CN109801534A - Driving behavior hardware-in-the-loop test system based on automatic Pilot simulator - Google Patents
Driving behavior hardware-in-the-loop test system based on automatic Pilot simulator Download PDFInfo
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Abstract
The driving behavior hardware-in-the-loop test system based on automatic Pilot simulator that the present invention relates to a kind of, including emulation module, sensor module, domain controller DCU, camera camera bellows and driving simulator, camera camera bellows includes second display and camera, it further include driving simulator, driving simulator includes the first display, the driving input unit of Driving control signal is inputted for driver and the computer of drive simulating program is installed, first display and driving input unit are connect with computer, emulation module generates simulation model based on the data that sensor module acquires, receive the Driving control signal for driving driver's input that input unit is sent, update simulation model, and by second display and the first display simultaneous display, camera acquires the content that second display is shown and is sent to domain controller DC U, by being learnt with controller.Compared with prior art, the present invention has many advantages, such as to improve automatic Pilot stability.
Description
Technical field
The present invention relates to automatic Pilot fields, more particularly, to a kind of driving behavior hardware based on automatic Pilot simulator
Assemblage on-orbit test macro.
Background technique
Automatic Pilot test is divided into emulation testing, blocked road test, open route test, and emulation testing is due to having weight
The advantages such as renaturation is good, highly-safe, testing efficiency is high and be widely used in Function for Automatic Pilot exploitation.Hardware-in―the-loop test is
The important component of emulation testing, existing hardware-in-the-loop test are usually that automatic Pilot algorithm is imported domain controller
In, then the hardware such as camera, radar are accessed into simulation test platform and carry out analog simulation test.
Traditional hardware-in-the-loop test platform is dark comprising HIL hardware, HIL software, Real-Time Model, camera
The components such as case, domain controller DCU, radar camera bellows, ultrasonic wave camera bellows composition, system architecture diagram are as shown in Figure 1.
Existing automatic Pilot emulation testing directly imports the algorithm developed in domain controller, then passes through hardware in loop
Testing algorithm can only control vehicle behavior by the ADAS algorithm preset in this way, without considering driving for true driver
Sail influence of the behavior to control algolithm.
Such as in ACC adaptive cruise function, the following distance of systemic presupposition, generally comprise " remote ", " in ", " close " three
Shelves, and front truck object is not distinguished explicitly then.But under real scene, driver is when driving for front vehicle
The following distance of (car or truck) be it is different, it is closer for the following distance of car, and for truck
Following distance is then farther out.
It, can be to vehicle when system judges that vehicle soon knocks front obstacle again for example in AEB automatic emergency brake function
Apply longitudinal deceleration, make vehicle deceleration to avoid collision.But under real scene, driver is judging that vehicle will hit
When upper front obstacle, steering wheel may be touched on the brake and beaten to avoid collision simultaneously.
Therefore, for existing hardware-in-the-loop test, lacked the study and reference for driver's driving behavior,
Cause the ADAS function of exploitation that may and not meet the expection of actual customer in this way.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to be based on automatic Pilot
The driving behavior hardware-in-the-loop test system of simulator.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of driving behavior hardware-in-the-loop test system based on automatic Pilot simulator, including emulation module, biography
Sensor module, domain controller DCU and camera camera bellows, the camera camera bellows include second display and camera, described to take the photograph
Picture head is connect with domain controller DCU, further includes driving simulator, which includes the first display, is used for driver
It inputs the drivings input unit of Driving control signal and the computer of drive simulating program is installed, the second display, the
One display and driving input unit are connect with computer, and the computer is also connect with emulation module；
The emulation module generates simulation model based on the data that sensor module acquires, and receives and drives input unit transmission
Driver's input Driving control signal, simulation model is updated, and by second display and the first display simultaneous display, institute
It states the content that camera acquisition second display is shown and is sent to domain controller DCU, by being learnt with controller.
The camera camera bellows further includes lens, which is set between second display and camera.
The driving input unit is drive simulating platform.
The emulation module includes HIL hardware and HIL software,
The HIL hardware includes power management module, programmable power supply, real-time emulation system, load box, direct fault location list
Member, out of circuit test box, for realizing the real time execution of the simulation models such as Simulink,
The HIL software includes test management software, automatic test software, direct fault location software.
The sensor module includes radar camera bellows and ultrasonic wave camera bellows.
The domain controller DCU executes following steps:
Stage 1: data and Driving control signal training decision model based on sensor module acquisition；
Stage 2: data and trained decision model based on sensor module acquisition export Driving control signal.
