A vehicle automatic driving evaluation system based on bench test

Abstract

The present invention discloses a car automatic driving evaluation system based on bench test, which relates to the field of automatic driving technology, including an evaluation console, a test bench and a passenger monitoring module; the test bench includes: a simulation module, which is used to simulate the set environmental information on the outside of the test vehicle; a monitoring module, which is used to monitor the driving information of the test vehicle in different environmental information; and the monitoring module generates a variety of virtual driving data based on different environmental information, and grades them to obtain driving data sets, and after generating the driving data sets, the detection module transmits the driving data sets to the evaluation console. In this application, when evaluating the driving state of the test vehicle, the comfort of each seat can be detected through the passenger model, and by matching the passenger comfort with the driving state, a route that is more comfortable for passengers can be selected when the automatic driving corresponds to different road conditions.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and more specifically, to an automobile autonomous driving evaluation system based on bench testing. Background Art

[0002] The test bench is a test device based on actual driving conditions, which is mainly used to test the driving conditions of vehicles under different conditions. It has the advantages of low cost, high accuracy, convenient operation and small footprint. It can simulate driving scenarios under various road conditions and is one of the testing methods in automobile performance testing.

[0003] In the automatic driving of a car, it needs to be calibrated in a variety of environments to improve various indicators of the system. Using a test bench to calibrate the automatic driving can save costs and has a higher calibration accuracy.

[0004] After searching Chinese patents, a system and method for testing and evaluating autonomous vehicles was disclosed (publication number: CN113504056A). The patent includes: a data module: collecting driving data and extracting multiple test scenarios based on the driving data; a test module: testing the autonomous driving vehicle from both simulation and actual testing aspects in the extracted test scenarios, and adding fault simulation to test the vehicle's emergency response capabilities; a test analysis module: collaboratively collecting and analyzing test data through on-board units, road test equipment and cloud servers; a test evaluation module: after analyzing the test data, comprehensively evaluating the autonomous driving vehicle test from the three perspectives of safety, comfort and efficiency.

[0005] In the prior art, the simulated driving of a vehicle tends to ignore the use feeling of the passengers. When conducting simulation experiments, the optimal vehicle driving condition is usually used as the detection target, resulting in a poor experience for the passengers in actual use. Summary of the invention

[0006] In view of the deficiencies in the prior art, the object of the present invention is to provide a vehicle automatic driving evaluation system based on bench testing.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: an automobile automatic driving evaluation system based on bench testing, comprising an evaluation console, a test bench and a passenger monitoring module;

[0008] When conducting the test, the test vehicle is located on the upper side of the console, and at least one set of passenger models is arranged inside the test vehicle;

[0009] The test bench comprises:

[0010] A simulation module, the simulation module is used to simulate set environmental information outside the test vehicle, the annular information includes road conditions, weather, temperature, wind force and visibility information;

[0011] A monitoring module, the monitoring module is used to monitor the driving information of the test vehicle in different environmental information;

[0012] The monitoring module generates a variety of virtual driving data based on different environmental information, and the detection module classifies the various virtual driving data to obtain a driving data set. After the driving data set is generated, the detection module transmits the driving data set to the evaluation console;

[0013] The passenger monitoring module is arranged inside the test vehicle, and performs corresponding force simulation on the passenger model inside the vehicle based on the environmental information. At the same time, the passenger monitoring module collects the force information of each passenger model, obtains the passenger comfort data, and transmits it to the evaluation console after obtaining it;

[0014] An evaluation console, the evaluation console is used to match the driving information with the driving data set to obtain the driving level of the test vehicle in the corresponding environmental information;

[0015] The console is also evaluated to match the driving level with the comfort level to obtain a comprehensive driving data set.

[0016] Furthermore, the simulation module includes:

[0017] A visualization unit, which is used to visualize the road condition information, and the detection personnel perform manual simulation operations based on the visualized road condition information to obtain manual operation data;

[0018] An auditory unit, the auditory unit is used to simulate road sound information to achieve diversification of road condition information;

[0019] When conducting tests, test instructions can be temporarily added through the auditory unit, and the comprehensive driving data set can be corrected through manual and autonomous driving operations based on the same test instructions.

