LKA function simulation test method and system considering human-computer interaction

Abstract

The invention discloses an LKA function simulation test method and system considering man-machine interaction, and relates to the technical field of automobile intelligent driving testing, and the method comprises the steps: building a simulation model based on an upper computer system, and operating the simulation model through a lower computer system; scene simulation and configuration of a sensor model are carried out through a graphic workstation, and scene image data output by the graphic workstation are received in a video injection system and sent to a controller to be tested; a real EPS rack is used for executing transverse control related instructions, hand force of a steering wheel is fed back to a servo control system in a driving simulation cabin, and reproduced hand torque is transmitted to a real driver through a mechanical steering system. According to the method, the problem of insufficient environmental perception precision in a traditional simulation test is solved, the real-time performance of image data is guaranteed, the requirement of the to-be-tested controller for high timeliness of sensor data is met, the authenticity and reliability of an LKA function test are improved, and data support is provided for human-computer interaction optimization.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile intelligent driving test, and in particular to an LKA function simulation test method and system considering human-computer interaction. Background Art

[0002] With the rapid development of automobile intelligence and autonomous driving technology, the lane keeping assist (LKA) function has become one of the important technologies to improve driving safety. The LKA function uses on-board sensors to perceive the vehicle's driving trajectory and road marking information in real time, and combines with the lateral control system to assist the driver in keeping the vehicle driving safely in the lane. In recent years, with the improvement of the performance of vehicle electronic control units (ECUs) and the advancement of sensor technology, the accuracy and responsiveness of the LKA function have been significantly improved. However, in order to meet the needs of human-computer interaction, in the process of LKA function development, simulation test technology for the interaction between the driver and the vehicle system has also received widespread attention. Traditional testing methods are mainly verified through road tests, which have the problems of high cost, long cycle and low safety. Therefore, simulation test technology has become an important means to verify the LKA function and optimize the human-computer interaction experience.

[0003] Although the existing LKA function simulation test technology has preliminarily realized the simulation of vehicle dynamics models, sensor data and control algorithms, there are still many shortcomings. Most of the simulation systems in the existing technology are built based on static models, which are difficult to fully simulate complex road environments and dynamic interaction scenarios, especially in the real-time and accuracy of vehicle lateral control and driver hand force feedback. In the process of sensor model configuration and scene image generation, the traditional graphic workstation output data has poor integration with the controller to be tested, resulting in high data transmission delay and unable to meet high-precision testing requirements. The existing technology lacks accurate servo control mechanism in the process of realizing real driver hand force feedback, and the transmission of steering wheel hand torque is not realistic enough, which cannot effectively reproduce the complex dynamic behavior of human-computer interaction. These problems seriously affect the simulation test effect of the LKA function, making it difficult to comprehensively evaluate the system performance and optimize the human-computer interaction experience. Summary of the invention

[0004] In view of the above-mentioned problems, the present invention is proposed.

[0005] Therefore, the technical problems solved by the present invention are: the existing LKA functional simulation test technology has insufficient dynamic interactive simulation capability, poor data integration between the sensor model and the controller to be tested, low reproduction accuracy of steering wheel hand force feedback, and how to achieve the integration of efficient simulation testing and real human-computer interaction.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an LKA function simulation test method considering human-computer interaction, comprising establishing a simulation model based on a host computer system, and using a slave computer system to run the simulation model; performing scene simulation and sensor model configuration through a graphic workstation, receiving scene image data output by the graphic workstation in a video injection system and sending it to a controller to be tested; using a real EPS test bench to execute lateral control related instructions, and feeding back the steering wheel hand force to the servo control system in a driving simulation cabin, and transmitting the reproduced hand torque to the real driver through a mechanical steering system.

[0007] As a preferred solution of the LKA function simulation test method considering human-computer interaction described in the present invention, the host computer system includes using a windows system, running vehicle dynamics software, simulink software and experiment management software, the vehicle dynamics software is used for modeling a controlled vehicle model, the simulink software is used for modeling a vehicle CAN bus model and a servo motor control model, the experiment management software is used for creating a closed-loop simulation project and monitoring the simulation operation process, and the integration of various simulation models and simulation boards is completed by creating a closed-loop simulation project. The host computer is connected to the slave computer and the graphics workstation through a local area network, the host computer downloads the simulation model to the slave computer through the local area network for operation, and the host computer sends a trigger signal to the scene simulation software in the graphics workstation through the local area network to control the operation of the scene simulation.