The Driving control signal include steering wheel, gas pedal, brake pedal control signal,
The stage 1 specifically includes the following steps:
Data and Driving control signal based on sensor module acquisition obtain including following distance, acceleration-deceleration, vehicle
With the expectation parameter including the distance parameter of lane line, and using sensor module acquisition data and desired parameter to decision model
Type is trained.
Compared with prior art, the invention has the following advantages:
1) it can be obviously improved Function for Automatic Pilot development efficiency, fully consider driving behavior to Function for Automatic Pilot
It influences, increases the influence factor of driving behavior in the emulation testing stage, make that Function for Automatic Pilot is more intelligent, is more in line with visitor
Family is expected.
2) maximum compatible, reduction cost of implementation is realized with existing component part.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of existing test macro；
Fig. 2 is structural schematic diagram of the invention；
Wherein: 1, simulation model, 2, HIL software, 3, HIL hardware, 4, domain controller DCU, 5, radar camera bellows, 6, ultrasonic wave
Camera bellows, 7, driving simulator, 8, camera camera bellows, 71, computer, 72, display, 73, driving input unit, 81, second
Display, 82, camera, 83, lens.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
A kind of driving behavior hardware-in-the-loop test system based on automatic Pilot simulator 7, as shown in Fig. 2, including
Emulation module, 82 camera bellows 8 of sensor module, domain controller DCU 4 and camera, 82 camera bellows 8 of camera include second display
81 and camera 82, camera 82 connect with domain controller DCU 4, further include driving simulator 7, which includes
First display 72 inputs the driving input unit 73 of Driving control signal for driver and is equipped with drive simulating program
Computer 71, second display 81, the first display 72 and driving input unit 73 are connect with computer 71, and computer 71 is also
It is connect with emulation module；
Emulation module generates simulation model 1 based on the data that sensor module acquires, and receives and drives the transmission of input unit 73
Driver's input Driving control signal, update simulation model 1, and it is synchronous aobvious by second display 81 and the first display 72
Show, camera 82 acquire second display 81 show content simultaneously be sent to domain controller DCU 4, by with controller
It practises.
82 camera bellows 8 of camera further includes lens 83, which is set between second display 81 and camera 82.
Driving input unit 73 is drive simulating platform.
Emulation module includes HIL hardware 3 and HIL software 2,
HIL hardware 3 include power management module, programmable power supply, real-time emulation system, load box, direct fault location unit,
Out of circuit test box etc., for realizing the real time execution of the simulation models such as Simulink 1,
HIL software 2 includes test management software, automatic test software, direct fault location software etc..
Sensor module includes radar camera bellows 5 and ultrasonic wave camera bellows 6.
Domain controller DCU 4 executes following steps:
Stage 1: data and Driving control signal training decision model based on sensor module acquisition；
Stage 2: data and trained decision model based on sensor module acquisition export Driving control signal.
Driving control signal include steering wheel, gas pedal, brake pedal control signal,
Stage 1 specifically includes the following steps:
Data and Driving control signal based on sensor module acquisition obtain including following distance, acceleration-deceleration, vehicle
With the expectation parameter including the distance parameter of lane line, and using sensor module acquisition data and desired parameter to decision model
Type is trained.
Simulation model 1 includes kinetic model and scene simulation model 1, and emulation vehicle is dynamic to driver, road surface and air
The response of mechanics input, while realizing the emulation to complicated road, traffic environment.
Ultrasonic wave camera bellows 6 is for realizing the emulation to ultrasonic radar signal.
Radar camera bellows 5 is for realizing the emulation to MMW RADAR SIGNAL USING.
Domain controller DCU 4 is the central processing unit of automated driving system, and realization camera 82 melts with radar signal
It closes.
Specifically, realize in the following way:
1, whole system is opened by test management software in HIL software 2, guarantee HIL hardware 3, ultrasonic wave camera bellows 6,
The normal operation of radar camera bellows 5, domain controller DCU 4；
2, the Run-time scenario simulation software on computer 71, imports ADAS test scene, and second display 81 and first show
Show device 72 while being connected to computer 71 (simulation model 1 is generated by the simulation software run on computer 71), guarantees display
Identical content；
3, developer is soft to control emulation by driving the steering wheel in input unit 73, gas pedal, brake pedal
Auto model in part, second display 81 and the first display 72 show identical interface at this time；
4, developer tests the ADAS function of vehicle in ADAS test scene, and control vehicle realizes steering, acceleration and deceleration
Movement, the camera 82 in 82 camera bellows 8 of camera passes through the graphic interface on 83 captured in real-time second display 81 of lens at this time,
And learn the driving behavior of developer, distance parameter, alarm logging to following distance, acceleration-deceleration, vehicle and lane line
It feeds back in test management software, developer is facilitated to modify ADAS control algolithm.
