Automatic driving vehicle test system and test terminal
By using fault detection and reset modules in the autonomous driving vehicle test system, real-time monitoring and handling of vehicle failures is solved, and the problem of low fault handling efficiency without following in mine autonomous driving tests is improved.
Patent Information
- Application Number
- CN202420207154.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-29
- Publication Date
- 2025-01-10
- Estimated Expiration
- 2034-01-29
AI Technical Summary
In the testing stage of mine autonomous vehicles, there is a lack of effective methods to ensure testing efficiency, especially when there is no engineer or safety officer following the vehicle, how to detect and deal with vehicle failures in a timely manner to avoid unnecessary waste of time.
An autonomous vehicle testing system is designed, including a test terminal and a vehicle to be tested, which communicates through a fault detection module and a communication unit, monitors and prompts vehicle fault information in real time, and automatically or manually fail to reset through a fault reset module to ensure the vehicle Stay fault-free during testing.
It realizes timely detection and handling of faults in the performance test of autonomous driving vehicles, improves testing efficiency, avoids waste of time caused by faults, and ensures the smooth progress of tests.
Smart Images
Figure CN222336774U_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of autonomous driving technology, and in particular to an autonomous driving vehicle testing system and a testing terminal. Background Art
[0002] At present, autonomous 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 are no traffic regulations on public roads, and the vehicle routes are relatively fixed. In addition, mine autonomous driving has clear and controllable operating procedures. These reasons make mines an excellent scene for autonomous driving.
[0003] In the early engineering test phase of mine autonomous driving, engineers and safety officers need to follow the vehicle to maintain the operation of autonomous driving. The ultimate goal of mine autonomous driving is that neither engineers nor safety officers need to follow the vehicle, and the mine vehicle will drive completely autonomously.
[0004] How to ensure the efficiency of autonomous driving vehicle testing in the absence of 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 autonomous driving vehicle testing system and a testing terminal to solve the problem in the related art that the efficiency of autonomous driving vehicle testing cannot be effectively guaranteed.
[0006] According to one aspect of an embodiment of the present disclosure, there is provided an autonomous driving vehicle testing system, the system comprising:
[0007] A test terminal is used to perform an automatic driving performance test on a vehicle to be tested; the test terminal includes a fault prompt module and a first communication unit, and
[0008] A vehicle to be tested, the vehicle to be tested comprising a fault detection module and a second communication unit; the second communication unit is used to send vehicle fault information detected by the fault detection module to the first communication unit;
[0009] Wherein, the fault prompt module of the test terminal is used to output prompt information according to the vehicle fault information received by the first communication unit.
[0010] Furthermore, the vehicle to be tested further includes: a fault resetting module, and the fault resetting module is used to reset the vehicle fault of the vehicle to be tested.
[0011] Optionally, the fault resetting module is in a manual control mode, or an automatic control mode controlled by a vehicle controller of the vehicle under test.
[0012] Furthermore, the test terminal further includes a first instruction transceiver unit, the first instruction transceiver unit is used to receive a fault reset instruction input by a user, and send the fault reset instruction to the second communication unit of the vehicle to be tested through the first communication unit;
[0013] The vehicle to be tested includes a vehicle controller, and the vehicle controller is used to control the fault reset module to reset the fault of the vehicle to be tested according to the fault reset instruction received by the second communication unit.
[0014] Furthermore, the vehicle fault information includes at least one of the following fault information of the vehicle to be tested:
[0015] Drive unit fault information, vehicle chassis fault information, automatic driving system fault information, battery fault information, body accessory fault information, sensor fault information.
[0016] Furthermore, the fault prompt module includes a first output unit and a second output unit, the first output unit outputs the prompt information in a first form, and the second output unit outputs the prompt information in a second form.
[0017] Furthermore, the test terminal further includes a second instruction transceiver unit, which is used to receive at least one test instruction input by a user, and send the at least one test instruction to the second communication unit of the vehicle to be tested through the first communication unit;
[0018] The vehicle to be tested includes a vehicle controller, and 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 send the working data information to the first communication unit through the second communication unit;
[0019] The test terminal further includes an output unit, and the output unit is used to output the working data information of the at least one working unit received by the first communication unit.
