CN109507911A - A kind of unmanned truck autonomous driving technical testing emulation platform and working method - Google Patents
A kind of unmanned truck autonomous driving technical testing emulation platform and working method Download PDFInfo
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Abstract
The invention discloses a kind of unmanned truck autonomous driving system testing emulation platform and its working method, the platform includes PC machine and real-time simulation machine, and PC machine is bi-directionally connected by the Ethernet based on TCP/IP with real-time simulation machine；The real-time simulation machine is bi-directionally connected by I/O interface and the quasi- unmanned truck autonomous driving system of test；The PC machine operation man-machine interface and harbour horizontal transport region virtual scene module；The real-time simulation machine runs unmanned truck dynamic simulation system.The present invention can not only efficiently test its validity under complicated harbour horizontal transport environment, avoid the autonomous driving system testing bring potential danger based on actual vehicle, and can save the testing cost of unmanned truck, shorten the R&D cycle of unmanned truck.The present invention realizes the two-way real-time communication of real-time simulation machine and PC machine by the Ethernet based on TCP/IP, can improve the real-time of test emulation platform, improves the reliability of test emulation platform.
Description
Technical field
The present invention relates to automatization testing technique, especially a kind of unmanned truck autonomous driving system testing emulation platform and
Its working method.
Background technique
Traditional container terminal is runed for general 24 hours, and more classes of container truck driver are fallen, and it is existing to be often accompanied by fatigue driving
As；There are operational risks for container handling link, and working environment is arduous, and post attraction is poor；The driving of truck is to driver simultaneously
Driving technology and driving experience require high, cause wharf container-truck driver's shortage problem serious.Automatic guided vehicle (AGV) is although can
To solve the above problems, but because of the disadvantages of cost is high, flexibility difference and old dock transformation difficulty is big, application is seriously made
About；And unmanned truck not only can solve driver's shortage, fatigue driving problem, while can reduce harbour operation cost, promote operation
Efficiency reduces security risk, realizes harbour from labor-intensive production to automation, intelligence, unmanned upgrading and transformation.
The autonomous driving technology of unmanned truck, including environment perception technology, positioning and airmanship, make decisions on one's own with independently
Movement control technology can be such that unmanned truck independently travels according to the optimal expected path made decisions on one's own.It is autonomous to establish unmanned truck
Container dock bridge (is refered in particular in the unmanned truck motion state of control loop test emulation platform simulation and harbour horizontal transport region
To the region between stockyard) environment, the autonomous driving system testing of unmanned truck can be not only carried out whenever and wherever possible, not by reality
The limitation in place avoids the risk of Practical on-site test, saves a large amount of manpower and material resources, shortens the R&D cycle of unmanned truck.
Therefore, unmanned truck autonomous driving technical testing emulation platform is established, realizes the emulation testing of unmanned truck autonomous driving technology
With important economic value and realistic meaning.
Currently, there is not been reported for document and patent in relation to unmanned truck emulation testing.The traditional test of other equipment is imitative
True platform is generallyd use using PC machine as " host-target machine " two-shipper interconnection mode of target machine, test process there is
Real-time difference and the low problem of reliability, and Labview software design man-machine interface is mostly used greatly, need the volume of large amount of complex
Journey, it is time-consuming and laborious, and cannot intuitively show the entire test process of emulation platform.
Summary of the invention
To solve the above problem existing for existing emulation testing technology, the present invention will design a kind of based on RT-LAB software
Unmanned truck autonomous driving system testing emulation platform and working method, can simplify the programming process of man-machine interface, intuitive aobvious
Show the unmanned entire test process of autonomous driving system, improves the real-time and reliability of test emulation platform.
