CN113820965A - IMU signal simulation method, system, device and computer readable storage medium - Google Patents
IMU signal simulation method, system, device and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses an IMU signal simulation method, which is applied to an IMU signal simulation system, wherein the IMU simulation system comprises: the IMU signal simulation method comprises the following steps: the simulation module acquires vehicle pose information and sends the vehicle pose information to the video injection module, wherein the vehicle pose information comprises speed information and acceleration information of a vehicle in six-degree-of-freedom directions; the video injection module converts the received vehicle pose information into an IMU signal of a preset video protocol and sends the IMU signal of the preset video protocol to the intelligent driving controller to be tested. The invention also discloses an IMU signal simulation system, equipment and a computer readable storage medium. The invention realizes the simulation of the IMU signal of the video protocol in the hardware-in-loop test or the real vehicle-in-loop test.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to an IMU signal simulation method, system, equipment and a computer readable storage medium.
Background
With the rapid development of intelligent driving technology, ADAS (Advanced Driver Assistance System) is becoming more and more popular. At present, mainstream automobile manufacturers at home and abroad use a V-shaped development mode in the product development process, and the whole development process comprises the following steps: functional design and off-line simulation; rapidly controlling the prototype; generating a code; Hardware-in-the-Loop (HIL); and (5) integrating test and calibration. The hardware-in-loop simulation test adopts a semi-physical simulation test method combining a simulation system and an Electronic Control Unit (ECU) physical system, and is an important step in the product development process. At present, a communication protocol transmitted by an IMU (Inertial Measurement Unit) to an intelligent driving Controller to be tested is generally a CAN (Controller Area Network) bus protocol, a serial bus protocol, or an ethernet bus protocol, but as the safety level of intelligent driving is continuously improved, the communication rate transmitted by the IMU to the intelligent driving Controller to be tested needs to be improved accordingly. Compared with a CAN bus, a serial bus or an Ethernet bus, the IMU transmits signals to the intelligent driving controller to be tested through a video protocol, so that the communication rate is greatly improved, but a simulation method for the video protocol IMU signals is not available at present.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an IMU signal simulation method, and aims to solve the technical problem that the video protocol IMU signal simulation method is not available at present.
In order to achieve the above object, the present invention provides an IMU signal simulation method, which is applied to an IMU signal simulation system, the IMU signal simulation system including: the IMU signal simulation method comprises the following steps:
the simulation module acquires vehicle pose information and sends the vehicle pose information to the video injection module, wherein the vehicle pose information comprises speed information and acceleration information of a vehicle in six-degree-of-freedom directions;
the video injection module converts the received vehicle pose information into an IMU signal of a preset video protocol and sends the IMU signal of the preset video protocol to the intelligent driving controller to be tested.
Preferably, the simulation module includes an upper computer and a lower computer, and the step of acquiring the vehicle pose information and sending the vehicle pose information to the video injection module by the simulation module includes:
the upper computer builds a vehicle dynamic model, and compiles and sends the vehicle dynamic model to the lower computer;
the lower computer receives the compiled vehicle dynamics model, obtains vehicle pose information from the compiled vehicle dynamics model, and sends the vehicle pose information to the video injection module.
Preferably, the video injection module includes an input unit, a processing unit and an output unit, and the step of converting the received vehicle pose information into an IMU signal of a preset video protocol and sending the IMU signal of the preset video protocol to the intelligent driving controller to be tested includes:
the input unit analyzes the received vehicle pose information and sends the analyzed vehicle pose information to the processing unit;
the processing unit converts the received analyzed vehicle pose information into an initial IMU signal based on a preset IMU injection protocol, and sends the initial IMU signal to the output unit;
and the output unit serially encodes the received initial IMU signal into an IMU signal of a preset video protocol and sends the IMU signal of the preset video protocol to the intelligent driving controller to be tested.
Preferably, the IMU simulation system further includes an intelligent driving controller to be tested, and the step of converting the received vehicle pose information into an IMU signal of a preset video protocol by the video injection module, and sending the IMU signal of the preset video protocol to the intelligent driving controller to be tested includes:
and the intelligent driving controller to be tested receives the IMU signal of the preset video protocol and generates a control instruction based on a preset control algorithm according to the IMU signal of the preset video protocol.
