model, a truck model, a trailer model, a sensor model (including, for example, a camera, a lidar, etc.), a model parameterization tool, a 3D animation foreground tool, etc. On the basis, the model is optional, the model can also have the functions of supporting the model import of rack data, modifying parameters of each module on line in real time, displaying all intermediate data in the model calculation process in real time, flexibly combining all parts in the model, facilitating modeling of a variant structure of a power system and the like.
In real time 2, it can be understood that the industrial personal computer carrying the real-time operating system can support multi-core operation and reserve Ethernet (Ethernet) gigabit Ethernet hardware interface, and can implement transmission control protocol (Transmission Control Protocol, TCP)/user datagram protocol (User Datagram Protocol, UDP) communication in cooperation with related software, and can be in communication interconnection with the upper computer 1.
In practical applications, the upper computer 1 and the real-time machine 2 may be replaced by an industrial personal computer or other computers, which is also applicable to the lower computers mentioned below.
The ECU3, which may be an intelligent driving area controller, is configured to receive vehicle information of the virtual vehicle and sensing information detected by a sensor mounted on the virtual vehicle, and may send control information to the virtual vehicle.
The video camera bellows 4 is built-in with video acquisition equipment 5, in practical application, optional, is used for arranging the position that video acquisition equipment 5 was arranged in the video camera bellows 4 and can adjust and lock the black case in order to isolate outside light through six degree of freedom supports to guarantee the accuracy of the image information that video acquisition equipment 5 gathered. In connection with an application scenario, which may be involved in an embodiment of the present invention, the video capturing apparatus 5 may be a camera.
On the basis, the upper computer 1 is in communication connection with the real-time machine 2, the real-time machine 2 is in communication connection with the ECU3, and the ECU3 is in communication connection with the video acquisition equipment 5 in the video camera bellows 4. Meanwhile, the display device 11 may play the autopilot scene simulated by the simulation software 121, so that the video capture device 5 may capture the autopilot scene played via the display device 11 in the video camera 4.
So far, on the basis of the explanation of the individual devices in the simulation test system, the workflow of these devices is explained next in order to better understand the working process of the simulation test system. In particular, the method comprises the steps of,
for the simulation software 121, vehicle information of the virtual vehicle is obtained by implementing the whole vehicle dynamics response of the virtual vehicle, and an automatic driving scene of the virtual vehicle is built, so that the vehicle information and the sensing information detected in the automatic driving scene can be sent to the ECU3. In practical applications, the information may optionally be sent through a controller area network (controller area network, CAN) communication mode.
For the video capturing apparatus 5, the automatic driving scene played through the display apparatus 11 may be captured, and the captured image information may be transmitted to the ECU3. That is, in order to increase the authenticity of the video input, it is possible to employ a real video capturing device 5 built in the video camera 4, capture an autopilot scene, and directly connect the output of the video capturing device 5 with the ECU3, thereby improving the accuracy of the perceived information.
For the ECU3, control information of the virtual vehicle may be obtained according to the received vehicle information, sensing information, and image information, and the control information may be sent to the real time 2, so as to implement a simulation test of the virtual vehicle. In connection with the application scenario possibly related to the embodiment of the present invention, optionally, the control information may include steering wheel angle, brake pedal opening, accelerator opening, and the like.
The automatic driving simulation test system described in the embodiment of the invention can comprise: the system comprises an upper computer, a real time machine in communication connection with the upper computer, an electronic control unit to be tested in communication connection with the real time machine and a video camera bellows, wherein the upper computer comprises a host and display equipment, simulation software is operated on the host, and the video camera bellows is internally provided with video acquisition equipment in communication connection with the electronic control unit; the vehicle dynamics response of the virtual vehicle can be realized through simulation software, vehicle information of the virtual vehicle is obtained, an automatic driving scene of the virtual vehicle is built, and the vehicle information and sensing information detected in the automatic driving scene are sent to the electronic control unit; the automatic driving scene played by the display equipment is collected through the video collection equipment, and the collected image information is sent to the electronic control unit; and the electronic control unit obtains control information of the virtual vehicle according to the received vehicle information, the sensing information and the image information, and sends the control information to the real time so as to realize simulation test of the virtual vehicle. According to the technical scheme, besides the fact that the vehicle information and the sensing information are sent to the real-time machine for simulation test, the real video acquisition equipment is arranged in the video camera bellows to acquire the simulated automatic driving scene, and the acquired image information is sent to the real-time machine, so that the accuracy of the sensing information in the real-time machine is improved, and the accuracy of automatic driving in the simulation test is improved.
