Method, device and equipment for detecting drive-by-wire driving performance of unmanned vehicle and storage medium
Through the automated unmanned vehicle line-controlled driving performance detection method, the problem of manual inspection in the prior art is solved, efficient and accurate detection results are achieved, and the safety and reliability of unmanned vehicles are improved.
Patent Information
- Application Number
- CN202411772147.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-03
- Publication Date
- 2025-03-25
AI Technical Summary
The existing unmanned vehicle line-controlled driving performance detection relies on manual inspection, which is time-consuming and labor-intensive and susceptible to human factors, resulting in insufficient accuracy of the detection results. Especially in the mass production stage of unmanned vehicles, comprehensive inspection of the line-controlled performance cannot be guaranteed, and there are safety hazards.
An automated unmanned vehicle line-controlled driving performance detection method is provided. By sending preset driving control amount under various preset testing conditions, collecting actual driving execution amount, generating index data related to line-controlled driving performance, and comparing it with preset index thresholds, and automatically determining the detection result.
The inspection process is automated, manual intervention is reduced, and the inspection efficiency and accuracy are improved, and the comprehensive inspection of the driving performance of the unmanned vehicle is ensured, which is improved.
Smart Images
Figure CN119690038A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of autonomous driving technology, specifically to the field of unmanned vehicle detection technology, and in particular to a method, device, equipment and storage medium for detecting drive-by-wire performance of an unmanned vehicle. Background Art
[0002] Autonomous driving technology is a technology that uses sensors, algorithms, and computing power to achieve autonomous driving of vehicles. With the development of science and technology, autonomous driving technology has gradually moved from the laboratory to real-world applications, and as a result, driverless cars have also become popular. In order to improve the safety performance of driverless cars, it is necessary to conduct offline testing of driverless cars. Since the chassis drive-by-wire performance is particularly important for the driverless car's autonomous driving control algorithm, if the chassis cannot execute the autonomous driving instructions in a timely, accurate, and efficient manner, it will affect the safe driving of the driverless car. Therefore, the detection of the drive-by-wire performance of driverless cars is particularly important.
[0003] In the prior art, the drive-by-wire performance test of unmanned vehicles mainly involves testers installing the test equipment and collecting and monitoring the test data in a closed venue. Engineers then analyze the collected test data and combine experience and subjective judgment of vehicle performance to obtain test results and complete the test.
[0004] Based on the above-mentioned prior art, the inventors found that the prior art has at least the following technical problems: the existing detection scheme usually relies on manual detection and judgment. This method is not only time-consuming and laborious, but also easily affected by human factors, resulting in insufficient accuracy of the detection results. Especially after the vehicle enters the mass production stage, the detection of the line control performance is only carried out through manual sampling or no detection, which makes the unmanned vehicle that is missed to be detected a safety hazard. Summary of the invention
[0005] The embodiments of the present application provide a method, device, equipment and storage medium for detecting the drive-by-wire performance of an unmanned vehicle, which can automatically complete the detection process, so as to save time and effort in the detection process, reduce the interference of human factors in the detection process, improve the accuracy of the detection results, and thus improve the safety and reliability of the unmanned vehicle.
[0006] In a first aspect, an embodiment of the present application provides a method for detecting drive-by-wire performance of an unmanned vehicle, comprising:
[0007] Sending a preset driving control amount to the vehicle computer end according to each preset test case under multiple preset test conditions, so that the vehicle computer end controls the unmanned vehicle according to the preset driving control amount and collects the actual driving execution amount;
[0008] Acquire the actual driving state quantity, and receive the actual driving execution quantity sent by the vehicle machine end;
[0009] Generating a set of index data related to the drive-by-wire performance under each preset test case according to the actual drive execution amount and the preset drive control amount;
[0010] Compare and judge each group of indicator data with the preset indicator threshold data to obtain the judgment result corresponding to each test case;
[0011] If all the judgment results are detected to be up to standard, a test result indicating that the test passed is generated.