Preferably, the simulation module includes a vehicle dynamics model and a traffic simulation scene, and the step of receiving the IMU signal of the preset video protocol by the to-be-tested intelligent driving controller and generating a control instruction based on a preset control algorithm according to the IMU signal of the preset video protocol includes:
the intelligent driving controller to be tested sends the control instruction to the simulation module;
the simulation module receives the control command and feeds the control command back to the vehicle dynamics model in the traffic simulation scenario.
Preferably, the simulation module further comprises a graphic workstation, and the step of the simulation module receiving the control instruction and feeding back the control instruction to the vehicle dynamics model in the traffic simulation scenario comprises, before:
and the graphic workstation builds the traffic simulation scene according to preset functional specification requirements, regulation requirements, accident scene requirements or experience scenes.
Preferably, the step of receiving the IMU signal of the preset video protocol by the intelligent driving controller to be tested, and generating a control instruction based on a preset control algorithm according to the IMU signal of the preset video protocol includes:
and the intelligent driving controller to be tested controls the vehicle to run according to the control instruction.
In addition, to achieve the above object, the present invention further provides an IMU signal simulation system, including:
the simulation module is used for acquiring vehicle pose information and sending the vehicle pose information to the video injection module;
and the video injection module is used for converting the received vehicle pose information into an IMU signal of a preset video protocol and sending the IMU signal of the preset video protocol to the intelligent driving controller to be tested.
In addition, to achieve the above object, the present invention also provides an IMU signal simulation apparatus, including: memory, a processor, a simulation module, a video injection module and a computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, implements the steps of the IMU signal simulation method of any one of the above.
Furthermore, to achieve the above object, the present invention also provides a computer readable storage medium having an IMU signal simulation program stored thereon, which when executed by a processor implements the steps of the IMU signal simulation method according to any one of the above.
The invention provides an IMU signal simulation method, which comprises the steps that vehicle pose information is obtained through a simulation module and is sent to a video injection module, then the received vehicle pose information is converted into IMU signals of a preset video protocol by the video injection module, and the IMU signals of the preset video protocol are sent to an intelligent driving controller to be tested; the vehicle pose information in the vehicle dynamics model is converted into an IMU signal which can be received by the intelligent driving controller to be tested, and the IMU signal is a preset video protocol. Therefore, the IMU signal simulation process of the preset video protocol is completed, and the finally obtained IMU signal of the preset video protocol can be used for the hardware-in-loop test of the intelligent driving controller to be tested and can also be used for the real-vehicle in-loop test.
Drawings
FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a IMU signal simulation method according to a first embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a IMU signal simulation method according to a second embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a third embodiment of an IMU signal simulation method according to the present invention;
FIG. 5 is a schematic diagram of an IMU signal simulation system according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the IMU signal simulation apparatus in the embodiment of the present invention may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the device may further include a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, a WiFi module, and so forth. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display screen according to the brightness of ambient light. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), and can detect the magnitude and direction of gravity when the device is stationary, so as to identify the posture of the device, and identify the related functions of vibration (such as pedometer and knocking); of course, other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor may be further configured, and are not further described herein.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 is not intended to be limiting of the apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1005, which is one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and an IMU signal emulation application program therein.
In the device shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke the IMU signal emulation application stored in the memory 1005 and perform the following operations:
the simulation module acquires vehicle pose information and sends the vehicle pose information to the video injection module, wherein the vehicle pose information comprises speed information and acceleration information of a vehicle in six-degree-of-freedom directions;
the video injection module converts the received vehicle pose information into an IMU signal of a preset video protocol and sends the IMU signal of the preset video protocol to the intelligent driving controller to be tested.
Further, the processor 1001 may invoke an IMU signal emulation application stored in the memory 1005, and also perform the following operations:
the upper computer builds a vehicle dynamic model, and compiles and sends the vehicle dynamic model to the lower computer;
the lower computer receives the compiled vehicle dynamics model, obtains vehicle pose information from the compiled vehicle dynamics model, and sends the vehicle pose information to the video injection module.
Further, the processor 1001 may invoke an IMU signal emulation application stored in the memory 1005, and also perform the following operations:
the input unit analyzes the received vehicle pose information and sends the analyzed vehicle pose information to the processing unit;
the processing unit converts the received analyzed vehicle pose information into an initial IMU signal based on a preset IMU injection protocol, and sends the initial IMU signal to the output unit;
and the output unit serially encodes the received initial IMU signal into an IMU signal of a preset video protocol and sends the IMU signal of the preset video protocol to the intelligent driving controller to be tested.