[0020] Furthermore, the test terminal further includes a third instruction transceiver unit, which is used to receive an emergency stop instruction input by a user, and send the emergency stop instruction to the second communication unit of the vehicle to be tested through the first communication unit;
[0021] The vehicle to be tested includes a vehicle controller, and the vehicle controller is used to control the vehicle to be tested to stop urgently according to the emergency stop instruction received by the second communication unit.
[0022] According to another aspect of an embodiment of the present disclosure, a test terminal is provided, the test terminal comprising: an automatic driving test unit, a communication unit and a fault prompt module, wherein:
[0023] The autonomous driving test unit is used to perform an autonomous driving performance test on the vehicle to be tested;
[0024] The communication unit is connected to the vehicle under test for receiving vehicle fault information of the vehicle under test;
[0025] The fault prompt module is used to output prompt information according to the vehicle fault information of the vehicle to be tested received by the communication unit.
[0026] Furthermore, the test terminal further includes: a first instruction transceiver unit, the first instruction transceiver unit being used to receive a fault reset instruction input by a user;
[0027] The communication unit is further used to send the fault reset instruction to the vehicle under test to control the vehicle under test to perform fault reset.
[0028] The autonomous driving vehicle testing system and testing terminal provided by the embodiments of the present disclosure can promptly prompt the faults of the autonomous driving vehicle on the testing terminal when performing performance testing on the autonomous driving vehicle, thereby ensuring the efficiency of the performance testing of the autonomous driving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] Figure 1 A schematic diagram of the structure of an autonomous driving vehicle testing system provided by an embodiment of the present disclosure;
[0030] Figure 2 A structural block diagram of an autonomous driving vehicle testing system provided by an embodiment of the present disclosure;
[0031] Figure 3 A display interface diagram of an autonomous driving vehicle testing system provided in an embodiment of the present disclosure Figure 1 ;
[0032] Figure 4 A display interface diagram of an autonomous driving vehicle testing system provided in an embodiment of the present disclosure Figure 2 ;
[0033] Figure 5 A structural block diagram of an autonomous driving vehicle testing system provided by another embodiment of the present disclosure;
[0034] Figure 6 A schematic diagram of the structure of an autonomous driving vehicle test terminal provided by an embodiment of the present disclosure;
[0035] Figure 7A schematic diagram of the structure of an autonomous driving vehicle test terminal provided in another embodiment of the present disclosure. DETAILED DESCRIPTION
[0036] 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.
[0037] In the field of autonomous driving, test terminals can be used to test autonomous vehicles, thereby completing the test of the vehicle under test without the need for staff to follow the vehicle.
[0038] However, the autonomous driving vehicle may malfunction during driving. When using the above test terminal to test the vehicle to be tested, it is necessary to ensure that the vehicle to be tested is in a fault-free state; if the vehicle to be tested is in a faulty state, it will cause unnecessary waste of time.
[0039] In the mining field, the vehicle end of the autonomous driving vehicle is usually equipped with a fault reset module or a fault reset button. When a fault occurs, the corresponding fault reset module or fault reset button can be controlled to reset the fault of the vehicle under test. However, when using a test terminal to test an autonomous driving vehicle, it is impossible to determine the fault status of the vehicle under test because there is no staff following the vehicle.
[0040] To solve the above problems, the embodiments of the present disclosure provide an autonomous driving vehicle testing system and a testing terminal, which can promptly prompt the fault status of the autonomous driving vehicle on the test terminal when performing performance testing on the autonomous driving vehicle, thereby ensuring the performance testing efficiency of the autonomous driving vehicle.
[0041] like Figure 1 , which is a schematic diagram of the structure of an automatic driving 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.
[0042] 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.
[0043] Specific reference Figure 2 , is a structural block diagram of an autonomous driving vehicle testing system according to an embodiment of the present disclosure.
[0044] like Figure 2As shown, the test terminal 10 includes a fault prompt module 101 and a first communication unit 102 ; the vehicle to be tested 30 includes a fault detection module 301 and a second communication unit 302 , wherein a communication connection is established between the first communication unit 102 and the second communication unit 103 .
[0045] The fault detection module 301 is used to provide at least one fault information of the vehicle to be tested 30, such as drive unit fault information, vehicle chassis fault information, automatic driving system fault information, battery fault information, vehicle body accessory fault information, sensor fault information, etc., and send the above fault information to the first communication unit 102 through the second communication unit 302. Afterwards, the fault prompt module 101 of the test terminal 10 gives a prompt according to the at least one fault information received by the first communication unit 102.
