Systems and methods for incorporating driver factors into miniature experimental platforms

Abstract

This application relates to a system and method for incorporating driver factors into a miniature experimental platform, comprising: a miniature vehicle, a digital twin host, and a driving simulator. The miniature vehicle sends status information to the digital twin host; the digital twin host receives the status information sent by the miniature vehicle, calculates the current actual state of the miniature vehicle based on the status information and considering a delay, renders the corresponding driver's perspective, and transmits it to the screen of the driving simulator; the driving simulator collects the driver's driving reactions based on the traffic scene displayed on the driving simulator screen and sends the driving reactions to the miniature vehicle, enabling the miniature vehicle to execute corresponding control actions based on the driving reactions. This solves the problems in related technologies, such as the inability to reflect the driver's random driving behavior, the inability to obtain the driver's real driving reactions in specific mixed traffic scenarios, and the significant difference between the traffic environment and the driver's daily driving environment, making it impossible to obtain the driver's real driving reactions.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicle application technology, and in particular to a system and method for introducing driver factors into a miniature experimental platform. Background Technology

[0002] The widespread adoption of autonomous vehicles is a gradual process, so a hybrid transportation system consisting of human-driven vehicles and autonomous vehicles will persist for a considerable period in the near future. Currently, most experimental verifications related to hybrid transportation rely on simulations, which cannot replicate many factors in the real world, such as vehicle dynamics, uncertainties in sensor measurements, and latency and disturbances in communication and computation. Conducting such experiments in a real-world environment would require preparing and debugging multiple autonomous vehicles, hiring dedicated drivers, and renting specialized testing grounds to ensure safety; the resources, manpower, and costs involved are incalculable.

[0003] In related technologies, there are two main methods for introducing driver factors into hybrid traffic-related experiments on miniature experimental platforms. The first method is to use driver models such as the Optimal Velocity Model (OVM) to control the vehicle through a computer, indirectly simulating the driver's driving behavior. The second method is to use a driving simulator to display the traffic scene captured by the front camera of the miniature vehicle in front of the driver in real time.

[0004] However, in related technologies, methods using driver models such as OVM are based on statistical characteristics and cannot reflect the random driving behavior of drivers, thus failing to obtain the real driving reactions of drivers in specific mixed traffic scenarios. Methods using driving simulators present drivers with a miniature driving environment, which is very different from the real traffic environment that drivers drive in their daily lives, and also fails to obtain the real driving reactions of drivers, which urgently needs to be improved. Summary of the Invention

[0005] This application provides a system and method for introducing driver factors into a miniature experimental platform to solve the problems in related technologies, such as the inability to reflect the driver's random driving behavior, thus failing to obtain the driver's real driving reaction in a specific mixed traffic scenario, and the significant difference between the traffic environment and the driver's daily driving environment, making it impossible to obtain the driver's real driving reaction.

[0006] The first aspect of this application provides a system for incorporating driver factors into a miniature experimental platform, comprising: a miniature vehicle, a digital twin host, and a driving simulator. The miniature vehicle sends status information to the digital twin host; the digital twin host receives the status information sent by the miniature vehicle, calculates the current actual state of the miniature vehicle based on the status information and considering a delay, renders the corresponding driver's perspective, and transmits it to the screen of the driving simulator; and the driving simulator collects the driver's driving reactions based on the traffic scene displayed on the driving simulator screen, and sends the driving reactions to the miniature vehicle, causing the miniature vehicle to execute corresponding control actions based on the driving reactions.

[0007] Optionally, in one embodiment of this application, the miniature vehicle includes: an encapsulation unit, configured to encapsulate at least one of the miniature vehicle's actual position, speed, acceleration, and heading into a message according to a predetermined JSON data storage format; and a frequency transmission unit, configured to transmit the message to the digital twin host at a first preset frequency using a first preset communication library and communication protocol.