[0012] In a possible implementation, generating a set of indicator data related to the wire control drive performance under each preset test case based on the actual drive execution amount and the preset drive control amount includes: generating a drive curve based on the actual drive execution amount and the preset drive execution amount; and analyzing the drive curve to obtain a set of indicator data related to the wire control drive performance under each preset test case.
[0013] In a possible implementation manner, the indicator data includes a control dead zone value, a resolution value, a response delay value, a follow-up delay value, an overshoot value, and a steady-state error value, and the preset indicator threshold data includes a control dead zone standard value, a resolution standard value, a response delay standard value, a follow-up delay standard value, an overshoot standard value, and a steady-state error standard value; accordingly, the comparison and judgment processing of each group of indicator data and the preset indicator threshold data to obtain a judgment result corresponding to each test case includes: the control dead zone value, resolution value, response delay value, follow-up delay value, overshoot value, and steady-state error value in each group. The delay value, overshoot value and steady-state error value are compared with the corresponding control dead zone standard value, resolution standard value, response delay standard value, following delay standard value, overshoot standard value and steady-state error standard value. When it is detected that the control dead zone value is less than the control dead zone standard value, the resolution value is less than the resolution standard value, the response delay value is less than the response delay standard value, the following delay value is less than the following delay standard value, the overshoot value is less than the overshoot standard value and the steady-state error value is less than the steady-state error standard value, a judgment result of whether the test is met is generated for each test case.
[0014] In a possible implementation manner, the test conditions include a step test condition, a sinusoidal test condition, and a ramp test condition, and each test condition corresponds to multiple test cases.
[0015] In a possible implementation manner, the step test operating condition includes a plurality of step operating conditions in different target vehicle speed ranges.
[0016] In a possible implementation manner, the preset driving control variable is a target vehicle speed or a target throttle opening.
[0017] In a possible implementation, it also includes: obtaining basic chassis parameters of the unmanned vehicle; adjusting and processing the preset test conditions, the preset test cases, the preset drive control quantities and the preset index threshold data according to the basic chassis parameters to obtain new preset test conditions, preset test cases, preset drive control quantities and preset index threshold data.
[0018] In a second aspect, an embodiment of the present application provides a device for detecting drive-by-wire performance of an unmanned vehicle, comprising:
[0019] A sending module, used for sending a preset driving control amount to the vehicle computer end according to each preset test case under multiple preset test conditions, so that the vehicle computer end controls the unmanned vehicle according to the preset driving control amount and collects the actual driving execution amount;
[0020] A data acquisition module, used to acquire the actual driving state quantity and receive the actual driving execution quantity sent by the vehicle machine end;
[0021] A data processing module, used for generating a set of index data related to the drive-by-wire performance under each preset test case according to the actual drive execution amount and the preset drive control amount;
[0022] The data processing module is also used to compare and judge each group of indicator data with the preset indicator threshold data to obtain a judgment result corresponding to each test case;
[0023] The result output module is used to generate a test result indicating that the test has passed if it is detected that all the judgment results are up to standard.
[0024] In a third aspect, an embodiment of the present application provides a device for detecting drive-by-wire performance of an unmanned vehicle, including: a load-bearing system, a road driving condition simulation system, and a control system;
[0025] The carrying system is used to carry the unmanned vehicle, the road driving condition simulation system and the control system;
[0026] The road driving condition simulation system is used to simulate the road driving conditions of the unmanned vehicle and drive the unmanned vehicle to reach driving states under different speeds and loads;
[0027] The control system includes multiple sensors, encoders and a test host computer;
[0028] The sensors and encoders are used to collect dynamic data of the unmanned vehicle;
[0029] The test host computer includes a memory and a processor, wherein the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.
[0030] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.
