Mine autonomous driving hardware-in-the-loop test platform, device and readable storage medium

Abstract

The present invention provides a mine autonomous driving hardware-in-the-loop test platform, device and readable storage medium, wherein the mine autonomous driving hardware-in-the-loop test platform is used for vehicles in mines, and includes: a central gateway, a domain controller, a graphics workstation, a real-time workstation and a host management machine; wherein the central gateway is used to receive operation tasks and convert the operation tasks into operation data and forward them to the domain controller; the domain controller is used to judge the state of the vehicle and generate an autonomous driving instruction; the graphics workstation is used to obtain the surrounding environment of the vehicle, the position of the vehicle and the traffic flow where the vehicle is located and form real-time data in the simulation scene; the real-time workstation is used to receive the environment model and vehicle model of the vehicle; the host management machine is used to load the three-dimensional mine area map, traffic scene and the dynamic model and kinematic characteristics of the vehicle into the real-time workstation. It can cope with the particularity and complexity of the mine environment, and the difference between the simulation test results and the actual results is small.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a mine autonomous driving hardware-in-the-loop test platform, device and readable storage medium. Background Art

[0002] In the mining scenario, the current development status of the autonomous driving industry shows the demand for the application of advanced technologies, as well as significant advantages in safety and efficiency. Due to the particularity and complexity of the mining environment, improving safety and efficiency has become an urgent need for mining companies. The autonomous driving system includes multiple components such as sensors, controllers, and actuators, which are highly complex and integrated. Hardware-in-the-loop testing can simulate and test the entire system to ensure the coordination and performance of each component. And simulation can be used to simulate various road and traffic conditions to detect the response and performance of the autonomous driving system. Therefore, hardware-in-the-loop testing in mining scenarios can discover problems in autonomous driving software at an early stage, shorten the entire development cycle, and reduce development costs.

[0003] Research on hardware-in-the-loop simulation of autonomous driving is mostly focused on passenger cars. The construction of scenarios is also mainly based on urban road conditions and common transportation facilities. Autonomous driving in mines needs to complete operating tasks, and the tasks are issued by the command center. The current simulation scenarios do not take the command center into consideration. In terms of sensors, most of them adopt the method of collecting data packets in advance, and the specified data information must be collected in advance, which is costly and restrictive. In some solutions that can use sensor modeling, the lidar model that comes with some software is also used, that is, a general simple lidar model, which is quite different from the real lidar used on actual vehicles, resulting in differences between the simulation test results and the actual vehicle test results.

[0004] Therefore, a hardware-in-the-loop testing platform, device and readable storage medium for autonomous driving in mines that can cope with the particularity and complexity of the mining environment, improve safety and efficiency, and does not require prior data collection and has small differences between simulation test results and actual vehicle test results has become an urgent problem to be solved. Summary of the invention

[0005] This application proposes a hardware-in-the-loop test platform, device and readable storage medium for autonomous driving in mines, which solves the problems in related technologies that they cannot cope with the particularity and complexity of the mining environment, require data collection in advance, and have large differences between simulation test results and actual vehicle test results.

[0006] To this end, the first object of the present invention is to provide a mine autonomous driving hardware-in-the-loop test platform.

[0007] The second object of the present invention is to provide a mine autonomous driving hardware-in-the-loop testing device.

[0008] A third object of the present invention is to provide a readable storage medium.

[0009] In view of this, the technical solution of the first aspect of the present invention provides a mine autonomous driving hardware-in-the-loop test platform, which is used for vehicles in mines. The mine autonomous driving hardware-in-the-loop test platform includes: a central gateway, a domain controller, a graphics workstation, a real-time workstation, and a host management machine; wherein the central gateway is used to receive job tasks and convert the job tasks into job data and forward them to the domain controller; the domain controller is used to judge the state of the vehicle and generate autonomous driving instructions; the graphics workstation is used to obtain the vehicle's surrounding environment, the vehicle's position, and the traffic flow in which the vehicle is located and form real-time data in a simulation scene; the real-time workstation is used to receive the vehicle's environmental model and vehicle model; the host management machine is used to load the three-dimensional mining area map, traffic scene, and the vehicle's dynamic model and kinematic characteristics into the real-time workstation.