An optional technical solution, the above simulation debugging system further includes: the lower computer comprises real time and at least one of a power management module, an input/output interface and a sensor injection unit; wherein,,
the power management module is used for supplying power to at least one of the real-time, the input/output interface and the electronic control unit;
the input/output interface is used for supporting at least one of model input/output, digital input/output, resistance output, CAN communication board card, terminal resistance and baud rate configuration;
and the sensor injection unit is used for supporting the injection of the image information and/or the raw data of the radar and simulating a control signal interface of the sensor controller.
The lower computer comprises a real time and at least one of a power management module, an Input/Output interface and a sensor injection unit, and optionally, a display, and also comprises Input/Output (IO) hardware board card supporting model Input/Output, digital Input/Output, resistor Output and CAN communication board card.
The power management module can comprise an alternating current power supply, a signal conditioning power supply, a programmable power supply and the like, so that power can be supplied to real-time, IO interfaces, ECU and the like.
The IO interface, the IO hardware board card CAN support model input/output, digital input/output, resistance output, CAN communication board card, CAN, CANFD and LIN, and the terminal resistance and the baud rate CAN be configured.
The sensor injection unit is used for supporting video data injection of the video acquisition equipment, can simulate a control signal interface of the sensor controller, and can support raw data injection of the radar.
On the basis, the upper computer is optionally connected with the lower computer through Ethernet in a communication way, and the communication connection state between the upper computer and the lower computer is determined through configuration software; and alternatively, the electronic control unit is in communication connection with the ECU in a CAN communication mode at real time.
FIG. 2 is a block diagram of another automated driving simulation test system provided in an embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. In this embodiment, optionally, the simulation software at least includes a whole vehicle dynamics model, a scene model, and a sensor model; the simulation software is specifically used for realizing the whole vehicle dynamics response of the virtual vehicle through a whole vehicle dynamics model to obtain the vehicle information of the virtual vehicle, building an automatic driving scene of the virtual vehicle through a scene model, obtaining sensing information detected in the automatic driving scene through a sensor model, and sending the vehicle information and the sensing information to the electronic control unit. The same or corresponding terms as those of the above embodiments are not repeated herein.
Specifically, referring to fig. 2, the automatic driving simulation test system according to the present embodiment may include: the upper computer 1, the real-time machine 2 which is in communication connection with the upper computer 1, the electronic control unit 3 to be tested which is in communication connection with the real-time machine 2 and the video camera bellows 4 are arranged, the upper computer 1 comprises a display device 11 and a host 12, simulation software 121 is operated on the host 12, the simulation software 121 at least comprises a whole vehicle dynamics model 1211, a scene model 1212 and a sensor model 1213, and the video camera bellows 4 is internally provided with a video acquisition device 5 which is in communication connection with the electronic control unit 3; wherein,,
simulation software 121 for realizing the vehicle dynamics response of the virtual vehicle through a vehicle dynamics model 1211 to obtain vehicle information of the virtual vehicle, constructing an automatic driving scene of the virtual vehicle through a scene model 1212, obtaining sensing information detected in the automatic driving scene through a sensor model 1213, and transmitting the vehicle information and the sensing information to the electronic control unit 3;
the video acquisition device 5 is used for acquiring the automatic driving scene played through the display device 11 and sending the acquired image information to the electronic control unit 3;
the electronic control unit 3 is configured to obtain control information of the virtual vehicle according to the received vehicle information, the sensing information and the image information, and send the control information to the real time 2, so as to implement a simulation test of the virtual vehicle.
