CN113607433A - Rack verification platform of lane keeping auxiliary system based on driver physiological information - Google Patents
Rack verification platform of lane keeping auxiliary system based on driver physiological information Download PDFInfo
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- G—PHYSICS
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- A61B3/113—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for determining or recording eye movement
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
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Abstract
The invention relates to the technical field of vehicle driving safety, and discloses a bench verification platform of a lane keeping auxiliary system based on physiological information of a driver, which comprises a physiological sensor, a data acquisition module and a data processing module, wherein the physiological sensor is arranged on the skin of the driver and is used for acquiring the physiological information of the driver; the vehicle simulation platform comprises a lane keeping auxiliary system and a vehicle running model, wherein the lane keeping auxiliary system is used for assisting a vehicle to keep in a lane, and the vehicle running model is used for simulating the running state of the vehicle; and the computer terminal is connected with the physiological sensor and the vehicle simulation rack, is used for receiving the vehicle running information of the vehicle running model and controlling the lane keeping auxiliary system to work according to the vehicle running information, and receives the acquired data of the physiological sensor and verifies the lane keeping auxiliary system according to the acquired data. The invention introduces the physiological sensor, and can improve the accuracy of the verification of the lane keeping auxiliary system.
Description
Technical Field
The invention relates to the technical field of vehicle driving safety, in particular to a bench verification platform of a lane keeping auxiliary system based on physiological information of a driver.
Background
At present, traffic accidents are easily caused by lane departure caused by fatigue driving or distraction of drivers. In order to improve the safety of the lateral movement of the vehicle, the lane keeping assist system is mounted in more and more vehicles, and in order to ensure the safety and reliability of the lane keeping assist system during the driving process of the vehicle, a large amount of tests and verifications are required from the development of the lane keeping assist system to the shipment of the vehicle. In the verification process of the lane keeping assist system, the driving state of the driver is generally acquired by recognizing the facial features of the driver through a camera in the aspect of the driving state, which is generally judged from two aspects of the vehicle level and the driver state. However, there may be a lag in the driving state fed back by the facial features captured by the camera, affecting the accuracy of the verification of the lane keeping aid system.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a platform for bench verification of a lane keeping assist system based on driver physiological information, so as to solve the problem of hysteresis in driving state of the prior art, which utilizes a camera to capture facial feature feedback.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a bench verification platform of a lane keeping auxiliary system based on physiological information of a driver, which comprises:
the physiological sensor is arranged on the skin of the driver and used for collecting the physiological information of the driver;
the vehicle simulation platform comprises a lane keeping auxiliary system and a vehicle running model, wherein the lane keeping auxiliary system is used for assisting a vehicle to keep in a lane, and the vehicle running model is used for simulating the running state of the vehicle;
and the computer terminal is connected with the physiological sensor and the vehicle simulation rack, is used for receiving vehicle running information of the vehicle running model and controlling the lane keeping auxiliary system to work according to the vehicle running information, and receives the acquired data of the physiological sensor and verifies the lane keeping auxiliary system according to the acquired data.
Preferably, the physiological sensor comprises wearable electroencephalogram equipment, the wearable electroencephalogram equipment is arranged on the head of a driver, and the wearable electroencephalogram equipment is used for collecting brain region activity information.
Preferably, the physiological sensor comprises a myoelectric sensor, and the myoelectric sensor is arranged on the upper limb of the driver and used for collecting upper limb exertion information.
Preferably, the myoelectric sensor has a plurality of myoelectric sensors respectively attached to the positions of biceps brachii, triceps brachii and deltoid of the driver.
Preferably, the physiological sensor comprises a telemetric eye tracker which is arranged on the eyes of the driver and is used for collecting eye movement information.
