A commercial vehicle assisted driving hardware-in-the-loop testing system and method

Abstract

The present invention discloses a commercial vehicle assisted driving hardware-in-the-loop test system, which relates to the field of vehicle assisted driving test technology, and includes: a host computer module, which is used to build models, compile and download, monitor model operations, and read variables in the controller at the same time, run automated test commands and perform real-time monitoring; a real-time processor, which is used to receive vehicle dynamics information from the host computer and scene information in a graphics workstation, and send signals to the controller; a graphics workstation; a driving simulator; a controller to be tested; a vehicle positioning and high-precision map module; and a vision and radar simulation module. The present invention also provides a commercial vehicle assisted driving hardware-in-the-loop test method, which improves the reliability and accuracy of the environmental perception system, improves the test efficiency, and ensures the safety of the experiment.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle assisted driving testing, and in particular to a commercial vehicle assisted driving hardware-in-the-loop testing system and method. Background Art

[0002] There are various assisted driving products for commercial vehicles. Forward vision modules and millimeter-wave radars are mainly responsible for target obstacle recognition. The control module is mainly responsible for the fusion of visual and radar target signals, the strategy of assisted driving functions and the control of the whole vehicle. Considering the compactness of the system, it is generally deployed in the vision or millimeter-wave radar. Vision, radar and the whole vehicle realize signal interaction through CAN communication. The whole vehicle execution mainly includes EMS, TCU (responsible for vehicle driving), EBS (responsible for vehicle braking), EPS (responsible for vehicle steering) and HMI (human-computer interaction). However, there are still problems that cannot meet the requirements of safety regulations and the actual needs of end users at the same time, such as AEB oversensitivity and false triggering, FCW / LDW function activation mechanism and other problems. A single sensor also has insurmountable defects, such as millimeter-wave radar cannot recognize road signs and obstacles such as pedestrians; the camera has poor adaptability in bad weather and needs additional light for night work. Fusion of camera and millimeter-wave radar data to achieve sensor complementarity can greatly improve the reliability and accuracy of the environmental perception system, but this also puts higher requirements on testing.

[0003] At present, more and more new car models are equipped with ADAS, advanced driver assistance system (ADAS), which collects data during the driving process of the car through various sensors installed on the car, and feeds back the relevant information to the driver or decision-making system after calculation and analysis, so as to improve the safety and comfort of the vehicle during driving.

[0004] How to ensure its reliability and safety has gradually become a key issue, so the test of ADAS is an indispensable part. At present, the test for ADAS mainly includes two methods: real vehicle test and hardware-in-loop (HIL) test. However, real vehicle test has disadvantages such as long test cycle, great safety hazards, test difficulty and high test cost, while HIL test technology has advantages such as short test cycle, low cost and ability to simulate extreme dangerous conditions. HIL (Hardware-in-the-Loop) test simulates the operating conditions of the controlled object through simulation model, and conducts comprehensive and systematic test on the control system before the real vehicle stage. However, the HIL test of ADAS system not only simulates the target detected by millimeter wave radar, but also simulates the real scene captured by the camera, which is far more complicated than conventional test.

[0005] Traditional testing technology is often based on real vehicle benches or prototype vehicles. This testing method often has limitations such as high testing costs, long cycles, and low test coverage. At present, in existing HIL tests, testers are required to manually modify parameters through the host computer to set the operation and test of the controller, which greatly reduces the test efficiency and makes the test process uncontrollable. In addition, in the existing technology, the simulated vehicle dynamics, driver and other systems are simplified models, which deviate from the real system, resulting in low performance test accuracy of the controller under test.

[0006] At present, commercial vehicle L2 assisted driving products can have functions such as FCW and AEB, but there are still product mis-touch, high end-user removal rate, and lack of a system that can simultaneously meet the functions of AEB, ACC, LKA, LCC and PCC. HIL testing for ADAS is a key step in assisted driving system testing. While avoiding algorithm errors, it improves test efficiency and reduces costs. However, the existing technology still has the following problems in actual use:

[0007] 1. The simplified models of road, driver and vehicle dynamics used in the test are somewhat different from the real system, resulting in low accuracy of the test results of the controller under test;

[0008] 2. In the existing HIL test system, testers need to manually input real vehicle parameters through the host computer to perform the required operation and testing, which results in incomplete coverage of test scenarios;

[0009] 3. Currently, the development of assisted driving algorithms such as AEB mainly relies on real vehicle collision experiments for data collection and function verification. The experiments are costly, time-consuming, and the test content has low controllability and high risks, making it impossible to conduct all of them through real vehicle verification. Summary of the invention

[0010] In order to solve the above-mentioned deficiencies in the prior art, the present invention provides a commercial vehicle assisted driving hardware-in-the-loop testing system and method.