[0020] Furthermore, the monitoring module includes:

[0021] A scenario unit, the scenario module operates independently and is used to identify the road condition information in the simulation module and generate external information in one or more environments of set weather, temperature, wind force or visibility;

[0022] A path unit, wherein the path unit generates a plurality of virtual paths based on external information;

[0023] An information collection unit collects and classifies a plurality of virtual paths.

[0024] Furthermore, the method for generating a virtual path by the path unit comprises the following steps:

[0025] Step 1: Plan a virtual path along the road and identify obstacle information in the virtual path, including fixed obstacles and mobile obstacles. Based on the obstacle information, dynamically change the moving position of the virtual path to obtain the moving path information;

[0026] Step 2: Generate the central virtual information of the test vehicle with the moving path information as the center;

[0027] Step 3: Divide the virtual driving data level based on the central virtual information. The central position is level I, and the outer side of the central position is divided into level II, level III, level IV and level V in units of 20-65cm offset. Multiple virtual paths are obtained, and driving data sets are formed between multiple virtual paths distributed side by side.

[0028] Furthermore, the method for obtaining the driving level is as follows: multiple virtual paths of the driving data set are centered on level I, and levels II, III, IV and V are sequentially diffused on both sides of level I to obtain a driving grid network;

[0029] The actual moving path in the test vehicle driving information is extracted and matched with the driving grid network.

[0030] Furthermore, the passenger monitoring module includes:

[0031] A motion unit, wherein a plurality of the motion units are bound to corresponding passenger models, and the motion units apply pressure to the inside and outside of various parts of the passenger model based on the driving information of the vehicle; during normal driving, the pressure inside and outside the passenger model is balanced;

[0032] An identification unit, the identification unit is used to collect pressure data of each motion unit, and mark the pressure data of the identification unit outside the corresponding part as A, and mark the pressure data of the identification unit inside the corresponding part as B;

[0033] Two groups of pressure data, A and B, are respectively set on both sides of the same part.

[0034] Furthermore, the comfort data is obtained by the formula: get;

[0035] Where α is the coefficient of the corresponding part of the passenger model, and β is the fixed coefficient of the corresponding seat of the test vehicle.

[0036] Furthermore, the test bench includes an accessory module, which operates independently of the simulation module, and when the accessory module is working, its working data is not intercommunication with the simulation module.

[0037] Further, the accessory module includes a plurality of obstacle components, and the plurality of obstacle components intermittently move toward the test vehicle, and the speed of each movement is random;

[0038] Driving information, manual operation data and driving data sets are recorded at the time node each time the accessory module works.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] In the present application, when evaluating the driving state of the test vehicle, the comfort of each seat can be tested through the passenger model, and by matching the passenger comfort with the driving state, a route that is more comfortable for passengers can be selected when the autonomous driving corresponds to different road conditions, thereby improving the comfort of passengers during autonomous driving;

[0041] In addition, when testing the car's autonomous driving, the present application will intermittently generate external obstacles and road sound information to test the autonomous driving's ability to respond to emergencies. Both the obstacles and road sound information are generated by independently running devices, and the data is not synchronized when generated. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 The system block diagram of a vehicle autonomous driving evaluation system based on bench testing. DETAILED DESCRIPTION

[0043] Reference Figure 1 As shown, a vehicle automatic driving evaluation system based on bench test includes an evaluation console, a test bench and a passenger monitoring module;

[0044] During the test, the test vehicle was located on the upper side of the console, and four sets of passenger models were set up inside the test vehicle, which were set up in the main driver's seat, the co-driver's seat and the two sets of passenger seats in the back row;

[0045] The test bench comprises:

[0046] A simulation module is used to simulate the set environmental information outside the test vehicle. The annular information includes road conditions, weather and visibility information. In this embodiment, the road condition is a national highway with medium traffic volume, the weather is set to be slightly foggy, and the visibility is 250m;

[0047] And the simulation module also includes:

[0048] A visualization unit is used to visualize the road condition information. Based on the visualized road condition information, the inspection personnel perform manual simulation operations and obtain manual operation data.