[0008] Optionally, in one embodiment of this application, the formula for calculating the current actual state of the miniature vehicle is:

[0009] x t =x + v * cos(θ) * t delay ,

[0010] y t =y+v*sin(θ)*t delay ,

[0011] v t =v+a*t delay ,

[0012] Among them, t delay Let (x, y) be the communication latency, and (x, y) be the location information received by the digital twin host from the miniature vehicle. t ,y t ) represents the actual position of the miniature vehicle at the current moment, estimated by the digital twin host after considering communication delays; v represents the velocity; a represents the acceleration; and θ represents the vehicle's heading.

[0013] Optionally, in one embodiment of this application, the driving simulator includes: a data acquisition unit for acquiring at least one of the driving responses, namely, steering wheel angle, accelerator pedal opening, and brake pedal opening; and a command sending unit for sending the driving responses as control commands to the miniature vehicle using a second preset communication protocol, a preset data storage method, and a second preset frequency.

[0014] Optionally, in one embodiment of this application, the miniature vehicle further includes: a computing unit, configured to generate control instructions for the corresponding control actions based on the driver's reaction sent by the driving simulator and execute the control instructions.

[0015] Optionally, in one embodiment of this application, the calculation formula for the control command is:

[0016]

[0017] a des = (α1-α2) / k,

[0018] in, To determine the desired front wheel steering angle, a des The desired vehicle acceleration is given by k, the scaling ratio is given by δ, the steering wheel angle is given by α1, the accelerator pedal opening is given by α2, and the brake pedal opening is given by α2.

[0019] The second aspect of this application provides a method for incorporating driver factors into a miniature experimental platform, comprising the following steps: calculating the current actual state based on state information with a time delay; rendering the corresponding vehicle driver's view screen; determining the driver's driving reaction based on the traffic scene; and executing corresponding control actions based on the driving reaction.

[0020] Optionally, in one embodiment of this application, determining the driver's driving reaction based on the traffic scenario includes: collecting at least one of the driving reactions, namely, steering wheel angle, accelerator pedal opening, and brake pedal opening; and sending the driving reaction as a control command to the miniature vehicle using a preset communication protocol, a preset data storage method, and a preset frequency.

[0021] Optionally, in one embodiment of this application, the step of executing the corresponding control action based on the driving reaction includes: generating a control command for the corresponding control action based on the driver's reaction sent by the driving simulator and executing the control command.

[0022] Optionally, in one embodiment of this application, the calculation formula for the control command is:

[0023]

[0024] a des = (α1-α2) / k,

[0025] in, To determine the desired front wheel steering angle, a des The desired vehicle acceleration is given by k, the scaling ratio is given by δ, the steering wheel angle is given by α1, the accelerator pedal opening is given by α2, and the brake pedal opening is given by α2.

[0026] A third aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described above for introducing driver factors into a miniature experimental platform.

[0027] This application's embodiments, based on digital twin technology, innovatively utilize a miniature vehicle twin to obtain a corresponding realistic driving environment for the driver to observe. This allows for the acquisition of the driver's actual driving reactions, improving the validity and persuasiveness of the experimental results. Simultaneously, it presents the driver with a realistic traffic scenario, allowing the driver to directly control the miniature vehicle in the experiment, truly achieving the precise introduction of driver factors into the miniature experimental platform. Therefore, it solves the problems in related technologies, such as the inability to reflect the driver's random driving behavior, thus failing to obtain the driver's actual driving reactions in specific mixed traffic scenarios, and the significant difference between these scenarios and the real traffic environments encountered in daily driving, making it impossible to obtain the driver's actual driving reactions.

[0028] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0029] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0030] Figure 1 This is a schematic diagram of a system for incorporating driver factors into a miniature experimental platform according to an embodiment of this application.

