Whole vehicle test scene simulation system and test method for autonomous vehicle

Abstract

The invention belongs to the technical field of automatic driving vehicle simulation, and particularly relates to a whole vehicle test scene simulation system and test method of an automatic driving vehicle, which are arranged on a test platform and comprise a control platform, and a shielding shed mechanism and a hub test bench which are respectively connected with the control platform; wherein the shielding shed mechanism comprises a shielding shed and a driving motor, the shielding shed is composed of a plurality of clamped inverted-U-shaped sub-shielding sheds, the driving motor is used for driving the shielding shed to slide, U-shaped openings in the two ends of each sub-shielding shed are provided with pulleys, and the pulleys are arranged in sliding rails on the two sides of the testing platform respectively. The sliding rail is arranged to be consistent with the driving direction of an automatic driving vehicle to be tested. The hub test bench is arranged between the sliding rails on the two sides of the test platform, and a hub of the autonomous vehicle to be tested is arranged on the hub test bench; the shielding shed is internally provided with an environment regulation and control module used for simulating tunnel environment factors.

Description

Technical Field

[0001] The present invention belongs to the technical field of autonomous driving vehicle simulation, and specifically relates to a whole vehicle test scenario simulation system and a test method for an autonomous driving vehicle. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Autonomous driving cars are developing rapidly, and their development is showing a trend of intelligence and networking. Among them, the testing of autonomous driving functions is one of the core technologies. Autonomous driving function testing includes multiple steps such as module testing, system testing, and vehicle testing. Among them, vehicle testing is the last link in the testing process and also the most important one.

[0004] The functional testing of the entire autonomous driving vehicle includes two parts: bench testing and road testing. For bench testing, the entire vehicle is placed on a bench and tested by simulating road conditions on the bench. This speeds up the vehicle development efficiency, but the scenarios that bench testing can cover are limited. Especially in the field of high-level autonomous driving, the bench can only perform fewer test conditions. For road testing, the testing work is carried out in a test field or on a real road. This greatly enhances the authenticity of the testing process. However, there are problems with the construction cost of the test scenarios being too high and the cycle being too long, especially in closed scenarios (such as tunnels).

[0005] There are no communication signals or vehicle satellite positioning signals in the tunnel, which greatly weakens the stability of the autonomous driving function of intelligent networked vehicles. Therefore, it is more necessary to test the autonomous driving function in tunnels, under viaducts and other areas. At present, for the autonomous driving scenes under relevant tunnels and viaducts, real tunnel scenes and urban elevated scenes can be built according to the actual scenes, but the construction period is too long and the cost is too high; actual road tests can be taken, but the vehicles before listing are in the test stage, there is a risk of loss of control, and hidden safety hazards. Summary of the invention

[0006] To solve the above problems, the present invention proposes a whole-vehicle test scenario simulation system and test method for an autonomous driving vehicle. Through the mutual coordination and automatic collaborative operation among a shielding shed mechanism, a wheel test bench, a road display module and an environmental control module, the simulation of the driving scene of the autonomous driving vehicle is realized, while the whole-vehicle test efficiency of the autonomous driving vehicle is improved.

[0007] According to some embodiments, a first solution of the present invention provides a whole vehicle test scenario simulation system for an autonomous driving vehicle, which adopts the following technical solutions: A whole vehicle test scenario simulation system for an autonomous driving vehicle is arranged on a test platform, comprising a control platform and a shielding shed mechanism and a wheel hub test bench respectively connected to the control platform; wherein the shielding shed mechanism comprises a shielding shed composed of a plurality of inverted U-shaped sub-shielding sheds that are clamped together and a driving motor for driving the shielding shed to slide, pulleys are arranged at the U-shaped openings at both ends of each sub-shielding shed, and the pulleys are respectively arranged in the slide rails on both sides of the test platform, and the slide rails are arranged in the same direction as the driving direction of the autonomous driving vehicle to be tested; the wheel hub test bench is arranged in the middle of the slide rails on both sides of the test platform, and the wheel hub of the autonomous driving vehicle to be tested is placed on the wheel hub test bench; an environmental control module for simulating tunnel environmental factors is arranged inside the shielding shed; the position of the shielding shed on the test platform is adjusted according to the determined driving environment of the autonomous driving vehicle to be tested, and the environmental factors inside the shielding shed are adjusted in real time in combination with the environmental control module, and the whole vehicle test scenario is simulated through the relative position between the shielding shed and the wheel hub test bench.