[0011] The technical solution proposed by the present invention is:

[0012] A commercial vehicle assisted driving hardware-in-the-loop test system, comprising:

[0013] The host computer module is used to build models, compile and download, monitor model operations, read variables in the controller, run automated test commands, and perform real-time monitoring;

[0014] A real-time processor is used to receive vehicle dynamics information from the host computer and scene information from the graphics workstation, and send signals to the controller;

[0015] Graphic workstation, which is responsible for building the preliminary test scene library, simulating the pre-built scene model and the obtained sensor signals, obtaining the scene information and the information collected by the sensor, and sending it to the controller;

[0016] The driving simulator obtains real-time input signals through external devices and sends the signals to the real-time processor and controller through the I / O board to simulate a more realistic real vehicle use environment;

[0017] The controller under test is responsible for decision-making and vehicle control, judging the triggering conditions of the ADAS algorithm and communicating with the host computer to monitor and record data;

[0018] The vehicle positioning and high-precision map module is responsible for the deployment and real-time operation of the digital map module (maps can be updated online), and combines the vehicle GPS signal to achieve positioning simulation;

[0019] Vision and radar simulation modules are used to monitor the environment in front of the vehicle and identify forward obstacles.

[0020] A further technical solution of the present invention is that the host computer module is used to build models, compile and download, monitor model operations, and read variables in the controller at the same time to run automated test commands, mainly including the construction of vehicle dynamics models and I / O interface models; in the host computer, the pre-built vehicle dynamics model is first simulated to obtain vehicle dynamics information, which is then compiled and sent to the real-time processor and then to the controller via the CAN port; at the same time, the host computer, as the main test management platform, provides a relevant visual operation interface to facilitate the monitoring and observation of real-time data.

[0021] A further technical solution of the present invention is that the real-time processor is used to receive vehicle dynamics information from the host computer and scene information in the graphics workstation, and send the signal to the controller. The real-time processor and the scene simulation software communicate with each other through the UDP protocol to obtain the environment, radar, and visual sensor information in the simulation scene, and send it to the controller through the CAN bus of the real-time processor. The algorithm in the controller outputs the expected vehicle control signal after fusion, prediction, and regulation. The real-time machine then obtains these vehicle control signals through the CAN bus to control the vehicle in the simulation, forming a complete test closed loop; after the real-time machine obtains the signal that the simulation scene ends through the UDP protocol, it starts to disconnect and restore the default signal value.

[0022] A further technical solution of the present invention is that the external device is a steering wheel, an accelerator pedal, and a brake pedal.

[0023] A further technical solution of the present invention is that the controller is responsible for decision-making and vehicle control, and determines the triggering conditions of the ADAS algorithm based on the vehicle dynamics information, scene information, sensor acquisition and other information issued by the real-time processor; accordingly, the output signal processed by the controller can be returned to the real-time processor through the CAN port, and the data is monitored and recorded in the host computer at the same time. The output results of the controller include: target driving torque of the whole vehicle, target gear, target deceleration, target steering torque / angle, and sound and light instructions.

[0024] A further technical solution of the present invention is that the output results of the vehicle positioning and high-precision map module include: location information, established road information: road grade, road type, road length, slope / curvature, speed limit, number of lanes, traffic warnings, road section distance from the next intersection to the current positioning point, general attributes of the next intersection, and turning curvature of the next intersection.

[0025] A further technical solution of the present invention is that the output results of the vision and radar module include: front target obstacle information, lateral and longitudinal distances, lateral and longitudinal vehicle speeds, and front lane line information.

[0026] The present invention also provides a commercial vehicle assisted driving hardware-in-the-loop testing method, comprising the following steps:

[0027] The real-time processor receives obstacle target information from the forward vision and millimeter-wave radar, associates the targets of the two sensors, and fuses them into a target obstacle list;

[0028] The host computer downloads the vehicle dynamics model and scenario operation parameters to the real-time processor, which is connected to the controller via the CAN port and sends the obtained parameter information to the controller, which then makes relevant control strategies and displays them intuitively in the test scenario.

[0029] The decision algorithm in the controller determines the degree of danger based on the target obstacle information and vehicle motion information, and calculates the following distance and speed of the vehicle. When the system is in lane centering mode, the system calculates the target torque and angle of steering intervention based on the distance from the vehicle to the left and right lane lines of the current lane, the heading angle, the curvature and the vehicle information, so as to keep the vehicle in the center of the lane.