To achieve the goals above, technical scheme is as follows: a kind of unmanned truck autonomous driving system testing is imitative
True platform, including PC machine and real-time simulation machine, PC machine are bi-directionally connected by the Ethernet based on TCP/IP with real-time simulation machine；Institute
The real-time simulation machine stated is bi-directionally connected by I/O interface and the quasi- unmanned truck autonomous driving system of test；
The PC machine operation man-machine interface and harbour horizontal transport region virtual scene module；The real-time simulation machine
Run unmanned truck dynamic simulation system；
The man-machine interface is to test the monitoring interface of unmanned truck autonomous driving system, passes through the emulation pipe of RT-LAB
Software TestDRIVE design is managed to realize；The harbour horizontal transport region virtual scene module is used to simulate container terminal
Horizontal transport regional environment realizes that wherein OpenStreetMap is soft by OpenStreetMap and Sketchup software design
Part simulates specific port environment, Sketchup software design virtual objects；The unmanned truck dynamic simulation system by
MATLAB/Simulink designs realization, including unmanned truck motion module, environmental perception module and GPS positioning mould in PC machine
Block；The unmanned truck motion module includes the mathematical model of unmanned truck movement；The environmental perception module includes taking the photograph
The mathematical model of camera, laser radar, grade radar and gyroscope；The GPS positioning module includes satellite positioning navigation
The mathematical model of system.
The man-machine interface includes starting, pause, the end, ginseng of unmanned truck autonomous driving system testing emulation platform
Functional module needed for number setting, the display of test curve；The harbour horizontal transport region virtual scene module realizes code
The display of the contents such as head horizontal transport region virtual environment, barrier object, unmanned truck real time position；The PC machine passes through
Ethernet and real-time simulation machine based on TCP/IP realize real-time communication, so that unmanned truck dynamic simulation system is in real-time simulation
It is run on machine；The real-time simulation machine carries out real-time testing to the quasi- unmanned truck autonomous driving system of test by I/O interface.
In the handshaking process of the quasi- unmanned truck autonomous driving system real-time testing of test, man-machine interface is realized following
Function: the setting of various control instructions；Unmanned truck initial position and destination information set and display；Unmanned truck parameter
Set and display；Barrier sets and displays in harbour horizontal transport region；Expected path, actual travel path show and
The display of test result and archive；Harbour horizontal transport region virtual scene module realizes following functions: harbour horizontal transport area
The display of domain virtual environment；The display of barrier object；The display of unmanned truck real time position；The control instruction includes real
Test sign on, experiment pause instruction and experiment END instruction；The unmanned truck parameter includes the quality of unmanned truck, nothing
The mass center of people's truck arrive respectively the distance of front wheels and rear wheels, unmanned truck around mass center rotary inertia and travel speed；It is described
Obstacle information include dynamic static-obstacle thing position and quantity；PC machine passes through Ethernet and the real-time communication of real-time simulation machine,
RT-LAB real-time simulation software is on real-time simulation machine platform by the Simulink for the unmanned truck dynamic simulation system established
Model conversation becomes .c file, and carries out real-time simulation operation；The unmanned truck motion module of unmanned truck dynamic simulation system
Unmanned truck movement is simulated in real time；The real-time analog video camera of environmental perception module, the millimeter wave of unmanned truck dynamic simulation system
Radar, laser radar and environmental information and obstacle information in gyroscope harbour horizontal transport collected region；Unmanned collection
The unmanned truck real-time position information of the real-time analog satellite navigation system measurement of the GPS positioning module of card dynamic simulation system；Code
Head horizontal transport region virtual scene module simulates the environmental information in harbour horizontal transport region in real time；Real-time simulation machine will be real
When simulation result simulation video camera, millimetre-wave radar, laser radar, gyroscope, GPS positioning module live signal pass through
I/O interface is sent to the quasi- unmanned truck autonomous driving system of test, and GPS positioning module live signal is sent back to by Ethernet
PC machine；PC machine sends it to man-machine interface again, and unmanned truck is real-time dynamicly shown in harbour horizontal transport region
In virtual scene.