[0031] Figure 2 This is a flowchart of a method for incorporating driver factors into a miniature experimental platform according to an embodiment of this application;

[0032] Figure 3 This is a flowchart of a method for incorporating driver factors into a miniature experimental platform according to an embodiment of this application. Detailed Implementation

[0033] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0034] The following description, with reference to the accompanying drawings, describes a system and method for introducing driver factors into a miniature experimental platform according to embodiments of this application. Addressing the problems mentioned in the background art, such as the inability to reflect random driving behavior of drivers, thus failing to obtain real driving reactions in specific mixed traffic scenarios, and the significant difference between these scenarios and real traffic environments encountered in daily driving, this application provides a system for introducing driver factors into a miniature experimental platform. This system, based on digital twin technology, innovatively utilizes a miniature vehicle's twin vehicle to obtain a corresponding real driving environment for the driver to observe. This allows for the acquisition of the driver's real driving reactions, improving the effectiveness and persuasiveness of experimental results. Simultaneously, it presents a realistic traffic scenario to the driver, allowing the driver to directly control the miniature vehicle in the experiment, truly achieving the precise introduction of driver factors into the miniature experimental platform. Therefore, it solves the problems in the related art, such as the inability to reflect random driving behavior of drivers, thus failing to obtain real driving reactions in specific mixed traffic scenarios, and the significant difference between these scenarios and real traffic environments encountered in daily driving.

[0035] Specifically, Figure 1 This is a schematic diagram of a system for introducing driver factors into a miniature experimental platform, provided as an embodiment of this application.

[0036] like Figure 1 As shown, the system 10 that incorporates driver factors into the miniature experimental platform includes: a miniature vehicle 100, a digital twin host 200, and a driving simulator 300.

[0037] Specifically, the miniature vehicle 100 sends status information to the digital twin host 200.

[0038] Understandably, miniature experimental platforms conduct experiments in the real physical world, with a fully controllable experimental environment and cost. However, when initiating algorithm verification on these platforms, existing methods for incorporating driver factors into the experiments are often too direct, failing to truly capture the driver's real-world driving reactions in mixed traffic scenarios.

[0039] Therefore, in actual implementation, the embodiments of this application can send status information from the miniature vehicle 100 to the digital twin host 200, thereby innovatively using the twin vehicle of the miniature vehicle 100 to obtain the corresponding real driving environment for the driver to observe, thereby obtaining the driver's real driving reaction and improving the effectiveness and persuasiveness of the experimental results.

[0040] Optionally, in one embodiment of this application, the miniature vehicle 100 includes an encapsulation unit and a frequency transmission unit. The encapsulation unit is used to encapsulate at least one of the following state information of the miniature vehicle 100: its actual position, speed, acceleration, and heading, into a message according to a predetermined JSON data storage format. The frequency transmission unit is used to transmit the message to the digital twin host 200 at a first preset frequency using a first preset communication library and communication protocol.

[0041] It is understood that the actual position of the miniature vehicle 100 in this embodiment is the coordinate position of the vehicle's center of mass in the miniature experimental platform, which can be obtained through the vehicle positioning system of the miniature experimental platform; the speed of the miniature vehicle 100 is obtained through the Hall encoder on the vehicle; the acceleration of the miniature vehicle 100 is obtained through the inertial navigation element IMU (Inertial Measurement Unit, Inertial Sensor) on the vehicle; and the heading of the miniature vehicle 100 is the angle between the heading direction and the positive direction of the X-axis of the coordinate system of the miniature experimental platform.

[0042] As one possible implementation, embodiments of this application may, but are not limited to, encapsulate the actual position, speed, acceleration, and heading of the miniature vehicle 100 on the miniature experimental platform into a message according to a predetermined JSON data storage format, and then send the message to the host building the digital twin environment, i.e., to the digital twin host 200, at a frequency of at least 20Hz through a specific communication library and communication protocol. This can accurately incorporate driver factors, enabling the driver to make realistic driving reactions according to real traffic scenarios.

[0043] It should be noted that the first preset frequency, the first preset communication library, and the communication protocol can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0044] Optionally, in one embodiment of this application, the miniature vehicle 100 further includes a computing unit. The computing unit is configured to generate control commands for corresponding control actions based on the driver's reactions sent by the driving simulator 300 and to execute the control commands.

