Driving simulation system based on simulation model car

Abstract

The present invention discloses a driving simulation system based on a simulation model car, including a short-range controller, a simulation model car and a cloud remote controller. The simulation model car includes a control unit, a communication unit, a perception unit and an execution unit. The simulation model car can receive cloud instructions through the communication unit, monitor test information in real time, and solve the problems of difficult reform, complex management and high cost of test vehicles. The short-range controller sends control instructions to the control unit through the communication unit, and the control unit controls the execution unit to perform corresponding operations. Two methods of controlling the simulation model car are implemented. When one of the control methods fails, the simulation model car can be controlled to execute instructions through another control method. At the same time, the control unit can also receive various data from the perception unit and transmit the collected information to the cloud.

Description

Technical Field

[0001] The invention relates to the field of driving test, and in particular to a driving simulation system based on a simulation model car. Background Art

[0002] At present, the testing of new functions and products of automobiles needs to be carried out on real physical cars. Modifying vehicles is difficult and time-consuming, and the management of test vehicles is complicated and costly. When testing the intelligent functions on the car, it is necessary to test and verify them on a test vehicle. However, the test vehicle requires a series of complex processes such as closed venues, test vehicle management, and modification of the test vehicle, which results in low testing efficiency and high cost.

[0003] In order to solve the above problems, the Chinese patent with publication number 109979277 discloses a driving simulation system and a miniature model car, wherein the driving simulation system includes a driving simulator, an intelligent miniature model car, and a communication unit; the steering gear data and motor data of the miniature model car are mapped to the corresponding control components of the driving simulator through a wireless network to achieve precise control of the intelligent miniature model car by the driving simulator; at the same time, the motor speed data of the intelligent miniature model car is mapped to the instrument panel / center console of the driving simulator to achieve consistent display of the running data of the driving simulator and the miniature model car; the ultrasonic data and gyroscope data of the intelligent miniature model car are distinguished by the driving simulator to achieve simulation of traffic accidents such as rear-end collision, collision, rollover, and special road driving conditions such as uphill and downhill, and present intuitive images through the driving simulator. The above simulation system can only directly achieve precise control of the model car through the driving simulator, simulate the vehicle driving state, and obtain data in real time during driving. Its control method is single, the controller calculation requirements are large, and the cost is high. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is: how to provide a driving simulation system based on a simulation model car that can realize multi-channel control of the model car, has low modification cost and flexible control method.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A driving simulation system based on a simulation model car, characterized in that it includes a short-range controller, a simulation model car and a cloud remote controller, the simulation model car includes a control unit, a communication unit, a perception unit and an execution unit, the communication unit includes a wireless Bluetooth module, the control unit includes a bottom control unit and a core processing unit, the perception unit is connected to the core processing unit, and includes an image acquisition module, a positioning module, a distance measurement module, an ETC module and a vehicle parameter perception module, the execution unit includes an execution component for controlling vehicle driving and an execution interactive display screen, the execution component is connected to the bottom control unit, and includes a vehicle body, a power supply unit and a drive unit;

[0007] The short-range controller transmits the control instruction to the bottom control unit through the wireless Bluetooth module, and then the bottom control unit controls the execution component to execute the received control instruction, and after collecting the data of the power supply unit and the drive unit in real time, reports the collected data to the core processing unit in real time; the core processing unit obtains various operating data of the perception unit in real time and sends it to the cloud remote controller through the communication unit;

[0008] The cloud remote controller is connected to the core processing unit through the communication unit, and sends control instructions to the core processing unit through the communication unit. After the core processing unit passes the control instructions to the underlying control unit, the underlying control unit controls the font component font corresponding control instructions.

[0009] In this way, the short-range controller of the present application controls the execution unit of the simulation model car through the Bluetooth module, and after the cloud remote controller sends the control command to the bottom control unit through the communication module, the bottom control unit controls the execution unit of the simulation model car to execute the control command, so as to realize the driving commands such as steering, forward, and reverse of the simulation model car; at the same time, the battery power data of the simulation model car is displayed on the execution interactive display screen; by installing the positioning module on the simulation model car, the GPS is simulated to collect the real-time positioning information of the simulation model car; the core processing unit realizes the driving scenes such as automatic following, overtaking, changing lanes, passing through intersections and emergency obstacle avoidance by judging the image data, laser data, positioning data, vehicle direction and angular velocity data obtained by the perception unit, and uploads the data to the remote controller to present the results. Therefore, this system can solve the current problems that the testing of automatic driving and new functions and new products of automobiles in cities needs to be carried out on real physical cars, the difficulty and long cycle of vehicle modification, the complex management of test vehicles and the high cost.