[0049] The hearing unit is used to simulate road sound information to achieve diversified road condition information, including the horn of the lane-changing car and the horn of each official vehicle in this embodiment;

[0050] The accessory module operates independently of the simulation module, and when the accessory module is working, its working data is not intercommunication with the simulation module.

[0051] The accessory module includes a plurality of obstacle components, and the plurality of obstacle components intermittently move toward the test vehicle, and each movement speed is random;

[0052] When conducting tests, test instructions can be temporarily added through the auditory unit, and the comprehensive driving data set can be corrected through manual and autonomous driving operations based on the same test instructions.

[0053] A monitoring module, used to monitor driving information of the test vehicle in the environmental information generated in the simulation module;

[0054] The monitoring module generates a variety of virtual driving data based on different environmental information, and the detection module classifies the various virtual driving data to obtain a driving data set. After the driving data set is generated, the detection module transmits the driving data set to the evaluation console;

[0055] The monitoring module also includes:

[0056] An independently operated scenario unit is used to identify the road condition information in the simulation module and generate external information in the setting;

[0057] A path unit generates a plurality of virtual paths based on external information;

[0058] The information collection unit collects and classifies multiple virtual paths.

[0059] The method for generating a virtual path by a path unit comprises the following steps:

[0060] Step 1: Plan a virtual path along the road and identify obstacle information in the virtual path, including fixed obstacles and mobile obstacles. Based on the obstacle information, dynamically change the moving position of the virtual path to obtain the moving path information;

[0061] Step 2: Generate the central virtual information of the test vehicle with the moving path information as the center;

[0062] Step 3: Divide the virtual driving data level based on the central virtual information, with the central position as level I, with an offset of 20-65 cm as a unit, preferably, with 30 cm as a unit, and divided into level II, level III, level IV and level V along the outer side of the central position, to obtain multiple virtual paths, and form a driving data set between the multiple virtual paths distributed side by side.

[0063] Driving information, manual operation data and driving data sets are recorded at the time node each time the accessory module works.

[0064] The passenger monitoring module is arranged inside the test vehicle, and performs corresponding force simulation on the passenger model inside the vehicle based on the environmental information. At the same time, the passenger monitoring module collects the force information of each passenger model, obtains the passenger comfort data, and transmits it to the evaluation console after obtaining it;

[0065] The passenger monitoring module comprises:

[0066] A motion unit, wherein a plurality of the motion units are bound to corresponding passenger models, and the motion units apply pressure from inside and outside of the passenger model based on the driving information of the vehicle; during normal driving, the pressure inside and outside of the passenger model is balanced;

[0067] An identification unit, the identification unit is used to collect pressure data of each motion unit, and mark the pressure data of the identification unit outside the corresponding part as A, and mark the pressure data of the identification unit inside the corresponding part as B;

[0068] Two groups of pressure data, A and B, are respectively set on both sides of the same part.

[0069] Furthermore, the comfort data is obtained by the formula: get;

[0070] Where α is the coefficient of the corresponding part of the passenger model, and β is the fixed coefficient of the corresponding seat of the test vehicle;

[0071] In this embodiment, the fixed coefficient of the main driver's seat is 0.89, the fixed coefficient of the passenger seat is 0.56, and the fixed coefficients of the rear passenger seat are 0.32 and 0.27 from left to right;

[0072] The coefficient of β is generated based on the number of passengers and their distribution on the corresponding seats.

[0073] An evaluation console, used to match driving information with driving data sets to obtain the driving level of the test vehicle in the corresponding environmental information;

[0074] The method for obtaining the driving level is as follows: multiple virtual paths of the driving data set are centered on level I, and levels II, III, IV, and V are sequentially diffused on both sides of level I to obtain a driving grid network;

[0075] The actual moving path in the test vehicle driving information is extracted and matched with the driving grid network.

