Unmanned vehicle test system and test terminal

Abstract

The embodiment of the utility model provides an unmanned vehicle test system and a test terminal, and the system comprises the test terminal which comprises an instruction receiving and transmitting unit and a first communication unit; the instruction transceiving unit is used for generating at least one test instruction according to a received user instruction, and the first communication unit is in communication connection with a to-be-tested vehicle and is used for sending the at least one test instruction to the to-be-tested vehicle; the to-be-tested vehicle comprises a vehicle controller and a second communication unit; the second communication unit is used for receiving the at least one test instruction; the vehicle controller is used for acquiring working data information of at least one working unit of the to-be-tested vehicle according to the at least one test instruction; and the working data information is sent to the first communication unit and is displayed on the output unit of the test terminal. The unmanned vehicle test system provided by the utility model can test the performance of the unmanned vehicle under the condition that no engineer or safety officer follows the vehicle.

Description

Technical Field

[0001] The present invention belongs to the field of unmanned driving technology, and in particular relates to an unmanned driving vehicle testing system and a testing terminal. Background Art

[0002] At present, unmanned driving technology has been widely used in the mining field. Compared with urban roads, the mining environment is closed, and the roads and traffic rules are self-contained. There is no traffic law problem on public roads, and the vehicle routes are relatively fixed. In addition, unmanned driving in mines has clear and controllable operating procedures. These reasons make mines an excellent scene for unmanned driving.

[0003] In the early engineering test phase of unmanned mine driving, engineers and safety officers need to follow the vehicle to maintain unmanned operation. The ultimate goal of unmanned mine driving is that engineers and safety officers no longer need to follow the vehicle, and the mine vehicle will drive completely autonomously.

[0004] How to test the performance of driverless vehicles without engineers and safety officers is an urgent problem to be solved in this field. Utility Model Content

[0005] The embodiments of the present disclosure aim to solve at least one of the technical problems existing in the prior art, and provide an unmanned vehicle testing system and a testing terminal to solve the problem in the related art that the performance of unmanned vehicles cannot be effectively tested.

[0006] According to one aspect of an embodiment of the present disclosure, there is provided an unmanned vehicle testing system, the system comprising:

[0007] A test terminal, the test terminal comprising an instruction transceiver unit and a first communication unit; the instruction transceiver unit is used to generate at least one test instruction according to a received user instruction, and send the at least one test instruction to the first communication unit, the first communication unit is communicatively connected with the vehicle to be tested, and is used to send the at least one test instruction to the vehicle to be tested; and

[0008] A vehicle to be tested, the vehicle to be tested comprising a vehicle controller and a second communication unit; the second communication unit is used to receive the at least one test instruction; the vehicle controller is used to obtain working data information of at least one working unit of the vehicle to be tested according to the at least one test instruction received by the second communication unit; and the second communication unit is used to send the working data information to the first communication unit;

[0009] The test terminal further includes an output unit, and the output unit is used to output a working state corresponding to the working data information of the at least one working unit.

[0010] Furthermore, the at least one test instruction includes a line control consistency test instruction.

[0011] Furthermore, at least one working unit of the vehicle to be tested includes a corresponding detection unit, which is used to send corresponding detection data information to the vehicle controller according to the at least one test instruction received by the second communication unit, wherein the vehicle controller is used to generate working data information of the at least one working unit based on the detection data information.

[0012] Optionally, the at least one working unit includes a driving unit of the vehicle to be tested, and the working data information of the driving unit includes at least one of acceleration performance information, driving performance information, D gear idle speed information and R gear idle speed information.

[0013] Optionally, the at least one working unit includes a braking unit of the vehicle to be tested, and the working data information of the braking unit includes at least one of electronic braking system EBS idle braking performance information, EBS braking performance information, retarder braking performance information, exhaust braking performance information, comprehensive braking performance information, maximum trajectory braking distance information and electronic parking system EPB parking braking distance information.

[0014] Optionally, the at least one working unit includes a steering unit of the vehicle to be tested, and the working data information of the steering unit includes at least one of steering sinusoidal following performance information, steering variable frequency following performance information, D gear minimum turning alarm information, R gear minimum turning alarm information, D gear idle minimum turning alarm information and R gear idle minimum turning radius information.