The working method of unmanned truck autonomous driving system testing emulation platform, comprising the following steps:
A, test emulation platform is opened；
B, unmanned truck parameter, initial position and destination are arranged by man-machine interface；
C, it is placed obstacles object by man-machine interface in harbour horizontal transport region virtual scene module；
D, judge whether to start to test according to the experiment sign on signal of the man-machine interface in PC machine, such as real-time replicating machine
It is not received by signal, goes to step D；Otherwise, step E is executed；
E, unmanned truck motion module receives the unmanned collection being arranged from man-machine interface by the Ethernet based on TCP/IP
Card parameter；The unmanned truck parameter includes the quality of unmanned truck, the extreme rigidity of front tyre and rear tyre, unmanned truck
Mass center arrive respectively the distance of front wheels and rear wheels, vehicle around mass center rotary inertia and forward speed；
F, GPS positioning module receives initial position and the purpose for the unmanned truck being arranged from man-machine interface by Ethernet
Ground information, and the quasi- unmanned truck autonomous driving system of test is sent it to by I/O interface；
G, environmental perception module receives the virtual scene information from harbour horizontal transport region, simulation run, and will transport
Row result i.e. " complete representation of harbour horizontal transport regional environment " is sent to the quasi- unmanned truck of test by I/O interface and independently drives
Sail system；
H, intend test unmanned truck autonomous driving system and GPS positioning module and environment sensing are come from by I/O interface
The signal that module is sent, analysis, processing, decision generate control signal, and send it to unmanned truck by I/O interface and transport
Dynamic model block controls unmanned truck movement；
I, unmanned truck motion module receives the control signal from the quasi- unmanned truck autonomous driving system of test, emulation fortune
Row, and operation result, that is, unmanned truck real-time position information is sent to GPS positioning module；
J, unmanned truck real-time position information of the GPS positioning module reception from unmanned truck motion module, simulation run,
And operation result is issued into the quasi- unmanned truck autonomous driving system of test by I/O interface, and PC machine is sent to by Ethernet；
K, harbour horizontal transport region virtual scene module receives the signal from GPS positioning module, and by unmanned truck
It is real-time dynamicly shown in the virtual scene in harbour horizontal transport region；
L, judge whether unmanned truck reaches purpose according to the unmanned truck real-time position information from GPS positioning module
Ground, if it is not, going to step H；If it is not, going to step M；
M, man-machine interface is shown: unmanned truck parameter, initial position and destination, harbour horizontal transport region barrier letter
Breath, expected path curve and actual travel path curve, and test result is achieved；
N, whether continue to test, if so, going to step 0；If it is not, terminating experiment, unmanned truck autonomous driving system is closed
Unified test tries emulation platform；
O, judge whether to change test condition, if so, going to step B；If it is not, going to step D.
Compared with existing emulation testing technology, the invention has the following advantages:
1, the present invention establishes a unmanned truck autonomous driving system real-time testing emulation platform, can not only efficiently survey
Its validity under complicated harbour horizontal transport environment is tried, the autonomous driving system testing based on actual vehicle is avoided to bring
Potential danger, and the testing cost of unmanned truck can be saved, shorten the R&D cycle of unmanned truck.
2, the present invention develops man-machine interface with the user interface development software TestDRIVE of RT-LAB, is easily programmed realization,
And it is able to achieve online tune ginseng function.
3, the present invention simulates container terminal horizontal transport region ring by OpenStreetMap and Sketchup software
Border can intuitively show the real-time position information of unmanned truck and barrier, and look into unmanned truck autonomous driving system convenient for seeing
The entire test process of system.
4, the present invention realizes the two-way real-time communication of real-time simulation machine and PC machine by the Ethernet based on TCP/IP, with reality
When replicating machine as the target machine under " host-target machine " two-shipper interconnection mode, the real-time of test emulation platform can be improved,
Improve the reliability of test emulation platform.
Detailed description of the invention
Fig. 1 is test emulation platform structure schematic diagram.
Fig. 2 is test emulation bracket signal exchange schematic diagram.
Fig. 3 is test emulation working platform flow chart.
In figure: 1, quasi- test unmanned truck autonomous driving system, 2, I/O interface, 3, real-time simulation machine, 4, Ethernet, 5,
PC machine, 6, unmanned truck motion module, 7, environmental perception module, 8, GPS positioning module, 9, harbour horizontal transport region virtual field
Scape module, 10, man-machine interface.