[0046] like Figure 3 , which is a schematic diagram of the prompt information output by the test terminal 10 when the RTK unit of the vehicle 20 to be tested is in a fault state. The "RTK" column of the display interface of the test terminal 10 is red, and a prompt box 32 pops up, prompting the message "Please note the obstacle: the service data receiving communication has timed out".
[0047] At this time, the user can send information to the vehicle under test 20 through the test terminal 10 to prompt the user of the vehicle under test 20 to manually control the fault reset button on the vehicle under test 20, or the user can send a command to the vehicle control unit (VCU) of the vehicle under test 20 through the test terminal 10, so as to control the vehicle control unit (VCU) to control the fault reset module on the vehicle under test 20 with the automatic driving control instruction to perform fault reset.
[0048] like Figure 4 As shown in FIG. 1 , it is a schematic diagram of the interface output by the test terminal 10 after the fault of the vehicle 20 to be tested is cleared according to the embodiment of the present disclosure. Figure 4 As shown, when the fault of the vehicle 20 to be tested is cleared, the "RTK" column does not appear red, and the prompt box 32 disappears.
[0049] The autonomous driving vehicle testing system of the disclosed embodiment can promptly prompt the fault information of the autonomous driving vehicle on the test terminal when performing performance testing on the autonomous driving vehicle, thereby ensuring the performance testing efficiency of the autonomous driving vehicle.
[0050] like Figure 5 FIG. 1 is a schematic diagram of the structure of an autonomous driving vehicle testing system according to another embodiment of the present disclosure. The system includes a test terminal 10 and a vehicle to be tested 30. It should be noted that: Figure 5 The same reference numerals in the figure denote Figure 1 The same technical features will not be repeated in the following.
[0051] like Figure 5 As shown, the test terminal 10 includes a fault prompt module 101 , a first communication unit 102 , a first instruction transceiver unit 103 , a second instruction transceiver unit 104 , a third instruction transceiver unit 105 and a display unit 106 .
[0052] The first instruction transceiver unit 103 is used to receive a fault reset instruction input by a user, and send the fault reset instruction to the second communication unit 302 of the vehicle to be tested 30 through the first communication unit 103;
[0053] The second instruction transceiver unit 104 is used to receive an emergency stop instruction input by a user, and send the emergency stop instruction to the second communication unit 302 of the vehicle to be tested 30 through the first communication unit 103;
[0054] The third instruction transceiver unit 105 is used to receive at least one test instruction input by a user, and send the at least one test instruction to the second communication unit 302 of the vehicle to be tested 20 through the first communication unit 130 .
[0055] For further reference, Figure 5 The vehicle to be tested 30 includes a fault detection module 301, a second communication unit 302, a vehicle control unit 303, an automatic driving module 304 and a fault resetting module 305.
[0056] Among them, the fault detection module 301 is used to detect the fault information of at least one working unit of the vehicle to be tested 20; when the fault detection module 304 detects the fault information, the second communication unit 302 sends the above fault information to the first communication unit 102, and then the fault prompt module 101 of the test terminal 10 is used to display the fault information on the display unit 106 according to the fault information received by the first communication unit 102.
[0057] Specifically, see again Figure 3 to Figure 4 Provide further explanation.
[0058] See also Figure 3 , is a schematic diagram of the prompt information output by the test terminal 10 when the vehicle 20 to be tested is in RTK signal failure. Figure 3 As shown, when the RTK signal of the vehicle to be tested 30 fails, the fault detection module 301 detects the RTK signal failure and sends the fault information to the first communication unit 102 through the second communication unit 302. Then, the fault prompt module 101 of the test terminal 10 generates prompt information based on the RTK signal failure information received by the first communication unit 102, and displays it in the display unit 106.
[0059] Specifically, when the vehicle 20 to be tested is in an RTK signal failure state, the “RTK” column of the display interface of the test terminal 10 is red, and a prompt box 32 pops up, prompting a message “Please note the obstacle: service data reception communication timeout”.
[0060] At this time, the first instruction transceiver unit 103 of the test terminal 10 can receive the fault reset instruction input by the user, and send the fault reset instruction to the second communication unit 302 of the vehicle under test 30 through the first communication unit 103. Afterwards, the vehicle control unit 303 of the vehicle under test 30 controls the fault reset module 305 to control the vehicle under test 20 to perform fault reset according to the fault reset instruction received by the second communication unit 302.