[0008] As a further technical limitation, the whole vehicle test scenario at least includes driving in an open area, driving into a tunnel, driving in a tunnel, and driving out of a tunnel; during the whole vehicle test, the autonomous driving vehicle to be tested is relatively stationary with respect to the test platform.

[0009] Furthermore, when the autonomous driving vehicle to be tested is traveling in an open area, the shielding shed and the wheel hub test bench are relatively stationary, and the shielding shed is not placed above the wheel hub test bench; When the autonomous driving vehicle to be tested is in the process of driving into a tunnel, the shielding shed and the wheel hub test bench move relative to each other, and the sliding direction of the shielding shed on the test bench is opposite to the driving direction of the autonomous driving vehicle to be tested; When the autonomous driving vehicle to be tested is driving in a tunnel, the shielding shed and the wheel hub test bench are relatively stationary, and the shielding shed is placed above the wheel hub test bench; When the autonomous driving vehicle to be tested is in the process of exiting the tunnel, the shielding shed and the wheel hub test bench move relative to each other, and the sliding direction of the shielding shed on the test platform is the same as the driving direction of the autonomous driving vehicle to be tested.

[0010] As a further technical limitation, a connecting buckle and a connecting pin are respectively provided on the U-shaped edge of each of the sub-shielding sheds, and adjacent sub-shielding sheds are connected by the connecting buckle and the connecting pin.

[0011] As a further technical limitation, the wheel hub test bench includes at least a first single hub assembly, a first turntable, a first hub locking assembly, a second single hub assembly, a second turntable, a second hub locking assembly and a wheel hub controller; the wheel hubs of the autonomous driving vehicle to be tested are respectively arranged on the first turntable and the second turntable; the driving data of the autonomous driving vehicle to be tested is respectively obtained through the first single hub assembly and the second single hub assembly, the test conditions of the autonomous driving vehicle to be tested are determined in combination with the wheel hub controller, and the determined test conditions are fed back to the control platform.

[0012] As a further technical limitation, the environmental control module includes an environmental monitoring unit, an environmental control unit and an abnormal alarm unit; wherein the environmental monitoring unit is used to monitor environmental factors in the shielding shed, and includes at least a temperature sensor, a humidity sensor, a photoresistor and a smoke alarm; the environmental control unit is used to adjust the temperature, humidity and brightness in the shielding shed, and includes at least an exhaust fan, a humidifier and a lighting lamp; the abnormal alarm unit is used to alarm when the temperature in the shielding shed is abnormal.

[0013] As a further technical limitation, a whole vehicle test scenario simulation system for an autonomous driving vehicle also includes a road display module arranged in front of the autonomous driving vehicle to be tested for displaying the road environment ahead, and the road display module includes at least a display screen for displaying lanes, road signs and road conditions.

[0014] As a further technical limitation, the wheel hub test bench is provided with a vehicle limiter for fixing the wheel hub position of the autonomous driving vehicle to be tested.

[0015] As a further technical limitation, during the whole vehicle testing process, the wheel hub of the autonomous driving vehicle to be tested is placed on the wheel hub test bench, and the vehicle wheel hub position is fixed by a vehicle limiter arranged on the wheel hub test bench. Based on the wheel hub test bench simulating the vehicle driving road, the rotating hub test bench and the wheel hub of the autonomous driving vehicle to be tested rotate at the same speed in opposite directions, and the body of the autonomous driving vehicle to be tested is stationary, so that the autonomous driving vehicle to be tested and the test platform are relatively stationary.

[0016] According to some embodiments, a second solution of the present invention provides a whole vehicle testing method for an autonomous driving vehicle, which uses the whole vehicle testing scenario simulation system for the autonomous driving vehicle provided in the first solution and adopts the following technical solutions: A whole vehicle testing method for an autonomous driving vehicle, comprising: Place the autonomous driving vehicle to be tested on a rotating hub test bench; Select the test conditions of the autonomous driving vehicle to be tested based on the control platform; According to the selected test conditions, the shielding shed mechanism, the hub test bench, the road display module and the environmental control module are controlled to complete the whole vehicle test of the autonomous driving vehicle.