The whole vehicle dynamics model 1211 is used for realizing the whole vehicle dynamics response of the virtual vehicle, and on the basis, the whole vehicle dynamics model 1211 can be flexibly configured and modified independently, so that the matching degree of the simulation test vehicle model is increased. Scene model 1212 is used to build the autopilot scene of the virtual vehicle. A sensor model 1213 for detecting sensory information in the built autopilot scenario.
On this basis, the simulation software 121 may be used to implement the whole vehicle dynamics response of the virtual vehicle through the whole vehicle dynamics model 1211, to obtain the vehicle information of the virtual vehicle, and build the automatic driving scene of the virtual vehicle through the scene model 1212, and obtain the sensing information detected in the automatic driving scene through the sensor model 1213, and send the vehicle information and the sensing information to the ECU3.
According to the technical scheme provided by the embodiment of the invention, the vehicle information, the automatic driving scene and the sensing information are accurately determined through the mutual coordination of the whole vehicle dynamics model, the scene model and the sensor model.
The vehicle dynamics model is used for outputting the vehicle posture of the virtual vehicle under at least one working condition of longitudinal running, acceleration and deceleration, turning running and special road surface of the virtual vehicle, and feeding back the vehicle posture to a sensor arranged on the virtual vehicle so as to generate sensing information corresponding to the sensor, thereby realizing the vehicle dynamics response of the virtual vehicle.
By combining the application scenes possibly related to the embodiment of the invention, the whole vehicle dynamics model can ensure that the virtual vehicle outputs correct vehicle gestures (such as vehicle speed, wheel speed, steering angle, tire driving force, braking force and the like) under various working conditions such as longitudinal running, turning running, acceleration and deceleration, special road surface and the like, and then feeds back the vehicle gestures to various sensors (such as ultrasonic wave, millimeter wave radar, cameras and the like) arranged on the virtual vehicle, so that more real sensing information is generated. Having an engine/motor/battery, transmission/retarder, transaxle, brake, suspension, steering model (e.g., may have 3DoF, with friction elements and support rack and pinion electric steering system), tire model (e.g., may be Magic formulation, TMEasy, or Ftire), etc., and may be flexibly configured and modified autonomously.
The scene model is used for simulating a road network, virtual vehicles and similar vehicles similar to the virtual vehicles according to preset scene simulation parameters so as to build an automatic driving scene.
In connection with the application scenarios, which may be involved in embodiments of the present invention, exemplary, scenario models are capable of simulating road networks, virtual vehicles, a large number of vehicles of the same type, and the necessary environment. A virtual vehicle (i.e., a self-vehicle) may be equipped with multiple sensors to detect and identify targets. Meanwhile, the method comprises the steps of defining various traffic conditions, road gradients, attachment coefficients, lengths, widths and roughness, simulating traffic scenes of meeting vehicles and intersections, defining and identifying various traffic identifications, animals, pedestrians and the like.
In another alternative technical scheme, the sensor model is used for simulating environmental information detected by the sensor based on physical phenomena and characteristics of the sensor and following the physical rule of signal propagation, and is influenced by material characteristics and channel attenuation, and the environmental information is used as sensing information.
In connection with the application scenario possibly related to the embodiment of the invention, the sensor model can follow the physical rule of signal propagation based on the physical phenomenon and the characteristics of the simulation sensor, is influenced by the material characteristics and the channel attenuation, can simulate all environment information detected by the related sensor, can comprise other vehicles, roads, traffic signs, roadside structures and the like, and particularly can comprise a camera model, a radar model and the like.
In another optional technical scheme, the simulation software further comprises an animation demonstration model; wherein,,
an animated vision model for receiving and displaying vehicle information and providing at least one viewing perspective for viewing an autopilot scene.