[0008] As a preferred solution of the LKA function simulation test method considering human-computer interaction described in the present invention, the lower computer system includes using the Linux-RT system to run each simulation model, the lower computer is connected to the upper computer through a local area network, receives the simulation instructions sent by the upper computer, and returns the simulation process parameters to the upper computer for monitoring the simulation process, the lower computer is connected to the graphics workstation through a local area network, and is used to transmit the position and posture information of the simulated vehicle to the scene software in the graphics workstation, and the scene software renders the position and posture of the simulated vehicle.

[0009] As a preferred solution of the LKA function simulation test method considering human-computer interaction described in the present invention, the graphic workstation includes using the Linux system to run the traffic scene simulation software, realizing road logic modeling through the road design module, adding obstacles and traffic signs to simulate static traffic scenes, realizing the addition of traffic vehicles, pedestrians and cyclists through the scene design module, and setting trigger signals to control traffic behavior to simulate dynamic traffic scenes, realizing the perception of traffic targets within the camera detection range by configuring the camera model, and outputting scene image data to the video injection system, the graphic workstation is connected to the host computer and the slave computer through the local area network, receives the trigger signal of the host computer, controls the operation of the scene simulation, receives the simulated vehicle position and posture information transmitted by the slave computer, and renders the position and posture of the simulated vehicle in the scene software.

[0010] As a preferred solution of the LKA function simulation test method considering human-computer interaction described in the present invention, the video injection system includes a video injection board, which is connected to a graphics workstation via HDMI, receives scene simulation raw video data output by the graphics workstation, converts the video data according to a transmission protocol, and injects it into an image processing chip of a controller to be tested to simulate a camera sensor.

[0011] As a preferred solution of the LKA function simulation test method considering human-computer interaction described in the present invention, the EPS test bench includes a steering wheel simulation motor, a torque sensor, a steering column, a load simulation motor and a coupling. The steering wheel simulation motor is a servo motor for simulating the driver's steering wheel turning action. The load simulation motor is a servo motor for simulating the steering resistance torque. The steering wheel simulation motor, the steering column and the load simulation motor are connected in sequence through a coupling. Two torque sensors are respectively installed between the steering wheel simulation motor and the steering column and between the steering column and the load simulation motor to measure the steering torque at the steering wheel end and the load end. The EPS controller on the steering column receives the steering command issued by the LKA system, controls the power motor to drive the steering column to rotate, and realizes the lateral control of the vehicle by the LKA system.

[0012] As a preferred solution of the LKA function simulation test method considering human-computer interaction described in the present invention, the driving simulation cabin includes a cabin body, a mechanical steering device and a servo control system. The cabin body is modified from a real car to provide an operating space for the driver. The mechanical steering device is fixed inside the cabin body and consists of a steering wheel and a steering shaft. The driver can drive the steering shaft to rotate by turning the steering wheel. The servo control system consists of a servo motor, which receives the steering wheel torque output by the EPS test bench. The steering wheel torque is reproduced by the servo motor, and the direction of the torque is opposite to the direction in which the driver turns the steering wheel, so as to simulate the steering wheel hand force.

[0013] Another object of the present invention is to provide an LKA functional simulation test system that takes human-computer interaction into consideration, which can perform scene simulation and configuration of sensor models through a graphics workstation, receive scene image data output by the graphics workstation in a video injection system and send it to the controller to be tested, thereby solving the problems of insufficient real-time performance and low integration of current scene simulation and sensor data generation technologies.

[0014] As a preferred solution of the LKA function simulation test system considering human-computer interaction described in the present invention, it includes: a simulation modeling operation module, a scene simulation transmission module, and a feedback execution module.