[0061] When the fault is cleared, the fault detection module 301 detects no fault information, and the second communication unit 302 sends the no fault information to the first communication unit 102 of the test terminal 10, and the prompt information of the fault prompt module 101 is eliminated, and the display Figure 4 The information shown in .
[0062] For further reference, Figure 3 to Figure 4 The display interface of the test terminal 10 also includes a "Stop" button 33. When the user clicks the "Stop" button 33, the second instruction transceiver unit 104 receives the emergency stop instruction input by the user, and sends the emergency stop instruction to the second communication unit 302 of the vehicle under test 30 through the first communication unit 103. Afterwards, the vehicle control unit 303 of the vehicle under test 30 controls the braking system of the vehicle under test 30 to perform emergency stop according to the emergency stop instruction received by the second communication unit 302.
[0063] For further reference, Figure 3 to Figure 4 The display interface of the test terminal 10 also includes a "start test" button 34. When the user clicks the "start test" button 34, the second instruction transceiver unit 105 receives the test instruction input by the user, and sends the test instruction to the second communication unit 302 of the vehicle to be tested 30 through the first communication unit 103. Afterwards, the vehicle control unit 303 of the vehicle to be tested 30 controls at least one working unit of the vehicle to be tested 30 to return the working data information of the working unit according to the test instruction received by the second communication unit 302, and sends the working data information of the at least one working unit to the test terminal 10 through the second communication unit 302, and displays it in the display unit 106.
[0064] 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 the working data information of the at least one working unit. For example, Figure 3 to Figure 4 As shown, the test includes testing of the control performance, wire control consistency, static performance and body accessory performance of the vehicle 30 to be tested.
[0065] In the embodiment of the present disclosure, the first communication unit 102 and the second communication unit 302 can be a controller area network (CAN) bus communication module, a Bluetooth communication module, or other applicable communication modules. Here, the first communication unit 102 can include only one communication module, or it can include multiple types of communication modules at the same time. Similarly, the second communication unit 302 can include only one communication module, or it can include multiple types of communication modules at the same time. The first communication unit 102 and the second communication unit 302 can 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.
[0066] An autonomous driving vehicle testing system according to an embodiment of the present disclosure obtains fault information of the autonomous driving vehicle through a test terminal, and sends an emergency stop command or at least one test command to the autonomous driving vehicle through the test terminal to control emergency braking of the autonomous driving vehicle, and can obtain working status information of at least one working unit of the autonomous driving vehicle, thereby testing the performance of the autonomous driving vehicle without the need for a driver or safety officer to follow the vehicle.
[0067] like Figure 6 , which is a schematic diagram of the structure of an autonomous driving vehicle test terminal provided in one embodiment of the present disclosure.
[0068] like Figure 6 As shown, the test terminal 60 includes a fault prompt module 601, a communication unit 602 and an automatic driving test unit 603. The communication unit 602 is connected to the automatic driving vehicle (not shown in the figure) for receiving information sent by the communication unit (not shown in the figure) of the automatic driving vehicle;
[0069] The fault prompt module 601 is used to output prompt information according to the fault information of the automatic driving vehicle received by the communication unit 602;
[0070] The autonomous driving test unit 603 is used to output performance information of at least one working unit of the autonomous driving vehicle based on the working status data of at least one working unit of the autonomous driving vehicle received by the communication unit 602.
[0071] like Figure 7 , which is a schematic diagram of the structure of an autonomous driving vehicle test terminal provided in another embodiment of the present disclosure. Figure 7 The same reference numerals in the figure denote Figure 6 The same technical features.
[0072] like Figure 7 As shown, the test terminal 60 includes a fault prompt module 601 , a communication unit 602 , a first instruction transceiver unit 603 , a second instruction transceiver unit 604 , a third instruction transceiver unit 605 , and a display unit 606 .
[0073] The communication unit 602 is connected to the autonomous driving vehicle (not shown in the figure) for receiving information sent by the autonomous driving vehicle;
[0074] The first instruction transceiver unit 603 is used to receive a fault reset instruction input by a user, and send the fault reset instruction to the autonomous driving vehicle through the communication unit 602 to control the autonomous driving vehicle to perform fault reset;
[0075] The second instruction transceiver unit 604 is used to receive an emergency stop instruction input by a user, and send the emergency stop instruction to the autonomous driving vehicle through the communication unit 602 to control the autonomous driving vehicle to stop urgently;
[0076] The third instruction transceiver unit 605 is used to receive at least one test instruction input by a user, and send the at least one test instruction to the autonomous driving vehicle through the communication unit 602 to test the performance of at least one working unit of the autonomous driving vehicle;
[0077] The display unit 606 is used to display the fault information received by the communication unit 602 and the working data information of at least one working unit on a display interface.
