CN109725628A - A kind of emulation mode and device - Google Patents
A kind of emulation mode and device Download PDFInfo
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- CN109725628A CN109725628A CN201811574617.9A CN201811574617A CN109725628A CN 109725628 A CN109725628 A CN 109725628A CN 201811574617 A CN201811574617 A CN 201811574617A CN 109725628 A CN109725628 A CN 109725628A
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Abstract
This application discloses a kind of emulation mode and device, automatic Pilot performance used for vehicles is verified.Although the control routine for calculating vehicle drive parameter operates under the first operating system, and vehicle simulation software operates under the second operating system different from the first operating system.However, it is possible to carry out data exchange capability and operating in the auxiliary tool in the second operating system with the first operating system using having, to obtain operation result of the control routine in the first operating system.So, then have the operation result in second operating system, therefore, the vehicle simulation software run in the second operating system can be made using the operation result, the simulating vehicle is emulated.It can be seen that using scheme provided by the embodiments of the present application, even if control routine and vehicle simulation software, which are separately operable, in different operating system, also may be implemented the simulating, verifying to the practical handling of control routine.
Description
Technical field
This application involves vehicular fields, more particularly to a kind of emulation mode and device.
Background technique
With the development of science and technology, automated driving system or DAS (Driver Assistant System) are mounted on many vehicles at present.
The automated driving system or DAS (Driver Assistant System) can exercise path according to the planning of vehicle, calculate steering wheel for vehicle
Corner and the vehicle drives parameter such as corresponding car speed, to be driven using vehicle described in the vehicle drive state modulator
It sails.For example, control steering wheel for vehicle is turned right 20 degree, and controls vehicle and exercised with the speed of 40Km/h.
It is understood that in order to guarantee the vehicle for applying automated driving system or DAS (Driver Assistant System) in drive the cross
Safety in journey can carry out simulating, verifying to the control routine of automated driving system or DAS (Driver Assistant System), with verifying
The practical handling of the control routine.
But vehicle simulation software such as carsim software fairly perfect at present operates in windows system,
And control routine is likely to be and is write using the programming software under other systems such as Linux system.Therefore, if utilizing operation
Vehicle simulation software in windows system is emulated, since the control routine can not transport in windows system
Row, so can not achieve the simulating, verifying to the practical handling of the control routine.
Summary of the invention
Technical problems to be solved in this application are when control routine and vehicle simulation software are in different operating system
In the case where middle operation, the problem of cannot being emulated to the practical handling of control routine, provide a kind of emulation mode and
Device.
In a first aspect, the embodiment of the present application provides a kind of emulation mode, the control routine fortune of vehicle drive parameter is calculated
In the first operating system, vehicle simulation software operates in the second operating system row, which comprises
Data exchange capability and run in second operating system with first operating system using having
Auxiliary tool, obtain the control routine in the operation result of first operating system；The operation result is simulation vehicle
Drive parameter；
The vehicle simulation software is controlled using the operation result, the simulating vehicle is emulated.
Optionally, the operation result is that first operating system is based on the original input data operation control generation
What code obtained；Alternatively,
The operation result is that first operating system is obtained based on control routine described in real-time simulation data run
's；The real-time simulation data are that the auxiliary tool is obtained from second operating system, and is sent to first behaviour
Make system.
Optionally, first operating system is robot operating system ros；Second operating system is windows
Operating system；
The auxiliary tool is matlab simulation software.
Optionally, described using having and first operating system and second operating system carry out data interaction energy
The auxiliary tool of power obtains the operation result of the control routine from first operating system, comprising:
The MATLAB simulation software is packaged into node carry on roscore；
The IP address for obtaining the roscore obtains the control from first operating system using the IP address
The operation result of code processed.
Optionally, the vehicle simulation software is controlled using the operation result, the simulating vehicle is emulated, and is wrapped
It includes:
Using s-function function, the operation result is passed into the vehicle simulation software, so that the vehicle
Simulation software utilizes the operation result, emulates to the simulating vehicle.