[0015] The simulation modeling and operation module is used to establish a simulation model based on the upper camera system and use the lower camera system to run the simulation model; the scene simulation transmission module is used to perform scene simulation and sensor model configuration through a graphics workstation, receive scene image data output by the graphics workstation in the video injection system and send it to the controller to be tested; the feedback execution module is used to use a real EPS test bench to execute lateral control related instructions, and feed back the steering wheel hand force to the servo control system in the driving simulation cabin, and transmit the reproduced hand torque to the real driver through the mechanical steering system.

[0016] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of a LKA function simulation test method considering human-computer interaction.

[0017] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a LKA function simulation test method considering human-computer interaction.

[0018] Beneficial effects of the present invention: The LKA function simulation test method considering human-computer interaction provided by the present invention establishes a simulation model based on an upper computer system, uses a lower computer system to run the simulation model, and realizes dynamic download and efficient operation of the simulation model through the coordinated operation of the upper computer and the lower computer, thereby overcoming the problems of low model construction efficiency and insufficient real-time performance in traditional simulation systems. The lower computer transmits simulation parameters to the graphics workstation in real time to ensure accurate synchronization of the posture of the simulated vehicle in the scene, thereby laying a foundation for accurate testing of the LKA system. The scene simulation and sensor model configuration are performed through the graphics workstation, and the scene image data output by the graphics workstation is received in the video injection system and sent to the controller to be tested, thereby solving the problem of inaccurate environmental perception in traditional simulation tests. The problem of insufficient control is solved. The high efficiency of data transmission and protocol conversion ensures the real-time nature of image data and meets the requirements of the controller to be tested for high timeliness of sensor data, thereby improving the authenticity and reliability of the LKA function test. A real EPS test bench is used to execute lateral control related instructions, and the steering wheel hand force is fed back to the servo control system in the driving simulation cabin. The reproduced hand torque is transmitted to the real driver through the mechanical steering system, and a complete lateral control closed-loop system is constructed. High-precision verification of the LKA function is achieved, and data support is provided for human-computer interaction optimization. The present invention achieves better results in terms of dynamic construction and efficient operation of simulation models, real-time and authenticity of environmental perception data, and accurate reproduction and reliable verification of human-computer interaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0020] Figure 1 The overall flow chart of an LKA function simulation test method considering human-computer interaction provided by the first embodiment of the present invention.

[0021] Figure 2 A system structure diagram of an LKA function simulation test method considering human-computer interaction provided in the second embodiment of the present invention.

[0022] Figure 3 A comparison diagram of steering wheel hand torque after LKA function activation according to an LKA function simulation test method considering human-computer interaction provided by the second embodiment of the present invention.

[0023] Figure 4 The overall flow chart of an LKA function simulation test system considering human-computer interaction is provided in the third embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0025] Example 1, reference Figure 1 , as an embodiment of the present invention, provides a LKA function simulation test method considering human-computer interaction, comprising:

[0026] S1: Establish a simulation model based on the upper computer system and use the lower computer system to run the simulation model.

[0027] Furthermore, the host computer system includes using a windows system to run vehicle dynamics software, simulink software and experiment management software. The vehicle dynamics software is used to model the controlled vehicle model, the simulink software is used to model the vehicle CAN bus model and the servo motor control model, and the experiment management software is used to create a closed-loop simulation project and monitor the simulation operation process. By creating a closed-loop simulation project, the integration of various simulation models and simulation boards is completed. The host computer is connected to the slave computer and the graphics workstation through a local area network. The host computer downloads the simulation model to the slave computer through the local area network for operation. The host computer sends a trigger signal to the scene simulation software in the graphics workstation through the local area network to control the operation of the scene simulation.

[0028] It should be noted that the lower computer system includes the use of the Linux-RT system to run various simulation models. The lower computer is connected to the upper computer through a local area network, receives simulation instructions sent by the upper computer, and returns simulation process parameters to the upper computer for monitoring the simulation process. The lower computer is connected to the graphics workstation through a local area network to transmit the position and posture information of the simulated vehicle to the scene software in the graphics workstation, and the scene software renders the position and posture of the simulated vehicle.