[0045] In actual execution, after receiving the information sent by the driving simulator 300, the miniature vehicle 100 in this embodiment parses the message according to a predefined data encapsulation format to obtain the driver's operation. Since the driver is driving a real vehicle through the driving simulator 300, the driving operation of the real vehicle needs to be converted into control instructions for the miniature vehicle 100 according to a specific ratio. The upper-level controller of the miniature vehicle 100 sends the control instructions to the lower-level controller through serial ports or other means. The lower-level controller further calculates the desired angle of the front wheel servo and the desired rotation speed of the motor of the miniature vehicle 100, and then drives the servo and motor through PWM (Pulse Width Modulation) frequency modulation waves to finally execute the control instructions.

[0046] This application embodiment includes state twinning through state uploading of miniature vehicles, and also includes execution of miniature vehicles based on control responses made by the driver of the twin vehicle. It is a true implementation of digital twinning rather than a simple digital mapping.

[0047] The digital twin host 200 receives the status information sent by the miniature vehicle 100, calculates the current actual state of the miniature vehicle 100 based on the status information and considering the delay, renders the corresponding vehicle driver's perspective, and transmits it to the screen of the driving simulator 300.

[0048] In actual implementation, this embodiment of the application can use the digital twin host 200 to parse the data received from the miniature vehicle 100 according to a predefined data storage format, obtain at least one of the following state information of all miniature vehicles 100: actual position, speed, acceleration, and vehicle orientation, and then consider the communication delay t between the two. delay The state of the virtual vehicle in the digital twin environment is updated. The digital twin host 200 can update the entire experimental scene based on the calculation results of the current actual state of the miniature vehicle 100, render the driving perspective scene of the specified vehicle controlled by the driver, and then transmit the current experimental scene to the screen of the driving simulator 300 through data cables such as HDMI (High Definition Multimedia Interface). This ensures that the embodiment of this application can receive the state information sent by the miniature vehicle 100 through the digital twin host 200, calculate the current actual state of the miniature vehicle 100 based on the state information and considering the delay, render the corresponding vehicle driver's perspective and transmit it to the screen of the driving simulator 300, thereby showing the driver a real traffic scene, while allowing the driver to directly control the miniature vehicle in the experiment, and truly realize the accurate introduction of driver factors on the miniature experimental platform.

[0049] It should be noted that the experimental scenarios in the digital twin host 200 are complete replicas of the miniaturized platform, only scaled up to ensure that the road width, vehicle size, and other aspects in the virtual experimental scenarios are completely consistent with the real traffic environment.

[0050] Optionally, in one embodiment of this application, the formula for calculating the current actual state of the miniature vehicle is:

[0051] x t =x + v * cos(θ) * t delay ,

[0052] y t =y+v*sin(θ)*t delay ,

[0053] v t =v+a*t delay ,

[0054] Among them, t delay Let (x, y) be the communication latency, and (x, y) be the location information received by the digital twin host from the miniature vehicle. t ,y t ) represents the current position of the miniature vehicle estimated by the digital twin host after considering communication delays, where v is the velocity, a is the acceleration, and θ is the vehicle's orientation.

[0055] Specifically, the embodiments of this application can update the state of a virtual vehicle in a digital twin environment. The virtual vehicle adopts a point mass model, and only its position and heading need to be updated. The current actual state of the vehicle is calculated according to the received vehicle position (x, y), velocity v, acceleration a, and heading θ using the following formula:

[0056] x t =x + v * cos(θ) * t delay ,

[0057] y t =y+v*sin(θ)*t delay ,

[0058] v t =v+a*t delay ,

[0059] The formula improves the accuracy of calculating the vehicle's current actual state, yields precise calculation results, and thus obtains the driver's real driving reactions, thereby enhancing the effectiveness and persuasiveness of the experimental results.

[0060] The driving simulator 300 collects the driving reactions of the driver based on the traffic scene on the screen of the driving simulator 300 and sends the driving reactions to the miniature vehicle 100, so that the miniature vehicle 100 executes the corresponding control actions based on the driving reactions.

[0061] In actual implementation, this application embodiment can collect the driver's driving reactions based on the traffic scene on the screen of the driving simulator 300 through the driving simulator 300. The traffic scene can be a real driving scene. This application embodiment can send the driving reaction to the miniature vehicle 100, so that the miniature vehicle 100 can execute the corresponding control action based on the driving reaction, thereby further showing the driver a real traffic scene, while allowing the driver to directly control the miniature vehicle in the experiment, and truly realizing the accurate introduction of driver factors on the miniature experimental platform.