Claims (7)
1. a kind of driving behavior hardware-in-the-loop test system based on automatic Pilot simulator, including emulation module, sensing
Device module, domain controller DCU and camera camera bellows, the camera camera bellows include second display and camera, the camera shooting
Head is connect with domain controller DCU, which is characterized in that further includes driving simulator, which includes the first display, uses
The driving input unit of Driving control signal is inputted in driver and the computer of drive simulating program is installed, and described second is aobvious
Show device, the first display and drive input unit and connect with computer, the computer is also connect with emulation module；
The emulation module generates simulation model based on the data that sensor module acquires, and receives and drives driving for input unit transmission
The Driving control signal of the person's of sailing input, updates simulation model, and by second display and the first display simultaneous display, described to take the photograph
As head acquires the content that shows of the first display and is sent to domain controller DCU, by being learnt with controller.
2. a kind of driving behavior hardware-in-the-loop test system based on automatic Pilot simulator according to claim 1
System, which is characterized in that the camera camera bellows further includes lens, which is set between second display and camera.
3. a kind of driving behavior hardware-in-the-loop test system based on automatic Pilot simulator according to claim 1
System, which is characterized in that the driving input unit is drive simulating platform.
4. a kind of driving behavior hardware-in-the-loop test system based on automatic Pilot simulator according to claim 1
System, which is characterized in that the emulation module includes HIL hardware and HIL software,
The HIL hardware include power management module, programmable power supply, real-time emulation system, load box, direct fault location unit,
Out of circuit test box, for realizing the real time execution of the simulation models such as Simulink,
The HIL software includes test management software, automatic test software, direct fault location software.
5. a kind of driving behavior hardware-in-the-loop test system based on automatic Pilot simulator according to claim 1
System, which is characterized in that the sensor module includes radar camera bellows and ultrasonic wave camera bellows.
6. a kind of driving behavior hardware-in-the-loop test system based on automatic Pilot simulator according to claim 1
System, which is characterized in that the domain controller DCU executes following steps:
Stage 1: data and Driving control signal training decision model based on sensor module acquisition；
Stage 2: data and trained decision model based on sensor module acquisition export Driving control signal.
7. a kind of driving behavior hardware-in-the-loop test system based on automatic Pilot simulator according to claim 6
System, which is characterized in that the Driving control signal include steering wheel, gas pedal, brake pedal control signal,
The stage 1 specifically includes the following steps:
Data and Driving control signal based on sensor module acquisition obtain including following distance, acceleration-deceleration, vehicle and vehicle
Expectation parameter including the distance parameter of diatom, and using sensor module acquisition data and desired parameter to decision model into
Row training.
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| CN110412374A (en) * | 2019-07-24 | 2019-11-05 | 苏州凌创瑞地测控技术有限公司 | A kind of ADAS HIL test macro based on multisensor |
| CN110728877A (en) * | 2019-11-06 | 2020-01-24 | 北京千种幻影科技有限公司 | VR simulation driving training device |
| CN110764494A (en) * | 2019-11-26 | 2020-02-07 | 畅加风行(苏州)智能科技有限公司 | Human-computer hybrid driving automatic driving virtual test platform based on SCANeR |
| CN111026099A (en) * | 2019-12-30 | 2020-04-17 | 中国重汽集团济南动力有限公司 | Intelligent networking automobile function simulation test system and test method |
| CN112286206A (en) * | 2020-11-17 | 2021-01-29 | 苏州智加科技有限公司 | Automatic driving simulation method, system, equipment, readable storage medium and platform |
| CN112698578A (en) * | 2019-10-22 | 2021-04-23 | 北京车和家信息技术有限公司 | Automatic driving model training method and related equipment |
| CN112783006A (en) * | 2021-01-15 | 2021-05-11 | 北京航空航天大学 | Hardware-in-loop simulation test system for vehicle-mounted computing unit of automatic driving vehicle |
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| CN114995189A (en) * | 2022-05-19 | 2022-09-02 | 中国第一汽车股份有限公司 | Testing device and testing method based on camera driving assistance system |
| CN115962961A (en) * | 2023-03-14 | 2023-04-14 | 苏州清研精准汽车科技有限公司 | System and method for testing ADAS signal display function |
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| CN116909260A (en) * | 2023-09-12 | 2023-10-20 | 常州星宇车灯股份有限公司 | Intelligent driving domain controller test verification method for simulating HIL (high-performance liquid chromatography) rack |
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