Remote driving hardware-in-the-loop test system based on virtual reality technology

Abstract

The invention discloses a remote driving hardware-in-the-loop test system based on a virtual reality technology. The system comprises a test platform, a virtual reality environment, a data interaction module and a remote driving terminal. The test platform is used for simulating a vehicle hardware-in-the-loop test, the virtual reality environment provides dynamic traffic simulation, the data interaction module ensures low-delay communication of remote driving, and the remote driving terminal provides immersive driving experience. The system can improve the authenticity and reliability of a remote driving test, reduces the test cost, and is suitable for research, development and verification of an automatic driving system.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control and simulation testing, and particularly to a hardware-in-the-loop testing system for remote driving based on virtual reality technology. Background Art

[0002] In the research and development of modern remote driving systems, simulation testing is a very important link, which can improve the safety and efficiency of system development while reducing costs. At present, traditional testing methods mainly rely on vehicle tests in real environments. This method is not only costly and has certain safety risks, but also difficult to cover diverse driving scenarios. Existing simulation testing technologies, such as pure software simulation, although can provide virtual environment support, lack interaction with real hardware devices and cannot comprehensively simulate driving behaviors; although hardware-in-the-loop (HIL) simulation technology can connect real vehicle controllers, existing solutions usually cannot provide an immersive experience for drivers, and there are deficiencies in complex scenario simulation and real-time feedback closed-loop, making it difficult to meet the testing requirements of remote driving systems. These problems limit the development and verification efficiency of remote driving systems.

[0003] Therefore, the existing technology still needs to be improved. Summary of the Invention

[0004] In view of the above deficiencies of the existing technology, the present invention proposes a hardware-in-the-loop testing system for remote driving vehicles based on virtual reality, which is used to solve the disadvantages of the existing testing methods, including high cost, large safety risks, and limited testing scenarios in traditional real environment tests, as well as the problems of lack of immersive experience, inability to dynamically simulate complex driving scenarios, and insufficient real-time feedback closed-loop in existing simulation testing technologies.

[0005] The technical solution of the present invention is as follows: A hardware-in-the-loop testing system for remote driving based on virtual reality technology, the system includes: A test platform, including a hardware-in-the-loop testing unit for simulating vehicle dynamics; A virtual reality environment module, constructing a simulation environment matching the real road and traffic scenarios; A data interaction module, communicating with the test platform and the remote driving terminal, and transmitting real-time driving data; A remote driving terminal, including a virtual reality device, a control interface, and a feedback device, providing an immersive remote driving experience.

[0006] In one embodiment, the virtual reality environment simulates vehicle dynamics characteristics based on a physics engine and can adjust environmental parameters in real time to match the testing requirements.

[0007] In one embodiment, the data interaction module adopts a low-latency communication protocol to ensure the real-time performance of remote driving control.

[0008] In one embodiment, the remote driving terminal integrates multi-modal sensing feedback, including a force-feedback steering wheel, a tactile seat, and a visual augmentation display.

[0009] In one embodiment, the test platform supports hardware-in-the-loop testing for multiple vehicle types and can dynamically adjust test parameters according to different vehicle configurations.

[0010] In one embodiment, the virtual reality environment includes an intelligent transportation system simulation unit that can simulate real-time traffic flow, signal light logic, and environmental interaction.

[0011] In one embodiment, the data interaction module includes a safety redundancy channel to ensure the integrity and reliability of test data.

[0012] In one embodiment, the remote driving terminal supports an artificial intelligence-assisted driving mode, which optimizes driving decisions through deep learning algorithms.

[0013] In one embodiment, the test platform can be linked with the actual test vehicle to achieve a semi-physical simulation test mode.

[0014] In one embodiment, the virtual reality environment supports user-defined scenario construction to meet different test requirements.

[0015] In summary: By combining virtual reality technology with hardware-in-the-loop testing, the present invention constructs a high-fidelity, low-latency, and highly interactive remote driving test system. This system not only improves the authenticity and controllability of testing, but also optimizes data transmission efficiency and security. At the same time, it enhances the immersive experience of remote driving and is applicable to the research and verification of different autonomous driving systems. Compared with traditional real vehicle testing, the present invention reduces testing costs, improves testing efficiency, provides a more scientific and reliable testing method for the development of autonomous driving technology, and has important application value and broad promotion prospects.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The testing is more realistic and controllable Combining hardware-in-the-loop testing and virtual reality technology, a highly realistic remote driving test environment is provided, and various complex test scenarios can be flexibly constructed to make up for the limitations of traditional real vehicle testing.