[0031] The embodiments of the present application provide a method, device, equipment and storage medium for detecting the drive-by-wire performance of an unmanned vehicle. Under a variety of preset test conditions, the preset drive control quantity is sent to the vehicle end according to each preset test case, so that the vehicle end controls the unmanned vehicle according to the preset drive control quantity and collects the actual drive execution quantity. Then the actual drive state quantity is obtained from the detection device, and the actual drive execution quantity is received from the unmanned vehicle. Then, based on the actual drive execution quantity and the preset drive control quantity, a set of index data related to the drive-by-wire performance under each preset test case is generated. Then, each set of index data and the preset index threshold data are compared and judged to obtain the judgment result corresponding to each test case; when it is detected that all the judgment results are up to standard, the test result of passing the test is generated. The entire detection process reduces manual intervention, improves the efficiency and accuracy of detection, and can improve the coverage of unmanned vehicle detection in actual application. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.
[0033] Figure 1 A schematic diagram of the process of the detection method for the drive-by-wire performance of an unmanned vehicle provided in this application;
[0034] Figure 2 A schematic diagram of the structure of a detection device for drive-by-wire performance of an unmanned vehicle provided in this application;
[0035] Figure 3 A schematic diagram of the structure of a device for detecting drive-by-wire performance of an unmanned vehicle provided in an embodiment of the present application;
[0036] Figure 4 A schematic diagram of the structure of the test host computer provided in the embodiment of the present application.
[0037] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION
[0038] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.
[0039] First, the terms involved in this application are explained:
[0040] Test case: refers to a set of predefined conditions, inputs, operation steps and expected results used to verify whether the performance and functions of the unmanned vehicle in a specific situation meet the design requirements and standards. Test cases are designed to ensure that the vehicle can operate safely and reliably in various situations;
[0041] Test conditions: refers to different driving conditions set up for the performance test of unmanned vehicles.
[0042] In the prior art, the offline inspection scheme for unmanned vehicles mainly refers to the offline inspection method for manned vehicles. This method cannot test the chassis drive-by-wire performance. The chassis drive-by-wire performance is crucial to the control of unmanned vehicles because it directly affects the precise control of the chassis by autonomous driving. In the prior art, manual inspection and judgment are required, which is not only time-consuming and labor-intensive, but also easily affected by human factors, resulting in inaccurate test results. And because of the reliance on manual inspection, when unmanned vehicles are mass-produced, the inspection of drive-by-wire performance cannot be made a mandatory inspection item. It can only be inspected manually or not at all, resulting in low coverage and efficiency of the unmanned vehicle drive-by-wire performance inspection, and unmanned vehicles that are missed have safety hazards.
[0043] The embodiment of the present application provides a method for detecting the drive-by-wire performance of an unmanned vehicle. The inventor has proposed the following technical concept: without adding any detection equipment, the original hub test hardware equipment is reused, and the drive-by-wire control quantity is automatically issued to the unmanned vehicle by pre-setting a variety of test conditions and test cases. At the same time, the actual drive execution quantity fed back by the unmanned vehicle in real time is received, and the drive control quantity and the actual drive execution quantity are plotted into a curve. The curve is further analyzed to obtain index data related to the drive-by-wire performance of the unmanned vehicle. Finally, the index data is compared with a pre-set threshold value. If the standard is met, the test passes, otherwise the test fails. The entire detection process reduces manual participation and has a high degree of automation, which saves time and effort, greatly improving the safety and reliability of autonomous driving vehicles.
[0044] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.
[0045] Figure 1 The present invention provides a flow chart of a method for detecting the drive-by-wire performance of an unmanned vehicle. The execution subject of the method may be a detection device such as a controller, a server or a computer device with data processing function that can establish a data transmission connection with the unmanned vehicle, such as Figure 1 As shown, the method includes:
[0046] S101: Sending a preset driving control amount to the vehicle computer according to each preset test case under a plurality of preset test conditions, so that the vehicle computer controls the unmanned vehicle according to the preset driving control amount and collects the actual driving execution amount.