[0015] Optionally, the at least one working unit includes a gear control unit of the vehicle to be tested, and working data information of the gear control unit includes gear restriction information of the vehicle to be tested.

[0016] Furthermore, the output unit includes a display module, and the display module is used to display the working status of the at least one working unit of the vehicle to be tested.

[0017] Furthermore, the display module includes at least one of the following submodules:

[0018] The vehicle real-time status display submodule is used to display the real-time status of the target working unit of the vehicle to be tested;

[0019] The vehicle global path display submodule is used to display the global path of the vehicle to be tested;

[0020] The vehicle speed change display submodule is used to display the change of the speed of the vehicle to be tested over time;

[0021] The vehicle throttle opening change display submodule is used to display the change of the throttle opening of the vehicle to be tested over time;

[0022] The vehicle brake pedal opening change display submodule is used to display the change of the brake pedal opening of the vehicle to be tested over time.

[0023] Furthermore, the test terminal also includes a human-computer interaction module, and the human-computer interaction module is used to set the test parameters in the at least one test instruction.

[0024] According to another aspect of an embodiment of the present disclosure, there is provided an unmanned vehicle test terminal, comprising:

[0025] An instruction transceiver unit, configured to generate at least one test instruction according to a received user instruction and send the at least one test instruction to the communication unit;

[0026] The communication unit is used to communicate with the unmanned vehicle, send the at least one test instruction to the unmanned vehicle, and receive working data information of at least one working unit returned by the unmanned vehicle;

[0027] The output unit is used to output the working status corresponding to the working data information of the at least one working unit.

[0028] An unmanned vehicle testing system and a testing terminal according to an embodiment of the present disclosure send at least one test instruction to the unmanned vehicle through the test terminal. After receiving the test instruction, the unmanned vehicle returns the working status information of the corresponding working unit and outputs it through the test terminal, thereby testing the performance of the unmanned vehicle without the need for a driver or a safety officer to follow the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the structure of an unmanned vehicle testing system provided by an embodiment of the present disclosure;

[0030] Figure 2 A structural block diagram of an unmanned vehicle testing system provided by another embodiment of the present disclosure;

[0031] Figure 3 A display interface diagram of a display unit of an unmanned vehicle testing system provided in an embodiment of the present disclosure Figure 1 ;

[0032] Figure 4 A display interface diagram of a display unit of an unmanned vehicle testing system provided in an embodiment of the present disclosure Figure 2 ;

[0033] Figure 5A display interface diagram of a display unit of an unmanned vehicle testing system provided in an embodiment of the present disclosure Figure 3 ;

[0034] Figure 6 A schematic diagram of the structure of an unmanned vehicle test terminal provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the technical solution of the present disclosure, the present disclosure is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0036] like Figure 1 FIG. 1 is a schematic diagram of a structure of an unmanned vehicle testing system provided by an embodiment of the present disclosure. The system includes a test terminal 10 and a vehicle to be tested 30.

[0037] In one embodiment of the present invention, the test terminal 10 and the vehicle to be tested 30 can communicate directly. In another embodiment of the present invention, communication and data transmission can also be performed through the cloud platform 20. In this regard, the user can set it according to the needs, and the present invention does not limit this.

[0038] Specific reference Figure 2 ,for Figure 1 Structural block diagram of the unmanned vehicle test system.

[0039] like Figure 2 As shown, the test terminal 10 includes an instruction transceiver unit 101 and a first communication unit 102 .

[0040] The instruction transceiver unit 101 is used to generate at least one test instruction according to the received user instruction. The first communication unit 102 is connected to the vehicle 30 to be tested and is used to send the at least one test instruction to the vehicle 30 to be tested.

[0041] The vehicle to be tested 30 includes a vehicle controller 301 and a second communication unit 302. The second communication unit 302 is used to receive at least one test instruction. The vehicle controller 301 is used to obtain working data information of at least one working unit (not shown in the figure) of the vehicle to be tested 30 according to the at least one test instruction received by the second communication unit 302, and the second communication unit 302 is used to send the working data information to the first communication unit 102.

[0042] The test terminal 10 further includes an output unit 103, and the output unit 103 is used to output the working state corresponding to the working data information of the at least one working unit to the first communication unit 102 of the test terminal 10 and the vehicle 30 to be tested.