In combination with the application scenario possibly related to the embodiment of the invention, the animation scene model can receive parameters of the vehicle simulation model in real time, for example, vehicle information such as the current vehicle posture and stress conditions of each tire and the like, can be displayed on an interface, can provide different viewing angles, for example, an overhead view, a side view, a driver viewing angle and the like, and can conveniently observe the influence of the modified parameters on the model. Besides, the system can also have functions of animation rendering display, supporting creation of various 3D scenes, supporting 3D object introduction, supporting generation of image information and laser radar point cloud data for sensor data injection and the like.
FIG. 3 is a block diagram of another automated driving simulation test system provided in an embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. In this embodiment, optionally, test management software is also run on the host; wherein, the test management software is used for at least one of the following: downloading the simulated executable file to a real-time machine for execution; in a real-time environment, realizing real-time data access and experiment management through an Ethernet bus; real-time online adjustment is carried out on parameters to be adjusted in the simulation software; establishing a test interface in a configuration mode to realize real-time operation of simulation test through the test interface; and aiming at the model variables in the simulation software, supporting the external equipment to display the real-time change curve of the model variables, and recording and analyzing the model variables. The same or corresponding terms as those of the above embodiments are not repeated herein.
Specifically, referring to fig. 3, the automatic driving simulation test system according to the present embodiment may include: the upper computer 1, the real-time machine 2 which is in communication connection with the upper computer 1, the electronic control unit 3 to be tested which is in communication connection with the real-time machine 2 and the video camera bellows 4, wherein the upper computer 1 comprises a display device 11 and a host 12, simulation software 121 and test management software 122 are operated on the host 12, and the video camera bellows 4 is internally provided with a video acquisition device 5 which is in communication connection with the electronic control unit 3; wherein,,
simulation software 121, configured to obtain vehicle information of a virtual vehicle by implementing a vehicle dynamics response of the virtual vehicle, and build an autopilot scene of the virtual vehicle, and send the vehicle information and sensing information detected in the autopilot scene to the electronic control unit 3;
the video acquisition device 5 is used for acquiring the automatic driving scene played through the display device 11 and sending the acquired image information to the electronic control unit 3;
the electronic control unit 3 is used for obtaining control information of the virtual vehicle according to the received vehicle information, the sensing information and the image information, and sending the control information to the real time 2 so as to realize simulation test of the virtual vehicle;
test management software 122 for at least one of:
downloading the simulated executable file to the real-time machine 2 for execution;
in a real-time environment, realizing real-time data access and experiment management through an Ethernet bus;
real-time online adjustment is carried out on parameters to be adjusted in the simulation software 121;
establishing a test interface in a configuration mode to realize real-time operation of simulation test through the test interface; the method comprises the steps of,
for the model variables in the simulation software 121, the external device is supported to display the real-time change curve of the model variables, and record and analyze the model variables.
In connection with the application scenario that may be involved in embodiments of the present invention, and by way of example, the test management software 122 running on the host 12 may download the emulated executable file to the real-time instance 2 for execution; in a real-time environment, performing real-time data access and experiment management through the connection of a high-speed Ethernet bus; real-time online modification is carried out on parameters to be adjusted in the simulation software 121, a test interface is designed, and real-time operation of simulation test is realized through the upper computer 1; the embedded mature control is free from additional programming, and a test interface can be directly established in a configuration mode; the method supports the real-time change curve of the display model variable of external equipment such as an oscilloscope and the like, can define hardware triggering conditions and time triggering conditions to start and end display, realizes the recording of a data acquisition box, and performs data analysis.
According to the technical scheme, through the test management software running on the host, parameters to be adjusted in the simulation software can be modified online in real time, a test interface is designed, the data acquisition box is recorded, and data analysis is performed, so that the simulation test function is improved.
FIG. 4 is a block diagram of another automated driving simulation test system provided in an embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. In this embodiment, optionally, the host is further running automated test software; wherein the automated test software is configured to at least one of: writing and managing the simulation test flow are realized through the received graphical operation; the host is also operated with test management software, and the automatic operation and management of the simulation test flow are realized by linking with the test management software; supporting the embedded script to run in real-time hardware; and, supporting multi-line Cheng Lixian simulation of test sequences. Wherein, the explanation of the same or corresponding terms as the above embodiments is not repeated herein.