[0047] In this embodiment, the preset test condition refers to a working scenario of the original hub test hardware equipment that is pre-set and saved to make the unmanned vehicle in a specific driving state based on the characteristics of the unmanned vehicle's drive-by-wire performance. The preset test case may include sending a control amount to the unmanned vehicle in advance, and then receiving the actual execution amount collected by the unmanned vehicle. When different operating scenarios correspond to different preset test conditions, a test result can be obtained after each preset test case is tested.
[0048] The preset driving control amount refers to the control data of the state to which the unmanned vehicle will be driven, such as the target vehicle speed. After receiving the preset driving control amount, the unmanned vehicle will reach a fixed driving state. At this time, the unmanned vehicle's vehicle computer can collect the actual driving execution amount through the sensor and return it to the host computer through the communication module.
[0049] In an optional embodiment of the present application, the preset driving control amount is a target vehicle speed or a target throttle opening.
[0050] In this embodiment, the target vehicle speed may range from 0 to 30 km / h, and the target throttle opening may range from 0 to 100%. For example, the target vehicle speed is 0 km / h, 5 km / h, 10 km / h or 30 km / h, and the target throttle opening is 0% (the throttle pedal opening is 0%), 5%, 50% or 100%.
[0051] In an optional embodiment of the present application, the test conditions include step test conditions, sinusoidal test conditions, and ramp test conditions, and each test condition corresponds to multiple test cases.
[0052] Specifically, in an optional embodiment of the present application, the step test condition includes a plurality of step conditions in different target vehicle speed ranges.
[0053] In this embodiment, different target speed intervals can be intervals with different speed value ranges, for example: the step working condition can be set to 0 to 5km / h step, 0 to 10km / h step, 0 to 15km / h step, 0 to 20km / h step, 0 to 25km / h step, 0 to 30km / h step.
[0054] In an optional embodiment of the present application, the sine test condition for the target vehicle speed can be set to a condition with a period of 2s, an amplitude of 5km / h, and an offset of 5km / h; the slope test condition for the target vehicle speed can be set to a slope of (+1m / s) 2 and (-1m / s^2) 2 working conditions.
[0055] S102: Acquire the actual driving state quantity, and receive the actual driving execution quantity sent by the vehicle computer.
[0056] In this embodiment, the actual driving state quantity is the actual driving execution quantity fed back after the unmanned vehicle collects. For example, if the actual speed of the unmanned vehicle is 25 km / h, then the actual driving state quantity is 25 km / h.
[0057] S103: generating a set of index data related to the drive-by-wire performance under each preset test case according to the actual drive execution amount and the preset drive control amount.
[0058] In this embodiment, the actual drive execution amount and the preset drive control amount can be analyzed using detection and analysis software to analyze a set of indicator data related to the drive-by-wire performance under each test case.
[0059] In an optional embodiment of the present application, the index data may be data that can directly represent the control-by-wire performance of the unmanned vehicle, for example: the index data includes control dead zone and accuracy.
[0060] Based on the above embodiment, in an optional embodiment of the present application, step S103 includes:
[0061] S103a: Generate a driving curve according to the actual driving execution amount and the preset driving execution amount.
[0062] In this embodiment, the curve can be generated by drawing software pre-installed in the test host computer. The actual driving execution amount and the preset driving execution amount are input into the drawing software according to the time nodes to generate the driving curve.
[0063] S103b: Analyze the driving curve to obtain a set of index data related to the drive-by-wire performance under each preset test case.
[0064] In this embodiment, the analytical processing can be a process of analyzing the slope, difference, coordinate point and other data corresponding to each time node on the driving curve to obtain the index data. For example, the response delay can be obtained by analyzing the time node difference between the starting coordinate point of the actual driving execution amount corresponding to the driving curve and the starting coordinate point of the preset driving execution amount.
[0065] S104: Compare and judge each group of indicator data with the preset indicator threshold data to obtain a judgment result corresponding to each test case.