[0043] In this embodiment of the present disclosure, the first communication unit 102 and the second communication unit 302 may be controller area network (CAN) bus communication modules, or may be Bluetooth communication modules, or may be other applicable communication modules. Here, the first communication unit 102 may include only one communication module, or may include multiple types of communication modules at the same time. Similarly, the second communication unit 302 may include only one communication module, or may include multiple types of communication modules at the same time. The first communication unit 102 and the second communication unit 302 may each have at least one communication module that is compatible and communicative with each other. The present disclosure does not limit the number and type of communication modules included in the first communication unit 102 and the second communication unit 302.

[0044] In a preferred embodiment, the at least one test instruction includes a line control consistency test instruction.

[0045] In a preferred embodiment, at least one working unit of the vehicle to be tested 30 includes a corresponding detection unit (not shown in the figure), such as a sensor, and the detection unit is used to send corresponding detection data information to the vehicle controller 301 according to the at least one test instruction received by the second communication unit 302, so that the vehicle controller 301 generates working data information of the at least one working unit.

[0046] For example, at least one working unit of the vehicle 30 to be tested includes a driving unit of the vehicle 30 to be tested, and the driving unit includes a sensor unit composed of an acceleration sensor and a speed sensor.

[0047] In a preferred embodiment, the at least one working unit includes a drive unit of the vehicle to be tested 30, and the working data information of the drive unit includes at least one of acceleration performance information, driving performance information, D gear idle speed information and / or R gear idle speed information.

[0048] In a preferred embodiment, the at least one working unit includes a braking unit of the vehicle to be tested 30, and the working data information of the braking unit includes at least one of EBS idle braking performance information, EBS braking performance information, retarder braking performance information, exhaust braking performance information, comprehensive braking performance information, maximum trajectory braking distance information or EPB parking braking distance information.

[0049] In a preferred embodiment, the at least one working unit includes a steering unit of the vehicle to be tested 30, and the working data information of the steering unit includes at least one of steering sinusoidal following performance information, steering variable frequency following performance information, D gear minimum turning alarm information, R gear minimum turning alarm information, D gear idle minimum turning alarm information or R gear idle minimum turning radius information.

[0050] In a preferred embodiment, the at least one working unit includes a gear control unit of the vehicle 30 to be tested, and the working data information of the gear control unit includes gear restriction information of the vehicle 30 to be tested.

[0051] In a preferred embodiment, the output unit 103 includes a display module (not shown in the figure), and the display module is used to display the working status of the at least one working unit of the vehicle 30 to be tested.

[0052] In a preferred embodiment, the display module can be used to display at least one of the following information: the real-time status of the target working unit of the vehicle 30 to be tested, the global path of the vehicle 30 to be tested, the change of the speed of the vehicle 30 to be tested over time, the change of the throttle opening of the vehicle 30 to be tested over time, and the change of the brake pedal opening of the vehicle 30 to be tested over time.

[0053] In a preferred embodiment, the test terminal 10 further includes a human-computer interaction module (not shown in the figure), and the human-computer interaction module is used to set the test parameters in the at least one test instruction.

[0054] In this preferred embodiment, the process of setting the test parameters in at least one test instruction set by the human-computer interaction module can be displayed through the display module.

[0055] Figure 3-Figure 5 A schematic diagram showing a display interface that can be displayed by multiple display submodules of the display module, Figure 3-Figure 5 The layout of the multiple display submodules shown in the figure can be set according to actual needs, and the present disclosure does not limit this. And other details of each display submodule will be combined with Figure 3-Figure 5 The above is explained and no further elaboration is given here.

[0056] like Figure 3 FIG. 1 is a schematic diagram of a display interface of a display module of an unmanned vehicle testing system provided by an embodiment of the present disclosure. Figure 1 .

[0057] refer to Figure 3The human-machine interaction module can view the input test parameters through the display module. In practical applications, the human-machine interaction module can be configured as an integrated module with the display module, or can be separately configured to communicate through a communication module, which is not limited in the present disclosure.