[0010] In this technical solution, the test platform builds a highly integrated and comprehensive test environment through the collaborative work of the central gateway, domain controller, graphic workstation, real-time workstation and upper management machine. As a data transmission hub, the central gateway receives the operation tasks of the command center and accurately converts and forwards them, ensuring the effective connection between the test platform and the actual mine operation command system, making the test scenario closer to the real mine operation scenario, and improving the authenticity and effectiveness of the test. The domain controller accurately judges the vehicle status and generates automatic driving instructions, which can effectively simulate the decision-making process of the vehicle in the actual mine environment, helping R&D personnel to deeply evaluate the reliability and accuracy of the automatic driving algorithm under different working conditions. The graphic workstation obtains information such as the vehicle's surrounding environment and generates real-time data, providing a rich source of information for the simulation scenario and enhancing the similarity between the simulation environment and the actual mine scenario. The real-time workstation receives the environment model and vehicle model, providing a basic framework for the operation of the vehicle in the virtual environment, so that the vehicle can be tested under various working conditions in the simulated mine environment. The upper management machine loads various key data into the real-time workstation, which helps to create a highly realistic virtual test environment. It can comprehensively test the safety and reliability of autonomous driving technology in complex mining scenarios, effectively shorten the development cycle, reduce development costs, and improve the overall performance of mine autonomous driving technology. It can cope with the particularity and complexity of the mining environment, improve safety and efficiency, and there is no need to collect data in advance. The difference between the simulation test results and the actual vehicle test results is small.

[0011] In some possible technical solutions, optionally, the upper management machine is also used to display the simulation scene.

[0012] In this technical solution, the upper management machine has the function of displaying simulation scenes, providing intuitive visual feedback to operators. Operators can observe the operating status of the vehicle in the virtual mining environment in real time, including the relative position relationship between the vehicle and the surrounding environment and other vehicles, as well as the driving conditions under different road conditions and traffic flows. This helps to promptly discover abnormal situations that may occur during the test, such as vehicle collision risks, deviation from the planned route, etc., so as to quickly locate the root cause of the problem, which may be defects in the autonomous driving algorithm, inaccurate sensor data collection, or unreasonable vehicle control instructions. Through real-time observation of the simulation scene, operators can adjust test parameters or strategies at any time during the test process, improve test efficiency, and reduce unnecessary test cycles. At the same time, they can also more accurately evaluate the performance of the autonomous driving system in various complex mining scenarios, ensuring the reliability and safety of the system in actual applications.

[0013] In some possible technical solutions, optionally, the upper management computer is also used to display dynamic indicators of the vehicle in the simulation scenario.

[0014] In this technical solution, the upper management machine displays the dynamic indicators of the vehicle in the simulation scene, providing an important basis for operators to deeply understand the details of vehicle operation. The display of position information allows operators to clearly grasp the specific coordinate position of the vehicle in the three-dimensional mine map, as well as the orientation relationship relative to the target position or key landmark points, which helps to determine whether the vehicle is traveling along the predetermined path and whether it has accurately arrived at the work site. The speed indicator can reflect the changes in the vehicle's driving speed under different sections and working conditions. By comparing the set speed and the actual speed, the accuracy of the speed control of the automatic driving system can be evaluated, as well as whether the speed adjustment strategy is reasonable when encountering obstacles, curves, etc. Acceleration data can reflect the acceleration and deceleration performance of the vehicle, which is crucial for analyzing the stability of the vehicle during starting, braking and driving. For example, when climbing, descending or emergency braking, the change in acceleration is directly related to the safety of the vehicle and the stability of the cargo. The real-time display of these dynamic indicators enables operators to comprehensively evaluate the performance of the automatic driving system in the dynamically changing mining environment, providing accurate data support for the optimization algorithm, thereby further improving the driving safety and operating efficiency of the vehicle in complex mining scenarios.

[0015] In some possible technical solutions, optionally, the dynamic indicators include: position, speed and acceleration.

[0016] In this technical solution, the accurate display of position indicators is of great significance to the mine automatic driving system. In mining operations, vehicles need to accurately drive to specific operating areas, such as mining sites, loading and unloading areas, etc. Position information can help operators confirm whether the vehicle is accurately navigated to avoid operational errors or safety accidents caused by positioning deviations. At the same time, combined with the mine map, the rationality of the vehicle's path planning under different terrain and road conditions can be analyzed. The speed indicator not only reflects the speed of the vehicle, but is also closely related to the efficiency and safety of mine operations. During transportation, the appropriate speed can ensure that the goods are stable and delivered to the destination on time, while in complex road conditions or dangerous areas, reasonable speed control can effectively reduce the risk of collision. The accurate presentation of acceleration helps to evaluate the stability of the vehicle during starting, stopping and speed change. For vehicles fully loaded with ore, excessive acceleration may cause the goods to spill or the vehicle to lose control, while too small acceleration will affect the operating efficiency. Through comprehensive analysis of these three dynamic indicators, operators can comprehensively evaluate the dynamic performance of the autonomous driving system in a mining environment and optimize the algorithm in a targeted manner to ensure that the vehicle can operate safely and efficiently in different operating scenarios, while reducing vehicle mechanical wear, extending its service life, and improving the overall operating efficiency of the mine.