[0017] 2. The data transmission is faster and safer Using 5G communication and edge computing to optimize data interaction, reducing remote control latency, and improving data security and stability through redundant communication channels and encryption transmission mechanisms.

[0018] 3. More immersive and accurate interaction experience The remote driving terminal integrates devices such as a force feedback steering wheel, a tactile seat, and an augmented reality display, enabling testers to intuitively feel the vehicle's dynamic response and improving the test accuracy.

[0019] 4. Strong compatibility and wide application range Adopting a modular architecture, it supports the adaptation of different vehicle models and autonomous driving systems, reduces test costs, and is applicable to the research and verification of autonomous driving. Description of the drawings

[0020] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings: Figure 1 is a block diagram of the hardware-in-the-loop test system for remote driving based on virtual reality technology of the present invention. Detailed implementation manners

[0021] To make the objectives, technical solutions and effects of the present invention clearer and more definite, the present invention will be further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. The embodiments of the present invention will be introduced below in conjunction with the drawings.

[0022] The hardware-in-the-loop test system for remote driving based on virtual reality technology provided in this embodiment, please refer to Figure 1 The system includes: Test platform 1, which includes a hardware-in-the-loop test unit for simulating vehicle dynamics.

[0023] Test platform 1 adopts a high-precision dynamics simulation model and combines a sensor simulation unit to accurately reproduce the vehicle's motion state. This test platform 1 includes a motor control unit, a steering control module, a braking simulation device, etc., to truly reproduce the vehicle's dynamic response in various driving environments. For example, in an emergency braking scenario, the test platform can simulate situations such as tire skidding and the intervention of the electronic stability program (ESP), and collect corresponding data to optimize the autonomous driving control algorithm. In addition, the test platform supports hardware-in-the-loop (HIL) testing of in-vehicle sensors, such as lidar, millimeter-wave radar, and cameras, and can simulate sensor data input in different environments to verify the reliability of the autonomous driving perception system In a further embodiment, the system further includes: a virtual reality environment module 2, which uses physical engine technology to construct a dynamic traffic scenario and supports adaptive adjustment of environmental parameters to match different test conditions. For example, in the rainy-day test mode of autonomous driving, the virtual reality environment module can increase the rainfall, reduce the road friction coefficient, and adjust the simulation effect of the vision sensor, enabling the remote driver to experience a real low-visibility driving environment. In addition, the virtual environment also supports AI to automatically generate various complex traffic conditions, such as sudden obstacles, pedestrians breaking in, and sudden lane changes of the vehicle ahead, to test the response ability of the remote driving system.

[0024] To further improve the authenticity of the test, the virtual reality environment can also simulate road regulations, signs, markings, and traffic signal control logics in different countries and regions, making the test system applicable to the global market. For example, in the US test scenario, the virtual environment can use the STOP sign to control intersections, while in the European test mode, it simulates the yield sign control method.

[0025] In a further embodiment, the system further includes: a data interaction module 3, which integrates 5G communication and edge computing technologies to reduce data transmission latency and improve the system response speed. For example, during remote driving, this module automatically adjusts the data compression ratio according to the network load through an intelligent data optimization algorithm to ensure the real-time transmission of instructions. At the same time, this module supports redundant communication channels to improve the reliability of data transmission. Even if there are network fluctuations in the main channel, control instructions can still be transmitted through the backup channel to ensure the coherence of the test.

[0026] In addition, the data interaction module 3 integrates a real-time data synchronization mechanism and can store and analyze test data in the cloud. For example, the driver's operation behavior, the vehicle's dynamic response, and the changes in the virtual environment can be recorded and uploaded to the database in real time for subsequent optimization of the autonomous driving system. This module also supports the remote software update function, which can adjust the control strategy according to the latest test results and quickly deploy improved algorithms in the test system.

[0027] In an even further embodiment, the system further includes: a remote driving terminal 4; the remote driving terminal 4 is equipped with multi-mode interaction devices, including a tactile feedback seat, a force feedback steering wheel, and an augmented reality display screen, to enhance the immersion and control accuracy of remote driving. For example, when simulating mountain road driving, the vibration feedback system of the seat adjusts the vibration intensity according to the undulations of the virtual road, enabling the remote driver to intuitively feel the vehicle's driving state. In addition, the force feedback steering wheel can real-time simulate the steering resistance under different road conditions, such as the low friction feeling on ice and snow roads and the bumpy feeling on gravel roads, to improve the realism of the test.