[0076] The console is also evaluated to match the driving level with the comfort level to obtain a comprehensive driving data set.

[0077] The above is only a preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of this template.

Claims

1. A vehicle automatic driving evaluation system based on bench test, characterized in that: Includes evaluation console, test bench and passenger monitoring module; The test bench comprises: A simulation module, the simulation module is used to simulate set environmental information outside the test vehicle; A monitoring module, the monitoring module is used to monitor the driving information of the test vehicle in different environmental information; The monitoring module generates a variety of virtual driving data based on different environmental information, and classifies them to obtain driving data sets. After the driving data sets are generated, the detection module transmits the driving data sets to the evaluation console; The passenger monitoring module is arranged inside the test vehicle, and performs corresponding force simulation on the passenger model inside the vehicle based on the environmental information. At the same time, the passenger monitoring module collects the force information of each passenger model, obtains the passenger comfort data, and transmits the comfort data to the evaluation console; An evaluation console, the evaluation console is used to match the driving information with the driving data set to obtain the driving level of the test vehicle in the corresponding environmental information; The evaluation console also matches the driving level with the comfort level to obtain a comprehensive driving data set.

2. The vehicle automatic driving evaluation system based on bench test according to claim 1 is characterized in that: The simulation module comprises: A visualization unit, which is used to visualize the road condition information, and the detection personnel perform manual simulation operations based on the visualized road condition information to obtain manual operation data; An auditory unit is used to simulate road sound information.

3. The vehicle automatic driving evaluation system based on bench test according to claim 1 is characterized in that: The monitoring module comprises: A scenario unit, which operates independently and is used to identify the road condition information in the simulation module and generate external information in one or more environments of set weather, temperature, wind force or visibility; A path unit, wherein the path unit generates a plurality of virtual paths based on external information; An information collection unit collects and classifies a plurality of virtual paths.

4. The vehicle automatic driving evaluation system based on bench test according to claim 3 is characterized in that: The method for generating a virtual path by the path unit comprises the following steps: Step 1: Plan a virtual path along the road, identify obstacle information in the virtual path, dynamically change the moving position of the virtual path based on the obstacle information, and obtain moving path information; Step 2: Generate central virtual information of the test vehicle based on the moving path information; Step 3: Divide the virtual driving data level based on the central virtual information. The central position is level I, and the outer side of the central position is divided into level II, level III, level IV and level V in units of 20-65cm offset. Multiple virtual paths are obtained, and driving data sets are formed between multiple virtual paths distributed side by side.

5. The vehicle automatic driving evaluation system based on bench test according to claim 1 is characterized in that: The method for obtaining the driving level is: The multiple virtual paths of the driving data set are centered on level I, and levels II, III, IV and V are spread on both sides of level I in sequence to obtain a driving grid network; The actual moving path in the test vehicle driving information is extracted and matched with the driving grid network.

6. The vehicle automatic driving evaluation system based on bench test according to claim 1 is characterized in that: The passenger monitoring module comprises: A motion unit, wherein a plurality of the motion units are bound to corresponding passenger models, and the motion units apply pressure from inside and outside of various parts of the passenger model based on the driving information of the vehicle; The identification unit is used to collect pressure data of each motion unit, and the pressure data of each part is marked as A and B from the outside to the inside.

7. The vehicle automatic driving evaluation system based on bench test according to claim 1 is characterized in that: The test bench includes an accessory module, which operates independently of the simulation module, and when the accessory module is working, its working data is not intercommunication with the simulation module.

8. The vehicle automatic driving evaluation system based on bench test according to claim 7 is characterized in that: The accessory module includes a plurality of obstacle components, and the plurality of obstacle components intermittently move toward the test vehicle, and each movement speed is random; Driving information, manual operation data and driving data sets are recorded at the time node each time the accessory module works.

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