[0017] In some possible technical solutions, optionally, the upper management machine includes a display, a dashboard, and a slider.

[0018] In this technical solution, the display, as the main visual output device, can display simulation scenes and dynamic indicators with high resolution and clear images, so that operators can intuitively observe the overall operation of the vehicle in the virtual mine and monitor the test process as if they were there. The dashboard presents key information in the form of an intuitive analog instrument, such as a speedometer, position pointer, etc. This traditional and intuitive display method conforms to the visual habits of operators, allowing them to obtain important data at the first time and quickly detect abnormalities when the data changes. The setting of the slider provides operators with a convenient interactive method, which can be used to adjust test parameters, such as simulating the impact of different ambient lighting conditions and weather conditions (such as foggy days, rainy days, etc.) on sensor data, or changing the initial speed of the vehicle, load weight and other parameters, so as to simulate various complex actual working conditions. Through these diverse display and control components, operators can perform test operations more flexibly and obtain comprehensive test information conveniently and quickly, effectively improving the operability and adaptability of the test platform, making the test process more efficient and accurate, and being able to more comprehensively evaluate the performance of the mine automatic driving system under different conditions, providing strong support for system optimization.

[0019] In some possible technical solutions, optionally, the graphics workstation includes a plurality of sensors for acquiring the surrounding environment of the vehicle, the position of the vehicle, and the traffic flow in which the vehicle is located.

[0020] In this technical solution, the graphics workstation is equipped with multiple sensors to achieve all-round collection of information related to vehicle operation. The collaborative work of multiple sensors can cover a wider area around the vehicle and obtain richer and more accurate environmental information. For example, the laser radar can accurately measure the distance between the vehicle and the surrounding obstacles, providing key data for collision avoidance; the camera can capture image information of road signs, traffic lights, and surrounding vehicles and pedestrians, assisting the vehicle in identifying road conditions and traffic participants, and improving the environmental perception ability of the autonomous driving system. At the same time, the vehicle position information obtained by the sensor helps to achieve accurate positioning and ensure the consistency of the vehicle's position in the virtual environment and the actual mine, which is crucial for accurate navigation and task execution. The collection of traffic flow information where the vehicle is located can simulate the vehicle interaction in the real mine traffic scene, making the test closer to the actual operating environment, helping to optimize the decision-making algorithm of the autonomous driving system under complex traffic conditions, and improving the safety and smoothness of the vehicle in the traffic flow. The large amount of data collected by these sensors provides a solid foundation for building a highly realistic simulation scene, making the test results more credible, providing reliable data support for the research and development and improvement of mine autonomous driving technology, and accelerating the maturity and application of technology.

[0021] In some possible technical solutions, optionally, the central gateway uses 5G (5th Generation Mobile Networks, fifth generation mobile communication technology) communication to exchange data with the command center.

[0022] In this technical solution, the central gateway uses 5G communication technology to exchange data with the command center, which brings many significant advantages. The high-speed characteristics of 5G ensure that a large amount of operation task data can be quickly and stably transmitted from the command center to the test platform, such as complex operation scheduling instructions, real-time mine road conditions information, etc., so that the test platform can respond to the command center's instructions in a timely manner and simulate the efficient information transmission in real mine operations. The low latency characteristics ensure the instant upload of vehicle status information. The command center can obtain the vehicle's operating status in near real time, including location, speed, equipment status, etc., so that it can make decisions quickly, such as adjusting the operation plan and issuing emergency instructions. This instant data interaction capability makes the communication between the test platform and the command center smoother, completely simulates the communication scenarios in actual vehicle mine operations, and greatly improves the practicality and reliability of the test platform. In the complex environment of the mine, fast data transmission helps to respond to emergencies in a timely manner and ensure the safety of vehicle operation. At the same time, it also provides strong support for the testing of large-scale, multi-vehicle collaborative operations, promotes the optimization and development of mine autonomous driving technology in complex scenarios, and lays a solid communication foundation for the realization of efficient and intelligent mine operations.