Specifically, referring to fig. 4, the automatic driving simulation test system according to the present embodiment may include: the upper computer 1, the real-time machine 2 which is in communication connection with the upper computer 1, the electronic control unit 3 to be tested which is in communication connection with the real-time machine 2 and the video camera bellows 4, wherein the upper computer 1 comprises a display device 11 and a host, simulation software 121 and automatic test software 123 are operated on the host, and the video camera bellows 4 is internally provided with a video acquisition device 5 which is in communication connection with the electronic control unit 3; wherein,,
simulation software 121, configured to obtain vehicle information of a virtual vehicle by implementing a vehicle dynamics response of the virtual vehicle, and build an autopilot scene of the virtual vehicle, and send the vehicle information and sensing information detected in the autopilot scene to the electronic control unit 3;
the video acquisition device 5 is used for acquiring the automatic driving scene played through the display device 11 and sending the acquired image information to the electronic control unit 3;
the electronic control unit 3 is used for obtaining control information of the virtual vehicle according to the received vehicle information, the sensing information and the image information, and sending the control information to the real time 2 so as to realize simulation test of the virtual vehicle;
automated test software 123 for at least one of:
writing and managing the simulation test flow are realized through the received graphical operation;
the host is also operated with test management software, and the automatic operation and management of the simulation test flow are realized by linking with the test management software;
supporting the embedded script to run in real-time hardware; the method comprises the steps of,
multiline Cheng Lixian simulation of test sequences is supported.
In connection with the application scenario that may be involved in the embodiments of the present invention, exemplary, the automated test software 123 running on the host 12 implements design, writing, and management of the simulation test flow through a graphical operation, and implements automatic running and management of the simulation test flow through a link with the test management software. The script can be embedded, the script is supported to run in real-time hardware, the offline simulation of a test sequence is supported, a test report can be automatically generated, and the module can run in sequence to support multithreading. In other words, the automated test software 123 may be used to perform batch simulation tests, thereby improving simulation test efficiency.
According to the technical scheme, through the automatic test software running on the host, the design, the writing and the management of the simulation test flow can be realized through the graphical operation, and the automatic running and the management of the simulation test flow are realized through the link with the test management software, so that the efficiency of the simulation test is improved.
In order to better understand the above-described respective technical solutions as a whole, an example will be described below in connection with a specific example. For example, referring to the block diagram of the architecture of the autopilot simulation test system shown in FIG. 5a, the simulation test system comprises: 1-upper computer, 6-lower computer, 11-video camera bellows and 12-ECU. The 1-upper computer comprises a 2-display and a host, and 3-simulation software, 4-test management software and 5-automatic test software are run on the host. The 6-lower computer comprises a 7-power management module, an 8-IO interface, a 9-sensor injection unit and a 10-real time machine. The 11-video camera is internally provided with a 15-camera. The 1-upper computer is connected with the 6-lower computer through 13-Ethernet and 14-configuration software, the 10-real-time machine is connected with the 12-ECU through CAN communication and other modes, and the 11-video camera is directly output to the 12-ECU through a built-in 15-camera of the camera. In particular, the method comprises the steps of,
1-upper computer: consists of a host and a 2-display. Functional software such as 3-simulation software, 4-test management software, and 5-automated test software is run on the device.
2-display: and displaying the whole vehicle dynamics model and the simulated automatic driving scene, and simultaneously, can be used as the image input of a camera.
3-simulation software: a mature commercialized model is employed comprising: whole vehicle dynamics models, driver and road models, scene models, truck models, trailer models, sensor models (e.g., including cameras and lidar, etc.), model parameterization tools, 3D animated vision tools, etc. On the basis, the model is optional, the model can also have the functions of supporting the model import of rack data, modifying parameters of each module on line in real time, displaying all intermediate data in the model calculation process in real time, flexibly combining all parts in the model, facilitating modeling of a variant structure of a power system and the like.