[0028] Furthermore, the remote driving terminal 4 can be combined with biosensors to monitor the driver's physiological state, such as heart rate, eye movement tracking, and brain wave activity, so as to evaluate the driver's attention and fatigue level. When it detects that the driver's attention is declining or the driver is fatigued, the system can automatically adjust the difficulty of the virtual environment or issue a reminder to prompt the driver to rest. In addition, the terminal can also enable the driver to adjust the test parameters through a voice interaction system, such as changing weather conditions, road types, or traffic density, by voice commands.

[0029] In a further embodiment, the system also supports multiple remote driving vehicles to access the virtual reality environment simultaneously for collaborative testing. For example, it can simulate the formation driving of multiple vehicles in a virtual test scenario and verify how the autonomous driving vehicles in the convoy make collaborative decisions. When a test vehicle encounters an obstacle on the virtual road, the system can analyze its decision-making logic, such as whether to decelerate and avoid or change lanes to overtake, and verify the interaction effect with other test vehicles. In addition, the system supports a human-machine hybrid test mode, that is, a manually controlled vehicle can be introduced into the virtual environment to interact with the autonomous driving test vehicle. For example, a human driver can operate a simulated vehicle to meet an autonomous driving vehicle at a virtual intersection to verify the response ability of the autonomous driving system to human driving behaviors.

[0030] To optimize the autonomous driving system, the present invention supports the playback of test scenarios and reinforcement learning optimization. For example, during the test, the system can record the behavior data of the autonomous driving vehicle and playback the key scenarios after the test to analyze the system's decision-making logic. Based on the playback data, developers can manually adjust the test environment variables, such as increasing the number of pedestrians or shortening the traffic light duration, to further test the stability of the autonomous driving system.

[0031] In addition, the present invention supports an automatic optimization test method based on reinforcement learning. The system can run multiple rounds of simulation tests in the virtual environment and use reinforcement learning algorithms to adjust the autonomous driving strategy. For example, the system can conduct reinforcement training for obstacle avoidance ability, enabling the autonomous driving system to continuously optimize its obstacle avoidance path selection in different test scenarios, thereby improving its adaptability in complex environments.

[0032] In summary, the remote driving hardware-in-the-loop test system based on virtual reality technology of the present invention realizes high-precision, high-reliability, and high-adaptability of remote driving automated testing through the collaborative work of the test platform, virtual reality environment module, data interaction module, and remote driving terminal.

[0033] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. A hardware-in-the-loop test system for remote driving based on virtual reality technology, characterized in that, The system includes: A test platform, including a hardware-in-the-loop test unit for simulating vehicle dynamics; A virtual reality environment module, constructing a simulation environment matching the real road and traffic scenarios; A data interaction module, communicating with the test platform and the remote driving terminal to transmit real-time driving data; A remote driving terminal, including virtual reality devices, control interfaces, and feedback devices, providing an immersive remote driving experience.

2. The hardware-in-the-loop test system for remote driving based on virtual reality technology according to claim 1, characterized in that The virtual reality environment simulates vehicle dynamics characteristics based on a physics engine and can adjust environmental parameters in real time to match the test requirements.

3. The hardware-in-the-loop test system for remote driving based on virtual reality technology according to claim 1, characterized in that, The data interaction module adopts a low-latency communication protocol to ensure the real-time nature of remote driving control.

4. The hardware-in-the-loop test system for remote driving based on virtual reality technology according to claim 1, wherein The remote driving terminal integrates multi-modal sensing feedback, including a force-feedback steering wheel, a tactile seat, and a vision-enhanced display.

5. The hardware-in-the-loop test system for remote driving based on virtual reality technology according to claim 1, wherein The test platform supports hardware-in-the-loop tests of multiple vehicle types and can dynamically adjust test parameters according to different vehicle configurations.

6. The hardware-in-the-loop test system for remote driving based on virtual reality technology according to claim 1, characterized in that, The virtual reality environment includes an intelligent transportation system simulation unit, which can simulate real-time traffic flow, signal light logic, and environmental interactions.

7. The hardware-in-the-loop test system for remote driving based on virtual reality technology according to claim 1, characterized in that, The data interaction module includes a safety redundant channel to ensure the integrity and reliability of test data.

8. The hardware-in-the-loop test system for remote driving based on virtual reality technology according to claim 1, characterized in that, The remote driving terminal supports an artificial intelligence-assisted driving mode, optimizing driving decisions through deep learning algorithms.

9. The hardware-in-the-loop test system for remote driving based on virtual reality technology according to claim 1, characterized in that, The test platform can be linked with actual test vehicles to achieve a semi-physical simulation test mode.

10. The hardware-in-the-loop test system for remote driving based on virtual reality technology according to claim 1, wherein, The virtual reality environment supports user-defined scenario construction to meet different test requirements.

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