[0029] It should also be noted that by running the vehicle dynamics software, Simulink software and experiment management software on the host computer, efficient integration of vehicle dynamics model, CAN bus model and servo motor control model is achieved. The experiment management software creates a closed-loop simulation project and coordinates various simulation modules with hardware resources to achieve automation and efficiency of the model building process. The host computer downloads the simulation model to the slave computer through the local area network for operation, and sends a trigger signal to the graphics workstation in real time to start the scene simulation; the slave computer runs the Linux-RT system, providing an efficient simulation operating environment and transmitting vehicle status data in real time. The data is transmitted back to the host computer for simulation status monitoring. By adopting a distributed system architecture and cooperating between the upper and lower computers, the present invention significantly reduces the reliance on complex algorithms and hardware interfaces, simplifies the implementation difficulty of the simulation system, and solves the problems of low operating efficiency and poor synchronization caused by limited resources in traditional single-machine systems, providing efficient and stable support for simulation testing. Through the division of labor and cooperation between the host computer and the slave computer, the dynamic operation and real-time data transmission of the high-precision simulation model are realized, the synchronization between the model and the scene is ensured, the simulation accuracy of the simulation model is improved, and basic support is provided for the LKA function simulation test.

[0030] S2: Perform scene simulation and sensor model configuration through the graphic workstation, receive the scene image data output by the graphic workstation in the video injection system and send it to the controller to be tested.

[0031] Furthermore, the graphics workstation includes using the Linux system to run traffic scene simulation software, realizing road logic modeling, adding obstacles and traffic signs to simulate static traffic scenes through the road design module, realizing the addition of traffic vehicles, pedestrians and cyclists through the scene design module, and setting trigger signals to control traffic behavior to simulate dynamic traffic scenes, realizing the perception of traffic targets within the camera detection range by configuring the camera model, and outputting scene image data to the video injection system. The graphics workstation is connected to the host computer and the slave computer through a local area network, receives the trigger signal of the host computer, controls the operation of the scene simulation, receives the simulated vehicle position and posture information transmitted by the slave computer, and renders the position and posture of the simulated vehicle in the scene software.

[0032] It should be noted that the video injection system includes a video injection board, which is connected to the graphics workstation via HDMI, receives the scene simulation raw video data output by the graphics workstation, converts the video data according to the transmission protocol, and injects it into the image processing chip of the controller to be tested to simulate the camera sensor.

[0033] It should also be noted that the graphics workstation runs traffic scene simulation software, and generates high-precision static and dynamic traffic scenes through the road design module and the scene design module. The scene design module simulates a variety of dynamic targets including traffic vehicles, pedestrians and cyclists, and controls their behavior through trigger signals, making the simulation scene closer to the actual driving environment. By configuring the camera model, the scene image output by the graphics workstation can fully reflect the target characteristics within the sensor detection range, and is converted into a sensor data format that can be processed by the controller to be tested through the video injection system; through the combination of scene simulation and video injection system, the test deviation problem caused by the lack of real scenes and inaccurate sensor data generation in traditional simulation systems is solved. The video injection system not only realizes the protocol conversion of data, but also improves the system's adaptability to different controller interfaces; the LKA controller can receive high-precision scene perception data, simulate the dynamic perception process in a real driving environment, improve the authenticity and dynamic scene adaptability of the LKA functional simulation test, and provide a reliable input basis for verifying the performance of the system in a complex environment.

[0034] S3: Use the real EPS test bench to execute lateral control related instructions, and feed back the steering wheel hand force to the servo control system in the driving simulation cabin, and transmit the reproduced hand torque to the real driver through the mechanical steering system.

[0035] Furthermore, the EPS test bench includes a steering wheel simulation motor, a torque sensor, a steering column, a load simulation motor and a coupling. The steering wheel simulation motor is a servo motor for simulating the driver's steering wheel turning action. The load simulation motor is a servo motor for simulating the steering resistance torque. The steering wheel simulation motor, the steering column and the load simulation motor are connected in sequence through a coupling. Two torque sensors are respectively installed between the steering wheel simulation motor and the steering column and between the steering column and the load simulation motor, which are used to measure the steering torque at the steering wheel end and the load end. The EPS controller on the steering column receives the steering command issued by the LKA system, controls the power motor to drive the steering column to rotate, and realizes the LKA system's lateral control of the vehicle.