Specific embodiment
The present invention is further described through with reference to the accompanying drawing.As shown in Figs. 1-2, a kind of unmanned truck autonomous driving
System testing emulation platform, including PC machine 5 and real-time simulation machine 3, PC machine 5 are imitated by the Ethernet 4 based on TCP/IP and in real time
Prototype 3 is bi-directionally connected；The real-time simulation machine 3 is two-way by I/O interface 2 and the quasi- unmanned truck autonomous driving system 1 of test
Connection；
The PC machine 5 runs man-machine interface 10 and harbour horizontal transport region virtual scene module 9；Described is real-time imitative
Prototype 3 runs unmanned truck dynamic simulation system；
The man-machine interface 10 is to test the monitoring interface of unmanned truck autonomous driving system, passes through the emulation of RT-LAB
Management software TestDRIVE design is realized；The harbour horizontal transport region virtual scene module 9 is used to simulate container code
Head horizontal transport regional environment, is realized, wherein OpenStreetMap by OpenStreetMap and Sketchup software design
Software simulates specific port environment, Sketchup software design virtual objects；The unmanned truck dynamic simulation system by
MATLAB/Simulink designs realization, including unmanned truck motion module 6, environmental perception module 7 and GPS positioning in PC machine 5
Module 8；The unmanned truck motion module 6 includes the mathematical model of unmanned truck movement；The environmental perception module 7 is wrapped
Include the mathematical model of camera, laser radar, grade radar and gyroscope；The GPS positioning module 8 includes satellite positioning
The mathematical model of navigation system.
The man-machine interface 10 include the starting of unmanned truck autonomous driving system testing emulation platform, pause, end,
Parameter setting, test curve display needed for functional module；The harbour horizontal transport region virtual scene module 9 is realized
The display of harbour horizontal transport region virtual environment, barrier object, unmanned truck real time position；The PC machine 5 passes through base
Real-time communication is realized in the Ethernet 4 and real-time simulation machine 3 of TCP/IP, so that unmanned truck dynamic simulation system is in real-time simulation
It is run on machine 3；The real-time simulation machine 3 carries out in real time the quasi- unmanned truck autonomous driving system 1 of test by I/O interface 2
Test.
In the handshaking process of quasi- unmanned 1 real-time testing of truck autonomous driving system of test, man-machine interface 10 is realized
Following functions: the setting of various control instructions；Unmanned truck initial position and destination information set and display；Unmanned truck
Parameter sets and displays；Barrier sets and displays in harbour horizontal transport region；Expected path, actual travel path are aobvious
Show the display with test result and archive；Harbour horizontal transport region virtual scene module 9 realizes following functions: harbour level fortune
The display of defeated region virtual environment；The display of barrier object；The display of unmanned truck real time position；The control instruction packet
Include experiment sign on, experiment pause instruction and experiment END instruction；The unmanned truck parameter includes the matter of unmanned truck
Amount, unmanned truck mass center arrive respectively the distance of front wheels and rear wheels, unmanned truck around mass center rotary inertia and travel speed；
The obstacle information includes position and the quantity of dynamic static-obstacle thing；PC machine 5 is real by Ethernet 4 and real-time simulation machine 3
When communicate, RT-LAB real-time simulation software is on 3 platform of real-time simulation machine by the unmanned truck dynamic simulation system established
Simulink model conversation becomes .c file, and carries out real-time simulation operation；The unmanned truck of unmanned truck dynamic simulation system
Motion module 6 simulates unmanned truck movement in real time；The simulation camera shooting in real time of the environmental perception module 7 of unmanned truck dynamic simulation system
Machine, millimetre-wave radar, laser radar and environmental information and barrier letter in gyroscope harbour horizontal transport collected region
Breath；The real-time position of unmanned truck of the real-time analog satellite navigation system of GPS positioning module 8 measurement of unmanned truck dynamic simulation system
Confidence breath；Harbour horizontal transport region virtual scene module 9 simulates the environmental information in harbour horizontal transport region in real time；In real time
Real time simulation results are the video camera simulated, millimetre-wave radar, laser radar, gyroscope, GPS positioning module 8 by replicating machine 3
Live signal is sent to the quasi- unmanned truck autonomous driving system 1 of test by I/O interface 2, and GPS positioning module 8 is believed in real time
Number PC machine 5 is sent back to by Ethernet 4；PC machine 5 sends it to man-machine interface 10 again, and unmanned truck is real-time dynamicly shown
In the virtual scene in harbour horizontal transport region.