Second aspect, the embodiment of the present application provide a kind of simulator, calculate the control routine fortune of vehicle drive parameter
Row is in the first operating system, and vehicle simulation software operates in the second operating system, and described device includes:
Acquiring unit, for carrying out data exchange capability with first operating system and running on described using having
Auxiliary tool in second operating system obtains the control routine in the operation result of first operating system；The fortune
Row result is the drive parameter of simulating vehicle；
Control unit carries out the simulating vehicle for controlling the vehicle simulation software using the operation result
Emulation.
Optionally, the operation result is that first operating system is based on the original input data operation control generation
What code obtained；Alternatively,
The operation result is that first operating system is obtained based on control routine described in real-time simulation data run
's；The real-time simulation data are that the auxiliary tool is obtained from second operating system, and is sent to first behaviour
Make system.
Optionally, first operating system is robot operating system ros；Second operating system is windows
Operating system；
The auxiliary tool is matlab simulation software.
Optionally, the acquiring unit, is specifically used for:
The MATLAB simulation software is packaged into node carry on roscore；
The IP address for obtaining the roscore obtains the control from first operating system using the IP address
The operation result of code processed.
Optionally, described control unit is specifically used for:
Using s-function function, the operation result is passed into the vehicle simulation software, so that the vehicle
Simulation software utilizes the operation result, emulates to the simulating vehicle.
Compared with prior art, the embodiment of the present application has the advantage that
The embodiment of the present application provides a kind of emulation mode and device, automatic Pilot performance used for vehicles are tested
Card.In the embodiment of the present application, although the control routine for calculating vehicle drive parameter operates under the first operating system, and vehicle
Simulation software operates under the second operating system different from the first operating system.But in the embodiment of the present application, Ke Yili
Data exchange capability is carried out with the first operating system and operated in the auxiliary tool in the second operating system, with having to obtain
Operation result of the control routine in the first operating system.So, then has the operation in second operating system
As a result, therefore, the vehicle simulation software run in the second operating system can be made using the operation result, to the mould
Quasi- vehicle is emulated, such as is controlled simulating vehicle according to the operation result and exercised.It can be seen that utilizing the embodiment of the present application
The scheme of offer also may be implemented even if control routine and vehicle simulation software are separately operable in different operating system
To the simulating, verifying of the practical handling of control routine.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of emulation mode provided by the embodiments of the present application；
Fig. 2 is a kind of structural schematic diagram of simulator provided by the embodiments of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
Present inventor has found that in the prior art, vehicle simulation software fairly perfect at present is for example after study
Carsim software operates in windows system, and exercises path according to the planning of vehicle, calculates vehicle drive parameter
Control routine, it may be possible to write using the programming software under other systems such as Linux system.Therefore, if utilizing fortune
Vehicle simulation software of the row in windows system is emulated, since the control routine can not transport in windows system
Row, so can not achieve the simulating, verifying to the vehicle.
In consideration of it, the embodiment of the present application provides a kind of emulation mode and device, automatic Pilot performance used for vehicles
It is verified.Emulation mode provided by the embodiments of the present application and device can be executed by terminal, can also be executed by server,
The embodiment of the present application is not specifically limited.
In the embodiment of the present application, although the control routine for calculating vehicle drive parameter operates under the first operating system,
And vehicle simulation software operates under the second operating system different from the first operating system.But in the embodiment of the present application,
It can use to have and carry out data exchange capability with the first operating system and operate in the auxiliary tool in the second operating system,
To obtain operation result of the control routine in the first operating system.So, then has institute in second operating system
Operation result is stated, therefore, the vehicle simulation software run in the second operating system can be made using the operation result, it is right
The simulating vehicle is emulated, such as is controlled simulating vehicle according to the operation result and exercised.It can be seen that utilizing the application
The scheme that embodiment provides can also even if control routine and vehicle simulation software are separately operable in different operating system
To realize the simulating, verifying to vehicle drive performance.