[0062] Optionally, in one embodiment of this application, the driving simulator 300 includes: a data acquisition unit and a command transmission unit. The data acquisition unit is used to acquire at least one driving response, including steering wheel angle, accelerator pedal opening, and brake pedal opening; the command transmission unit is used to transmit the driving response as a control command to the miniature vehicle 100 using a second preset communication protocol, a preset data storage method, and a second preset frequency.

[0063] In some cases, embodiments of this application can collect the driver's driving reactions, including but not limited to collecting steering wheel angle δ, accelerator pedal opening α1, and brake pedal opening α2, thereby providing support for subsequent vehicle control based on driver reactions; embodiments of this application can use the collected driver's driving reactions as control commands and send them to the corresponding miniature vehicle 100 at a frequency of at least 20Hz using a specific communication protocol and a predefined data storage method, thereby further ensuring that the driver directly controls the miniature vehicle in the experiment.

[0064] It should be noted that the second preset communication protocol and the second preset frequency can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0065] Optionally, in one embodiment of this application, the calculation formula for the control command is:

[0066]

[0067] a des = (α1-α2) / k,

[0068] in, To determine the desired front wheel steering angle, a des The desired vehicle acceleration is given by k, the scaling ratio is given by δ, the steering wheel angle is given by α1, the accelerator pedal opening is given by α2, and the brake pedal opening is given by α2.

[0069] It is understood that the scaling ratio k in the embodiments of this application may not necessarily be enlarged, but may also be reduced.

[0070] As one possible implementation, embodiments of this application can adjust the desired front wheel steering angle. And the expected vehicle acceleration a des The conversion ratio is k, which is the scaling ratio of the miniature experimental platform environment in the digital twin environment to match the real traffic environment. The upper-level control commands of the miniature vehicle are calculated according to the following formula:

[0071]

[0072] a des = (α1-α2) / k,

[0073] The formula improves the accuracy of control command calculation, yielding precise calculation results. This ensures that the upper-level control commands of the miniature vehicle can be executed, thereby guaranteeing that the driver can directly control the miniature vehicle in the experiment and truly realize the precise introduction of driver factors into the miniature experimental platform.

[0074] Next, as Figure 2 As shown, embodiments of this application may include the following steps:

[0075] Step S201: Start the experiment.

[0076] Step S202: The miniature vehicle sends its status information to the digital twin host.

[0077] In this application embodiment, the position, speed, acceleration, and orientation of the miniature vehicle can be encapsulated into a message according to a predetermined data storage format such as JSON, and then the message can be sent to the host building the digital twin environment at a frequency of at least 20Hz through a specific communication library and communication protocol.

[0078] Step S203: The digital twin host calculates the current actual state of the vehicle considering latency.

[0079] In this embodiment of the application, the digital twin host can receive status information sent by the miniature vehicle and calculate the current actual status of the miniature vehicle based on the status information and considering the delay.

[0080] Step S204: The digital twin host renders the corresponding vehicle driver's view and transmits it to the driving simulator screen.

[0081] In this embodiment of the application, the digital twin host can render a driving perspective scene of a vehicle controlled by a driver, and then the current experimental scene is transmitted to the screen of the driving simulator 300 via a data cable such as HDMI.

[0082] Step S205: The driver makes driving reactions based on the traffic scene on the driving simulator screen, and these reactions are collected by the driving simulator.

[0083] In this embodiment of the application, the driver's driving reactions based on the traffic scene on the driving simulator screen can be collected through a driving simulator.

[0084] Step S206: The driving simulator sends the collected driver reactions to the miniature vehicle.

[0085] In this application embodiment, driving responses such as steering wheel angle, accelerator pedal opening, and brake pedal opening can be sent to the miniature vehicle, but are not limited to.

[0086] Step S207: The miniature vehicle calculates and executes control commands based on the driver's operational response.

[0087] In this embodiment, driving reactions can be sent to a miniature vehicle, enabling the miniature vehicle to calculate and execute control commands based on the driver's operational reactions.