[0023] In some possible technical solutions, optionally, the domain controller is also used to simulate the movement of the vehicle in a real-time workstation.

[0024] In this technical solution, the domain controller simulates vehicle movement in the real-time workstation, providing more possibilities and advantages for mine autonomous driving testing. By simulating vehicle movement in a virtual environment, various complex driving scenarios can be tested without actual vehicle physical movement, such as extreme road conditions, dangerous scenarios, etc., avoiding the risk of vehicle damage and high costs that may be caused by actual testing. By combining the environmental model and vehicle model provided by the real-time workstation, the domain controller can simulate the vehicle's motion state under different terrains, road conditions and traffic flows, including acceleration, deceleration, steering, climbing, downhill and other actions, so as to comprehensively evaluate the autonomous driving system's ability to cope with different working conditions. This simulation method can highly repeat the test process, making it convenient for R&D personnel to conduct multiple tests under the same or similar conditions to verify the stability and reliability of the system. At the same time, it can quickly adjust test parameters such as vehicle speed, load, environmental factors, etc., observe the performance of the system under different parameter settings, and provide rich data support for optimizing autonomous driving algorithms and vehicle control strategies, effectively improve test efficiency, accelerate the development of mine autonomous driving technology, and ensure that the system can better adapt to various complex situations in actual applications and ensure the safety and efficiency of mine operations.

[0025] According to the second aspect of the present invention, a mine autonomous driving hardware-in-the-loop testing device is also proposed, comprising: the mine autonomous driving hardware-in-the-loop testing platform and command center of the first aspect.

[0026] In this technical solution, the mine autonomous driving hardware-in-the-loop test device includes: the mine autonomous driving hardware-in-the-loop test platform and the command center of the first aspect, and therefore has all the technical effects of the mine autonomous driving hardware-in-the-loop test platform of the first aspect.

[0027] According to a third aspect of the present invention, a readable storage medium is also proposed, on which the mine autonomous driving hardware-in-the-loop test platform of the first aspect is stored.

[0028] In this technical solution, a mine autonomous driving hardware-in-the-loop test platform like any of the above-mentioned technical solutions is stored on the readable storage medium, and therefore has all the technical effects of the mine autonomous driving hardware-in-the-loop test platform of the first aspect.

[0029] Additional aspects and advantages of the present invention will become apparent in the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0031] Figure 1 It is an architecture diagram of a mine autonomous driving hardware-in-the-loop test platform according to an embodiment of the present invention.

[0032] in, Figure 1 The corresponding relationship between the reference numerals and the component names is as follows:

[0033] 1 Mine autonomous driving hardware-in-the-loop test platform, 10 central gateway, 11 domain controller, 12 graphic workstation, 121 sensor, 13 real-time workstation, 14 upper management machine, 141 display, 142 instrument panel, 143 slider, 2 command center. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] The embodiment of the first aspect of the present invention provides a mine autonomous driving hardware-in-the-loop test platform 1, which is used for vehicles in mines, such as Figure 1 As shown, the mine autonomous driving hardware-in-the-loop test platform 1 includes: a central gateway 10, a domain controller 11, a graphics workstation 12, a real-time workstation 13, and a host management machine 14; wherein, the central gateway 10 is used to receive job tasks and convert the job tasks into job data and forward them to the domain controller 11; the domain controller 11 is used to judge the state of the vehicle and generate autonomous driving instructions; the graphics workstation 12 is used to obtain the vehicle's surrounding environment, the vehicle's position and the traffic flow in which the vehicle is located and form real-time data in the simulation scene; the real-time workstation 13 is used to receive the environment model and vehicle model of the vehicle; the host management machine 14 is used to load the three-dimensional mine area map, traffic scene, and the vehicle's dynamic model and kinematic characteristics into the real-time workstation 13.