4-test management software: the executable file generated by simulation can be downloaded to 10-real time for execution; in a real-time environment, performing real-time data access and experiment management through the connection of a high-speed Ethernet bus; carrying out real-time online modification on parameters to be adjusted in the 3-simulation software, designing a test interface, and realizing real-time operation of simulation test through a 1-upper computer; the embedded mature control is free from additional programming, and a test interface can be directly established in a configuration mode; the method supports the real-time change curve of the display model variable of external equipment such as an oscilloscope and the like, can define hardware triggering conditions and time triggering conditions to start and end display, realizes the recording of a data acquisition box, and performs data analysis.
5-automated test software: through graphical operation, the design, the writing and the management of the simulation test flow can be realized, and through the link with the 4-test management software, the automatic operation and the management of the simulation test flow are realized. The script can be embedded, the script is supported to run in real-time hardware, the offline simulation of a test sequence is supported, a test report can be automatically generated, and the module can run in sequence to support multithreading.
6-lower computer: the system comprises a 10-real-time monitor and a display, and is provided with input/output of an IO hardware board card supporting model, digital input/output, resistance output and a CAN communication board card.
7-power management module: the power supply comprises an alternating current power supply, a signal conditioning power supply, a program-controlled power supply and the like, and supplies power for a 10-real time machine, an 8-IO interface, a 12-ECU and the like.
8-IO interface: the IO hardware board card supports model input/output, digital input/output, resistance output, CAN communication board card, support CAN, CANFD, LIN, terminal resistance and baud rate are configurable.
9-sensor injection unit: the video data injection of the 15-camera is supported, and a control signal interface of the sensor controller can be simulated; raw data injection of radar is supported.
10-real time: the industrial personal computer with the real-time operating system supports multi-core operation, reserves an Ethernet gigabit Ethernet hardware interface, can realize TCP/UDP communication by matching with related software, and can be in communication interconnection with the 1-upper computer.
11-video camera bellows: the real controller 15-camera is used for collecting an automatic driving scene played by the 2-display, and the camera position can be adjusted through the six-degree-of-freedom bracket and the black box is locked to isolate external light, so that the accuracy of image information collected by the 15-camera is ensured. The system can support dangerous scene testing and rapid switching of testing scenes, and can realize scene automation testing.
12-ECU: the intelligent driving area controller receives vehicle information of the virtual vehicle and sensing information detected by a sensor installed on the virtual vehicle, and can send control information to the virtual vehicle.
13-Ethernet: the method is used for realizing communication connection between the 1-upper computer and the 6-lower computer.
14-configuration software: the method is used for detecting the communication connection state between the 1-upper computer and the 6-lower computer.
15-camera: the camera is arranged in the video camera and is used for shooting an automatic driving scene played by the 2-display.
On the basis, referring to fig. 5b, the 31-whole vehicle dynamics model runs in a 1-upper computer and is used for the whole vehicle dynamics response of the virtual vehicle, and the obtained vehicle information is sent to the 12-ECU through a CAN communication mode; the simulation scene establishment is completed in the 1-upper computer, and information including a 32-scene model, a 33-sensor model and the like is sent to the 12-ECU through a CAN communication mode; on this basis, the method can also be matched with a 34-animation scene model for application. Then, the 12-ECU outputs the actual control information of the virtual vehicle to 10-real time according to the received vehicle information of the virtual vehicle, the obstacle information simulated by the sensor model (namely, the detected sensing information) and the image information transmitted by the 15-camera, so that the simulation closed-loop test is completed. On the basis, 4-test management software can be used for carrying out new construction, configuration (such as controller setting, simulation model loading, bus message configuration, signal Mapping configuration and the like), test interface creation and engineering deployment of test engineering. And 3-simulation software in the 1-upper computer is downloaded and run to 10-real time in the 6-lower computer. Under the condition that batch simulation test is required, the simulation test can be performed by using 5-automatic test software, so that the simulation test efficiency is improved.