[0088] Step S208: Determine whether the experiment stop time has been reached. If yes, proceed to step S209; otherwise, proceed to step S202.

[0089] In this embodiment, it can determine whether the cumulative experimental time of the miniature vehicle has reached the experimental stop time. If the stop time has been reached, step S209 is executed to end the experiment, stop the operation and sound the horn; if the stop time has not been reached, step S202 is executed to start the next round of iteration.

[0090] Step S209: End the experiment.

[0091] The system proposed in this application, which introduces driver factors into a miniature experimental platform, innovatively utilizes digital twin technology to obtain a corresponding real driving environment for the driver to observe. This allows for the acquisition of the driver's actual driving reactions, improving the effectiveness and persuasiveness of the experimental results. Simultaneously, it presents the driver with a realistic traffic scenario, allowing the driver to directly control the miniature vehicle in the experiment, truly achieving the precise introduction of driver factors into the miniature experimental platform. This solves the problem in related technologies that fail to reflect the driver's random driving behavior, thus failing to obtain the driver's actual driving reactions in specific mixed traffic scenarios, and that these scenarios differ significantly from the real traffic environments drivers encounter in their daily driving, making it impossible to obtain the driver's true driving reactions.

[0092] Next, referring to the accompanying drawings, a method for incorporating driver factors into a miniature experimental platform according to an embodiment of this application is described.

[0093] Figure 3 This is a flowchart of a method for introducing driver factors into a miniature experimental platform according to an embodiment of this application.

[0094] like Figure 3 As shown, the method for incorporating driver factors into a miniature experimental platform includes the following steps:

[0095] In step S301, the current actual state is calculated based on the state information, taking into account the delay.

[0096] In step S302, the driver's view of the corresponding vehicle is rendered.

[0097] In step S303, the driver's driving response based on the traffic scenario is determined.

[0098] In step S304, the corresponding control action is executed based on the driving response.

[0099] Optionally, in one embodiment of this application, determining the driver's driving response based on the traffic scenario includes: collecting at least one of the driving responses such as steering wheel angle, accelerator pedal opening, and brake pedal opening; and sending the driving response as a control command to the miniature vehicle using a preset communication protocol, a preset data storage method, and a preset frequency.

[0100] Optionally, in one embodiment of this application, executing a corresponding control action based on driving reaction includes: generating a control command for the corresponding control action based on the driver's reaction sent by the driving simulator and executing the control command.

[0101] Optionally, in one embodiment of this application, the calculation formula for the control command is:

[0102]

[0103] a des = (α1-α2) / k,

[0104] in, To determine the desired front wheel steering angle, a des Let k be the desired vehicle acceleration, δ be the scaling ratio, α1 be the accelerator pedal opening, and α2 be the brake pedal opening.

[0105] It should be noted that the foregoing explanation of the system embodiment for introducing driver factors into the miniature experimental platform also applies to the method for introducing driver factors into the miniature experimental platform in this embodiment, and will not be repeated here.

[0106] The method for introducing driver factors into a miniature experimental platform according to the embodiments of this application, based on digital twin technology, innovatively utilizes a miniature vehicle's twin vehicle to obtain a corresponding real driving environment for the driver to observe. This allows for the acquisition of the driver's real driving reactions, improving the effectiveness and persuasiveness of the experimental results. Simultaneously, it presents the driver with a realistic traffic scenario, allowing the driver to directly control the miniature vehicle in the experiment, truly achieving the precise introduction of driver factors into the miniature experimental platform. Therefore, it solves the problem in related technologies that cannot reflect the driver's random driving behavior, thus failing to obtain the driver's real driving reactions in specific mixed traffic scenarios, and that these scenarios differ significantly from the real traffic environments drivers encounter in their daily driving, making it impossible to obtain the driver's true driving reactions.

[0107] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described above for introducing driver factors into a miniature experimental platform.