[0017] As a further technical limitation, an encoder is used to position the shielding shed on the slide rail, and the linear displacement of the shielding shed is obtained by a linear encoder or a rotary encoder; the closed-loop feedback linkage of the control platform is realized through the displacement of the shielding shed.

[0018] As a further technical limitation, the control platform receives and adjusts the operating status of the shielding shed and the rotary hub test bench in real time, and provides real-time feedback to adjust the shielding shed mechanism, environmental control module, road display module and rotary hub test bench, using the test platform as a virtual lane to maintain the synchronization of the virtual road and the whole vehicle test, and adjust the whole vehicle test environment in real time.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The present invention realizes the simulation of driving scenes of autonomous driving vehicles through the mutual coordination and automatic collaborative operation among the shielding shed mechanism, the wheel hub test bench, the road display module and the environmental control module, while improving the whole vehicle testing efficiency of the autonomous driving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0020] Figure 1 A physical isometric diagram of the whole vehicle test scenario simulation system of the autonomous driving vehicle in the first embodiment of the present invention; Figure 2 A physical isometric diagram of the whole vehicle test scenario simulation system of the autonomous driving vehicle in the first embodiment of the present invention; Figure 3 A physical isometric diagram of the whole vehicle test scenario simulation system of the autonomous driving vehicle in the first embodiment of the present invention; Figure 4 This is an architecture diagram of a whole vehicle test scenario simulation system for an autonomous driving vehicle in Embodiment 1 of the present invention; Figure 5 This is a workflow diagram of a whole vehicle testing method for an autonomous driving vehicle in Embodiment 2 of the present invention; Among them, 1. Sub-shielding shed; 2. Shielding shed; 3. Slide rail; 4. Autonomous driving vehicle to be tested; 5. Test platform; 6. Display screen; 7. Control platform; 8. Lighting; 9. Ventilation fan; 10. Connecting buckle; 11. Motor gear; 12. Motor bracket; 13. Driving motor; 14. Connecting pin; 15. Driving rack; 16. Sub-shielding shed driven gear; 17. Hub test bench; 18. Vehicle limiter. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0023] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0024] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0025] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meanings of the above terms in the present invention can be determined according to specific circumstances, and they cannot be understood as limitations on the present invention.

[0026] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0027] Embodiment 1 Embodiment 1 of the present invention introduces a whole vehicle test scenario simulation system for an autonomous driving vehicle.

[0028] like Figure 1 , Figure 2 and Figure 3 The whole vehicle test scenario simulation system of the autonomous driving vehicle shown includes five parts: a shielding shed mechanism, a hub test bench 17, a road display module, an environment control module and a control platform 7; specifically: (1) Shielding shed mechanism The shielding shed mechanism includes a shielding shed 2 and a driving motor 13. The shielding shed 2 is composed of multiple sub-shielding sheds 1. The spatial shape constructed by the shielding shed 2 is consistent with the actual tunnel, and can simulate the driving scene of the autonomous driving vehicle 4 to be tested in the tunnel.

[0029] As one or more implementation modes, the sub-shielding shed 1 is made of metal material and has the functions of shielding signals and shading light. The shielding shed 2 can highly simulate the scene of an actual tunnel; the bottom of the sub-shielding shed 1 is placed on the slide rails 3 on both sides of the test platform 5, and the sub-shielding shed 1 can move forward and backward on the slide rails 3; the sub-shielding shed 1 can operate alone, or multiple sub-shielding sheds 1 can be combined into an integral shielding shed 2 through connecting buckles 10 and connecting pins 14 for operation; under the driving action of the driving motor 13 and the driving rack 15, the shielding shed 2 automatically moves in the forward and backward directions, or moves in a cycle in the forward and backward directions.