[0036] It should be noted that the driving simulation cabin includes a cabin body, a mechanical steering device and a servo control system. The cabin body is modified from a real car and provides an operating space for the driver. The mechanical steering device is fixed inside the cabin body and consists of a steering wheel and a steering shaft. The driver can drive the steering shaft to rotate by turning the steering wheel. The servo control system consists of a servo motor, which receives the steering wheel torque output by the EPS test bench. The steering wheel torque is reproduced by the servo motor. The direction of the torque is opposite to the direction in which the driver turns the steering wheel, thereby simulating the steering wheel hand force.

[0037] It should also be noted that by constructing a real EPS test bench, instead of the traditional algorithm-based EPS simulation model, the problem of unrealistic hand force feedback and large deviation between the test results and the actual vehicle is effectively solved. The EPS test bench accurately simulates the physical process of the driver's steering wheel operation and the vehicle's lateral control through a physical servo motor and a torque sensor. After the lateral control command issued by the LKA controller is executed by the EPS test bench, the steering wheel torque is reproduced by the servo control system in the driving simulation cabin, realizing the real torque interaction between the driver and the system. By connecting to the EPS test bench, the simulation accuracy of the simulation test is improved, providing basic support for the real driving environment test of the LKA function. The driving simulation cabin establishes a closed-loop connection between the driver and the EPS test bench through torque transmission, providing a scientific basis for the LKA function in hand force and steering interference evaluation. The EPS test bench executes the LKA lateral control command in a real physical environment and provides the driver with real hand force feedback, so that the simulation test can accurately evaluate the system's lateral control performance and human-computer interaction effect. This design significantly improves the reliability and accuracy of the simulation test, and provides scientific support for system optimization and actual road performance verification.

[0038] Example 2, reference Figure 2-Figure 3 , which is an embodiment of the present invention, provides a LKA function simulation test method considering human-computer interaction. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through economic benefit calculation and simulation experiments.