With reference to the accompanying drawing, the various non-limiting embodiments of the application are described in detail.
Illustrative methods
Referring to Fig. 1, which is a kind of flow diagram of emulation mode provided by the embodiments of the present application.
In the embodiment of the present application, the control routine for calculating vehicle drive parameter operates under the first operating system；Vehicle
Simulation software operates under the second operating system.
The vehicle drive parameter referred in the embodiment of the present application, refers to the parameter for controlling Vehicular automatic driving.This Shen
Please embodiment do not limit the vehicle drive parameter specifically, the vehicle drive parameter for example may include turning for steering wheel for vehicle
Any one or combination in the acceleration at angle, the running velocity of vehicle and vehicle etc..
In the embodiment of the present application, the first operating system can run the control routine based on input data, to obtain
Corresponding operation result.The drive parameter of simulating vehicle is as calculated in operation result mentioned herein.Mentioned herein is defeated
Enter data, the input of the as described control routine, the input for example may include the current state of vehicle, and the input is for another example
It may include that path is exercised in planning.That is, using the control routine, can according to the current state of simulating vehicle and
Path etc. is exercised in planning, and the drive parameter of simulating vehicle is calculated.
The vehicle simulation software referred in the embodiment of the present application, emulates for the driving performance to simulating vehicle.Tool
Body, the vehicle simulation software can control simulating vehicle according to the drive parameter according to the drive parameter of simulating vehicle
Traveling.
In the embodiment of the present application, since control routine and vehicle simulation software are operated in different operating system
, therefore, the second operating system, which can not be obtained, is calculated the drive parameter of simulating vehicle using the control routine come to institute
Simulating vehicle is stated to be emulated.In consideration of it, in the embodiment of the present application, carrying out data interaction with the first operating system using having
Ability and the auxiliary tool in the second operating system is operated in as medium, to obtain control routine in the first operating system
Operation result, i.e., acquisition simulating vehicle drive parameter so then have the operation in second operating system
As a result.Therefore, the vehicle simulation software in the second operating system is run on i.e. using the operation result, to the control generation
The practical handling of code is emulated.
Emulation mode provided by the embodiments of the present application, such as can be realized with S101-S102 as follows.
S101: it carries out data exchange capability and running on second operating system with the first operating system using having
In auxiliary tool, obtain the control routine in the operation result of first operating system；The operation result is simulation
The drive parameter of vehicle.
It should be noted that in the embodiment of the present application, first operating system and second operating system are not
Same operating system.The embodiment of the present application does not limit first operating system and second operating system specifically, as one
Kind example, first operating system are robot operating system ros；Second operating system is windows operating system.
Correspondingly, in view of MATLAB simulation software not only can carry out data interaction with ros operating system, but also can run
In windows operating system, therefore, in a kind of possible implementation of the embodiment of the present application, the auxiliary tool is
Matlab simulation software.
In the embodiment of the present application, it is contemplated that the roscore of ros can hang over multiple nodes, and roscore is hung with it
Node between can carry out data interaction.It therefore, can will be described in a kind of implementation of the embodiment of the present application
MATLAB simulation software is packaged into node carry on the roscore, and so, the MATLAB simulation software can lead to
It crosses and carries out data interaction with the roscore, to obtain the control routine in the operation result of the ros.
In the embodiment of the present application, it when MATLAB simulation software obtains the operation result by roscore, can use
ICP/IP protocol and the roscore carry out data interaction, to obtain the operation result.Specifically, MATLAB emulation is soft
The IP address of the available roscore of part, to access the control routine in first behaviour using the IP address
Make the operation result of system, to obtain the control routine in the operation result of first operating system.
S102: the vehicle simulation software is controlled using the operation result, the simulating vehicle is emulated.
The embodiment of the present application does not limit specifically and utilizes the auxiliary tool, and the operation result is sent to second behaviour
Make the specific implementation of system, as an example, when first operating system is robot operating system ros；It is described
Second operating system is windows operating system；When the auxiliary tool is matlab simulation software, it is imitative to can use matlab
Operation result transmission is passed to the vehicle simulation software, so that described by the s-function function in true software
Vehicle simulation software utilizes the operation result, emulates to the simulating vehicle.