[0030] It should be noted that the shielding shed 2 has multiple operation modes such as single operation, combined operation, unidirectional operation, and circular operation; the sub-shielding shed 1 is equipped with an encoder between the slide rails 3, which can accurately calculate the mileage of the shielding shed and locate the exact position of the shielding shed 2 in real time; specifically: The encoder is used to realize the positioning of the shielding shed 2 on the slide rail 3, and the linear displacement of the shielding shed 2 is captured by selecting a linear encoder or a rotary encoder linked to a roller. The encoder is firmly installed on the shielding shed 2 and the slide rail 3 to ensure the synchronous movement of the encoder and the shielding shed 2 and avoid vibration affecting the accuracy. The signal acquisition is connected to the sub-shielding shed 1 through an interface (such as RS-422), and the incremental encoder is used to calculate the displacement through pulse accumulation (using an absolute encoder to directly read the code value to obtain the current position); after installation, the zero point needs to be calibrated and the length of the slide rail 3 is calibrated to ensure that the measured value is consistent with the actual position. The position information of the shielding shed 2 is closed-loop linked through the feedback and control of the control platform 7. At the same time, the motion trajectory of the shielding shed 2 can be adjusted in real time. At the same time, the anti-interference design and industrial-grade packaging are used to adapt to complex environments, realizing the accurate and efficient positioning function of the slider.

[0031] As one or more implementation modes, the shielding shed 2 can be controlled by the control platform 7 during operation, and bidirectional communication can be achieved between the shielding shed 2 and the control platform 7 to achieve precise, automated, closed-loop control.

[0032] It should be noted that the difference in the impact of multiple overlapping elevated bridges and one elevated bridge on vehicle positioning is mainly the length of time the vehicle travels under the elevated bridge; based on the whole vehicle test scenario simulation system in this embodiment, the time that the shielding canopy 2 covers the autonomous driving vehicle 4 to be tested is adjusted. When there is only one elevated bridge, the shielding canopy 2 flashes by. If there are multiple elevated bridges, the shielding canopy 2 can be controlled to stay above the autonomous driving vehicle 4 to be tested for a few seconds.

[0033] (2) Hub test bench 17 The rotating hub test bench 17 can simulate the motion conditions of the autonomous driving vehicle 4 to be tested, and realize the simulation of the real motion conditions of the vehicle in the tunnel; provide the vehicle's lateral condition simulation, longitudinal condition simulation, and lateral and longitudinal coupling condition simulation; collect the speed and acceleration of the autonomous driving vehicle to be tested in real time through the rotating hub test bench 17; and can communicate with the control platform 7 in a two-way manner, upload speed and acceleration signals, and download the control instructions of the rotating hub test bench 17.

[0034] It should be noted that the wheel hub test bench at least includes a first single hub assembly, a first turntable, a first hub locking assembly, a second single hub assembly, a second turntable, a second hub locking assembly and a hub controller; the wheel hubs of the autonomous driving vehicle to be tested are respectively arranged on the first turntable and the second turntable; the driving data of the autonomous driving vehicle to be tested is obtained through the first single hub assembly and the second single hub assembly respectively, and the test conditions of the autonomous driving vehicle to be tested are determined in combination with the wheel hub controller, and the determined test conditions are fed back to the control platform 7.

[0035] It should be noted that the specific structure of the hub test bench 17 belongs to the prior art, and the specific structure in Patent 2023109493484 can be adopted, which will not be repeated in this embodiment.

[0036] (3) Road display module Since tunnels have greater interference with positioning signals and radar signals, routes and road signs play a greater role in the realization of autonomous driving functions, so route and road sign simulation testing in tunnels is crucial.

[0037] The display screen 6 in the road display module of this embodiment is placed in front of the tunnel scene and is used to play road videos to display routes and road signs.

[0038] As one or more implementation modes, the road display module includes a road acquisition unit, a road video processing unit and a road video playback module; wherein the road acquisition unit acquires the actual road through a camera and classifies the video according to different scenes; the video processing unit performs denoising, color space conversion, and image enhancement on the video to improve the recognizability of routes and road signs, and arranges them in chronological order; the video playback unit plays the processed road video to provide road information for vehicles in the tunnel.

[0039] In this embodiment, the road route, road sign, vehicle and pedestrian information can be extracted from the video playback, which is usually based on computer vision and deep learning technology. After collecting the real road scene video, the video is decomposed into image frames through video decoding, and the image is denoised, enhanced and ROI area cropped, and the road edge and lane line are extracted using edge detection or deep learning model (such as DeepLab). Vehicle detection uses target detection algorithm (such as YOLO) combined with multi-target tracking algorithm (such as DeepSORT) to achieve vehicle position tracking and feature extraction; pedestrian recognition extracts pedestrian position through a dedicated detection model (such as Pedestron), and combines posture estimation and trajectory prediction to analyze pedestrian movement path. By spatially and temporally fusing route, road sign, vehicle and pedestrian data, a dynamic view of the road is constructed. Finally, the results are visualized and stored in an overlaid form, and played through the display screen 6 of the road display module during the simulation test to achieve the effect of assisting the vehicle to identify the road environment.