Based on the above, the 31-whole vehicle dynamics model can ensure that the virtual vehicle outputs correct vehicle gestures (such as vehicle speed, wheel speed, steering angle, tire driving force, braking force and the like) under various working conditions of longitudinal running, turning running, acceleration and deceleration, special road surface and the like, and then feeds back the correct vehicle gestures to various sensors (such as ultrasonic wave, millimeter wave radar, cameras and the like) arranged on the virtual vehicle, so that more real sensing information is generated. May have an engine/motor/battery, transmission/retarder, transaxle, brake, suspension, steering model (e.g., may have 3DoF, with friction elements and support rack and pinion electric steering system), tire model (e.g., may be Magic Formula, TMEasy, or Ftire), etc., and may be flexibly configured and modified autonomously.
A 32-scene model that simulates a road network, virtual vehicles, a large number of vehicles of the same type, and the necessary environment. A virtual vehicle (i.e., a self-vehicle) may be equipped with multiple sensors to detect and identify targets. Meanwhile, the method comprises the steps of defining various traffic conditions, road gradients, attachment coefficients, lengths, widths and roughness, simulating traffic scenes of meeting vehicles and intersections, defining and identifying various traffic identifications, animals, pedestrians and the like.
The 33-sensor model can simulate all environment information detected by the related sensor based on the physical phenomenon and the characteristics of the sensor, follow the physical law of signal propagation and are influenced by material characteristics and channel attenuation, can comprise other vehicles, roads, traffic signs, roadside structures and the like, and particularly can comprise a camera model, a radar model and the like.
The 34-animation scene model can receive parameters of the vehicle simulation model in real time, for example, can be vehicle information such as current vehicle posture and stress conditions of various tires and the like, can provide different viewing angles, for example, can be overlooking, side view, driver viewing angle and the like, and can conveniently observe the influence of the modified parameters on the model. In addition, the system also has the functions of animation rendering display, supporting creation of various 3D scenes, supporting 3D object introduction, supporting generation of image information and laser radar point cloud data for sensor data injection and the like.
The problems of poor reliability and operation efficiency of the automatic driving simulation test caused by single constituent elements of the simulation scene, simple whole vehicle dynamics model for calculation and heavy simulation test task are solved, and the effects of improving the accuracy and operation efficiency of the automatic driving simulation test are achieved.
The above embodiments do not limit the scope of the present invention. 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 invention should be included in the scope of the present invention.
Claims (10)
1. An automated driving simulation test system, comprising: the system comprises an upper computer, a real time machine in communication connection with the upper computer, an electronic control unit to be tested in communication connection with the real time machine and a video camera bellows, wherein the upper computer comprises a host and display equipment, simulation software is operated on the host, and the video camera bellows is internally provided with video acquisition equipment in communication connection with the electronic control unit; wherein,,
the simulation software is used for obtaining vehicle information of the virtual vehicle by realizing the whole vehicle dynamics response of the virtual vehicle, constructing an automatic driving scene of the virtual vehicle, and sending the vehicle information and the sensing information detected in the automatic driving scene to the electronic control unit;
the video acquisition equipment is used for acquiring the automatic driving scene played by the display equipment and sending acquired image information to the electronic control unit;
the electronic control unit is used for obtaining control information of the virtual vehicle according to the received vehicle information, the received sensing information and the received image information, and sending the control information to the real-time machine so as to realize simulation test of the virtual vehicle.
2. The system of claim 1, wherein the simulation software includes at least a vehicle dynamics model, a scene model, and a sensor model; wherein,,
the simulation software is specifically configured to implement a vehicle dynamics response of a virtual vehicle through the vehicle dynamics model, obtain vehicle information of the virtual vehicle, build an automatic driving scene of the virtual vehicle through the scene model, obtain sensing information detected in the automatic driving scene through the sensor model, and send the vehicle information and the sensing information to the electronic control unit.