[0010] Furthermore, the positioning module of the sensing unit is a UWB positioning module, which is installed on the head of the vehicle body and includes a UWB tag. The UWB tag sends pulses at a certain frequency, continuously measures distance with multiple base stations around, and collects real-time positioning information of the simulation model car. The UWB tag is installed on the simulation model car, and the tag sends pulses at a certain frequency, and continuously measures distance with four base stations with known positions, so as to simulate GPS to collect real-time positioning information of the simulation model car, with accurate positioning and no need for network positioning.

[0011] Furthermore, the image acquisition module is used to collect road information to realize the recognition and surround view of straight roads, curves, intersections and other roads, and includes a front camera and multiple surround-view cameras. The front camera is used to shoot driving process video and detect road trajectory, and the surround-view camera is used to collect images of the surrounding environment of the simulation model vehicle.

[0012] Furthermore, the vehicle's own parameter perception module includes a photoelectric encoder and an inertial navigation unit. The photoelectric encoder performs light detection encoding through a code disk to realize the detection of the driving speed of the simulation model vehicle; the inertial navigation unit measures the acceleration of the vehicle itself through an inertial element, obtains the speed and position through integration and calculation, and realizes the detection of the vehicle's direction and angular velocity.

[0013] Furthermore, the vehicle body includes a frame and wheels, the frame is a magnetic frame, four wheels are provided, and are respectively installed on the front and rear sides of the frame, a steering gear is connected between the two front wheels, the steering gear includes a steering structure connecting rod and a steering gear, and the steering gear drives the steering structure connecting rod through a transmission structure to achieve control of the direction and angle of the simulation model car.

[0014] Furthermore, the control instructions issued by the cloud remote controller and the short-range controller include forward, reverse, turn left, turn right, emergency stop, turn on or off the lights, open or close the windows, and turn on or off the horn.

[0015] Furthermore, the underlying control unit adopts the Arduino platform, and the core processing unit is a JetsonNano core processing unit, which can analyze and calculate the collected graphics and information; serial communication is adopted between the core processing unit and the computing center of the underlying control unit, and the data format is JSON string format.

[0016] Furthermore, the power supply unit includes a battery, a charging module and a power detection module. The charging module can realize wired charging and wireless charging. The power detection module outputs the remaining power as a percentage. The power supply unit supplies power to the core processing unit, communication unit, sensing unit and execution component through wires.

[0017] Furthermore, the execution component also includes a horn and a window, and the execution interactive display screen is installed at the front or rear of the vehicle body to display battery power data. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the connection structure of the driving simulation system of the simulation model car in the embodiment;

[0019] Figure 2 This is a flow chart of data transmission and reception of the control unit in the embodiment;

[0020] Figure 3 This is a schematic diagram of a control panel in an embodiment;

[0021] Figure 4 This is a schematic diagram of the short-range remote control interface in the embodiment;

[0022] Figure 5 This is a schematic diagram of the application process of the ETC module in the embodiment;

[0023] Figure 6 Schematic diagram of the calculation process of the inertial navigation unit in the embodiment;

[0024] Figure 7 A schematic diagram of positioning of a UWB positioning module in an embodiment;

[0025] Figure 8 Schematic diagram of UWB positioning coordinate conversion in the embodiment. DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0027] Example:

[0028] like Figure 1As shown, the driving simulation system based on the simulation model car provided in this embodiment includes a short-range controller, a simulation model car and a cloud remote controller, the simulation model car includes a control unit, a communication unit, a perception unit and an execution unit, the communication unit includes a wireless Bluetooth module, the control unit includes a bottom control unit and a core processing unit, the perception unit is connected to the core processing unit, and includes an image acquisition module, a positioning module, a distance measurement module, an ETC module and a vehicle parameter perception module, the execution unit includes an execution component for controlling the vehicle's travel and an execution interactive display screen, the execution component is connected to the bottom control unit, and includes a vehicle body, a power supply unit and a drive unit; the short-range controller transmits the control instruction to the bottom control unit through the wireless Bluetooth module, and then the bottom control unit The layer control unit controls the execution component to execute the received control instructions, and after collecting data from the power supply unit and the drive unit in real time, reports the collected data to the core processing unit in real time; the core processing unit obtains various operating data of the perception unit in real time, and sends it to the cloud remote controller through the communication unit; the cloud remote controller is connected to the core processing unit through the communication unit, and sends control instructions to the core processing unit through the communication unit. After the core processing unit passes the control designation to the bottom-level control unit, the bottom-level control unit controls the font component font corresponding control instructions (that is, the core processing unit in this application mainly performs image acquisition and accepts instructions from the cloud remote control unit and the short-range remote control, and after screening and judgment, sends control instructions to the MCU bottom-level unit).

[0029] like Figure 7 As shown, the positioning module of the sensing unit is a UWB positioning module, which is installed on the head of the vehicle body and includes a UWB tag. The UWB tag sends pulses at a certain frequency, continuously measures distance with multiple base stations around it, and collects real-time positioning information of the simulation model vehicle. Specifically, there are four base stations in this embodiment. After the UWB tag sends a positioning request, base station A accepts the application to measure distance with it. After the ranging is completed, the tag is commanded to measure distance with base station B. After completing the ranging, base station B will send the ranging information to base station A, and command the tag to measure distance with base station C. After completing the ranging, base station C will send the ranging information to base station A, and reply to the tag to complete the ranging task. Base station A receives the ranging information and tag number of each base station, completes the coordinate calculation of the corresponding tag number, and sends the calculation result to the AP master station.

[0030] Figure 8The figure shows the conversion diagram of UWB positioning coordinates. After the AP completes the calculation of the coordinates, it is necessary to complete the conversion between the coordinates and the longitude and latitude. The present invention is designed under the environment of 1:10. It is assumed that the sandbox plan is built in an environment of 3m*7m, that is, a 30m*70m environment is simulated. It is known that 1 meter = 0.000009° = 0.00054' = 0.0324". 30m can be mapped to the north-south latitude direction, and 70m can be mapped to the east-west longitude direction. In this way, the longitude and latitude conversion can be established. Take point A as the zero point coordinate (0.00m, 0.00m), point B is the upper boundary point (7.00m, 3.00m), and assume that point A is the starting longitude and latitude calculation point (x0, y0), then the coordinates of any point (x, y) are mapped to the longitude and latitude formula after being magnified by 1:10:

[0031] x East longitude = x*10*0.0324″+x0 East longitude;

[0032] y north latitude = y*10*0.0324″+y0 north latitude value.

[0033] Specifically, the image acquisition module is used to collect road information. The image acquisition module adopts an industrial-grade AI wide dynamic of not less than 1080P and a wide-angle lens of not less than 125 degrees, supports automatic focus, and includes 1 front camera and 4 surround cameras. The front camera is installed in the middle of the head of the vehicle body, and serves as a driving recorder and road trajectory detection. The surround camera can collect the surrounding environment of the simulation model car. The perception unit is composed of an image acquisition module, a positioning module, a ranging module, an ETC module and a vehicle's own parameter perception module (such as Figure 5 The sensor data is transmitted to the core processing unit for processing, and then sent to the cloud by the communication module. The image acquisition module collects road information to realize the recognition and surround view of straight roads, curves, intersections and other roads.

[0034] The vehicle's own parameter perception module includes a photoelectric encoder and an inertial navigation unit. The photoelectric encoder performs light detection encoding through a code disk to detect the driving speed of the simulation model car; the inertial navigation unit measures the acceleration of the vehicle itself through inertial elements, obtains the speed and position through integration and calculation, and realizes the detection of the vehicle's direction and angular velocity. Figure 6 As shown, the inertial navigation unit (IMU) measures the vehicle direction and angular velocity, a b is the acceleration data measured in the carrier coordinate system, w b is the angular velocity data measured in the carrier coordinate system, a i is the acceleration measurement value after rotation transformation from the carrier coordinate system to the reference coordinate system, g i is the Earth's gravity in the reference coordinate system, v i is the current speed estimate, s iis the current position estimate. In strapdown inertial navigation theory, the reference coordinate system usually refers to a known coordinate system that is stationary relative to the observer, and the carrier coordinate system is a coordinate system that is fixed to the carrier and rotates with the carrier; the carrier's attitude refers to the rotation of the carrier coordinate system in the reference coordinate system, which is represented by a rotation matrix. In this way, relative to a fixed position on the earth, the component of the earth's gravity in the reference coordinate system is determined. After solving the carrier's attitude, the accelerometer's measurement value is mapped to the reference coordinate system using a rotation transformation and gravity compensation is performed to obtain the carrier's motion acceleration in the reference coordinate system. After performing an integral operation, the final estimated values ​​of the speed and position that need to be solved are obtained. Combined with UWB positioning, the positioning accuracy can be improved while achieving precise steering.