It should be noted that is referred in S102 emulates the simulating vehicle, actually to the control generation
The practical handling of code emulate.It is understood that if vehicle can be according to institute in the vehicle simulation software
Operation result is stated, set destination is driven to, then can characterize the practical handling of the control routine to a certain extent
It is relatively good；If vehicle can drive to according to the operation result and deviate the set purpose in the vehicle simulation software
The distant position in ground, the then practical handling that can characterize the control routine to a certain extent are not so good.
As can be seen from the above description, a kind of emulation mode provided by the embodiments of the present application, although calculating vehicle drive parameter
Control routine operate under the first operating system, and vehicle simulation software operate in different from the first operating system second behaviour
Make under system.But in the embodiment of the present application, it can use to have and carry out data exchange capability with the first operating system and transport
Auxiliary tool of the row in the second operating system, to obtain operation result of the control routine in the first operating system.Such one
Come, then has the operation result in second operating system, therefore, the vehicle run in the second operating system can be made
Simulation software utilizes the operation result, emulates to the simulating vehicle, such as controls mould according to the operation result
Quasi- vehicle is exercised.It can be seen that using scheme provided by the embodiments of the present application, even if control routine and vehicle simulation software difference
It operates in different operating system, the simulating, verifying to the practical handling of control routine also may be implemented.
As it was noted above, the first operating system can run the control routine based on input data, it is corresponding to obtain
Operation result.
It is understood that actually whether simulating vehicle can be accurate to the process that simulating vehicle is emulated
The process of simulation terminal is driven to from simulation starting point.When starting emulation, the original input data of the control routine can be with
The data being an externally input, such as can be the data that operator is manually entered.The data for example can be from the simulation
Driving path of the starting point to simulation terminal.
And due to simulating vehicle from simulation starting point drive to simulation terminal during, the drive parameter of the vehicle,
It is the relative position between the position being presently according to simulating vehicle and the simulation terminal and the current shape of simulating vehicle
What the course angle etc. of state such as vehicle adjusted in real time.
That is, the operation result in aforementioned S101, can be when starting emulation, runs the control generation for the first time
The operation result of code；The operation result is also possible to during subsequent simulation, runs the operation knot of the control routine
Fruit.
In consideration of it, may obtain in implementation in a kind of of the embodiment of the present application, the operation result, described can be
One operating system runs what the control routine obtained based on original input data.Mentioned herein is transported based on original input data
The operation result that the row control routine obtains, it can be understood as run the operation result of the control routine for the first time.
In another possible implementation of the embodiment of the present application, the operation result is first operation system
What system was obtained based on control routine described in real-time simulation data run.The real-time simulation data are the auxiliary tools from institute
It states and is obtained in the second operating system, and be sent to first operating system.
In the embodiment of the present application, the real-time simulation number that vehicle simulation software emulates the simulating vehicle
According to, such as may include the location of described simulating vehicle, the data such as course angle of the simulating vehicle.
The operation result is that first operating system is obtained based on control routine described in real-time simulation data run
, refer to, the operation result, is the real-time simulation data emulated with vehicle simulation software to the simulating vehicle
As the input of the control routine, run what the control routine obtained.
In the embodiment of the present application, the real-time simulation data can utilize the first operating system for vehicle simulation software
Last time runs the operation result that the control routine obtains, the emulation data emulated to the simulating vehicle.
It is understood that since the real-time simulation data are the data in the second operating system, it can use
The auxiliary tool obtains the real-time simulation data from second operating system, and is sent to first operation system
System.
The embodiment of the present application does not limit the auxiliary tool specifically and obtains real-time simulation number from second operating system
According to and the auxiliary tool real-time simulation data are sent to the specific implementation of first operating system, make
For a kind of example, it can use s-function function and obtain the real-time simulation data；It can use the IP of the roscore
The real-time simulation data are sent to the first operating system by address.