3. The system according to claim 2, wherein:
the whole vehicle dynamics model is used for outputting the vehicle posture of the virtual vehicle under at least one working condition of longitudinal running, acceleration and deceleration, turning running and special road surface of the virtual vehicle, and feeding back the vehicle posture to a sensor arranged on the virtual vehicle so as to generate sensing information corresponding to the sensor, thereby realizing the whole vehicle dynamics response of the virtual vehicle.
4. The system according to claim 2, wherein:
the scene model is used for simulating a road network, the virtual vehicles and similar vehicles similar to the virtual vehicles according to preset scene simulation parameters so as to build the automatic driving scene.
5. The system according to claim 2, wherein:
the sensor model is used for simulating the environment information detected by the sensor based on the physical phenomenon and the characteristics of the sensor and following the physical rule of signal propagation, and is influenced by the material characteristics and the channel attenuation, and the environment information is used as the sensing information.
6. The system of claim 2, wherein the simulation software further comprises an animated scene model; wherein,,
the animated vision model is used for receiving and displaying the vehicle information and providing at least one viewing angle to observe the autopilot scene.
7. The system of claim 1, wherein test management software is also running on the host computer; wherein the test management software is used for at least one of the following:
downloading the simulated executable file to the real-time machine for execution;
in a real-time environment, realizing real-time data access and experiment management through an Ethernet bus;
performing real-time online adjustment on parameters to be adjusted in the simulation software;
establishing a test interface in a configuration mode to realize real-time operation of simulation test through the test interface; the method comprises the steps of,
and aiming at the model variable in the simulation software, supporting external equipment to display a real-time change curve of the model variable, and recording and analyzing the model variable.
8. The system of claim 1, wherein the host computer further has automated test software running thereon; wherein the automated test software is configured to at least one of:
writing and managing the simulation test flow are realized through the received graphical operation;
the host is also operated with test management software, and the automatic operation and management of the simulation test flow are realized by linking with the test management software;
supporting the embedded script to run in real-time hardware; the method comprises the steps of,
multiline Cheng Lixian simulation of test sequences is supported.
9. The system of claim 1, further comprising: the lower computer comprises the real time and at least one of a power management module, an input/output interface and a sensor injection unit; wherein,,
the power management module is used for supplying power to at least one of the real-time, the input/output interface and the electronic control unit;
the input/output interface is used for supporting at least one of model input/output, digital input/output, resistance output, CAN communication board card, terminal resistance and baud rate configuration;
the sensor injection unit is used for supporting the injection of the image information and/or the raw data of the radar and simulating a control signal interface of the sensor controller.
10. The system of claim 9, wherein the upper computer is communicatively connected to the lower computer via an ethernet network, and a communication connection state between the upper computer and the lower computer is determined by configuration software; and/or the number of the groups of groups,
the real-time machine is in communication connection with the electronic control unit through a controller local area network communication mode.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118032377A (en) * | 2024-04-11 | 2024-05-14 | 常州星宇车灯股份有限公司 | ADAS function test bench and test method |
| CN118607191A (en) * | 2024-05-24 | 2024-09-06 | 大连理工大学 | A driver-in-the-loop simulation test platform |
| CN119198003A (en) * | 2024-11-27 | 2024-12-27 | 常州星宇车灯股份有限公司 | An integrated vehicle light testing and simulation system and testing method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118032377A (en) * | 2024-04-11 | 2024-05-14 | 常州星宇车灯股份有限公司 | ADAS function test bench and test method |
| CN118032377B (en) * | 2024-04-11 | 2024-06-28 | 常州星宇车灯股份有限公司 | ADAS function test bench and test method |
| CN118607191A (en) * | 2024-05-24 | 2024-09-06 | 大连理工大学 | A driver-in-the-loop simulation test platform |
| CN119198003A (en) * | 2024-11-27 | 2024-12-27 | 常州星宇车灯股份有限公司 | An integrated vehicle light testing and simulation system and testing method |
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