Further, the processor 1001 may invoke an IMU signal emulation application stored in the memory 1005, and also perform the following operations:
and the intelligent driving controller to be tested receives the IMU signal of the preset video protocol and generates a control instruction based on a preset control algorithm according to the IMU signal of the preset video protocol.
Further, the processor 1001 may invoke an IMU signal emulation application stored in the memory 1005, and also perform the following operations:
the intelligent driving controller to be tested sends the control instruction to the simulation module;
the simulation module receives the control command and feeds the control command back to the vehicle dynamics model in the traffic simulation scenario.
Further, the processor 1001 may invoke an IMU signal emulation application stored in the memory 1005, and also perform the following operations:
and the graphic workstation builds the traffic simulation scene according to preset functional specification requirements, regulation requirements, accident scene requirements or experience scenes.
Further, the processor 1001 may invoke an IMU signal emulation application stored in the memory 1005, and also perform the following operations:
and the intelligent driving controller to be tested controls the vehicle to run according to the control instruction.
Referring to fig. 2, a first embodiment of the present invention provides an IMU signal simulation method, which is applied to an IMU signal simulation system, and the IMU signal simulation system includes: the IMU signal simulation method comprises the following steps:
step S100, the simulation module acquires vehicle pose information and sends the vehicle pose information to the video injection module, wherein the vehicle pose information comprises speed information and acceleration information of a vehicle in six-degree-of-freedom directions;
specifically, the simulation module can build a high-precision vehicle dynamics model through calibration vehicle dynamics parameters, realize high-precision vehicle dynamics simulation, and provide high-precision information. The simulation module acquires vehicle pose information required by IMU simulation from the vehicle dynamic model, wherein the vehicle pose information comprises speed information and acceleration information of the vehicle in six freedom directions (transverse direction, longitudinal direction, vertical direction, pitching, rolling and yawing), and then sends the acquired vehicle pose information to the video injection module. In addition, the vehicle pose information may also include position information (such as east-north-sky coordinates) of the vehicle, and the like.
In another embodiment, the simulation module includes an upper computer and a lower computer, and the step S100 includes the steps of:
step a1, the upper computer builds a vehicle dynamic model, compiles the vehicle dynamic model and sends the vehicle dynamic model to the lower computer;
step a1, the lower computer receives the compiled vehicle dynamics model, obtains vehicle pose information from the compiled vehicle dynamics model, and sends the vehicle pose information to the video injection module.
Specifically, the upper computer runs software such as experiment management software, vehicle dynamics simulation software and Simulink simulation models to build a vehicle dynamics model, then the vehicle dynamics model is compiled and downloaded to the lower computer, and the vehicle dynamics model is operated after the lower computer receives the compiled vehicle dynamics model. And then the lower computer obtains vehicle pose information from the compiled vehicle dynamic model and sends the vehicle pose information to a video injection module. The vehicle pose information CAN be sent to the video injection module through a corresponding communication protocol of a CAN bus, a serial bus or an Ethernet bus. For example, vehicle pose information in a vehicle dynamics model is packaged into a SOME/IP (Scalable service-organized MiddlewarE over IP) ethernet protocol through a C + + program, a lower computer ethernet port is called, and the vehicle pose information of the ethernet protocol is transmitted to the video injection module.
Step S200, the video injection module converts the received vehicle pose information into an IMU signal of a preset video protocol and sends the IMU signal of the preset video protocol to the intelligent driving controller to be tested;
specifically, the preset Video protocol may be any one of Video protocols such as LVDS (Low Voltage Differential Signaling), MIPI (Mobile Industry Processor Interface), DVP (Digital Video Port), FPD LINK III (Flat Panel Display LINK III), GMSL (Gigabit Multimedia Serial LINK), and the like. The video injection module converts the received vehicle pose information into an IMU signal of a preset video protocol, and then sends the IMU signal of the preset video protocol to the controller to be tested.
In another embodiment, the video injection module comprises an input unit, a processing unit and an output unit, and the step S200 comprises the steps of:
step b1, the input unit analyzes the received vehicle pose information and sends the analyzed vehicle pose information to the processing unit;
b2, converting the received and analyzed vehicle pose information into an initial IMU signal by the processing unit based on a preset IMU injection protocol, and sending the initial IMU signal to the output unit;
and b3, serially encoding the received initial IMU signal into an IMU signal of a preset video protocol by an output unit, and sending the IMU signal of the preset video protocol to the intelligent driving controller to be tested.