Preferably, the computer terminal comprises an upper computer, a real-time machine and a terminal PC, the upper computer is in communication connection with the physiological sensor so as to store and analyze the acquired data of the physiological sensor, and the upper computer is in communication connection with the real-time machine so as to deploy the vehicle dynamics model in the real-time machine; the terminal PC is in communication connection with the real-time machine so as to build a driving scene and transmit driving initial information to the real-time machine; the real-time machine is in communication connection with the vehicle simulation rack and is used for operating the vehicle dynamics model, receiving driving scene information and sending vehicle running state information to the vehicle simulation rack.
Preferably, the vehicle simulation rack further comprises a projection screen, and the projection screen is connected with the terminal PC and used for projecting a driving scene built by the terminal PC.
Preferably, the lane keeping assist system includes a camera for recognizing lane line information and obstacle information, a driving assist controller, and an electric power steering controller; the auxiliary driving controller is connected with the camera and used for obtaining an auxiliary torque according to the lane line information and the obstacle information; the electric power steering controller is connected with the auxiliary driving controller and the vehicle running model, and is used for controlling the vehicle running model according to auxiliary torque and sending steering wheel corner information and steering wheel torque information to the computer terminal; and the auxiliary driving controller and the electric power steering controller are in communication connection with the computer terminal.
Preferably, the vehicle running model comprises an accelerator pedal, a brake pedal, a steering wheel column, a power-assisted motor, a rack and pinion steering gear and a tire steering resistance moment simulation device, wherein the steering wheel is connected with the steering wheel column, the steering wheel column and the power-assisted motor are both connected with the rack and pinion steering gear, the tire steering resistance moment simulation device is connected with the rack and pinion steering gear, and the power-assisted motor is connected with the electric power-assisted steering controller; the accelerator pedal, the brake pedal and the tire steering resistance moment simulation equipment are all connected with the computer terminal.
Compared with the prior art, the bench verification platform of the lane keeping auxiliary system based on the physiological information of the driver has the advantages that:
according to the bench verification platform provided by the embodiment of the invention, the physiological information of the driver is acquired by using the physiological sensor, the driving state of the driver is fed back according to the physiological information of the driver, and the lane keeping auxiliary system is verified. In addition, the lane keeping auxiliary system is deployed on the rack verification platform, the lane keeping auxiliary system is verified, an actual vehicle is not required to be adopted to verify the lane keeping auxiliary system, and the rack verification platform can improve the iteration speed of the control algorithm of the lane keeping auxiliary system and reduce the development cost in the development and iteration process of the control algorithm of the lane keeping auxiliary system; in addition, the rack certificate checking platform can be suitable for the certificate checking of lane keeping auxiliary systems of various vehicles, and the certificate checking cost is reduced.
Drawings
FIG. 1 is a system block diagram of a bench verification platform of a lane keeping assist system based on physiological information of a driver according to an embodiment of the invention;
FIG. 2 is a schematic view of a deployment of the driving scenario of the present invention;
FIG. 3 is a schematic diagram of the delivery of driving instructions in the present invention;
FIG. 4 is a schematic diagram of the signal transmission for the activation of the electric power steering controller of the present invention;
FIG. 5 is a signal transmission diagram of tire steering torque simulation in accordance with the present invention;
in the figure, 1, a physiological sensor; 11. wearable brain electrical equipment; 12. an electromyographic sensor; 13. a telemetric eye tracker; 2. a camera; 3. a driving assistance controller; 4. an electric power steering controller; 51. a brake pedal; 52. an accelerator pedal; 53. a steering wheel; 54. a steering wheel column; 55. a steering wheel torque sensor; 56. a rack and pinion steering gear; 57. tire steering resistance moment simulation equipment; 58. a pull pressure sensor; 59. a booster motor; 6. an upper computer; 7. a real-time machine; 711. a digital-to-analog converter; 712. an analog-to-digital converter; 72. a vehicle dynamics model; 73. a CAN card; 74. a load closed-loop controller; 8. a terminal PC; 81. a projection screen; 9. a CAN bus.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The bench verification platform of the lane keeping auxiliary system based on the physiological information of the driver is used for verification in early development of the lane keeping auxiliary system and evidence of the lane keeping auxiliary system in a vehicle. The bench inspection platform comprises a physiological sensor 1, a vehicle simulation bench and a computer terminal, wherein the physiological sensor 1 is arranged on the skin of a driver and used for collecting the physiological information of the driver and feeding back the driving state of the driver by utilizing the physiological information of the driver so as to more timely and accurately acquire the driving state information of the driver; the vehicle simulation platform comprises a lane keeping auxiliary system and a vehicle running model, wherein the lane keeping auxiliary system is used for assisting a vehicle to keep in a lane, and the vehicle running model is used for simulating the running state of the vehicle and carrying a real vehicle running environment; the computer terminal is used for receiving vehicle running information of the vehicle running model, deploying lane keeping auxiliary system control algorithm, controlling the lane keeping auxiliary system to work according to the vehicle running information, and improving the speed of algorithm iteration, the computer terminal receives the acquired data of the physiological sensor 1, and verifies the lane keeping auxiliary system according to the acquired data, so that the reliability of the lane keeping auxiliary system control algorithm is verified, the algorithm iteration speed is improved, and the verification cost is reduced.