As shown in figure 3, a kind of unmanned truck autonomous driving system testing emulation platform working method, comprising the following steps:
A, it opens test emulation platform and carries out unmanned truck parameter initialization
Before the quasi- unmanned truck autonomous driving system 1 of test is tested, initial position, destination locations, unmanned truck are joined
The initialization of several and obstacle information.Initial position and destination initialization are that man-machine interface 10 believes initial position and destination
Breath passes to GPS positioning module 8, and then GPS positioning module 8, which can pass to initial position and destination information, intends testing nobody
Truck autonomous driving system 1；Unmanned truck parameter initialization is that the unmanned truck parameter of setting is passed to nothing by man-machine interface 10
People's truck motion module 6, unmanned truck motion module 6 is initialized according to the unmanned truck parameter received, described
Unmanned truck parameter include the quality of unmanned truck, the extreme rigidity of front and back tire, unmanned truck mass center arrive front and back wheel
Distance, vehicle around mass center rotary inertia and forward speed；Obstacle information initialization is man-machine interface 10 in harbour level
Transit domain module 9 carries out barrier Initialize installation, and the obstacle information includes the position sum number of dynamic static-obstacle thing
Amount.
B, judge whether to start to test
After the completion of initialization, real-time simulation machine 3 receives the experiment commencing signal from man-machine interface 10, is opened according to experiment
It is determined whether to enable tests for the state instructed that begins, and wait if not needing test in this step；Otherwise it performs the next step；
C, start to test
The quasi- unmanned truck autonomous driving system 1 of test realizes Real Data Exchangs by I/O interface 2 and real-time simulation machine 3,
Start to test；
D, unmanned 6 working method of truck motion module
Unmanned truck motion module 6 receives the unmanned truck parameter being arranged from man-machine interface 10 and carrys out the unmanned collection of self-test
Operation result, that is, unmanned truck real-time position information is sent to GPS by the control signal of card autonomous driving system 1, simulation run
Locating module 8；
E, the working method of environmental perception module 7
Environmental perception module 7 receives the harbour horizontal transport area in harbour horizontal transport region virtual scene module 9
Domain environmental information, simulation run, and by operation result, that is, harbour horizontal transport regional environment complete representation, it is sent to quasi- test
Unmanned truck autonomous driving system 1；
F, the working method of GPS positioning module 8
Operation result of the reception of GPS positioning module 8 from man-machine interface 10 and unmanned truck motion module 6, simulation run,
Operation result, that is, unmanned truck initial position, destination and real-time position information are sent to the quasi- unmanned truck of test independently to drive
System 1 is sailed, and the real-time position information of unmanned truck is sent to PC machine 5；
G, 9 working method of harbour horizontal transport region virtual scene module
It is placed obstacles the i.e. dynamic static-obstacle of object information by man-machine interface in harbour horizontal transport region virtual scene module 9
The position of object and quantity receive the horizontal transport from harbour horizontal transport region virtual scene module 9 by environmental perception module 7
Regional environment information；And harbour horizontal transport region virtual scene module 9 receives the operation result of GPS positioning module 8, in code
The real-time position information of unmanned truck and barrier is shown in the virtual environment of head horizontal transport region；
H, the working method of man-machine interface 10
Unmanned truck parameter is arranged in man-machine interface 10, is sent to unmanned truck motion module 6；What man-machine interface 10 was arranged rises
Beginning position and destination information, is sent to GPS positioning module 8；Man-machine interface 10 is in harbour horizontal transport region virtual scene mould
Block 9 is placed obstacles object information；And the operation result from GPS positioning module 8 is received, finally show unmanned truck parameter, starting
Position and destination information, obstacle information, expected path and actual travel path test curve, and test result is achieved；
I, judge whether to need to test next time, if so, performing the next step；If it is not, terminating test, unmanned truck is closed certainly
Main driving system testing emulation platform；
J, judge whether to change test condition, if so, resetting unmanned truck parameter, initial position in man-machine interface
With destination and harbour horizontal transport region obstacle information；If it is not, not changing test condition, continue to test.