[0036] In this embodiment, the test platform builds a highly integrated and comprehensive test environment through the collaborative work of the central gateway 10, the domain controller 11, the graphic workstation 12, the real-time workstation 13 and the upper management machine 14. As a data transmission hub, the central gateway 10 receives the operation tasks of the command center 2 and accurately converts and forwards them, ensuring the effective connection between the test platform and the actual mine operation command system, making the test scene closer to the real mine operation scene, and improving the authenticity and effectiveness of the test. The domain controller 11 accurately judges the vehicle state and generates automatic driving instructions, which can effectively simulate the decision-making process of the vehicle in the actual mine environment, and help R&D personnel to deeply evaluate the reliability and accuracy of the automatic driving algorithm under different working conditions. The graphic workstation 12 obtains information such as the surrounding environment of the vehicle and generates real-time data, providing a rich source of information for the simulation scene and enhancing the similarity between the simulation environment and the actual mine scene. The real-time workstation 13 receives the environment model and the vehicle model, providing a basic framework for the operation of the vehicle in the virtual environment, so that the vehicle can be tested under various working conditions in the simulated mine environment. The upper management machine 14 loads various key data into the real-time workstation 13, which helps to create a highly realistic virtual test environment. It can comprehensively test the safety and reliability of autonomous driving technology in complex mining scenarios, effectively shorten the development cycle, reduce development costs, and improve the overall performance of mine autonomous driving technology.

[0037] In some possible embodiments, optionally, the upper management machine 14 is also used to display the simulation scene.

[0038] In this embodiment, the upper management machine 14 has the function of displaying the simulation scene, providing intuitive visual feedback for the operator. The operator can observe the operating status of the vehicle in the virtual mining environment in real time, including the relative position relationship between the vehicle and the surrounding environment and other vehicles, as well as the driving conditions under different road conditions and traffic flows. This helps to promptly discover abnormal situations that may occur during the test, such as vehicle collision risks, deviation from the predetermined route, etc., so as to quickly locate the root cause of the problem, which may be defects in the autonomous driving algorithm, inaccurate data collection from the sensor 121, or unreasonable vehicle control instructions. Through real-time observation of the simulation scene, the operator can adjust the test parameters or strategies at any time during the test process, improve test efficiency, and reduce unnecessary test cycles. At the same time, it can also more accurately evaluate the performance of the autonomous driving system in various complex mining scenarios, ensuring the reliability and safety of the system in practical applications.

[0039] In some possible embodiments, optionally, the upper management machine 14 is also used to display dynamic indicators of the vehicle in the simulation scenario.

[0040] In this embodiment, the upper management machine 14 displays the dynamic indicators of the vehicle in the simulation scene, providing an important basis for the operator to deeply understand the details of the vehicle operation. The display of position information allows the operator to clearly grasp the specific coordinate position of the vehicle in the three-dimensional mining area map, as well as the orientation relationship relative to the target position or key landmark points, which helps to determine whether the vehicle is traveling along the predetermined path and whether it has accurately arrived at the work site. The speed index can reflect the change in the driving speed of the vehicle under different sections and working conditions. By comparing the set speed and the actual speed, the accuracy of the speed control of the automatic driving system can be evaluated, and whether the speed adjustment strategy is reasonable when encountering obstacles, bends, etc. The acceleration data can reflect the acceleration and deceleration performance of the vehicle, which is very important for analyzing the stability of the vehicle during starting, braking and driving. For example, when climbing, descending or emergency braking, the change in acceleration is directly related to the safety of the vehicle and the stability of the cargo. The real-time display of these dynamic indicators enables the operator to comprehensively evaluate the performance of the automatic driving system in the dynamically changing mining environment, and provides accurate data support for the optimization algorithm, thereby further improving the driving safety and operating efficiency of the vehicle in complex mining scenarios.

[0041] In some possible embodiments, optionally, the dynamic indicators include: position, speed and acceleration.

[0042] In this embodiment, the accurate display of the position index is of great significance to the mine automatic driving system. In mining operations, vehicles need to accurately drive to specific operating areas, such as mining sites, loading and unloading areas, etc. The position information can help operators confirm whether the vehicle is accurately navigated to avoid operational errors or safety accidents caused by positioning deviations. At the same time, combined with the mine map, the rationality of the vehicle's path planning under different terrain and road conditions can be analyzed. The speed index not only reflects the speed of the vehicle, but is also closely related to the efficiency and safety of mine operations. During transportation, the appropriate speed can ensure that the goods are stable and delivered to the destination on time, while in complex road conditions or dangerous areas, reasonable speed control can effectively reduce the risk of collision. The accurate presentation of acceleration helps to evaluate the stability of the vehicle during starting, stopping and speed change. For vehicles fully loaded with ore, excessive acceleration may cause the goods to spill or the vehicle to lose control, and too small acceleration will affect the operating efficiency. Through comprehensive analysis of these three dynamic indicators, operators can comprehensively evaluate the dynamic performance of the autonomous driving system in a mining environment and optimize the algorithm in a targeted manner to ensure that the vehicle can operate safely and efficiently in different operating scenarios, while reducing vehicle mechanical wear, extending its service life, and improving the overall operating efficiency of the mine.