As shown in fig. 1, in the present embodiment, the physiological sensor 1 includes one or more of a wearable brain electrical device 11, an electromyographic sensor 12, and a telemetric eye tracker 13. The wearable brain wave equipment 11 is arranged on the head of a driver, the wearable brain wave equipment 11 is used for collecting brain region activity information, the brain region activity information is collected through a brain region activity bioelectricity signal, the brain motion state of the driver is detected through power information and frequency spectrum information of four basic brain wave information and different brain regions, the brain excitation state of the driver can be obtained, and whether the driving fatigue and distraction of the driver occur or not can be judged more accurately. The myoelectric sensor 12 is arranged on the upper limb of the driver and used for collecting upper limb exertion information, and the upper limb exertion state measured by the myoelectric sensor 12 relative to the steering wheel 53 moment measured by the steering wheel moment sensor 55 can more accurately judge the driving and steering comfort of the driver when the lane keeping auxiliary system starts the intervention vehicle to run. Furthermore, the plurality of electromyographic sensors 12 are respectively attached to the positions of the biceps brachii, the triceps brachii and the deltoid of the driver, so that the force application conditions of different muscle positions in the vehicle steering process can be more accurately judged, and compared with a torque sensor provided with a steering wheel 53, the force application state of the driver can be measured in advance by using the electromyographic sensors 12 attached to the muscles. The remote measuring type eye tracker 13 is arranged on the eyes of a driver, the remote measuring type eye tracker 13 is used for collecting eye movement information and tracking eye movement, so that whether the driving fatigue and distraction of the driver occur or not can be accurately judged, and whether the driving lane change condition occurs or not can be judged, and therefore the smoothness of transition of the lane keeping auxiliary system between lane keeping and lane changing is verified.
In the present invention, data of a plurality of types of physiological sensors 1 are acquired and then stored in a data storage device. The data synchronization of the multiple physiological sensors 1 mainly comprises two modes, wherein the first mode is that three physiological sensor 1 devices are triggered by a switch to realize data synchronization; the second mode is to adopt database software based on time sequence storage, and the acquired data is stored and is attached with a time stamp to realize the effect of data synchronization.