[0039] First, the upper computer compiles the vehicle dynamics model, CAN bus simulation model and servo motor control model and downloads them to the lower computer through the local area network for operation. At the same time, the simulation model parameters are set through the test management software, and the operation information of the simulation model sent back by the lower computer is received to monitor the simulation operation status. The upper computer also sends a trigger signal to the scene simulation software in the graphics workstation through the local area network to control the scene simulation operation, and receives the scene simulation information sent back by the graphics workstation to monitor the scene simulation operation status. The lower computer transmits the vehicle X, Y, Z direction position, speed and tire X, Y direction position signals in the vehicle dynamics model to the scene simulation software in the graphics workstation through the local area network. The real software assigns this information to the Ego car in the scene to render the position and posture of the Ego car. The vehicle dynamics software in the lower computer simultaneously receives the Z coordinate of the tire contact point sent back by the scene simulation software for the whole vehicle dynamics calculation; the scene simulation software in the graphics workstation outputs the scene simulation video data by configuring the virtual camera sensor, and then distorts the video data according to the distortion characteristics of the real camera, and synchronizes it to the injection board in the video injection system through HDMI; the video injection board decodes through HDMI, and converts the image data transmission protocol based on FPGA, and finally injects it into the image processing chip in the LKA controller after being serialized through the serialization chip; the LKA controller to be tested The controller receives the video data output by the video injection system through LVDS to complete the perception of the surrounding environment. At the same time, it obtains the current operating status of the vehicle through the CAN bus, and then sends the vehicle control command to the EPS controller in the EPS test bench in the CAN bus mode, and the EPS controller executes the vehicle control command; the EPS test bench is composed of a steering wheel simulation motor, a torque sensor, a steering column (with EPS controller and power motor), a load simulation motor and a coupling. The steering wheel simulation motor, the steering column and the load simulation motor are connected in sequence through a coupling. Two torque sensors are installed between the steering wheel simulation motor and the steering column and between the steering column and the load simulation motor respectively; the EPS controller receives The vehicle control command issued by the LKA controller to be tested controls the power-assisted motor to rotate, thereby driving the steering column to rotate. At the same time, the steering column rotation angle is transmitted back to the lower computer through the CAN bus, collected by the CAN simulation board in the lower computer, and output to the vehicle dynamics model running in the real-time operating system of the lower computer to control the vehicle dynamics model to turn synchronously, thereby calculating the steering resistance torque. The analog output board in the lower computer outputs the control voltage to the load simulation motor in the EPS test bench, and controls the load simulation motor to apply a reverse torque to the steering column to simulate the steering load. The vehicle state information after the vehicle model turns is transmitted back to the LKA controller to be tested again for the calculation of the vehicle control command at the next moment.When the steering column in the EPS test bench rotates, it drives the torque sensor at the front end to output the steering wheel torque. After being collected and processed by the analog acquisition board in the lower computer, the control voltage is output to the servo control system in the driving simulation cabin through the analog output board, which controls the servo motor to reproduce the steering wheel torque, which is transmitted to the driver through the mechanical steering device, so as to evaluate the impact of the driver's hand force during the LKA control of the vehicle. When the LKA controls the vehicle, the driver in the driving simulation cabin can turn the steering wheel to take over the control of the vehicle. The steering wheel angle applied by the driver is collected and processed by the analog acquisition board in the lower computer, and then the control voltage is output to the steering wheel in the EPS test bench through the analog output board. The simulation motor controls the steering wheel simulation motor to rotate, and drives the steering column to rotate. At the same time, the steering column rotation angle is transmitted back to the vehicle dynamics model in the lower computer, and the vehicle dynamics model is controlled to steer synchronously, and then the steering resistance torque is calculated. The analog output board in the lower computer outputs the control voltage to the load simulation motor in the EPS test bench, and the load simulation motor is controlled to apply a reverse torque to the steering column to simulate the steering load, so as to realize the interference evaluation of the LKA system on the driver's steering action when the driver takes over the control of the vehicle. It can be obtained from the experimental results that the present invention provides an efficient and innovative solution through the integration of the upper and lower computer collaboration, the real test bench hardware and the dynamic scene generation technology. ;

[0040] Example 3, reference Figure 4 , as an embodiment of the present invention, provides an LKA function simulation test system considering human-computer interaction, including a simulation modeling operation module, a scene simulation transmission module, and a feedback execution module.

[0041] The simulation modeling and operation module is used to establish a simulation model based on the upper camera system and use the lower camera system to run the simulation model; the scene simulation transmission module is used to perform scene simulation and sensor model configuration through the graphic workstation, receive the scene image data output by the graphic workstation in the video injection system and send it to the controller to be tested; the feedback execution module is used to use the real EPS test bench to execute lateral control related instructions, and feed back the steering wheel hand force to the servo control system in the driving simulation cabin, and transmit the reproduced hand torque to the real driver through the mechanical steering system.

[0042] 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.

[0043] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0044] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0045] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc. It should be noted that the above embodiments are only used to illustrate the technical solution of the present invention and are not limited. Although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

[0046] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A LKA function simulation test method considering human-computer interaction, characterized in that: include: Establish a simulation model based on the upper computer system and use the lower computer system to run the simulation model; The scene simulation and sensor model configuration are performed through the graphic workstation, and the scene image data output by the graphic workstation is received in the video injection system and sent to the controller to be tested; A real EPS test bench is used to execute lateral control related instructions, and the steering wheel hand force is fed back to the servo control system in the driving simulation cabin, and the reproduced hand torque is transmitted to the real driver through the mechanical steering system.

2. The LKA function simulation test method considering human-computer interaction as claimed in claim 1, characterized in that: The host computer system includes using a windows system to run vehicle dynamics software, simulink software and experiment management software. The vehicle dynamics software is used to model the controlled vehicle model, the simulink software is used to model the vehicle CAN bus model and the servo motor control model, and the experiment management software is used to create a closed-loop simulation project and monitor the simulation operation process. The integration of various simulation models and simulation boards is completed by creating a closed-loop simulation project. The host computer is connected to the slave computer and the graphics workstation through a local area network. The host computer downloads the simulation model to the slave computer through the local area network for operation. The host computer sends a trigger signal to the scene simulation software in the graphics workstation through the local area network to control the operation of the scene simulation.