[0035] The body of the simulation model car in this embodiment includes a frame and wheels, wherein the frame is a magnetic frame, and four wheels are provided, which are respectively installed on the front and rear sides of the frame, and a steering gear is connected between the two front wheels, and the steering gear includes a steering structure connecting rod and a steering gear, and the steering gear drives the steering structure connecting rod through a transmission structure to realize control of the direction and angle of the simulation model car.

[0036] Specifically, the control commands issued by the cloud remote controller and the short-range controller include forward, reverse, left turn, right turn, emergency stop, turning on or off the lights, opening or closing the windows, and turning on or off the horn. Figure 4 As shown, the short-range controller is implemented using a mobile phone APP. The simulation model car is equipped with a Bluetooth module. After the mobile phone is connected to the corresponding simulation car via Bluetooth, the simulation model car can be controlled remotely through the mobile phone APP. Short-range control is to achieve the purpose of controlling the simulation model car by directly controlling the underlying controller, so it has a higher priority than cloud control. When the cloud control fails, the short-range controller can perform emergency stop and other operations on the vehicle body. At the same time, by pairing the Bluetooth modules of different simulation model cars, different simulation model cars can be controlled.

[0037] like Figure 1 As shown, the underlying control unit uses the Arduino platform, and the core processing unit is the JetsonNano core processing unit, which can analyze and calculate the collected graphics and information; the core processing unit and the computing center of the underlying control unit use serial communication, and the data format is JSON string format. The control unit is a control board. According to the movement requirements, the simulation model car is designed with 4 DC encoder reduction motors and three-axis magnetic field sensors. The core idea of ​​the simulation model car is as follows Figure 3As shown in the figure, the underlying control of the simulation model car uses the Arduino platform, which can directly implement the actions required by the instructions on the hardware. The underlying control platform feeds back the vehicle hardware information to the computing center of the simulation model car. The underlying control platform and the computing center use serial communication, and the data format uses the JSON string format. At the same time, the JetSon Nano high-level computing platform and the Arduino underlying control platform have sufficient capacity to support the DDS communication protocol, such as Figure 2 .

[0038] The power supply unit includes a battery, a charging module and a power detection module. The charging module can realize wired charging and wireless charging. The power detection module outputs the remaining power in percentage. The power supply unit supplies power to the core processing unit, communication unit, sensing unit and execution component through wires.

[0039] Specifically, the interactive display screen is installed at the front or rear of the simulation model car. The main actuators include motors, steering gears, lights, horns, etc. The functions that the actuator can perform include starting (power on / starting), linear acceleration and deceleration, constant speed driving, precise steering (for example, steering 10° / 30°), turning on and off lights, honking horns, etc. Functions such as automatic lane change, automatic overtaking, automatic parking, reversing, avoiding obstacles, opening and closing doors, opening and closing windows, etc. can be manually triggered through short-range or miniature model remote control systems, and the simulation model car automatically completes the action to achieve full proportional control.

[0040] After adopting the scheme in this embodiment, the throttle, brake, steering and other control components of the simulation model car are controlled by the Bluetooth module of the short-range remote control, so that the speed change of the simulation model car is consistent with that of the real car. At the same time, by combining the simulation model car and the simulated traffic scene, online and offline collaboration is achieved, thereby simulating various required real scenes, virtual scenes, and dangerous scenes, such as following a car, avoiding pedestrians crossing, avoiding static obstacles, and other scenes.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the technical solution. Although the applicant has described the present invention in detail with reference to the preferred embodiments, ordinary technicians in this field should understand that those modifications or equivalent substitutions of the technical solution of the present invention without departing from the purpose and scope of the technical solution should be included in the scope of the claims of the present invention.