As shown in fig. 1, the lane keeping assist system includes a camera 2, a driving assist controller 3, and an electric power steering controller 4, where the camera 2 is configured to identify lane line information and obstacle information, obtain an offset distance between a current vehicle position and lane lines on both sides, and transmit the identification information to the driving assist controller 3; the auxiliary driving controller 3 is connected with the camera 2 and is used for receiving lane line information and obstacle information transmitted by the camera 2; the auxiliary driving controller 3 is used for obtaining an auxiliary torque according to the lane line information and the obstacle information; the electric power steering controller 4 is connected with the assistant driving controller 3 and the vehicle running model, the electric power steering controller 4 is used for receiving and executing the assistant torque transmitted by the assistant driving controller 3, the vehicle running model is controlled according to the assistant torque, the electric power steering controller 4 is connected with a steering wheel torque sensor 55, and the electric power steering controller 4 sends steering wheel corner information and steering wheel torque information measured by the steering wheel torque sensor 55 to a computer terminal; the auxiliary driving controller 3 and the electric power steering controller 4 are both in communication connection with the computer terminal, the auxiliary driving controller 3 runs a lane keeping auxiliary system control algorithm deployed in the real-time machine 7 to obtain an auxiliary torque, and the auxiliary torque is transmitted to the electric power steering controller 4; the electric power steering controller 4 sends the steering wheel angle information and the steering wheel torque information to the real-time machine 7 of the computer terminal, specifically to a CAN card 73 in the real-time machine 7 through a CAN bus 9, and sends the steering wheel angle information and the steering wheel torque information to a lateral motion control interface of a vehicle dynamics model 72 in the real-time machine 7 by using the CAN card 73.
As shown in fig. 1, the vehicle operation model includes an accelerator pedal 52, a brake pedal 51, a steering wheel 53, a steering wheel column 54, an assist motor 59, a rack and pinion steering gear 56 and a tire steering resistance torque simulation device 57, the steering wheel 53 is connected to the steering wheel column 54, the steering wheel column 54 and the assist motor 59 are both connected to the rack and pinion steering gear 56, the tire steering resistance torque simulation device 57 is connected to the rack and pinion steering gear 56, the assist motor 59 is connected to the electric power steering controller 4, and the assist motor 59 is controlled according to an assist torque, so as to control the rotation of the steering wheel 53; the accelerator pedal 52, the brake pedal 51 and the tire steering resistance moment simulation equipment 57 are all connected with the computer terminal. The accelerator pedal 52 and the brake pedal 51 collect a longitudinal movement instruction of the driver, and transmit the longitudinal movement instruction of the driver to a longitudinal movement control interface of the vehicle dynamics model 72 of the real-time machine 7, so as to control the operation of the vehicle dynamics model 72 according to the longitudinal movement instruction.
As shown in fig. 1, the computer terminal includes an upper computer 6, a real-time machine 7 and a terminal PC 8, the upper computer 6 is in communication connection with the physiological sensor 1, the physiological sensor 1 transmits the acquired physiological data of the driver to the upper computer 6, the upper computer 6 is used for storing and analyzing the acquired data of the physiological sensor 1, the driving state information of the driver is obtained according to the acquired data of the physiological sensor 1, and the acquired data and the analysis structure can be visually presented, so that the driving state information of the driver can be used for checking the lane keeping auxiliary system, wherein different physiological sensors 1 are equipped with different data acquisition software and data analysis software; the upper computer 6 is in communication connection with the real-time machine 7 so as to deploy the vehicle dynamics model 72 in the real-time machine 7 and input target vehicle parameters into the vehicle dynamics model 72; the terminal PC 8 is in communication connection with the real-time machine 7 so as to build a driving scene and transmit driving initial information to the real-time machine 7, the real-time machine 7 can conveniently apply the driving initial information to the vehicle dynamics model 72, and the terminal PC 8 collects position and posture information of the vehicle dynamics model 72 after operation; the terminal PC 8 adopts an ROS or Linux real-time system to build a driving scene, including urban roads, expressways, complex intersections, express gates and the like, so as to realize different road curvature models. The driving scenarios may also include extreme driving scenarios, such as racetracks and the like.