[0058] The control module displayed by the display module may be a parameter controlled by the VCU (Vehicle Control Unit) of the vehicle to be tested 30. It may include expected vehicle speed, actual vehicle speed, engine / motor speed, lateral tracking accuracy, longitudinal tracking accuracy, heading tracking accuracy, actual turning radius, braking distance, RTK (Realtime kinematic), inertial navigation pitch angle, E-Stop, etc. Select "Start test mode" to set the above parameters. After the setting is completed, click "Start test" which is equivalent to the test terminal sending at least one test instruction. The test parameters in at least one test instruction may also include various parameters of the gear performance test in the vehicle wire control consistency test. For example, the gear performance is set to "default". Through the "Parameter configuration" column, set at least one of the following parameters: expected speed, accelerator pedal travel, braking deceleration, buffer torque percentage, expected steering wheel / front wheel angle, sinusoidal period input, sinusoidal amplitude input, maximum steering wheel speed, highest gear limit, loading states such as no load and heavy load, and activation method of lateral control activation and / or longitudinal control activation.

[0059] like Figure 4 FIG. 1 is a schematic diagram of a display interface of a display unit of an unmanned vehicle testing system provided by an embodiment of the present disclosure. Figure 2 . refer to Figure 4 , the control module settings and Figure 3 The display interface shown is similar and will not be described again here.

[0060] Figure 4 The test option shown is the acceleration performance test, and the test parameters corresponding to the test instructions input through the human-computer interaction module are displayed here: the accelerator pedal travel is 15.00, the braking deceleration is 5, the expected steering wheel / front wheel angle is 850.00, the sine period input is 5.00, the sine amplitude input is 300.00, the steering wheel maximum speed is 360.00, the highest gear limit is 6.00, the loading state is no load, and the activation mode is longitudinal control activation. After entering the above test parameters, you can click "Start Test" to send a test instruction carrying the above test parameters to the vehicle 30 to be tested.

[0061] After receiving the test instruction, the vehicle 30 to be tested executes the operation corresponding to the test instruction and feeds back the test result to the test terminal.

[0062] like Figure 5 FIG. 1 is a schematic diagram of a display interface of a display unit of an unmanned vehicle testing system provided by an embodiment of the present disclosure. Figure 3 .

[0063] refer to Figure 5 , showing a display state of the display interface captured during the test. Here, the "Start Test" button is switched to "End Test", and the user can immediately end the test of the vehicle 30 to be tested by clicking "End Test". It should be noted that the display buttons of "Start Test" and "End Test" are set to be the same, and different button reminder texts are displayed at appropriate times. In actual application, the buttons can be configured in any other applicable manner, for example, two different buttons can be configured, and the availability of the buttons can be reasonably configured at different times. This disclosure does not limit this.

[0064] here, Figure 5 The right side shows the vehicle to be tested 30 based on Figure 4 The test parameters shown in the figure are used to test the speed (speed) and time relationship diagram, acceleration (ACC) and time relationship diagram and other information.

[0065] An unmanned vehicle testing system and a testing terminal according to an embodiment of the present disclosure send at least one test instruction to the unmanned vehicle through the test terminal. After receiving the test instruction, the unmanned vehicle returns the working status information of the corresponding working unit and displays it on the test terminal, thereby obtaining the working status information of the unmanned vehicle and testing the performance of the unmanned vehicle without the need for a driver or a safety officer to follow the vehicle.

[0066] like Figure 6 , which is a schematic structural diagram of an unmanned vehicle test terminal provided in another embodiment of the present disclosure.

[0067] like Figure 6 As shown, the test terminal includes an instruction transceiver unit 61, a communication unit 62 and an output unit 63. The instruction transceiver unit 61 is used to generate at least one test instruction. The communication unit 62 is used to communicate with the unmanned vehicle, send the at least one test instruction to the unmanned vehicle, and receive the working data information of at least one working unit returned by the unmanned vehicle. The output unit 63 is used to output the working state corresponding to the working data information of the at least one working unit.

[0068] Furthermore, the test terminal may further include a human-computer interaction module (not shown in the figure), and the human-computer interaction module is used to set the test parameters in the at least one test instruction.

[0069] here, Figure 6Other implementation details and beneficial effects of the unmanned vehicle test terminal shown are similar to those described above. Figure 1-Figure 5 The implementation details and beneficial effects of the unmanned vehicle testing system shown are similar and will not be repeated here.