Claims

1. A driving simulation system based on a simulation model car, characterized in that: It includes a short-range controller, a simulation model car and a cloud remote controller. The simulation model car includes a control unit, a communication unit, a perception unit and an execution unit. The communication unit includes a wireless Bluetooth module. The control unit includes a bottom control unit and a core processing unit. The perception unit is connected to the core processing unit and includes an image acquisition module, a positioning module, a distance measurement module, an ETC module and a vehicle parameter perception module. The positioning module of the perception unit is a UWB positioning module, which is installed on the head of the vehicle body and includes a UWB tag. The UWB tag sends pulses at a certain frequency and continuously measures distance with multiple base stations around it. , collect the real-time positioning information of the simulation model car; the specific method for collecting the real-time positioning information of the simulation model car is as follows: each base station sends a command tag in turn to measure the distance, and after completing the distance measurement, sends the distance measurement information and the tag number to the first base station that sends the command, completes the coordinate calculation of the corresponding tag number, and sends the calculation result to the main station, and after the main station completes the calculation of the coordinates, completes the conversion between the coordinates and the longitude and latitude, that is, the real-time positioning information of the simulation model car is obtained; the execution unit includes an execution component for controlling the vehicle's travel and an execution interactive display screen, and the execution component is connected to the bottom control unit, including a vehicle body, a power supply unit and a drive unit; The short-range controller transmits the control instruction to the bottom control unit through the wireless Bluetooth module, and then the bottom control unit controls the execution component to execute the received control instruction, and after collecting the data of the power supply unit and the drive unit in real time, reports the collected data to the core processing unit in real time; the core processing unit obtains various operating data of the perception unit in real time and sends it to the cloud remote controller through the communication unit; The cloud remote controller is connected to the core processing unit through the communication unit, and sends control instructions to the core processing unit through the communication unit. After the core processing unit passes the control instructions to the underlying control unit, the underlying control unit controls the execution component to execute the corresponding control instructions.

2. The driving simulation system based on the simulation model car according to claim 1 is characterized in that: The image acquisition module is used to collect road information and realize the recognition and surround view of straight roads, curves, intersections and other roads. It includes a front camera and multiple surround cameras. The front camera is used to shoot driving process video and detect road trajectories, and the surround cameras are used to collect images of the surrounding environment of the simulation model vehicle.

3. The driving simulation system based on the simulation model car according to claim 1 or 2, characterized in that: The vehicle's own parameter perception module includes a photoelectric encoder and an inertial navigation unit. The photoelectric encoder performs light detection encoding through a code disk to detect the driving speed of the simulation model vehicle; the inertial navigation unit measures the acceleration of the vehicle itself through an inertial element, obtains the speed and position through integration and calculation, and realizes the detection of the vehicle's direction and angular velocity.

4. The driving simulation system based on the simulation model car according to claim 1, characterized in that: The vehicle body includes a frame and wheels, the frame is a magnetic frame, four wheels are provided, and are respectively installed on the front and rear sides of the frame, a steering gear is connected between the two front wheels, the steering gear includes a steering structure connecting rod and a steering gear, and the steering gear drives the steering structure connecting rod through a transmission structure to realize the control of the direction and angle of the simulation model vehicle.

5. The driving simulation system based on the simulation model vehicle according to claim 1, 2 or 4, characterized in that: The control instructions sent by the cloud remote controller and the short-range controller include forward, reverse, left turn, right turn, emergency stop, turning on or off the lights, opening or closing the windows, and turning on or off the horn.

6. The driving simulation system based on the simulation model car according to claim 1, characterized in that: The bottom control unit adopts the Arduino platform, and the core processing unit is a JetsonNano core processing unit, which can analyze and calculate the collected graphics and information; serial communication is adopted between the core processing unit and the computing center of the bottom control unit, and the data format is the JSON string format.

7. The driving simulation system based on the simulation model car according to claim 1, characterized in that: The power supply unit includes a battery, a charging module and a power detection module. The charging module can realize wired charging and wireless charging. The power detection module outputs the remaining power in percentage. The power supply unit supplies power to the core processing unit, communication unit, sensing unit and execution component through wires.

8. The driving simulation system based on the simulation model car according to claim 1, characterized in that: The execution components also include a horn and a car window. The execution interactive display screen is installed at the front or rear of the car body and is used to display battery power data.

Images