3. The LKA function simulation test method considering human-computer interaction as claimed in claim 2, characterized in that: The lower computer system includes using the Linux-RT system to run each simulation model. The lower computer is connected to the upper computer through a local area network, receives simulation instructions sent by the upper computer, and returns simulation process parameters to the upper computer for monitoring the simulation process. The lower computer is connected to the graphics workstation through a local area network, and is used to transmit the position and posture information of the simulated vehicle to the scene software in the graphics workstation, and the scene software renders the position and posture of the simulated vehicle.

4. The LKA function simulation test method considering human-computer interaction as claimed in claim 3, characterized in that: The graphic workstation includes using a Linux system to run traffic scene simulation software, realizing road logic modeling, adding obstacles and traffic signs to simulate static traffic scenes through a road design module, realizing the addition of traffic vehicles, pedestrians and cyclists through a scene design module, and setting trigger signals to control traffic behavior to simulate dynamic traffic scenes, realizing perception of traffic targets within the camera detection range by configuring a camera model, and outputting scene image data to a video injection system. The graphic workstation is connected to a host computer and a slave computer through a local area network, receives a trigger signal from the host computer, controls the operation of the scene simulation, receives simulated vehicle position and posture information transmitted by the slave computer, and renders the position and posture of the simulated vehicle in the scene software.

5. The LKA function simulation test method considering human-computer interaction as claimed in claim 4, characterized in that: The video injection system includes a video injection board, which is connected to a graphics workstation via HDMI, receives scene simulation raw video data output by the graphics workstation, converts the video data according to a transmission protocol, and injects the video data into an image processing chip of a controller to be tested to simulate a camera sensor.

6. The LKA function simulation test method considering human-computer interaction as claimed in claim 5, characterized in that: The EPS test bench includes a steering wheel simulation motor, a torque sensor, a steering column, a load simulation motor and a coupling. The steering wheel simulation motor is a servo motor for simulating the driver's steering wheel turning action. The load simulation motor is a servo motor for simulating the steering resistance torque. The steering wheel simulation motor, the steering column and the load simulation motor are connected in sequence through a coupling. Two torque sensors are respectively installed between the steering wheel simulation motor and the steering column and between the steering column and the load simulation motor, and are used to measure the steering torque at the steering wheel end and the load end. The EPS controller on the steering column receives the steering command issued by the LKA system, controls the power motor to drive the steering column to rotate, and realizes the LKA system's lateral control of the vehicle.

7. The LKA function simulation test method considering human-computer interaction as claimed in claim 6, characterized in that: The driving simulation cabin includes a cabin body, a mechanical steering device and a servo control system. The cabin body is modified from a real car and provides an operating space for the driver. The mechanical steering device is fixed inside the cabin body and consists of a steering wheel and a steering shaft. The driver can drive the steering shaft to rotate by turning the steering wheel. The servo control system consists of a servo motor, which receives the steering wheel torque output by the EPS test bench. The steering wheel torque is reproduced by the servo motor, and the direction of the torque is opposite to the direction in which the driver turns the steering wheel, so as to simulate the steering wheel hand force.

8. A system using the LKA function simulation test method considering human-computer interaction as claimed in any one of claims 1 to 7, characterized in that: It includes simulation modeling and operation module, scenario simulation transmission module and feedback execution module; The simulation modeling and operation module is used to establish a simulation model based on the upper station system and use the lower station system to operate the simulation model; The scene simulation transmission module is used to perform scene simulation and sensor model configuration through a graphics workstation, receive scene image data output by the graphics workstation in the video injection system and send it to the controller to be tested; The feedback execution module is used to use the real EPS test bench to execute lateral control related instructions, and feed back the steering wheel hand force to the servo control system in the driving simulation cabin, and transmit the reproduced hand torque to the real driver through the mechanical steering system.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the LKA function simulation test method considering human-computer interaction according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the LKA function simulation test method considering human-computer interaction according to any one of claims 1 to 7 are implemented.

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