It is existing for example, running control routine for the first time during simulating to simulating vehicle for convenience of understanding
When, the input of control routine is what operator was manually entered, and the first operation result that the first operation control routine obtains is used for
Vehicle simulation software carries out first time emulation to the simulating vehicle, obtains the first emulation data；Then data are emulated by first
As the input of control routine, the control routine is run for the second time, obtains the second operation result；Second operation result is used for vehicle
Simulation software carries out second to the simulating vehicle and emulates, and obtains the second emulation data；And so on, number is emulated by second
According to the input as control routine, the control routine is run for the third time, obtains third operation result etc..
Example devices
Based on the emulation mode that above embodiments provide, the embodiment of the present application also provides a kind of apparatus for placing, tie below
It closes attached drawing and introduces the device.
Referring to fig. 2, which is a kind of structural schematic diagram of simulator provided by the embodiments of the present application.
In the embodiment of the present application, the control routine for calculating vehicle drive parameter operates under the first operating system, vehicle
Simulation software operates under the second operating system.
Described device 200 can for example specifically include: acquiring unit 210 and control unit 220.
Acquiring unit 210, for carrying out data exchange capability and running on institute with first operating system using having
The auxiliary tool in the second operating system is stated, obtains the control routine in the operation result of first operating system；It is described
Operation result is the drive parameter of simulating vehicle；
Control unit 220, for controlling the vehicle simulation software using the operation result, to the simulating vehicle into
Row emulation.
In one possible implementation, the operation result is that first operating system is based on initial input number
It is obtained according to the operation control routine；Alternatively,
The operation result is that first operating system is obtained based on control routine described in real-time simulation data run
's；The real-time simulation data are that the auxiliary tool is obtained from second operating system, and is sent to first behaviour
Make system.
In one possible implementation, first operating system is robot operating system ros；Second behaviour
Making system is windows operating system；
The auxiliary tool is matlab simulation software.
In one possible implementation, the acquiring unit 210, is specifically used for:
The MATLAB simulation software is packaged into node carry on roscore；
The IP address for obtaining the roscore obtains the control from first operating system using the IP address
The operation result of code processed.
In one possible implementation, described control unit 220 are specifically used for:
Using s-function function, the operation result is passed into the vehicle simulation software, so that the vehicle
Simulation software utilizes the operation result, emulates to the simulating vehicle.
Since described device 200 is the corresponding device of method provided with above method embodiment, described device 200 it is each
The specific implementation of a unit is same design with above method embodiment, accordingly, with respect to each unit of described device 200
Specific implementation, can refer to above method embodiment description section, details are not described herein again.
As can be seen from the above description, a kind of simulator provided by the embodiments of the present application, although calculating vehicle drive parameter
Control routine operate under the first operating system, and vehicle simulation software operate in different from the first operating system second behaviour
Make under system.But in the embodiment of the present application, it can use to have and carry out data exchange capability with the first operating system and transport
Row carries out the auxiliary tool of data exchange capability in the second operating system, to obtain fortune of the control routine in the first operating system
Row result., so, then have the operation result in second operating system, therefore, can to run on second
Vehicle simulation software in operating system utilizes the operation result, emulates to the simulating vehicle, such as according to
Operation result controls simulating vehicle and exercises.It can be seen that using scheme provided by the embodiments of the present application, even if control routine and vehicle
Simulation software, which is separately operable, in different operating system, also may be implemented to the imitative of the practical handling of control routine
True verifying.
The embodiment of the present application also provides a kind of emulator, the equipment includes: processor and memory；
The memory, for storing instruction；
The processor executes the emulation side that above embodiments provide for executing the described instruction in the memory
Method.