[0070] It should be noted that the embodiments of the present disclosure do not strictly limit the number and position of each component. On the premise that those skilled in the art can implement the technical solution of the present disclosure, they can freely select the number and position of each component.

[0071] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present disclosure, but the present disclosure is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and substance of the present disclosure, and these modifications and improvements are also considered to be within the scope of protection of the present disclosure.

Claims

1. An unmanned vehicle testing system, characterized in that: The system comprises: A test terminal, the test terminal comprising an instruction transceiver unit and a first communication unit; the instruction transceiver unit is used to generate at least one test instruction according to a received user instruction, and send the at least one test instruction to the first communication unit, the first communication unit is communicatively connected with the vehicle to be tested, and is used to send the at least one test instruction to the vehicle to be tested; and A vehicle to be tested, the vehicle to be tested comprising a vehicle controller and a second communication unit; the second communication unit is used to receive the at least one test instruction; the vehicle controller is used to obtain working data information of at least one working unit of the vehicle to be tested according to the at least one test instruction received by the second communication unit; and the second communication unit is used to send the working data information to the first communication unit; The test terminal further includes an output unit, and the output unit is used to output a working state corresponding to the working data information of the at least one working unit.

2. The unmanned vehicle testing system according to claim 1, characterized in that: The at least one test instruction includes a line control consistency test instruction.

3. The unmanned vehicle testing system according to claim 2, characterized in that: At least one working unit of the vehicle to be tested includes a corresponding detection unit, which is used to send corresponding detection data information to the vehicle controller according to the at least one test instruction received by the second communication unit, wherein the vehicle controller is used to generate working data information of the at least one working unit according to the detection data information.

4. The unmanned vehicle testing system according to claim 1 or 2, characterized in that: The at least one working unit includes a driving unit of the vehicle to be tested, and the working data information of the driving unit includes at least one of acceleration performance information, driving performance information, D gear idle speed information, and R gear idle speed information.

5. The unmanned vehicle testing system according to claim 1 or 2, characterized in that: The at least one working unit includes a braking unit of the vehicle to be tested, and the working data information of the braking unit includes at least one of electronic braking system EBS idle braking performance information, EBS braking performance information, retarder braking performance information, exhaust braking performance information, comprehensive braking performance information, maximum trajectory braking distance information and electronic parking system EPB parking braking distance information.

6. The unmanned vehicle testing system according to claim 1 or 2, characterized in that: The at least one working unit includes a steering unit of the vehicle to be tested, and the working data information of the steering unit includes at least one of steering sinusoidal following performance information, steering variable frequency following performance information, D gear minimum turning alarm information, R gear minimum turning alarm information, D gear idle minimum turning alarm information and R gear idle minimum turning radius information.

7. The unmanned vehicle testing system according to claim 1 or 2, characterized in that: The at least one working unit includes a gear control unit of the vehicle to be tested, and working data information of the gear control unit includes gear restriction information of the vehicle to be tested.

8. The unmanned vehicle testing system according to claim 1 or 2, characterized in that: The output unit comprises a display module, and the display module is used to display the working status of the at least one working unit of the vehicle to be tested.

9. The unmanned vehicle testing system according to claim 8, characterized in that: The display module is used to display at least one of the following information: the real-time status of the target working unit of the vehicle to be tested, the global path of the vehicle to be tested, the change of the speed of the vehicle to be tested over time, the change of the throttle opening of the vehicle to be tested over time, and the change of the brake pedal opening of the vehicle to be tested over time.

10. The unmanned vehicle testing system according to claim 1 or 2, characterized in that: The test terminal further comprises a human-computer interaction module, and the human-computer interaction module is used to set the test parameters in the at least one test instruction.

11. An unmanned vehicle test terminal, characterized in that: The terminal comprises: An instruction transceiver unit, configured to generate at least one test instruction according to a received user instruction and send the at least one test instruction to the communication unit; The communication unit is used to communicate with the unmanned vehicle, send the at least one test instruction to the unmanned vehicle, and receive working data information of at least one working unit returned by the unmanned vehicle; The output unit is used to output the working status corresponding to the working data information of the at least one working unit.

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