技术领域technical field
本发明涉及一种驾驶技能辨识装置及方法，特别涉及一种基于驾驶模拟系统的驾驶技能辨识装置及方法。The present invention relates to a driving skill identification device and method, in particular to a driving simulation system-based driving skill identification device and method.
背景技术Background technique
近年来，随着智能汽车的不断发展，着眼于驾驶人驾驶技能、驾驶风格的研究也不断深入，越来越多的研究人员开始投身于驾驶人驾驶技能辨识方面的研究。考虑到真车存在损耗、浪费能源、存在危险性等因素，很多学者开始探究基于驾驶模拟器的驾驶人驾驶技能表征方法。In recent years, with the continuous development of smart cars, the research focusing on the driver's driving skills and driving style has also been deepened, and more and more researchers have begun to devote themselves to the research of driver's driving skill identification. Considering the loss, waste of energy, and danger of real cars, many scholars have begun to explore the driver's driving skills representation method based on driving simulators.
基于驾驶模拟系统的驾驶技能辨识装置可以在保障足够的安全性的前提下，基于算法模型分析驾驶数据，进而辨识驾驶人的驾驶技能情况。目前，基于具备多自由度动感座椅的驾驶模拟系统以及智能算法模型实现的可以达到一定辨识精度的驾驶技能辨识装置还未被研发出来，在汽车领域属于新的研发与创新高地。The driving skill identification device based on the driving simulation system can analyze the driving data based on the algorithm model under the premise of ensuring sufficient safety, and then identify the driver's driving skills. At present, a driving skill recognition device that can achieve a certain recognition accuracy based on a driving simulation system with a multi-degree-of-freedom dynamic seat and an intelligent algorithm model has not yet been developed, and it is a new research and innovation highland in the automotive field.
发明内容Contents of the invention
本发明的目的是为了辨识驾驶人的驾驶技能情况而提供的一种基于驾驶模拟系统的驾驶技能辨识装置及方法。The object of the present invention is to provide a driving skill identification device and method based on a driving simulation system for identifying the driving skill of a driver.
本发明提供的基于驾驶模拟系统的驾驶技能辨识装置包括有座椅、转向盘总成、踏板总成、支架、屏幕和工控机，其中转向盘总成固定在支架上，踏板总成装配在支架的下方，屏幕设在转向盘总成和支架的前方，座椅对应转向盘总成设置，座椅的下方设置有连接板和底板，连接板顶面与座椅底部之间装配有电动缸，连接板的后侧与底板的后端板之间也装配有电动缸，前述的电动缸均与电动缸控制系统相连接并由电动缸控制系统控制工作，转向盘总成、踏板总成、屏幕和电动缸控制系统与工控机相连接，转向盘总成、踏板总成、屏幕、工控机和电动缸控制系统均由同一电源提供电力，连接板的底面与底板顶面之间装配有万向轮。The driving skill identification device based on the driving simulation system provided by the present invention includes a seat, a steering wheel assembly, a pedal assembly, a bracket, a screen and an industrial computer, wherein the steering wheel assembly is fixed on the bracket, and the pedal assembly is assembled on the bracket Below, the screen is set in front of the steering wheel assembly and the bracket, the seat is set corresponding to the steering wheel assembly, a connecting plate and a bottom plate are set under the seat, and an electric cylinder is installed between the top surface of the connecting plate and the bottom of the seat. An electric cylinder is also installed between the rear side of the connecting plate and the rear end plate of the bottom plate. The aforementioned electric cylinders are connected with the electric cylinder control system and controlled by the electric cylinder control system. The steering wheel assembly, pedal assembly, screen It is connected with the electric cylinder control system and the industrial computer. The steering wheel assembly, the pedal assembly, the screen, the industrial computer and the electric cylinder control system are all powered by the same power supply. wheel.
支架的顶面上设置有音响，音响通过USB线与工控机相连接，音响用于模拟真实驾驶过程中的声音。A sound is arranged on the top surface of the support, and the sound is connected with the industrial computer through a USB cable, and the sound is used to simulate the sound in the real driving process.
转向盘总成与工控机之间由CAN线相连接，转向盘总成采用SENSO-Wheel转向盘总成，该转向盘总成提供自由可编程调节的刚度、阻尼和扭矩，能够实现转向的驾驶感觉体验，转向盘总成内部集成设置有转向盘转角传感器，转角传感器采集转向盘转角信号，转角信号以CAN报文形式发送到工控机，供工控机内部的车辆动力学模型运行使用。The steering wheel assembly and the industrial computer are connected by the CAN line. The steering wheel assembly adopts the SENSO-Wheel steering wheel assembly. The steering wheel assembly provides freely programmable adjustment of stiffness, damping and torque, enabling steering driving Feeling experience, the steering wheel assembly is integrated with a steering wheel angle sensor, which collects the steering wheel angle signal, and the angle signal is sent to the industrial computer in the form of CAN messages for the operation of the vehicle dynamics model inside the industrial computer.