[0040] It should be noted that the three units of the road display module are all connected to the control platform 7, and can work in coordination with the hub test bench 17, the shielding shed 2 and the environmental control module.

[0041] (4) Environmental control module In this embodiment, the environmental control module includes three units: environmental monitoring, lighting and environmental factor control, and abnormal alarm; specifically, it includes temperature and humidity sensors, lighting lamps 8, ventilation fans 9, humidifiers, smoke alarms and other equipment; it automatically adjusts environmental factors to simulate factors such as light and humidity in the tunnel environment; it monitors abnormal conditions in the environment and promptly alarms when abnormalities occur.

[0042] (5) Control platform 7 The control platform 7 is divided into four parts: test condition library, task allocation unit, task control unit and communication unit; specifically: the test condition library stores a variety of test conditions, which are composed of straight roads, curves, acceleration, deceleration and other conditions and various environments such as open areas, tunnels, and under viaducts; the test condition library classifies and numbers the actual road conditions collected for easy selection during testing; the task allocation unit matches the conditions to be tested and divides them into shielding shed tasks, hub tasks, road display tasks, and environmental control tasks; the task control unit controls the shielding shed 2, hub test bench 17, road display module, and environmental control module according to the matching tasks assigned; the communication unit realizes the communication between the task control platform 7 and the shielding shed mechanism, hub test bench 17, road display module, and environmental control module, provides feedback signals for the task control system, and improves the control accuracy of the simulation system.

[0043] The control platform 7, the shielding shed mechanism, the rotary hub test bench 17, the road display module and the environmental control module work in coordination and cooperation, which can significantly improve the control accuracy. As the core control unit, the control platform 7 adjusts the operating status of the shielding shed 2 and the rotary hub test bench 17 in real time by receiving data from each submodule, and ensures the experimental accuracy through multi-sensor data fusion (such as humidity, mechanical sensors, speed, torque, etc.). The shielding shed mechanism and the environmental control module work together to avoid external interference and maintain stable humidity and lighting conditions, further ensuring the test accuracy. The road display module and the rotary hub test bench 17 ensure the high consistency of the test conditions through the synchronization of virtual roads and physical tests, and adjust the complexity of the road environment in real time to meet the test requirements. The shielding shed 2 isolates external interference, making the test environment closer to the real tunnel driving conditions.

[0044] Through the centralized control platform 7, data fusion and real-time optimization are carried out to predict and correct errors in the experiment. Each system (such as the control platform 7, the rotary hub test bench 17, the road display module, the environmental control module and the shielding shed 2) provides different types of data. The complementary advantages between each other can effectively reduce the limitations of a single system. In addition, the real-time feedback and closed-loop control mechanism of multiple systems can automatically correct errors during the experiment to ensure control accuracy. Multi-system collaboration also enhances the robustness of the system. Even if some parameters are disturbed, the overall accuracy can still be guaranteed. In general, the stability and accuracy of the experimental process are improved, and the accuracy and reliability of the test results are guaranteed.

[0045] It should be noted that Figure 1 The following figure shows a tunnel driving scene. Figure 2 and Figure 3 The driving scene shown is an open area; when it is necessary to enter the tunnel driving scene, the shielding shed 2 is controlled to slide on the test platform 5 under the action of the control platform 7, that is, the shielding shed 2 is moved from Figure 3 Position in Figure 1 When the vehicle needs to enter or exit the tunnel, the shielding shed 2 is controlled to slide on the test platform 5 under the action of the control platform 7, that is, the shielding shed 2 moves from Figure 1 Position in Figure 2 Slide the position in the image to simulate the scene of a vehicle driving out of a tunnel.

[0046] like Figure 4 As shown, the test condition selection unit, task allocation unit, task control unit and communication unit in the control platform 7 of this embodiment are all placed in the local industrial computer, and the scenario condition library, scenario library and database are all placed in the local industrial computer.