[0030] When a component of the system fails, the system enters a degraded mode, which inhibits the corresponding function;

[0031] The control strategy output from the controller is sent to the real-time processor via the CAN card, so that the data signal forms a closed loop during the entire test process.

[0032] A further technical solution of the present invention is that the obstacle list includes target type, lateral and longitudinal distances, vehicle speed, acceleration, credibility, and lane; and the scene operation parameters include information on throttle, brake, and steering wheel angle.

[0033] The beneficial effects of the present invention are:

[0034] 1. The present invention integrates the camera and millimeter-wave radar data to achieve complementary advantages of sensors, avoid the defects of a single sensor in special circumstances, and greatly improve the reliability and accuracy of the environmental perception system;

[0035] 2. The present invention adds a driving simulator to realize the interaction between driver control and vehicle control, and realizes a closed-loop test of man-vehicle-environment, without the need to manually modify input parameters, thereby improving test efficiency;

[0036] 3. The present invention builds a rich test scenario library through a graphic workstation and processes real-time sensor information in conjunction with real CAN signals, thereby increasing the verification of dangerous working conditions, increasing test coverage and test depth, and ensuring the safety of the experiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a structural diagram of a commercial vehicle assisted driving hardware-in-the-loop test system proposed by the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0039] like Figure 1 As shown, the present invention proposes a commercial vehicle assisted driving hardware-in-the-loop testing system, comprising:

[0040] The host computer module 101 is used to build the model, compile and download, monitor the model operation, read the variables in the controller, run the automated test commands and perform real-time monitoring;

[0041] A real-time processor 102 is used to receive vehicle dynamics information from the host computer and scene information from the graphics workstation, and send signals to the controller;

[0042] Graphics workstation 103 is responsible for building a preliminary test scene library, and simulating the pre-built scene model and the obtained sensor signal to obtain scene information and information collected by the sensor, and send it to the controller;

[0043] The driving simulator 104 obtains real-time input signals through external devices and sends the signals to the real-time processor and controller through the I / O board, so as to simulate a more realistic real vehicle use environment;

[0044] The controller under test 105 is responsible for decision-making and vehicle control, judging the triggering conditions of the ADAS algorithm and communicating with the host computer to monitor and record data;

[0045] The vehicle positioning and high-precision map module 106 is responsible for the deployment and real-time operation of the digital map module (maps can be updated online), and realizes positioning simulation in combination with the vehicle GPS signal;

[0046] The vision and radar simulation module 107 is used for monitoring the environment in front of the vehicle and identifying forward obstacles.

[0047] The present invention provides a commercial vehicle assisted driving hardware-in-the-loop system, which combines high-precision maps, GPS positioning, vision and radar processing modules to build an ADAS hardware-in-the-loop test platform and establish a rich intelligent driving test scenario. It covers commercial vehicle AEB, ACC, LKA, LCC and PCC functions, while fully testing perception, decision-making and vehicle control.

[0048] In the embodiment of the present invention, the host computer module is used to build the model, compile and download, monitor the model operation, read the variables in the controller, and run the automated test commands, mainly including the construction of the vehicle dynamics model and the I / O interface model; in the host computer, the pre-built vehicle dynamics model is first simulated to obtain the vehicle dynamics information, and the vehicle dynamics information is compiled and sent to the real-time processor, and then sent to the controller through the CAN port; at the same time, the host computer, as the main test management platform, provides a relevant visual operation interface to facilitate the monitoring and observation of real-time data.

[0049] The real-time processor mainly provides simulation of the vehicle controlled object, and is mainly used to run simulation models and signal processing. A real-time operating system needs to be run on the real-time hardware to ensure the real-time nature of the simulation; the behavior model of the controlled object runs on the real-time operating system. The I / O board is a simulation that interacts with the component under test and is used for signal input and output. The visual processing module communicates with the radar simulator through the CAN network. The camera sends the identified target parameters to the radar, and realizes the data fusion of the radar and the camera through the fusion algorithm, and then outputs the relevant control strategy, which is then sent to the real-time processor through the CAN card.