踏板总成与工控机之间由USB线相连接，踏板总成采用G29系列踏板组件，从右至左依次布置有加速踏板、制动踏板和离合踏板，加速踏板和制动踏板内部都集成设置有各自的踏板位移传感器，位移传感器采集得到对应的踏板行程信号发送至工控机，供工控机内部的车辆动力学模型运行使用。The pedal assembly and the industrial computer are connected by a USB cable. The pedal assembly adopts G29 series pedal components, and the accelerator pedal, brake pedal and clutch pedal are arranged in sequence from right to left, and the accelerator pedal and brake pedal are integrated. There are respective pedal displacement sensors, and the corresponding pedal stroke signals collected by the displacement sensors are sent to the industrial computer for the operation of the vehicle dynamics model inside the industrial computer.
屏幕为环形屏幕，环形屏幕采用三台NEC NP4100+主流工程型投影仪进行投影，每台投影仪组成一个通道，以水平跨越的方式生成三通道拼接显示效果，三路VGA计算机信号提供显示内容支持，相邻通道的NEC NP4100+主流工程型投影仪之间采用硬件非线性几何矫正技术，最终实现了在环形屏幕上的良好投影效果。The screen is a circular screen, and the circular screen is projected by three NEC NP4100+ mainstream engineering projectors. Each projector forms a channel to generate a three-channel mosaic display effect in a horizontal spanning manner. Three VGA computer signals provide display content support. The NEC NP4100+ mainstream engineering projectors in adjacent channels adopt hardware nonlinear geometric correction technology, and finally achieve a good projection effect on the circular screen.
电动缸控制系统中包括有PID控制器、D/A卡和伺服放大器，工控机产生速度控制指令通过信号线传递到PID控制器，PID控制器基于自身的PID算法进行解算，获得速度信号并将信号传递给D/A卡，D/A卡将速度信号转化为电压信号传递给伺服控制器，伺服控制器最终控制电动缸的运动。The electric cylinder control system includes a PID controller, D/A card and servo amplifier. The speed control command generated by the industrial computer is transmitted to the PID controller through the signal line. The PID controller performs calculation based on its own PID algorithm, obtains the speed signal and The signal is transmitted to the D/A card, and the D/A card converts the speed signal into a voltage signal and transmits it to the servo controller, and the servo controller finally controls the movement of the electric cylinder.
连接板顶面与座椅底部之间装配的电动缸对称设置有两组四个，连接板的后侧与底板的后端板之间装配的电动缸设置有两个。Two groups of four electric cylinders are arranged symmetrically between the top surface of the connecting plate and the bottom of the seat, and two electric cylinders are assembled between the rear side of the connecting plate and the rear end plate of the bottom plate.
连接板的底面与底板顶面之间装配的万向轮设置有四个。There are four universal wheels assembled between the bottom surface of the connecting plate and the top surface of the bottom plate.
工控机内的主板采用研华主板aimb781，工控机的显卡为GTX1070，工控机的CPU为i7，工控机还连接有显示器，工控机内设置有驾驶技能辨识系统，驾驶技能辨识系统是基于计算机软件实现的，具体涉及的软件有PanoSim和MATLAB/Simulink，PanoSim是为解决现代智能汽车与汽车智能化技术与产品开发、测试与验证面临的诸多挑战而提出的一款汽车虚拟仿真平台，能够仿真车辆对驾驶员、路面及空气动力学输入的响应，Simulink是MATLAB中的一种可视化仿真工具，能够实现动态系统建模、仿真和分析的功能，Simulink提供一个动态系统建模、仿真和综合分析的集成环境。The motherboard in the industrial computer adopts Advantech motherboard aimb781, the graphics card of the industrial computer is GTX1070, the CPU of the industrial computer is i7, and the industrial computer is also connected to a monitor. The driving skill recognition system is installed in the industrial computer, and the driving skill recognition system is realized based on computer software. Yes, the specific software involved are PanoSim and MATLAB/Simulink. PanoSim is an automotive virtual simulation platform proposed to solve many challenges faced by modern smart cars and automotive intelligent technology and product development, testing and verification. The response of the driver, road surface and aerodynamic input, Simulink is a visual simulation tool in MATLAB, which can realize the functions of dynamic system modeling, simulation and analysis, Simulink provides an integration of dynamic system modeling, simulation and comprehensive analysis surroundings.