[0066] In this embodiment, the comparison judgment process refers to the judgment result obtained by comparing the preset indicator threshold data and the indicator data. For example, if the preset indicator threshold is the maximum value within the allowable range, then when the indicator data is less than the preset indicator threshold, the judgment result of reaching the standard is obtained, otherwise, the judgment result of failing to reach the standard is obtained. If the preset indicator threshold is the minimum value within the allowable range, then when the indicator data is greater than the preset indicator threshold, the judgment result of reaching the standard is obtained, otherwise, the judgment result of failing to reach the standard is obtained.
[0067] Specifically, in an optional embodiment of the present application, the index data includes a control dead zone value, a resolution value, a response delay value, a follow-up delay value, an overshoot value, and a steady-state error value, and the preset index threshold data includes a control dead zone standard value, a resolution standard value, a response delay value, a follow-up delay value, an overshoot value, and a steady-state error standard value. Accordingly, step S104 includes: performing numerical comparison processing on the control dead zone value, the resolution value, the response delay value, the follow-up delay value, the overshoot value, and the steady-state error value in each group with the corresponding control dead zone standard value, the resolution standard value, the response delay value, the follow-up delay value, the overshoot value, and the steady-state error standard value, and when it is detected that the control dead zone value is less than the control dead zone standard value, the resolution value is less than the resolution standard value, the response delay value is less than the response delay standard value, the follow-up delay value is less than the follow-up delay standard value, the overshoot value is less than the overshoot value standard value, and the steady-state error value is less than the steady-state error standard value, then generating a judgment result of the test compliance corresponding to each test case.
[0068] In this embodiment, the control dead zone standard value, resolution standard value, response delay standard value, follow-up delay standard value, overshoot standard value and steady-state error standard value can all be pre-set related values. For example: the control dead zone standard value is 5%, the resolution standard value is 2%, the response delay standard value is 100ms, the follow-up delay standard value is 200 ms, the overshoot standard value is 10%, and the steady-state error standard value is 5%. When the control dead zone value is less than 5%, the resolution value is less than 2%, the response delay value is less than 100ms, the follow-up delay value is less than 200ms, the overshoot value is less than 10%, and the steady-state error value is less than 5%.
[0069] S105: If it is detected that all the judgment results meet the standards, a test result indicating that the test has passed is generated.
[0070] In this embodiment, all judgment results refer to the judgment results corresponding to each preset test case in each preset test condition. When all these judgment results meet the standard, the test of the drive-by-wire performance of the unmanned vehicle is considered to have passed. On the contrary, if any judgment result does not meet the standard, it can be regarded as a failure of the test.
[0071] Based on the above embodiment, a method for detecting drive-by-wire performance of an unmanned vehicle provided in an optional embodiment of the present application further includes:
[0072] Step A: Obtain the basic chassis parameters of the unmanned vehicle.
[0073] In this embodiment, the basic chassis parameters of the unmanned vehicle can be obtained from the management background of the unmanned vehicle offline workshop, or can be determined by collecting chassis-related data through cameras or sensors. The basic chassis parameters may include basic parameters such as chassis signals, chassis size, and chassis shape. Different chassis have different basic chassis parameters.
[0074] Step B: Adjust and process the preset test conditions, preset test cases, preset drive control quantities and preset index threshold data according to the basic parameters of the chassis to obtain new preset test conditions, preset test cases, preset drive control quantities and preset index threshold data.
[0075] In this embodiment, the adjustment process refers to the process of adjusting the data based on the chassis basic parameters and historical data, preset data or preset conversion formula to obtain new preset test conditions, preset test cases, preset drive control quantities and preset indicator threshold data. For example: the chassis of the last batch of unmanned vehicles off the production line are the chassis basic parameters of sedans, and their preset drive control quantity is 30km / h. The chassis basic parameters of the current batch of unmanned vehicles off the production line are off-road vehicles, and their preset drive control quantity can be automatically adjusted to 40km / h.