[0078] An autonomous driving vehicle test terminal according to an embodiment of the present disclosure is capable of acquiring and displaying faults of an autonomous driving vehicle; and is capable of sending an emergency stop instruction or at least one test instruction to the autonomous driving vehicle to control emergency braking of the autonomous driving vehicle, and acquiring working status information of at least one working unit of the autonomous driving vehicle, thereby testing the performance of the autonomous driving vehicle without the need for a driver or safety officer to follow the vehicle.
[0079] 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.
[0080] 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 autonomous driving vehicle testing system, characterized in that: The system comprises: A test terminal is used to perform an automatic driving performance test on a vehicle to be tested; the test terminal includes a fault prompt module and a first communication unit, and A vehicle to be tested, the vehicle to be tested comprising a fault detection module and a second communication unit; the second communication unit is used to send vehicle fault information detected by the fault detection module to the first communication unit; Wherein, the fault prompt module of the test terminal is used to output prompt information according to the vehicle fault information received by the first communication unit.
2. The automatic driving vehicle testing system according to claim 1, characterized in that: The vehicle to be tested further includes: a fault resetting module, and the fault resetting module is used to reset the vehicle fault of the vehicle to be tested.
3. The automatic driving vehicle testing system according to claim 2, characterized in that: The fault reset module is in a manual control mode or an automatic control mode controlled by a vehicle controller of the vehicle to be tested.
4. The automatic driving vehicle testing system according to claim 2, characterized in that: The test terminal further includes a first instruction transceiver unit, the first instruction transceiver unit is used to receive a fault reset instruction input by a user, and send the fault reset instruction to the second communication unit of the vehicle to be tested through the first communication unit; The vehicle to be tested includes a vehicle controller, and the vehicle controller is used to control the fault reset module to reset the fault of the vehicle to be tested according to the fault reset instruction received by the second communication unit.
5. The automatic driving vehicle testing system according to any one of claims 1 to 4, characterized in that: The vehicle fault information includes at least one of the following fault information of the vehicle to be tested: Drive unit fault information, vehicle chassis fault information, automatic driving system fault information, battery fault information, body accessory fault information, sensor fault information.
6. The automatic driving vehicle testing system according to any one of claims 1 to 4, characterized in that: The fault prompt module includes a first output unit and a second output unit, the first output unit outputs the prompt information in a first form, and the second output unit outputs the prompt information in a second form.
7. The automatic driving vehicle testing system according to claim 1, characterized in that: The test terminal further includes a second instruction transceiver unit, the second instruction transceiver unit is used to receive at least one test instruction input by a user, and send the at least one test instruction to the second communication unit of the vehicle to be tested through the first communication unit; The vehicle to be tested includes a vehicle controller, and 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 send the working data information to the first communication unit through the second communication unit; The test terminal further includes an output unit, and the output unit is used to output the working data information of the at least one working unit received by the first communication unit.
8. The automatic driving vehicle testing system according to claim 1, characterized in that: The test terminal further includes a third instruction transceiver unit, the third instruction transceiver unit is used to receive an emergency stop instruction input by a user, and send the emergency stop instruction to the second communication unit of the vehicle to be tested through the first communication unit; The vehicle to be tested includes a vehicle controller, and the vehicle controller is used to control the vehicle to be tested to stop urgently according to the emergency stop instruction received by the second communication unit.
9. A test terminal, characterized in that: The test terminal includes: an automatic driving test unit, a communication unit and a fault prompt module, wherein: The autonomous driving test unit is used to perform an autonomous driving performance test on the vehicle to be tested; The communication unit is connected to the vehicle under test for receiving vehicle fault information of the vehicle under test; The fault prompt module is used to output prompt information according to the vehicle fault information of the vehicle to be tested received by the communication unit.
10. The test terminal according to claim 9, characterized in that: The test terminal also includes: A first instruction transceiver unit, the first instruction transceiver unit is used to receive a fault reset instruction input by a user; The communication unit is further used to send the fault reset instruction to the vehicle under test to control the vehicle under test to perform fault reset.