[0050] In an embodiment of the present invention, the real-time processor is used to receive vehicle dynamics information from the host computer and scene information in the graphics workstation, and send the signal to the controller. The real-time processor and the scene simulation software communicate with each other through the UDP protocol to obtain the environment, radar, and visual sensor information in the simulation scene, and send it to the controller through the CAN bus of the real-time processor. The algorithm in the controller outputs the expected vehicle control signal after fusion, prediction, and regulation. The real-time machine then obtains these vehicle control signals through the CAN bus to control the vehicle in the simulation, forming a complete test closed loop; after the real-time machine obtains the signal that the simulation scene ends through the UDP protocol, it begins to disconnect and restore the default signal value. Among them, the external devices are the steering wheel, accelerator pedal, and brake pedal.

[0051] In the embodiment of the present invention, the controller is responsible for decision-making and vehicle control, and determines the triggering conditions of the ADAS algorithm based on the vehicle dynamics information, scene information, sensor acquisition and other information sent by the real-time processor; accordingly, the output signal processed by the controller can be returned to the real-time processor through the CAN port, and the data is monitored and recorded in the host computer at the same time. The output results of the controller include: target driving torque of the whole vehicle, target gear, target deceleration, target steering torque / angle, and sound and light instructions.

[0052] In the embodiment of the present invention, the output results of the vehicle positioning and high-precision map module include: location information (latitude, longitude and elevation), road information: road grade, road type, road length, slope / curvature, speed limit, number of lanes, traffic warnings, distance from the next intersection to the current positioning point, general attributes of the next intersection, and turning curvature of the next intersection. Among them, the output results of the vision and radar module include: information of target obstacles ahead, lateral and longitudinal distances, lateral and longitudinal vehicle speeds, and lane line information ahead.

[0053] The present invention also provides a commercial vehicle assisted driving hardware-in-the-loop testing method, comprising the following steps:

[0054] The real-time processor receives obstacle target information from the forward vision and millimeter-wave radar, associates the targets of the two sensors, and fuses them into a target obstacle list;

[0055] The host computer downloads the vehicle dynamics model and scenario operation parameters to the real-time processor, which is connected to the controller via the CAN port and sends the obtained parameter information to the controller, which then makes relevant control strategies and displays them intuitively in the test scenario.

[0056] The decision algorithm in the controller determines the degree of danger based on the target obstacle information and vehicle motion information, and calculates the following distance and speed of the vehicle. When the system is in lane centering mode, the system calculates the target torque and angle of steering intervention based on the distance from the vehicle to the left and right lane lines of the current lane, the heading angle, the curvature and the vehicle information, so as to keep the vehicle in the center of the lane.

[0057] When a component of the system fails, the system enters a degraded mode, which inhibits the corresponding function;

[0058] The control strategy output from the controller is sent to the real-time processor via the CAN card, so that the data signal forms a closed loop during the entire test process.

[0059] Among them, the obstacle list includes target type, lateral and longitudinal distance, vehicle speed, acceleration, credibility, and lane; the scene operation parameters include information on throttle, brake and steering wheel angle.

[0060] The present invention fuses the camera and millimeter-wave radar data to achieve complementary advantages of sensors, avoid the defects of a single sensor in special circumstances, and greatly improve the reliability and accuracy of the environmental perception system;

[0061] The present invention adds a driving simulator to realize the interaction between driver control and vehicle control, realizes a closed-loop test of man-vehicle-environment, and does not require manual modification of input parameters, thereby improving test efficiency;

[0062] The present invention builds a rich test scenario library through a graphic workstation and processes real-time sensor information in conjunction with real CAN signals, thereby increasing the verification of dangerous working conditions, increasing test coverage and test depth, and ensuring the safety of the experiment.

[0063] The present invention is described in detail above, but the present invention is not limited to the above-mentioned embodiments. Various changes can be made within the knowledge of ordinary technicians in the field without departing from the purpose of the present invention. Many other changes and modifications can be made without departing from the concept and scope of the present invention. It should be understood that the present invention is not limited to specific embodiments, and the scope of the present invention is defined by the appended claims.