Specifically, the input unit may be a decoding chip corresponding to a communication protocol used by the simulation module to send the vehicle pose information, and is configured to parse the format of the received vehicle pose information into a standard digital signal format, where if the vehicle pose information is transmitted by using an ethernet protocol, the input unit is the ethernet decoding chip, parse the received vehicle pose information in the ethernet protocol format to obtain vehicle pose information in a corresponding standard digital format, and then send the vehicle pose information in the standard digital format obtained after parsing to the processing unit. The processing unit can be an FPGA chip, and converts the received and analyzed vehicle pose information into a real physical signal (namely an initial IMU signal) based on a preset IMU injection protocol, so that the initial IMU signal and the real IMU signal keep the same electrical characteristics. Then sending the initial IMU signal to an output unit in a format of a labeled digital signal; the output unit may be an encoding chip corresponding to a preset video protocol, for example, if the IMU signal is sent to the controller using the LVDS protocol, the output unit is an LVDS encoding chip. And the output unit serially encodes the received initial IMU signal into an IMU signal of a preset video protocol, and the finally obtained IMU signal of the preset video protocol keeps the same electrical characteristics and communication protocol with the real IMU signal. And finally, sending the IMU signal of the preset video protocol to an intelligent driving controller to be tested.
In this embodiment, the format of the received vehicle pose information is converted into a standard digital signal format by the input unit, the processing unit converts the vehicle pose information in the standard digital signal format into an initial IMU signal based on a preset IMU injection protocol, so that the obtained initial IMU signal maintains the same electrical characteristics as the real IMU signal, and then converts the format of the initial IMU signal into a preset video protocol, thereby realizing the conversion of the vehicle pose information in the vehicle dynamics model into an IMU signal in the preset video protocol.
In the first embodiment, vehicle pose information is acquired through a simulation module and is sent to a video injection module, then the video injection module converts the received vehicle pose information into an IMU signal of a preset video protocol and sends the IMU signal of the preset video protocol to the intelligent driving controller to be tested; the vehicle pose information in the vehicle dynamics model is converted into an IMU signal which can be received by the intelligent driving controller to be tested, and the IMU signal is a preset video protocol. Therefore, the IMU signal simulation process of the preset video protocol is completed, and the finally obtained IMU signal of the preset video protocol can be used for the hardware-in-loop test of the intelligent driving controller to be tested and can also be used for the real-vehicle in-loop test.
Further, referring to fig. 3, a second embodiment of the present invention provides an IMU signal simulation method, where the IMU simulation system further includes an intelligent driving controller to be tested, and based on the embodiment shown in fig. 2, after step S200, the method further includes the following steps:
and step S300, the intelligent driving controller to be tested receives the IMU signal of the preset video protocol, and generates a control instruction based on a preset control algorithm according to the IMU signal of the preset video protocol.
Specifically, the intelligent driving controller to be tested receives an IMU signal of a preset video protocol, judges whether the received IMU signal meets a condition for generating a corresponding control instruction based on a preset control algorithm, and generates the corresponding control instruction (such as different steering wheel angles, acceleration, deceleration, alarm requests, and the like) under the condition that the condition is met. On the basis, the intelligent driving controller to be tested can also receive the IMU signal and acquire sensor information actually acquired by one or more other preset sensors (such as a laser radar, a millimeter wave radar, a vision sensor, an ultrasonic sensor or an infrared sensor) or sensor information generated by other simulation equipment, comprehensively judge whether the received signal meets the condition for generating the corresponding control instruction or not based on a preset control algorithm, and generate the corresponding control instruction under the condition that the condition is met.
In another embodiment, the simulation module comprises a vehicle dynamics model and a traffic simulation scenario, and the step S300 is followed by the following steps:
step S400, the intelligent driving controller to be tested sends the control instruction to the simulation module;
step S410, the simulation module receives the control instruction and feeds the control instruction back to the vehicle dynamics model in the traffic simulation scenario.