The real-time machine 7 is in communication connection with the vehicle simulation rack, the real-time machine 7 has a communication function, and the real-time machine 7 is used for operating the vehicle dynamics model 72, acquiring real-time position and attitude information of the vehicle dynamics model 72 after operation and sending the real-time position and attitude information to the terminal PC 8; the real-time machine 7 is also used for receiving driving scene information and acquiring initial position and initial attitude information of the vehicle; the real-time machine 7 is further configured to send vehicle driving status information to the vehicle simulation gantry, the vehicle driving status information including vehicle speed information, wheel speed information, transmitter status information, yaw rate information, and lateral acceleration information. Specifically, the real-time machine 7 is connected with the assistant driving controller 3 and the electric power steering controller 4 through the CAN bus 9, as shown in fig. 3, the real-time machine 7 is provided with a CAN card 73, which is connected with the CAN bus 9, and transmits steering wheel angle information and steering wheel moment information sent by the electric power steering controller 4 through the CAN bus 9, and transmits the steering wheel angle information and the steering wheel moment information to a lateral motion control interface of a vehicle dynamics model 72; the real-time machine 7 sends vehicle dynamics data in the lane keeping assist system control algorithm to the driving assist controller 3 via the CAN bus 9. As shown in fig. 3, the real-time machine 7 is provided with a digital-to-analog converter 711, and the digital-to-analog converter 711 receives the accelerator pedal information and the brake pedal information, converts the voltage signals generated by the accelerator pedal 52 and the brake pedal 51 into longitudinal motion commands of the driver, including an acceleration command and a deceleration command, and transmits the acceleration command and the deceleration command to a longitudinal motion control interface of the vehicle dynamics model 72.
As shown in fig. 4, the start of the electric power steering controller 4 requires an external signal and a trigger signal, the real-time machine 7 sends an engine/driving motor state, a vehicle speed signal, a wheel speed signal and battery state information to the electric power steering controller 4 through the CAN card 73 to simulate a normal real vehicle environment, and the electric power steering controller 4 is started by an ignition signal.
As shown in fig. 5, in order to simulate the tire steering resistance torque, the real-time machine 7 is connected to a power motor 59, and controls the operations of the rack and pinion steering gear 56 and the tire steering resistance torque simulation equipment 57. The real-time machine 7 generates expected load by using the vehicle dynamics model 72, measures actual load voltage signal by using the pull pressure sensor 58, converts the actual load voltage signal into actual load by using an analog-digital converter 712 in the real-time machine 7, obtains load deviation according to the expected load and the actual load, generates expected servo torque by using a load closed-loop controller 74, generates servo voltage by using a digital analog converter 711 of the real-time machine 7, sends a torque instruction to the tire steering resistance torque simulation equipment 57, and the tire steering resistance torque simulation equipment 57 generates corresponding servo torque according to different servo voltages, thereby realizing closed-loop tire steering resistance torque simulation.
As shown in fig. 1 and 2, in the present invention, the vehicle simulation stand further includes a projection screen 81, and the projection screen 81 is connected to the terminal PC 8 and is configured to project a driving scene built by the terminal PC 8, so that the camera 2 can identify lane line information, obstacle information, and the like. The terminal PC 8 may further have a virtual camera module built therein, the virtual camera module is connected to the assistant driving controller 3, and lane line information and obstacle information in a driving scene are transmitted to the assistant driving controller 3 through the virtual camera module.
To sum up, the embodiment of the invention provides a rack verification platform of a lane keeping auxiliary system based on physiological information of a driver, which utilizes a physiological sensor 1 to collect the physiological information of the driver, feeds back the driving state of the driver according to the physiological information of the driver, and verifies the lane keeping auxiliary system. In addition, the lane keeping auxiliary system is deployed on the rack verification platform, the lane keeping auxiliary system is verified, an actual vehicle is not required to be adopted to verify the lane keeping auxiliary system, and the rack verification platform can improve the iteration speed of the control algorithm of the lane keeping auxiliary system and reduce the development cost in the development and iteration process of the control algorithm of the lane keeping auxiliary system; in addition, the rack certificate checking platform can be suitable for the certificate checking of lane keeping auxiliary systems of various vehicles, and the certificate checking cost is reduced.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (9)
1. A bench-based driver physiological information lane keeping aid system verification platform, comprising:
the physiological sensor is arranged on the skin of the driver and used for collecting the physiological information of the driver;
the vehicle simulation platform comprises a lane keeping auxiliary system and a vehicle running model, wherein the lane keeping auxiliary system is used for assisting a vehicle to keep in a lane, and the vehicle running model is used for simulating the running state of the vehicle;
and the computer terminal is connected with the physiological sensor and the vehicle simulation rack, is used for receiving vehicle running information of the vehicle running model and controlling the lane keeping auxiliary system to work according to the vehicle running information, and receives the acquired data of the physiological sensor and verifies the lane keeping auxiliary system according to the acquired data.