The present invention is not limited to the present embodiment, any equivalent concepts within the technical scope of the present disclosure or changes
Become, is classified as protection scope of the present invention.
Claims (2)
1. a kind of unmanned truck autonomous driving system testing emulation platform, it is characterised in that: including PC machine (5) and real-time simulation machine
(3), PC machine (5) is bi-directionally connected by the Ethernet (4) based on TCP/IP with real-time simulation machine (3)；The real-time simulation machine
(3) it is bi-directionally connected by I/O interface (2) and the quasi- unmanned truck autonomous driving system (1) of test；
PC machine (5) operation man-machine interface (10) and harbour horizontal transport region virtual scene module (9)；Described is real-time
Replicating machine (3) runs unmanned truck dynamic simulation system；
The man-machine interface (10) is to test the monitoring interface of unmanned truck autonomous driving system, passes through the emulation pipe of RT-LAB
Software TestDRIVE design is managed to realize；The harbour horizontal transport region virtual scene module (9) is used to simulate container code
Head horizontal transport regional environment, is realized, wherein OpenStreetMap by OpenStreetMap and Sketchup software design
Software simulates specific port environment, Sketchup software design virtual objects；The unmanned truck dynamic simulation system by
MATLAB/Simulink designs realization on PC machine (5), including unmanned truck motion module (6), environmental perception module (7) and
GPS positioning module (8)；The unmanned truck motion module (6) includes the mathematical model of unmanned truck movement；The environment
Sensing module (7) includes the mathematical model of camera, laser radar, grade radar and gyroscope；The GPS positioning module
(8) include satellite positioning and navigation system mathematical model；
The man-machine interface (10) includes starting, pause, the end, ginseng of unmanned truck autonomous driving system testing emulation platform
Functional module needed for number setting, the display of test curve；The harbour horizontal transport region virtual scene module (9) is realized
The display of harbour horizontal transport region virtual environment, barrier object, unmanned truck real time position；The PC machine (5) passes through
Ethernet (4) and real-time simulation machine (3) based on TCP/IP realize real-time communication, so that unmanned truck dynamic simulation system is in reality
When replicating machine (3) on run；The real-time simulation machine (3) is by I/O interface (2) to quasi- test unmanned truck autonomous driving system
System (1) carries out real-time testing；
In the handshaking process of quasi- unmanned truck autonomous driving system (1) real-time testing of test, man-machine interface (10) is realized
Following functions: the setting of various control instructions；Unmanned truck initial position and destination information set and display；Unmanned truck
Parameter sets and displays；Barrier sets and displays in harbour horizontal transport region；Expected path, actual travel path are aobvious
Show the display with test result and archive；Harbour horizontal transport region virtual scene module (9) realizes following functions: harbour is horizontal
The display of transit domain virtual environment；The display of barrier object；The display of unmanned truck real time position；The control instruction
Including experiment sign on, experiment pause instruction and experiment END instruction；The unmanned truck parameter includes unmanned truck
Quality, unmanned truck mass center arrive respectively the distance of front wheels and rear wheels, unmanned truck around mass center rotary inertia and traveling speed
Degree；The obstacle information includes position and the quantity of dynamic static-obstacle thing；PC machine (5) is imitative by Ethernet (4) and in real time
Prototype (3) real-time communication, RT-LAB real-time simulation software move the unmanned truck established on real-time simulation machine (3) platform
The Simulink model conversation of analogue system becomes .c file, and carries out real-time simulation operation；Unmanned truck dynamic simulation system
Unmanned truck motion module (6) simulate the movement of unmanned truck in real time；The environmental perception module of unmanned truck dynamic simulation system
(7) environment in real-time analog video camera, millimetre-wave radar, laser radar and gyroscope harbour horizontal transport collected region
Information and obstacle information；The analog satellite navigation system measurement in real time of the GPS positioning module (8) of unmanned truck dynamic simulation system
Unmanned truck real-time position information；Harbour horizontal transport region virtual scene module (9) simulates harbour horizontal transport area in real time
Environmental information in domain；Real-time simulation machine (3) by real time simulation results be simulate video camera, millimetre-wave radar, laser radar,
Gyroscope, GPS positioning module (8) live signal be sent to the quasi- unmanned truck autonomous driving system of test by I/O interface (2)
(1), PC machine (5) and by GPS positioning module (8) live signal by Ethernet (4) are sent back to；PC machine (5) sends it to people again
Machine interface (10), and unmanned truck is real-time dynamicly shown in the virtual scene in harbour horizontal transport region.