[0076] In summary, the detection method for the drive-by-wire performance of an unmanned vehicle provided in the embodiment of the present application first sends the preset drive control amount to the vehicle end according to each preset test case under a variety of preset test conditions, so that the vehicle end controls the unmanned vehicle according to the preset drive control amount, and collects the actual drive execution amount. Then the actual drive state amount is obtained from the detection device, and the actual drive execution amount is received from the unmanned vehicle. Then, according to the actual drive execution amount and the preset drive control amount, a set of index data related to the drive-by-wire performance under each preset test case is generated. Then, each set of index data and the preset index threshold data are compared and judged to obtain the judgment result corresponding to each test case; when it is detected that all the judgment results are up to standard, the test result of passing the test is generated. The entire detection process reduces manual intervention, improves the efficiency and accuracy of detection, and can improve the coverage of unmanned vehicle detection in actual application. The index data obtained by the test is also compared with the set threshold. If it meets the standard, it is considered to have passed the detection.
[0077] At the same time, by analyzing a variety of indicator data related to the drive-by-wire performance, and conducting subsequent detection steps based on this, the detection of the drive-by-wire performance of the unmanned vehicle is more comprehensive and the drive-by-wire performance of the unmanned vehicle can be evaluated more systematically.
[0078] At the same time, by modifying the test cases, test conditions, test indicators and other parameters according to the basic parameters of the chassis of different unmanned vehicles, the drive-by-wire performance of unmanned vehicles with different chassis can be detected without changing the hub hardware equipment, making this method more widely applicable.
[0079] At the same time, the detection of the drive-by-wire performance of unmanned vehicles can be made a mandatory inspection item for unmanned vehicles to leave the factory without manual inspection and judgment, and the test results can be automatically generated, thereby improving the detection coverage and efficiency of the drive-by-wire performance of unmanned vehicles. This method not only reduces manual intervention and improves the efficiency of detection, but also reduces the impact of human factors on the test results and improves the accuracy of detection.
[0080] Figure 2 The schematic diagram of the structure of the detection device for the drive-by-wire performance of an unmanned vehicle provided in this application is as follows: Figure 2 As shown, the detection device for the drive-by-wire performance of an unmanned vehicle provided in this embodiment includes: a sending module 21, a data acquisition module 22, a data processing module 23 and a result output module 24.
[0081] Among them, the sending module 21 is used to send the preset drive control quantity to the vehicle computer end according to each preset test case under multiple preset test conditions, so that the vehicle computer end controls the unmanned vehicle according to the preset drive control quantity and collects the actual drive execution quantity.
[0082] The data acquisition module 22 is used to acquire the actual driving state quantity and receive the actual driving execution quantity sent by the vehicle computer.
[0083] The data processing module 23 is used to generate a set of index data related to the drive-by-wire performance under each preset test case according to the actual drive execution amount and the preset drive control amount.
[0084] The data processing module 23 is also used to compare and judge each group of indicator data with the preset indicator threshold data to obtain a judgment result corresponding to each test case.
[0085] The result output module 24 is used to generate a test result indicating that the test has passed if it is detected that all the judgment results are satisfactory.
[0086] In an optional embodiment of the present application, the data processing module 23 is specifically used to: generate a driving curve based on the actual driving execution amount and the preset driving execution amount; analyze the driving curve to obtain a set of indicator data related to the wire control driving performance under each preset test case.
[0087] In an optional embodiment of the present application, the indicator data includes a control dead zone value, a resolution value, a response delay value, a following delay value, an overshoot value and a steady-state error value, and the preset indicator threshold data includes a control dead zone standard value, a resolution standard value, a response delay value, a following delay value, an overshoot standard value and a steady-state error standard value; accordingly, the data processing module 23 is specifically used to: perform numerical comparison processing on the control dead zone value, the resolution value, the response delay value, the following delay value, the overshoot value and the steady-state error value in each group with the corresponding control dead zone standard value, the resolution standard value, the response delay value, the following delay value, the overshoot standard value and the steady-state error standard value; when it is detected that the control dead zone value is less than the control dead zone standard value, the resolution value is less than the resolution standard value, the response delay value is less than the response delay standard value, the following delay value is less than the following delay standard value, the overshoot value is less than the overshoot standard value and the steady-state error value is less than the steady-state error standard value, then a judgment result of whether the test is up to standard is generated for each test case.