Specifically, the simulation module runs a vehicle dynamics model and a traffic simulation scenario. And after the intelligent driving controller to be tested generates a control instruction, sending the control instruction to the simulation module. And after receiving the control instruction, the simulation module enables the vehicle dynamics model to make corresponding feedback in a preset traffic simulation scene according to the control instruction. For example, if the control instruction generated by the intelligent driving controller to be tested is deceleration, the simulation module receives the control instruction, and then the vehicle dynamics model performs deceleration action in a preset traffic simulation scene, and displays the deceleration action, so that a user can know the simulation control effect of the vehicle in the preset traffic simulation scene after the intelligent driving controller to be tested sends the control instruction, and thus the closed loop of the hardware-in-loop test of the intelligent driving controller to be tested is realized. The hardware-in-loop simulation test under the laboratory environment replaces real vehicle test and field test, has the advantages of short test period, high safety, high efficiency, capability of covering different complex scenes and the like, and meets the requirement that the version of the intelligent driving controller to be tested in the field of intelligent driving needs to be updated and iterated quickly.
In another embodiment, the simulation module further comprises a graphic workstation, and step S410 is preceded by the steps of:
and the graphic workstation builds the traffic simulation scene according to preset functional specification requirements, regulation requirements, accident scene requirements or experience scenes.
Specifically, the graphic workstation builds a preset traffic simulation scene according to a preset functional specification requirement, a regulation requirement, an accident scene requirement or an experience scene, for example: natural traffic, urban intersections, overhead traveling, ramp-up and ramp-down, toll stations, tunnels, traffic accident sites and the like, and various simulation scenes are generated according to the specific requirements of users. Still further, combinations of the above single traffic scenarios as well as combinations with weather, pedestrians or vehicles are also possible.
Further, referring to fig. 4, a third embodiment of the present invention provides an IMU signal simulation method, based on the above embodiment shown in fig. 3, after step S300, the method further includes the following steps:
and S500, controlling the vehicle to run by the intelligent driving controller to be tested according to the control instruction.
Specifically, in the real vehicle in-loop test, the IMU signal of the preset video protocol may also be provided to the intelligent driving controller to be tested, and the intelligent driving controller to be tested may also generate a corresponding control instruction according to the simulated IMU signal, other sensor signals, and the CAN signal, so as to control the vehicle to run, thereby implementing the application in the real vehicle in-loop test.
In addition, referring to fig. 5, fig. 5 is a schematic structural diagram of an embodiment of an IMU signal simulation system of the present invention, where the IMU signal simulation system includes:
the simulation module 10 is configured to acquire vehicle pose information and send the vehicle pose information to the video injection module, where the vehicle pose information includes speed information and acceleration information of a vehicle in six-degree-of-freedom directions;
the video injection module 20 is configured to convert the received vehicle pose information into an IMU signal of a preset video protocol, and send the IMU signal of the preset video protocol to the intelligent driving controller 30 to be tested.
Further, the IMU simulation system further includes that the simulation module 10 includes an upper computer 11 and a lower computer 12:
the upper computer 11 is used for building a vehicle dynamic model, compiling the vehicle dynamic model and sending the vehicle dynamic model to the lower computer;
and the lower computer 12 is used for obtaining vehicle pose information from the compiled vehicle dynamic model and sending the vehicle pose information to the video injection module.
Further, the IMU simulation system further includes that the video injection module 20 includes an input unit, a processing unit, and an output unit:
the input unit is used for analyzing the received vehicle pose information and sending the analyzed vehicle pose information to the processing unit;
the processing unit is used for converting the received analyzed vehicle pose information into an initial IMU signal based on a preset IMU injection protocol and sending the initial IMU signal to the output unit;
and the output unit is used for serially encoding the received initial IMU signal into an IMU signal of a preset video protocol and sending the IMU signal of the preset video protocol to the intelligent driving controller 30 to be tested.
Further, the IMU simulation system further includes an intelligent driving controller 30 to be tested:
and the intelligent driving controller 30 to be tested is used for receiving the IMU signal of the preset video protocol and generating a control instruction based on a preset control algorithm according to the IMU signal of the preset video protocol.
Further, the simulation module comprises a vehicle dynamics model and a traffic simulation scenario, and the IMU simulation system further comprises:
the intelligent driving controller to be tested 30 is further configured to send the control instruction to the simulation module;
the simulation module 10 is further configured to receive the control instruction, and feed back the control instruction to the vehicle dynamics model in the traffic simulation scenario.
Further, the IMU simulation system further includes that the simulation module further includes a graphic workstation 13:
and the graphic workstation 13 is used for constructing the traffic simulation scene according to preset function specification requirements, regulation requirements, accident scene requirements or experience scenes.