[0108] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0109] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0110] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0111] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0112] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0113] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0114] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0115] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A system for incorporating driver factors into a miniature experimental platform, characterized in that, include: Miniature vehicles, digital twin hosts, and driving simulators, among which, The miniature vehicle sends status information to the digital twin host, wherein the miniature vehicle includes: an encapsulation unit, used to encapsulate at least one of the status information of the miniature vehicle, including its actual position, speed, acceleration, and heading, into a message according to a predetermined JSON data storage format; and a frequency transmission unit, used to send the message to the digital twin host at a first preset frequency using a first preset communication library and communication protocol. The digital twin host receives the status information sent by the miniature vehicle, calculates the current actual state of the miniature vehicle based on the status information and considering a delay, renders the corresponding driver's perspective, and transmits it to the screen of the driving simulator. The formula for calculating the current actual state of the miniature vehicle is: ， ， ， in, For communication delay, The location information received by the digital twin host from the miniature vehicle. The digital twin host estimates the current true location of the miniature vehicle after considering communication latency. For the speed, For the acceleration, The stated direction of the vehicle's front end; and The driving simulator collects the driving reactions made by the driver based on the traffic scene on the driving simulator screen, and sends the driving reactions to the miniature vehicle, so that the miniature vehicle executes the corresponding control actions based on the driving reactions; This also includes: after receiving information from the driving simulator, the miniature vehicle parses the message according to a predefined data encapsulation format to obtain the driver's operation. The driver is driving a real vehicle through the driving simulator, and the driving operation of the real vehicle is converted into control commands for the miniature vehicle according to a specific ratio; the upper-level controller of the miniature vehicle sends the control commands to the lower-level controller via a serial port, and the lower-level controller further calculates the desired rotation angle of the front wheel servo and the desired rotation speed of the motor of the miniature vehicle, and then drives the servo and motor through PWM frequency modulation wave to finally execute the control commands; The miniature vehicle further includes: a computing unit, configured to generate control commands for the corresponding control actions based on the driver's reaction sent by the driving simulator and execute the control commands; The formula for calculating the control command is: ， ， in, To achieve the desired front wheel steering angle, To achieve the desired vehicle acceleration, For scaling ratio, For steering wheel angle, This refers to the accelerator pedal opening. This refers to the brake pedal opening. Among them, the expected front wheel steering angle and expected vehicle acceleration The conversion ratio is the scaling factor applied to the miniature experimental platform environment in the digital twin environment to ensure consistency with the real traffic environment. .

2. The system according to claim 1, characterized in that, The driving simulator includes: The acquisition unit is used to acquire at least one of the driving responses, namely, steering wheel angle, accelerator pedal opening, and brake pedal opening. The instruction sending unit is used to send the driving reaction as a control instruction to the miniature vehicle using a second preset communication protocol, a preset data storage method, and a second preset frequency.

3. A method for incorporating driver factors into a miniature experimental platform, characterized in that, The system for incorporating driver factors into a miniature experimental platform as described in any one of claims 1-2, wherein the method comprises the following steps: The current actual state is calculated based on the state information, taking into account the delay. Render the corresponding vehicle driver's perspective; Determine the driver's driving reactions based on traffic scenarios; and Execute corresponding control actions based on the driving response; The step of executing the corresponding control action based on the driving reaction includes: generating a control command for the corresponding control action based on the driver's reaction and executing the control command; The formula for calculating the control command is: ， ， in, To achieve the desired front wheel steering angle, To achieve the desired vehicle acceleration, For scaling ratio, The steering wheel angle, The accelerator pedal opening is referred to as the accelerator pedal opening. The brake pedal opening; Among them, the expected front wheel steering angle and expected vehicle acceleration The conversion ratio is the scaling factor applied to the miniature experimental platform environment in the digital twin environment to ensure consistency with the real traffic environment. .

4. The method according to claim 3, characterized in that, The determination of the driver's driving reactions based on the traffic scenario includes: The driving response is measured by at least one of the following: steering wheel angle, accelerator pedal opening, and brake pedal opening. The driving response is used as a control command and sent to the miniature vehicle at a preset frequency according to a preset communication protocol and a preset data storage method.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the method for introducing driver factors into a miniature experimental platform as described in any one of claims 3-4.

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