[0047] At the hardware level of this embodiment, embedded devices are used as controllers, and the controlled devices (including shielding shed 2, rotary hub test bench 17, road display module and environmental control module) are interconnected through wired communication technologies such as industrial Ethernet and RS-485. The software architecture is based on a variety of control algorithms such as real-time operating system PID, fuzzy control, model predictive control, etc., which can realize data acquisition and processing and big data analysis functions. The control platform 7 adopts modular and plug-in design, which is convenient for equipment expansion and new function integration, and supports open API to achieve seamless connection with other systems; the system security and reliability are guaranteed through redundant design, encrypted communication, firewall and other measures; the development cost is low, the stability and security are high, and at the same time, there are also high requirements for the hardware performance of the industrial computer.

[0048] As one or more implementation methods, the control platform 7 can be developed using cloud platform technology. Specifically, the test condition selection unit and the communication unit are placed on the local industrial computer, and the task allocation unit and the task control unit are placed on the cloud; the scenario condition library, the scenario library and the database are all placed on the cloud; the control platform 7 collects field data through industrial sensors and actuators, uses edge computing devices for real-time preprocessing, and uploads it to the cloud through industrial Ethernet, Wi-Fi and other communication technologies. The cloud platform provides powerful data storage and processing capabilities for the task allocation unit, the task control unit, the condition library, the scenario library and the database, and supports the deployment of big data analysis, predictive maintenance and optimization algorithms. The control strategy uses intelligent algorithms, such as model predictive control and machine learning, to achieve adaptive adjustment and full-process optimization.

[0049] Users can monitor the status of equipment in real time, set operation instructions, and receive abnormal alarms and intelligent suggestions through a visual interface based on the Web and mobile devices. The cloud platform has strong scalability and security, supports remote upgrades and equipment management, and can improve flexibility and intelligence. At the same time, cloud platform technology also increases the development and use costs of the system.

[0050] Embodiment 2 Embodiment 2 of the present invention introduces a whole vehicle testing method for an autonomous driving vehicle, which adopts a whole vehicle testing scenario simulation system for an autonomous driving vehicle introduced in Embodiment 1.

[0051] like Figure 5 As shown, a whole vehicle testing method for an autonomous driving vehicle includes the following specific steps: (1) The vehicle enters the test area, stops on the rotary test bench 17, installs the vehicle stopper 18 to fix the vehicle, and puts the autonomous driving vehicle 4 to be tested in a neutral state; (2) Select the working condition to be tested in the test working condition selection unit of the test platform 5, and then send the instruction to the task allocation unit; (3) After receiving the instruction, the task allocation unit matches the test condition with the specific task and sends the task to the task control unit; (4) The task control unit controls the shielding shed mechanism, the hub test bench 17, the road display module and the environmental control module according to different tasks; the specific control process is as follows: 1) Shielding shed mechanism control process (a) The task control unit first selects the working mode. For example, if it is a tunnel scene, the shielding shed 2 needs to simulate the tunnel environment.

[0052] (b) The bottom end of each sub-shielding shed 1 is installed on the slide rail 3. A connecting buckle 10 is provided on the side of each sub-shielding shed 1. A plurality of sub-shielding sheds 1 can be combined to form a shielding shed 2 through a connecting pin 14.

[0053] (c) After the working mode is selected, the task control unit calculates the motor control amount based on the current position and target position of the shielding shed 2.

[0054] (d) The driving motor 13 is placed on the motor bracket 12, the output end of the driving motor 13 is installed with a motor gear 11, the side of the sub-shielding shed 1 is installed with a sub-shielding shed driven gear 16, and the driving rack 15 assembles the motor gear 11 and the sub-shielding shed driven gear 16 together.

[0055] (e) The driving motor 13 drives the shielding shed 2 to move forward and backward on the slide rail 3 through the motor gear 11, the driving rack 15 and the sub-shielding shed driven gear 16.

[0056] (f) During the test, the position of the shielding shed 2 on the slide rail 3 can be flexibly adjusted in combination with the position of the sub-shielding shed 1.

[0057] (g) After the test is completed, the task control unit controls the shielding shed 2 to return to its initial position.

[0058] 2) Operation process of the hub test bench 17 (a) The top of the hub test bench 17 is kept at the same height as the ground. The axial rotation of the hub can simulate the movement of the vehicle on the ground, and the vertical rotation of the hub can simulate the steering movement of the vehicle.

[0059] (b) The task control unit first selects the working mode, such as uniform speed operation, uniform acceleration and deceleration, steering condition, etc.