[0043] In some possible embodiments, optionally, the upper management machine 14 includes a display 141 , a dashboard 142 , and a slider 143 .

[0044] In this embodiment, the display 141, as the main visual output device, can display the simulation scene and dynamic indicators with high resolution and clear images, so that the operator can intuitively observe the overall operation of the vehicle in the virtual mine and monitor the test process as if they were there. The instrument panel 142 presents key information in the form of an intuitive analog instrument, such as a speedometer, position pointer, etc. This traditional and intuitive display method conforms to the visual habits of the operators, allowing them to obtain important data at the first time and quickly detect abnormalities when the data changes. The setting of the slider 143 provides a convenient interactive method for the operator, which can be used to adjust the test parameters, such as simulating the impact of different ambient lighting conditions, weather conditions (such as foggy days, rainy days, etc.) on the sensor 121 data, or changing the initial speed of the vehicle, load weight and other parameters, so as to simulate various complex actual working conditions. Through these diverse display and control components, operators can perform test operations more flexibly and obtain comprehensive test information conveniently and quickly, which effectively improves the operability and adaptability of the test platform, makes the test process more efficient and accurate, and can more comprehensively evaluate the performance of the mine automatic driving system under different conditions, providing strong support for system optimization.

[0045] In some possible embodiments, optionally, the graphics workstation 12 includes a plurality of sensors 121 for acquiring the surrounding environment of the vehicle, the position of the vehicle, and the traffic flow in which the vehicle is located.

[0046] In this embodiment, the graphics workstation 12 is equipped with multiple sensors 121 to achieve all-round collection of information related to vehicle operation. The collaborative work of multiple sensors 121 can cover a wider area around the vehicle and obtain richer and more accurate environmental information. For example, the laser radar can accurately measure the distance between the vehicle and the surrounding obstacles, providing key data for avoiding collisions; the camera can capture image information of road signs, traffic lights, and surrounding vehicles and pedestrians, assist the vehicle in identifying road conditions and traffic participants, and improve the environmental perception ability of the automatic driving system. At the same time, the vehicle position information obtained by the sensor 121 helps to achieve accurate positioning and ensure the consistency of the vehicle's position in the virtual environment and the actual mine, which is crucial for accurate navigation and task execution. The collection of traffic flow information where the vehicle is located can simulate the vehicle interaction in the real mine traffic scene, making the test closer to the actual operating environment, helping to optimize the decision-making algorithm of the automatic driving system under complex traffic conditions, and improving the driving safety and smoothness of the vehicle in the traffic flow. The large amount of data collected by these sensors 121 provides a solid foundation for building a highly realistic simulation scene, thereby making the test results more credible, providing reliable data support for the research and development and improvement of mine automatic driving technology, and accelerating the maturity and application of technology.

[0047] In some possible embodiments, optionally, the central gateway 10 uses 5G communication to exchange data with the command center 2.

[0048] In this embodiment, the central gateway 10 uses 5G communication technology to exchange data with the command center 2, which brings many significant advantages. The high-speed characteristics of 5G ensure that a large amount of operation task data can be quickly and stably transmitted from the command center 2 to the test platform, such as complex operation scheduling instructions, real-time mine road condition information, etc., so that the test platform can respond to the instructions of the command center 2 in a timely manner and simulate the efficient information transmission in real mine operations. The low latency feature ensures the instant upload of vehicle status information. The command center 2 can obtain the operating status of the vehicle in near real time, including location, speed, equipment status, etc., so that it can make decisions quickly, such as adjusting the operation plan, issuing emergency instructions, etc. This instant data interaction capability makes the communication between the test platform and the command center 2 smoother, completely simulates the communication scenarios in actual vehicle mine operations, and greatly improves the practicality and reliability of the test platform. In the complex environment of the mine, fast data transmission helps to respond to emergencies in a timely manner and ensure the safety of vehicle operation. At the same time, it also provides strong support for the testing of large-scale, multi-vehicle collaborative operations, promotes the optimization and development of mine automatic driving technology in complex scenarios, and lays a solid communication foundation for realizing efficient and intelligent mine operations.