2. The bench certification platform of the lane keeping aid system based on driver physiological information as claimed in claim 1, wherein the physiological sensor comprises a wearable brain electrical device, the wearable brain electrical device is arranged on the head of the driver, and the wearable brain electrical device is used for collecting brain region activity information.
3. The rack certification platform of the lane keeping aid system based on driver physiological information as claimed in claim 1, wherein the physiological sensor includes a myoelectric sensor, and the myoelectric sensor is disposed on the upper limb of the driver for collecting upper limb exertion information.
4. The bench certification platform of a lane keeping aid system according to claim 3, wherein the electromyographic sensors are attached to the positions of the biceps, triceps and deltoid muscles of the driver, respectively.
5. The bench certification platform of a lane keeping aid system based on driver physiological information according to claim 1, wherein the physiological sensor comprises a telemetric eye tracker, the telemetric eye tracker is disposed on eyes of a driver, and the telemetric eye tracker is used for collecting eye tracking information.
6. The bench certification platform of the lane keeping aid system based on the physiological information of the driver according to claim 1, wherein the computer terminal comprises an upper computer, a real-time machine and a terminal PC, the upper computer is in communication connection with the physiological sensor for storing and analyzing the acquired data of the physiological sensor, and the upper computer is in communication connection with the real-time machine for deploying a vehicle dynamics model in the real-time machine; the terminal PC is in communication connection with the real-time machine so as to build a driving scene and transmit driving initial information to the real-time machine; the real-time machine is in communication connection with the vehicle simulation rack and is used for operating the vehicle dynamics model, receiving driving scene information and sending vehicle running state information to the vehicle simulation rack.
7. The bench verification platform of the lane keeping aid system based on driver physiological information as claimed in claim 6, wherein the vehicle simulation bench further comprises a projection screen, and the projection screen is connected with the terminal PC and used for projecting a driving scene built by the terminal PC.
8. The bench certification platform of the lane keeping aid system based on driver physiological information according to claim 1, wherein the lane keeping aid system comprises a camera, a driving aid controller and an electric power steering controller, and the camera is used for identifying lane line information and obstacle information; the auxiliary driving controller is connected with the camera and used for obtaining an auxiliary torque according to the lane line information and the obstacle information; the electric power steering controller is connected with the auxiliary driving controller and the vehicle running model, and is used for controlling the vehicle running model according to auxiliary torque and sending steering wheel corner information and steering wheel torque information to the computer terminal; and the auxiliary driving controller and the electric power steering controller are in communication connection with the computer terminal.
9. The rack certification platform of a lane keeping aid system based on driver physiological information according to claim 8, wherein the vehicle operation model comprises an accelerator pedal, a brake pedal, a steering wheel column, a power motor, a rack and pinion steering gear and a tire steering resistance torque simulation device, the steering wheel is connected with the steering wheel column, the steering wheel column and the power motor are both connected with the rack and pinion steering gear, the tire steering resistance torque simulation device is connected with the rack and pinion steering gear, and the power motor is connected with the electric power steering controller; the accelerator pedal, the brake pedal and the tire steering resistance moment simulation equipment are all connected with the computer terminal.
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| CN114469097A (en) * | 2021-12-13 | 2022-05-13 | 同济大学 | Man-machine common driving takeover state testing method |
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