[0088] In an optional embodiment of the present application, the data acquisition module 22 is further used to obtain the basic chassis parameters of the unmanned vehicle. The data processing module 23 is further used to adjust and process the preset test conditions, preset test cases, preset drive control quantities and preset index threshold data according to the basic chassis parameters to obtain new preset test conditions, preset test cases, preset drive control quantities and preset index threshold data.
[0089] The detection device for the drive-by-wire performance of an unmanned vehicle provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.
[0090] Figure 3 This is a schematic diagram of the structure of the device for detecting the drive-by-wire performance of an unmanned vehicle provided in an embodiment of the present application. Figure 3 As shown, the detection equipment includes: a bearing system 31, a road driving condition simulation system 32 and a control system 33.
[0091] The bearing system 31 is used to bear the unmanned vehicle, the road driving condition simulation system and the control system. For example, the bearing system 31 may be a frame, which is the basis of the entire hub test bench and bears the hub assembly, the wheelbase conversion device and other auxiliary equipment. The frame must be designed with sufficient rigidity and strength to ensure that no deformation or vibration occurs during the test, thereby ensuring the accuracy of the test results.
[0092] The road driving condition simulation system is used to simulate the road driving conditions of the unmanned vehicle and drive the unmanned vehicle to reach the driving state under different speeds and loads. The road driving simulation system includes a roller drive motor and a measuring sensor. Among them, the roller is used to simulate the road driving conditions. The surface of the roller is usually designed with a special pattern to increase friction and ensure stability and accuracy during the test. The drive motor is responsible for providing rotational power. By adjusting the speed and torque of the motor, the driving state of the vehicle at different speeds and loads can be simulated to correspond to different preset test conditions and test cases. The measuring sensor includes a rotating hub speed sensor and a torque sensor, which provide a basis for subsequent test data analysis and performance testing.
[0093] The control system 33 includes multiple sensors, encoders and a test host computer. The control system 33 is used to control the speed, torque and other parameters of the hub assembly, and to switch between different test modes (such as free mode, constant speed mode, constant torque mode, follow-up mode, etc.) to meet different preset test conditions. It can also be used to collect real-time dynamic data of unmanned vehicles, such as wheel speed, torque, braking distance, etc., through sensors and encoders, and perform real-time analysis and processing. These data can be used to evaluate the power performance, braking performance, suspension performance and electronic control system performance of unmanned vehicles. The vehicle offline detection line composed of a frame, a hub assembly and a control system has high accuracy and stability, and has been widely used in vehicle offline detection without increasing the cost of detection equipment.
[0094] Figure 4 This is a schematic diagram of the structure of the test host computer provided in the embodiment of the present application. Figure 4 As shown,
[0095] The test host computer includes: at least one processor 401 and a memory 402. Optionally, the test host computer also includes a communication component 403. The processor 401, the memory 402 and the communication component 403 are connected via a bus 404.
[0096] In a specific implementation process, at least one processor 401 executes the computer-executable instructions stored in the memory 402, so that at least one processor 401 executes the above method.
[0097] The specific implementation process of the processor 401 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.
[0098] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above method.
[0099] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.
[0100] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.
[0101] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.
[0102] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.
[0103] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.
[0104] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.
[0105] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.
[0106] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.
[0107] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.
[0108] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0109] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0110] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.
[0111] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.
[0112] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.