[0049] In some possible embodiments, optionally, the domain controller 11 is also used to simulate the movement of the vehicle in the real-time workstation 13 .

[0050] In this embodiment, the domain controller 11 simulates vehicle movement in the real-time workstation 13, providing more possibilities and advantages for the mine automatic driving test. By simulating vehicle movement in a virtual environment, various complex driving scenarios can be tested without actual vehicle physical movement, such as extreme road conditions, dangerous scenes, etc., avoiding the risk of vehicle damage and high costs that may be caused by actual testing. By combining the environmental model and vehicle model provided by the real-time workstation 13, the domain controller 11 can simulate the movement state of the vehicle under different terrains, road conditions and traffic flows, including various actions such as acceleration, deceleration, steering, climbing, and downhill, so as to comprehensively evaluate the ability of the automatic driving system to cope with different working conditions. This simulation method can highly repeat the test process, which is convenient for R&D personnel to conduct multiple tests under the same or similar conditions to verify the stability and reliability of the system. At the same time, it is possible to quickly adjust test parameters such as vehicle speed, load, environmental factors, etc., observe the performance of the system under different parameter settings, and provide rich data support for optimizing the automatic driving algorithm and vehicle control strategy, effectively improve the test efficiency, accelerate the development process of mine automatic driving technology, and ensure that the system can better adapt to various complex situations in actual applications, and ensure the safety and efficiency of mine operations.

[0051] Furthermore, the present application adds the physical parts of the central gateway 10 to the hardware-in-the-loop test environment to realize the communication between the test platform and the control center. That is, the instructions of the control center can be sent to the simulated vehicle, and the status information of the simulated vehicle can be uploaded to the control center in real time, which completely simulates the business scenario of the actual vehicle mine operation. The real-time workstation 13 can load a three-dimensional map modeled according to the actual mining operation scene, simulate the simulated vehicle driving at any position on the map, and solve the problem of using recorded data packets and the scene being limited. Professional modeling is performed for the sensor 121, and the sensor 121 model is simulated in real time using a professional graphics workstation 12, which avoids the limitations brought by the data packet playback mode, and the output sensor 121 data is similar to the real sensor 121.

[0052] Furthermore, the hardware-in-the-loop test platform is mainly divided into five parts: central gateway 10, domain controller 11, graphic workstation 12, real-time workstation 13, and host management PC (Personal Computer). Central gateway 10: As the core communication hub of the test platform, the central gateway 10 exchanges data with the remote command center 2 through the high-speed 5G mobile network, receives the job tasks and packages them into the data format of the specified communication protocol, and forwards them to the domain controller 11. At the same time, it is also responsible for collecting the status information of the domain controller 11, collecting the operating status of the vehicle in real time, and reporting these key data to the command center 2. Domain controller 11: As the core of the object under test, the domain controller 11 deploys the autonomous driving software program and is responsible for processing a large amount of data from the central gateway 10, graphic workstation 12 and real-time workstation 13. It judges the vehicle status through advanced algorithms and generates corresponding autonomous driving instructions to achieve precise vehicle control. Graphics workstation 12: This part is responsible for high-precision sensor 121 model simulation, receiving the vehicle surroundings, vehicle position information and traffic flow of other vehicles provided by real-time workstation 13, and simulating the real-time data of sensor 121 in the simulation scene. This link is crucial to ensure the perception ability of the autonomous driving system in various complex mining environments. Real-time workstation 13: This part focuses on simulating complex road networks, detailed map scenes and vehicle traffic flow, while simulating the dynamics and kinematics model of the vehicle. It provides a virtual test environment that enables the domain controller 11 to test various driving scenarios without actual vehicle movement. The host management PC, as the core control unit of the hardware-in-the-loop (HIL) test platform, mainly performs the following key tasks: Map and scene management: Users can load detailed three-dimensional mine area maps, pre-configured diverse traffic scenes, and vehicle dynamics models and kinematic characteristics into the real-time workstation 13 through the host management PC. These data are used to create a highly realistic virtual environment to test the safety and reliability of autonomous driving technology. Visual output: With visualization function, the current simulation scenario can be displayed in real time on the external display 141, which allows the operator to intuitively monitor the behavior of the vehicle. And through visualization controls such as the dashboard 142, the electronic display 141, the slider 143 and other controls, the changes in position, speed, acceleration and other dynamic indicators can be displayed. Visual output helps to analyze the test results and make corresponding adjustment strategies accordingly.