2. a kind of working method of unmanned truck autonomous driving system testing emulation platform, it is characterised in that: the following steps are included:
A, test emulation platform is opened；
B, unmanned truck parameter, initial position and destination are set by man-machine interface (10)；
C, it is placed obstacles object by man-machine interface (10) in harbour horizontal transport region virtual scene module (9)；
D, judge whether to start to test according to the experiment sign on signal of the man-machine interface (10) on PC machine (5), it is such as imitative in real time
Prototype (3) is not received by signal, goes to step D；Otherwise, step E is executed；
E, unmanned truck motion module (6) is received by the Ethernet (4) based on TCP/IP from man-machine interface (10) setting
Unmanned truck parameter；The unmanned truck parameter includes the quality of unmanned truck, extreme rigidity, the nothing of front tyre and rear tyre
The mass center of people's truck arrive respectively the distance of front wheels and rear wheels, vehicle around mass center rotary inertia and forward speed；
F, GPS positioning module (8) receives the initial position of the unmanned truck from man-machine interface (10) setting by Ethernet (4)
And destination information, and the quasi- unmanned truck autonomous driving system (1) of test is sent it to by I/O interface (2)；
G, environmental perception module (7) receives the virtual scene information from harbour horizontal transport region, simulation run, and will run
As a result it is autonomous that be " complete representation of harbour horizontal transport regional environment " by I/O interface (2) be sent to the quasi- unmanned truck of test
Control loop (1)；
H, intend the unmanned truck autonomous driving system (1) of test to receive by I/O interface (2) from GPS positioning module (8) and environment
The signal that sensing module (7) is sent, analysis, processing, decision generate control signal, and are sent it to by I/O interface (2)
Unmanned truck motion module (6) controls unmanned truck movement；
I, unmanned truck motion module (6) receives the control signal from the quasi- unmanned truck autonomous driving system (1) of test, emulation
Operation, and operation result, that is, unmanned truck real-time position information is sent to GPS positioning module (8)；
J, GPS positioning module (8) receives the unmanned truck real-time position information for coming from unmanned truck motion module (6), emulation fortune
Row, and operation result is issued into the quasi- unmanned truck autonomous driving system (1) of test by I/O interface (2), and pass through Ethernet
(4) PC machine (5) are sent to；
K, harbour horizontal transport region virtual scene module (9) receives the signal for coming from GPS positioning module (8), and collects unmanned
Card is real-time dynamicly shown in the virtual scene in harbour horizontal transport region；
L, judge whether unmanned truck arrives at the destination according to the unmanned truck real-time position information from GPS positioning module (8),
If it is not, going to step H；If it is not, going to step M；
M, man-machine interface (10) is shown: unmanned truck parameter, initial position and destination, harbour horizontal transport region barrier letter
Breath, expected path curve and actual travel path curve, and test result is achieved；
N, whether continue to test, if so, going to step 0；If it is not, terminating experiment, closes unmanned truck autonomous driving system and survey
Try emulation platform；
O, judge whether to change test condition, if so, going to step B；If it is not, going to step D.
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| CN201811521829.0A CN109507911B (en) | 2018-12-12 | 2018-12-12 | Unmanned truck autonomous driving technology test simulation platform and working method |
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| CN109507911B CN109507911B (en) | 2021-10-15 |
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