Further, the IMU simulation system further includes:
and the intelligent driving controller 30 to be tested is also used for controlling the vehicle to run according to the control instruction.
In addition, the embodiment of the invention also provides a computer storage medium.
The computer storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements the operations in the IMU signal simulation method provided in the foregoing embodiments, which are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a portable computer, a desktop computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An IMU signal simulation method is applied to an IMU signal simulation system, and the IMU simulation system comprises: the IMU signal simulation method is characterized by comprising the following steps:
the simulation module acquires vehicle pose information and sends the vehicle pose information to the video injection module, wherein the vehicle pose information comprises speed information and acceleration information of a vehicle in six-degree-of-freedom directions;
the video injection module converts the received vehicle pose information into an IMU signal of a preset video protocol and sends the IMU signal of the preset video protocol to the intelligent driving controller to be tested.
2. The IMU signal simulation method of claim 1, wherein the simulation module comprises an upper computer and a lower computer, and the step of the simulation module obtaining vehicle pose information and sending the vehicle pose information to the video injection module comprises:
the upper computer builds a vehicle dynamic model, and compiles and sends the vehicle dynamic model to the lower computer;
the lower computer receives the compiled vehicle dynamics model, obtains vehicle pose information from the compiled vehicle dynamics model, and sends the vehicle pose information to the video injection module.
3. The IMU signal simulation method of claim 1, wherein the video injection module comprises an input unit, a processing unit and an output unit, and the step of converting the received vehicle pose information into an IMU signal of a preset video protocol and sending the IMU signal of the preset video protocol to the intelligent driving controller under test comprises:
the input unit analyzes the received vehicle pose information and sends the analyzed vehicle pose information to the processing unit;
the processing unit converts the received analyzed vehicle pose information into an initial IMU signal based on a preset IMU injection protocol, and sends the initial IMU signal to the output unit;
and the output unit serially encodes the received initial IMU signal into an IMU signal of a preset video protocol and sends the IMU signal of the preset video protocol to the intelligent driving controller to be tested.
4. The IMU signal simulation method of claim 1, wherein the IMU simulation system further comprises an intelligent driving controller under test, and the step of the video injection module converting the received vehicle pose information into an IMU signal of a preset video protocol and sending the IMU signal of the preset video protocol to the intelligent driving controller under test comprises:
and the intelligent driving controller to be tested receives the IMU signal of the preset video protocol and generates a control instruction based on a preset control algorithm according to the IMU signal of the preset video protocol.
5. The IMU signal simulation method of claim 4, wherein the simulation module comprises a vehicle dynamics model and a traffic simulation scenario, and the step of receiving the IMU signal of the preset video protocol by the to-be-tested intelligent driving controller and generating the control command based on a preset control algorithm according to the IMU signal of the preset video protocol comprises:
the intelligent driving controller to be tested sends the control instruction to the simulation module;
the simulation module receives the control command and feeds the control command back to the vehicle dynamics model in the traffic simulation scenario.
6. The IMU signal simulation method of claim 5, wherein the simulation module further comprises a graphics workstation, the simulation module receiving the control commands and feeding the control commands back to the vehicle dynamics model in the traffic simulation scenario prior to the step of:
and the graphic workstation builds the traffic simulation scene according to preset functional specification requirements, regulation requirements, accident scene requirements or experience scenes.
7. The IMU signal simulation method of claim 4, wherein the step of receiving the IMU signal of the preset video protocol by the to-be-tested intelligent driving controller and generating the control command based on a preset control algorithm according to the IMU signal of the preset video protocol comprises:
and the intelligent driving controller to be tested controls the vehicle to run according to the control instruction.
8. An IMU signal simulation system, comprising:
the simulation module is used for acquiring vehicle pose information and sending the vehicle pose information to the video injection module, wherein the vehicle pose information comprises speed information and acceleration information of a vehicle in six-degree-of-freedom directions;
and the video injection module is used for converting the received vehicle pose information into an IMU signal of a preset video protocol and sending the IMU signal of the preset video protocol to the intelligent driving controller to be tested.
9. An IMU signal emulation device, comprising: memory, a processor, a simulation module, a video injection module and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the IMU signal simulation method of any of claims 1-7.
10. A computer readable storage medium having stored thereon an IMU signal simulation program which when executed by a processor implements the steps of the IMU signal simulation method of any of claims 1-7.
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