Claims

1. A commercial vehicle assisted driving hardware-in-the-loop test system, characterized in that: include: The host computer module is used to build models, compile and download, monitor model operations, read variables in the controller, run automated test commands, and perform real-time monitoring; A real-time processor is used to receive vehicle dynamics information from the host computer and scene information from the graphics workstation, and send signals to the controller; Graphics workstation, responsible for building the preliminary test scenario library, and simulating the pre-built scenario model and the obtained sensor signals to obtain the scenario information and the information collected by the sensor; The driving simulator obtains real-time input signals through external devices and sends the signals to the real-time processor and controller through the I / O board to simulate a more realistic real vehicle use environment; wherein the external devices are steering wheels, accelerator pedals, and brake pedals; The controller under test is responsible for decision-making and vehicle control, judging the triggering conditions of the ADAS algorithm and communicating with the host computer to monitor and record data; The vehicle positioning and high-precision map module is responsible for the deployment and real-time operation of the digital map module, and realizes positioning simulation in combination with the vehicle GPS signal; Vision and radar simulation modules are used to monitor the environment in front of the vehicle and identify forward obstacles; The host computer module is used to build models, compile and download, monitor model operations, read variables in the controller, and run automated test commands, mainly including the construction of vehicle dynamics models and I / O interface models; in the host computer, the pre-built vehicle dynamics model is first simulated to obtain vehicle dynamics information, which is then compiled and sent to the real-time processor and sent to the controller through the CAN port; at the same time, as the main test management platform, the host computer provides a relevant visual operation interface to facilitate real-time data monitoring and observation; the real-time processor is also used to receive obstacle target information from forward vision and millimeter-wave radar, associate the targets of the two sensors, and fuse them into a target obstacle list; The controller is responsible for decision-making and vehicle control, and determines the triggering conditions of the ADAS algorithm based on the vehicle dynamics information, scene information, and sensor acquisition information sent by the real-time processor; accordingly, the output signal processed by the controller can be returned to the real-time processor through the CAN port, and the data is monitored and recorded in the host computer at the same time. The output results of the controller include: target driving torque of the vehicle, target gear, target deceleration, target steering torque / angle, and sound and light instructions.

2. A commercial vehicle assisted driving hardware-in-the-loop test system according to claim 1, characterized in that: The real-time processor is used to receive vehicle dynamics information from the host computer and scene information in the graphics workstation, and send signals to the controller; the real-time processor and the scene simulation software communicate with each other through the UDP protocol to obtain the environment, radar, and visual sensor information in the simulation scene, and send it to the controller through the CAN bus of the real-time processor. The algorithm in the controller outputs the expected vehicle control signal after fusion, prediction, and regulation. The real-time machine then obtains these vehicle control signals through the CAN bus to control the vehicle in the simulation, forming a complete test closed loop; After the real-time machine obtains the signal indicating the end of the simulation scenario through the UDP protocol, it starts to disconnect and restore the default signal value.

3. A commercial vehicle assisted driving hardware-in-the-loop test system according to claim 1, characterized in that: The external devices are a steering wheel, an accelerator pedal, and a brake pedal.

4. A commercial vehicle assisted driving hardware-in-the-loop test system according to claim 1, characterized in that: The output results of the vehicle positioning and high-precision map module include: location information, established road information: road grade, road type, road length, slope / curvature, speed limit, number of lanes, traffic warnings, distance from the next intersection to the current positioning point, general attributes of the next intersection, and turning curvature of the next intersection.

5. The commercial vehicle assisted driving hardware-in-the-loop test system according to claim 1, characterized in that: The output results of the vision and radar module include: front target obstacle information, lateral and longitudinal distances, lateral and longitudinal vehicle speeds, and front lane line information.

6. A commercial vehicle assisted driving hardware-in-the-loop testing method, characterized in that: A commercial vehicle assisted driving hardware-in-the-loop testing system as claimed in any one of claims 1 to 5 is used, comprising the following steps: The real-time processor receives obstacle target information from the forward vision and millimeter-wave radar, associates the targets of the two sensors, and fuses them into a target obstacle list; The host computer downloads the vehicle dynamics model and scenario operation parameters to the real-time processor, which is connected to the controller via the CAN port and sends the obtained parameter information to the controller, which then makes a control strategy and displays it intuitively in the test scenario. The decision algorithm in the controller determines the degree of danger based on the target obstacle information and vehicle motion information, and calculates the following distance and speed of the vehicle. When the system is in lane centering mode, the system calculates the target torque and angle of steering intervention based on the distance from the vehicle to the left and right lane lines of the current lane, the heading angle, the curvature and the vehicle information, so as to keep the vehicle in the center of the lane. When a component of the system fails, the system enters a degraded mode, which inhibits the corresponding function; The control strategy output from the controller is sent to the real-time processor via the CAN card, so that the data signal forms a closed loop during the entire test process.

7. A commercial vehicle assisted driving hardware-in-the-loop testing method according to claim 6, characterized in that: The obstacle list includes target type, lateral and longitudinal distances, vehicle speed, acceleration, credibility, and lane; the scenario operation parameters include information on throttle, brake, and steering wheel angle.

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