Claims
1. A method for detecting drive-by-wire performance of an unmanned vehicle, characterized in that: include: Sending a preset driving control amount to the vehicle computer end according to each preset test case under multiple preset test conditions, so that the vehicle computer end controls the unmanned vehicle according to the preset driving control amount and collects the actual driving execution amount; Acquire the actual driving state quantity, and receive the actual driving execution quantity sent by the vehicle machine end; Generating a set of index data related to the drive-by-wire performance under each preset test case according to the actual drive execution amount and the preset drive control amount; Compare and judge each group of indicator data with the preset indicator threshold data to obtain the judgment result corresponding to each test case; If all the judgment results are detected to be up to standard, a test result indicating that the test passed is generated.
2. The method according to claim 1, characterized in that The step of generating a set of index data related to the drive-by-wire performance under each preset test case according to the actual drive execution amount and the preset drive control amount includes: Generate a driving curve according to the actual driving execution amount and the preset driving execution amount; The driving curve is analyzed and processed to obtain index data related to the drive-by-wire performance under each preset test case.
3. The method according to claim 1, characterized in that The index data includes a control dead zone value, a resolution value, a response delay value, a follow-up delay value, an overshoot value, and a steady-state error value, and the preset index threshold data includes a control dead zone standard value, a resolution standard value, a response delay standard value, a follow-up delay standard value, an overshoot standard value, and a steady-state error standard value; Accordingly, the comparison and judgment processing of each group of indicator data and the preset indicator threshold data to obtain the judgment result corresponding to each test case includes: The control dead zone value, resolution value, response delay value, following delay value, overshoot value and steady-state error value in each group are compared with the corresponding control dead zone standard value, resolution standard value, response delay standard value, following delay standard value, overshoot standard value and steady-state error standard value. When it is detected that the control dead zone value is less than the control dead zone standard value, the resolution value is less than the resolution standard value, the response delay value is less than the response delay standard value, the following delay value is less than the following delay standard value, the overshoot value is less than the overshoot standard value and the steady-state error value is less than the steady-state error standard value, a judgment result of test compliance corresponding to each test case is generated.
4. The method according to claim 1, characterized in that: The test conditions include step test conditions, sinusoidal test conditions, and ramp test conditions, and each test condition corresponds to multiple test cases.
5. The method according to claim 4, characterized in that The step test condition includes a plurality of step conditions in different target vehicle speed ranges.
6. The method according to claim 1, characterized in that The preset driving control variable is a target vehicle speed or a target throttle opening.
7. The method according to any one of claims 1 to 6, characterized in that Also includes: Obtaining basic chassis parameters of the unmanned vehicle; The preset test conditions, the preset test cases, the preset drive control quantities and the preset index threshold data are adjusted and processed according to the basic chassis parameters to obtain new preset test conditions, preset test cases, preset drive control quantities and preset index threshold data.
8. A detection device for the drive-by-wire performance of an unmanned vehicle, characterized in that: include: A sending module, used for sending a preset driving control amount to the vehicle computer end according to each preset test case under multiple preset test conditions, so that the vehicle computer end controls the unmanned vehicle according to the preset driving control amount and collects the actual driving execution amount; A data acquisition module, used to acquire the actual driving state quantity and receive the actual driving execution quantity sent by the vehicle machine end; A data processing module, used for generating a set of index data related to the drive-by-wire performance under each preset test case according to the actual drive execution amount and the preset drive control amount; The data processing module is also used to compare and judge each group of indicator data with the preset indicator threshold data to obtain a judgment result corresponding to each test case; The result output module is used to generate a test result indicating that the test has passed if it is detected that all the judgment results are up to standard.
9. A device for testing the drive-by-wire performance of an unmanned vehicle, characterized in that: include: Load bearing system, road driving condition simulation system and control system; The carrying system is used to carry the unmanned vehicle, the road driving condition simulation system and the control system; The road driving condition simulation system is used to simulate the road driving conditions of the unmanned vehicle and drive the unmanned vehicle to reach driving states under different speeds and loads; The control system includes multiple sensors, encoders and a test host computer; The sensors and encoders are used to collect dynamic data of the unmanned vehicle; The test host computer includes a memory and a processor, wherein the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, so that the processor executes the method as described in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.