The embodiment of the present application also provides a kind of non-transitorycomputer readable storage medium, the finger in the storage medium
When enabling the processor execution by electronic equipment, so that electronic equipment is able to carry out a kind of emulation mode, which comprises
Data exchange capability and run in second operating system with first operating system using having
Auxiliary tool, obtain the control routine in the operation result of first operating system；The operation result is simulation vehicle
Drive parameter；
The vehicle simulation software is controlled using the operation result, the simulating vehicle is emulated.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the application
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the application, these modifications, purposes or
Person's adaptive change follows the general principle of the application and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the application are by following
Claim is pointed out.
It should be understood that the application is not limited to the precise structure that has been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.Scope of the present application is only limited by the accompanying claims
The foregoing is merely the preferred embodiments of the application, not to limit the application, it is all in spirit herein and
Within principle, any modification, equivalent replacement, improvement and so on be should be included within the scope of protection of this application.
Claims (10)
1. a kind of emulation mode, which is characterized in that the control routine for calculating vehicle drive parameter operates in the first operating system,
Vehicle simulation software operates in the second operating system, which comprises
Data exchange capability and run on auxiliary in second operating system with first operating system using having
Assistant engineer's tool, obtains the control routine in the operation result of first operating system；The operation result is simulating vehicle
Drive parameter；
The vehicle simulation software is controlled using the operation result, the simulating vehicle is emulated.
2. the method according to claim 1, wherein the operation result, is that first operating system is based on
Original input data runs what the control routine obtained；Alternatively,
The operation result, first operating system are obtained based on control routine described in real-time simulation data run；Institute
Real-time simulation data are stated, are that the auxiliary tool is obtained from second operating system, and is sent to first operation system
System.
3. method according to claim 1 or 2, which is characterized in that first operating system is robot operating system
ros；Second operating system is windows operating system；
The auxiliary tool is matlab simulation software.
4. according to the method described in claim 3, it is characterized in that, the utilization has and first operating system and described
Second operating system carries out the auxiliary tool of data exchange capability, obtains the control routine from first operating system
Operation result, comprising:
The MATLAB simulation software is packaged into node carry on roscore；
The IP address for obtaining the roscore obtains the control generation using the IP address from first operating system
The operation result of code.
5. according to the method described in claim 4, being tied it is characterized in that, controlling the vehicle simulation software using the operation
Fruit emulates the simulating vehicle, comprising:
Using s-function function, the operation result is passed into the vehicle simulation software, so that the vehicle is imitative
True software utilizes the operation result, emulates to the simulating vehicle.
6. a kind of simulator, which is characterized in that the control routine for calculating vehicle drive parameter operates in the first operating system,
Vehicle simulation software operates in the second operating system, and described device includes:
Acquiring unit, for carrying out data exchange capability and running on described second with first operating system using having
Auxiliary tool in operating system obtains the control routine in the operation result of first operating system；The operation knot
Fruit is the drive parameter of simulating vehicle；
Control unit emulates the simulating vehicle for controlling the vehicle simulation software using the operation result.
7. device according to claim 6, which is characterized in that the operation result is that first operating system is based on
Original input data runs what the control routine obtained；Alternatively,
The operation result, first operating system are obtained based on control routine described in real-time simulation data run；Institute
Real-time simulation data are stated, are that the auxiliary tool is obtained from second operating system, and is sent to first operation system
System.
8. device according to claim 6 or 7, which is characterized in that first operating system is robot operating system
ros；Second operating system is windows operating system；
The auxiliary tool is matlab simulation software.
9. device according to claim 8, which is characterized in that the acquiring unit is specifically used for:
The MATLAB simulation software is packaged into node carry on roscore；
The IP address for obtaining the roscore obtains the control generation using the IP address from first operating system
The operation result of code.
10. device according to claim 9, which is characterized in that described control unit is specifically used for:
Using s-function function, the operation result is passed into the vehicle simulation software, so that the vehicle is imitative
True software utilizes the operation result, emulates to the simulating vehicle.
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| CN108762889A (en) * | 2018-05-30 | 2018-11-06 | 济南浪潮高新科技投资发展有限公司 | A kind of automatic Pilot emulation cloud platform and method |
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Application publication date: 20190507 |