[0053] Furthermore, a central gateway 10 device is added to the test platform. The central gateway 10 is used to receive instructions from the command center 2 and transmit the instructions to the domain controller 11. A real-time workstation 13 is added to the test platform, which can load a three-dimensional map modeled according to the actual mining operation scene, realize the simulation operation of the vehicle driving at any position on the map, and solve the problem of using recorded data packets and the scene being limited. According to the physical characteristics and working principles of the sensor 121, the corresponding is established, and the graphic workstation 12 is used to perform simulation calculations on the sensor 121 model, and the simulated sensor 121 raw data is generated according to the object information and lighting conditions in the virtual scene.

[0054] According to the second aspect of the present invention, a mine autonomous driving hardware-in-the-loop testing device is also proposed, including: the mine autonomous driving hardware-in-the-loop testing platform 1 of the first aspect.

[0055] In this embodiment, the mine autonomous driving hardware-in-the-loop test device includes: the mine autonomous driving hardware-in-the-loop test platform 1 and the command center 2 of the first aspect, and thus has all the technical effects of the mine autonomous driving hardware-in-the-loop test platform 1 of the first aspect.

[0056] According to a third aspect of the present invention, a readable storage medium is further proposed, on which the mine autonomous driving hardware-in-the-loop test platform 1 of the first aspect is stored.

[0057] In this embodiment, the readable storage medium stores a mine autonomous driving hardware-in-the-loop test platform as in any of the above embodiments, and thus has all the technical effects of the mine autonomous driving hardware-in-the-loop test platform of the first aspect.

[0058] Additional aspects and advantages of the present invention will become apparent in the following description or may be learned by practice of the present invention.

[0059] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0060] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In addition, the embodiments of the present invention may be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in the field. When the combination of the embodiments is contradictory or cannot be implemented, it should be deemed that such combination of embodiments does not exist and is not within the scope of protection required by the present invention.

[0062] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mine autonomous driving hardware-in-the-loop test platform, characterized in that: A vehicle used in a mine, wherein the mine autonomous driving hardware-in-the-loop test platform comprises: Central gateway, domain controller, graphic workstation, real-time workstation and upper management computer; The central gateway is used to receive the job task and convert the job task into job data and forward it to the domain controller; The domain controller is used to determine the state of the vehicle and generate an automatic driving instruction; The graphic workstation is used to obtain the surrounding environment of the vehicle, the position of the vehicle and the traffic flow where the vehicle is located and form real-time data in the simulation scene; The real-time workstation is used to receive the environment model and the vehicle model of the vehicle; The upper management machine is used to load the three-dimensional mining area map, traffic scene, and the dynamic model and kinematic characteristics of the vehicle into the real-time workstation.

2. The mine autonomous driving hardware-in-the-loop test platform according to claim 1, characterized in that: The upper management machine is also used to display the simulation scene.

3. The mine autonomous driving hardware-in-the-loop test platform according to claim 2, characterized in that: The upper management machine is also used to display the dynamic indicators of the vehicle in the simulation scene.

4. The mine autonomous driving hardware-in-the-loop test platform according to claim 3, characterized in that: The dynamic indicators include: position, speed and acceleration.

5. The mine autonomous driving hardware-in-the-loop test platform according to claim 4, characterized in that: The upper management machine includes a display, a dashboard and a slider.

6. The mine autonomous driving hardware-in-the-loop test platform according to any one of claims 1 to 5, characterized in that: The graphic workstation includes a plurality of sensors for acquiring the surrounding environment of the vehicle, the position of the vehicle and the traffic flow in which the vehicle is located.

7. The mine autonomous driving hardware-in-the-loop test platform according to any one of claims 1 to 5, characterized in that: The central gateway uses 5G communication to exchange data with the command center.

8. The mine autonomous driving hardware-in-the-loop test platform according to any one of claims 1 to 5, characterized in that: The domain controller is also used to simulate the movement of the vehicle in the real-time workstation.

9. A mine automatic driving hardware-in-the-loop testing device, characterized in that: It comprises a command center and a mine autonomous driving hardware-in-the-loop test platform as described in any one of claims 1 to 8.

10. A readable storage medium, characterized in that: A mine autonomous driving hardware-in-the-loop test platform as described in any one of claims 1 to 8 is stored thereon.

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