[0060] (c) After the working mode is selected, the task control unit controls the hub rotating operation by transmitting control instructions through the communication system and serial port communication according to the target working condition, and the automatic driving vehicle travels on the hub rotating test bench 17.

[0061] (d) During the process, the rotating hub test bench 17 collects the speed and acceleration of the vehicle under test, communicates with the communication system through serial communication, and uploads the speed and acceleration signals to the control platform 7.

[0062] (e) After the test, the hub stops rotating and is locked.

[0063] 3) Road display module operation process (a) The road display module completes road acquisition and video processing before the test begins.

[0064] Road collection Before the test, use a camera to record actual roads, including urban roads, highways, tunnels, viaducts and other areas and scenes. The videos are stored according to different categories of scenes, such as tunnels, open roads, viaducts, etc.

[0065] Video Processing After the road recording is completed, the video is processed; specifically: De-noising, color space conversion, and image enhancement are performed on images in road videos to remove background interference, distinguish different objects, and highlight key information (such as road signs and roads); The processed video is marked, classified, and stored in the control platform 7, and the video is transmitted to the road display module during testing.

[0066] (b) After the test starts, the video playback of the road display module starts working After the working mode is selected, the task control module sends a signal to the road display module through an instruction, and the road display module plays the video through the display screen 6.

[0067] The playback process is synchronized with the rotating hub test bench 17 to provide road information for the autonomous driving vehicle 4 to be tested, thereby achieving a high-precision simulation effect.

[0068] (c) After the test is completed, the display screen 6 in the road display module is turned off.

[0069] 4) Environmental control module operation process (a) The equipment of the environment control module, such as the lighting lamp 8 and the ventilation fan 9, is placed inside the shielding shed 2 and works in coordination with the shielding shed 2.

[0070] (b) When the shielding shed 2 starts working, the control platform 7 sends instructions to the environmental control module.

[0071] (c) The environment control module turns on the lighting lamp 8 through light control to provide lighting for the tunnel environment.

[0072] (d) The environmental control module collects environmental factors (such as temperature and humidity) in the tunnel environment through the environmental monitoring unit, and controls the environmental humidity through the ventilation fan 9 or the humidifier according to the target humidity; if the temperature is too high, an abnormal alarm is triggered.

[0073] (e) After the test is completed, turn off the lighting 8, ventilation fan 9 and other equipment.

[0074] (5) After the scene simulation environment is set up, the autonomous driving vehicle 4 to be tested is driven to collect and store vehicle data.

[0075] (6) After the test is completed, the control platform 7 restores the shielding shed 2, the hub test bench 17, the road display module, and the environmental control module to their initial states through the test task control module.

[0076] (7) Remove the vehicle limiter 18, lock the hub test bench 17, and then leave the vehicle.

[0077] The detailed steps are the same as the working principles of the whole vehicle test scenario simulation system for the autonomous driving vehicle provided in Example 1, and will not be repeated here.

[0078] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. A whole vehicle test scenario simulation system for an autonomous driving vehicle, arranged on a test platform, characterized in that: It includes a control platform and a shielding shed mechanism and a wheel hub test bench respectively connected to the control platform; wherein the shielding shed mechanism includes a shielding shed composed of a number of inverted U-shaped sub-shielding sheds that are clamped together and a driving motor for driving the shielding shed to slide, and pulleys are arranged at the U-shaped openings at both ends of each sub-shielding shed, and the pulleys are respectively arranged in the slide rails on both sides of the test platform, and the slide rails are arranged in the same direction as the driving direction of the autonomous driving vehicle to be tested; the wheel hub test bench is arranged in the middle of the slide rails on both sides of the test platform, and the wheel hub of the autonomous driving vehicle to be tested is placed on the wheel hub test bench; an environmental control module for simulating tunnel environmental factors is arranged inside the shielding shed; the position of the shielding shed on the test platform is adjusted according to the determined driving environment of the autonomous driving vehicle to be tested, and the environmental factors inside the shielding shed are adjusted in real time in combination with the environmental control module, and the whole vehicle test scene is simulated through the relative position between the shielding shed and the wheel hub test bench.

2. A whole vehicle test scenario simulation system for an autonomous driving vehicle as claimed in claim 1, characterized in that: The vehicle test scenarios at least include driving in an open area, driving into a tunnel, driving in a tunnel, and driving out of a tunnel; During the vehicle testing process, the autonomous driving vehicle to be tested and the test platform are relatively stationary.

3. A whole vehicle test scenario simulation system for an autonomous driving vehicle as claimed in claim 2, characterized in that: When the autonomous driving vehicle to be tested is traveling in an open area, the shielding shed and the wheel hub test bench are relatively stationary, and the shielding shed is not placed above the wheel hub test bench; When the autonomous driving vehicle to be tested is in the process of driving into a tunnel, the shielding shed and the wheel hub test bench move relative to each other, and the sliding direction of the shielding shed on the test bench is opposite to the driving direction of the autonomous driving vehicle to be tested; When the autonomous driving vehicle to be tested is driving in a tunnel, the shielding shed and the wheel hub test bench are relatively stationary, and the shielding shed is placed above the wheel hub test bench; When the autonomous driving vehicle to be tested is in the process of exiting the tunnel, the shielding shed and the wheel hub test bench move relative to each other, and the sliding direction of the shielding shed on the test platform is the same as the driving direction of the autonomous driving vehicle to be tested.

4. The whole vehicle test scenario simulation system for an autonomous driving vehicle as claimed in claim 1, characterized in that: A connecting buckle and a connecting pin are respectively arranged on the U-shaped edge of each sub-shielding shed, and adjacent sub-shielding sheds are connected by the connecting buckle and the connecting pin.

5. The whole vehicle test scenario simulation system for an autonomous driving vehicle as claimed in claim 1, characterized in that: The environmental control module includes an environmental monitoring unit, an environmental control unit and an abnormal alarm unit; wherein the environmental monitoring unit is used to monitor environmental factors in the shielding shed, and includes at least a temperature sensor, a humidity sensor, a photoresistor and a smoke alarm; the environmental control unit is used to adjust the temperature, humidity and brightness in the shielding shed, and includes at least an exhaust fan, a humidifier and a lighting lamp; the abnormal alarm unit is used to alarm when the temperature in the shielding shed is abnormal.

6. A whole vehicle test scenario simulation system for an autonomous driving vehicle as claimed in claim 1, characterized in that: It also includes a road display module arranged in front of the autonomous driving vehicle to be tested for displaying the road environment ahead, and the road display module at least includes a display screen for displaying lanes, road signs and road conditions.

7. The whole vehicle test scenario simulation system for an autonomous driving vehicle as claimed in claim 1, characterized in that: During the whole vehicle testing process, the wheel hub of the autonomous driving vehicle to be tested is placed on the wheel hub test bench, and the vehicle wheel hub position is fixed by a vehicle limiter arranged on the wheel hub test bench. Based on the wheel hub test bench simulating the vehicle driving road, the hub test bench and the wheel hub of the autonomous driving vehicle to be tested rotate in opposite directions at the same speed, and the body of the autonomous driving vehicle to be tested is stationary, that is, the autonomous driving vehicle to be tested and the test platform are relatively stationary.

8. A whole vehicle testing method for an autonomous driving vehicle, using the whole vehicle testing scenario simulation system for an autonomous driving vehicle according to any one of claims 1 to 7, characterized in that: include: Place the autonomous driving vehicle to be tested on a rotating hub test bench; Select the test conditions of the autonomous driving vehicle to be tested based on the control platform; According to the selected test conditions, the shielding shed mechanism, the hub test bench, the road display module and the environmental control module are controlled to complete the whole vehicle test of the autonomous driving vehicle.

9. A whole vehicle testing method for an autonomous driving vehicle as claimed in claim 8, characterized in that: The shielding shed is positioned on the slide rail by an encoder, and the linear displacement of the shielding shed is obtained by a linear encoder or a rotary encoder; the closed-loop feedback linkage of the control platform is realized through the displacement of the shielding shed.

10. A whole vehicle testing method for an autonomous driving vehicle as claimed in claim 8, characterized in that: The control platform receives and adjusts the operating status of the shielding shed and the rotating hub test bench in real time, and provides real-time feedback to adjust the shielding shed mechanism, the environmental control module, the road display module and the rotating hub test bench. The test platform is used as a virtual lane to maintain the synchronization of the virtual road and the whole vehicle test, and the whole vehicle test environment is adjusted in real time.

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