本发明提供的基于驾驶模拟系统的驾驶技能辨识方法，其方法如下所述：The driving skill identification method based on the driving simulation system provided by the present invention is as follows:
步骤一、设已知训练集：Step 1. Set up a known training set:
T＝{(x1，y1)，...，(xm，ym)}∈(X×Y)mT={(x1 , y1 ),..., (xm , ym )}∈(X×Y)m
其中，xi∈X＝Rn，yi∈Y＝{1，-1}(i＝1，2，...，m)；Xi对应代表数名被测驾驶人的驾驶数据，yi代表驾驶人的驾驶技能标签，1对应表示专家型驾驶人，-1对应表示新手型驾驶人,Xi为特征向量；Among them, xi ∈ X = Rn , yi ∈ Y = {1, -1} (i = 1, 2, ..., m); Xi corresponds to the driving data representing several tested drivers, yi represents the driver's driving skill label, 1 corresponds to an expert driver, -1 corresponds to a novice driver,Xi is a feature vector;
步骤二、选取适当的核函数K(x,x＇)和适当的参数C，构造并求解最优化问题：Step 2. Select an appropriate kernel function K(x,x') and an appropriate parameter C to construct and solve the optimization problem:
得到最优解：Get the optimal solution:
选取α*的一个正分量0＜αj*＜C，并据此计算阈值：Select a positive component of α* 0<αj* <C, and calculate the threshold accordingly:
构造决策函数：Construct a decision function:
至此，则完成了驾驶技能辨识模型的训练；So far, the training of the driving skill identification model has been completed;
步骤三、对应于未知驾驶技能的驾驶人，通过输入其驾驶过双移线工况的驾驶数据，通过决策函数的输出值来判断该驾驶人的驾驶技能情况，若决策函数f(x)值为1，则认为该驾驶人的驾驶技能表现为专家型,若f(x)值为-1，则认为该驾驶人的驾驶技能表现为新手型；Step 3: For the driver whose driving skill is unknown, by inputting the driving data of the double-lane-shifting condition, the output value of the decision function is used to judge the driving skill of the driver. If the value of the decision function f(x) is If f(x) is 1, the driver’s driving skills are considered to be expert; if the value of f(x) is -1, the driver’s driving skills are considered to be novice;
步骤四、当驾驶人坐在模拟驾驶器的座椅上时，六个电动缸会做出不同的动作，以模拟真实车辆驾驶过程中产生的俯仰、侧倾、横摆的运动，驾驶人操作转向盘、踏板，驾驶驶过双移线工况，驾驶技能辨识系统分析驾驶数据进而辨识驾驶人驾驶技能情况，即新手型或专家型。Step 4. When the driver sits on the seat of the simulated driver, the six electric cylinders will make different actions to simulate the pitch, roll and yaw movements generated during the driving process of the real vehicle. Steering wheel, pedals, driving through double-lane shifting conditions, the driving skill identification system analyzes the driving data and then identifies the driver's driving skills, that is, novice or expert.
本发明的工作原理：Working principle of the present invention:
本发明提供的驾驶技能辨识装置中座椅的下方设置有六个电动缸，六个电动缸在电动缸控制系统和工控机的控制下模仿车辆的前后、横摆运动，使驾驶者产生真实的驾驶感觉，并且座椅的下方还设置有万向轮，能够更好地实现前后、横摆运动。In the driving skill identification device provided by the present invention, six electric cylinders are arranged under the seat, and the six electric cylinders imitate the front, rear and yaw movements of the vehicle under the control of the electric cylinder control system and the industrial computer, so that the driver can generate real Driving feeling, and there are universal wheels under the seat, which can better realize front and rear and lateral movement.
转向盘总成内部集成设置有转向盘转角传感器，转角传感器采集转向盘转角信号，转角信号以CAN报文形式发送到工控机，供工控机内部的车辆动力学模型运行使用。踏板总成与工控机之间由USB线相连接，从右至左依次布置有加速踏板、制动踏板和离合踏板，加速踏板和制动踏板内部都集成设置有各自的踏板位移传感器，位移传感器采集得到对应的踏板行程信号发送至工控机，供工控机内部的车辆动力学模型运行使用，电动缸控制系统中包括有PID控制器、D/A卡和伺服放大器，工控机产生速度控制指令通过信号线传递到PID控制器，PID控制器基于自身的PID算法进行解算，获得速度信号并将信号传递给D/A卡，D/A卡将速度信号转化为电压信号传递给伺服控制器，伺服控制器最终控制电动缸的运动。工控机内设置有驾驶技能辨识系统，驾驶技能辨识系统是基于计算机软件实现的，具体涉及的软件有PanoSim和MATLAB/Simulink，PanoSim是为解决现代智能汽车与汽车智能化技术与产品开发、测试与验证面临的诸多挑战而提出的一款汽车虚拟仿真平台，能够仿真车辆对驾驶员、路面及空气动力学输入的响应，Simulink是MATLAB中的一种可视化仿真工具，能够实现动态系统建模、仿真和分析的功能，Simulink提供一个动态系统建模、仿真和综合分析的集成环境。屏幕为环形屏幕，环形屏幕采用三台NEC NP4100+主流工程型投影仪进行投影，每台投影仪组成一个通道，以水平跨越的方式生成三通道拼接显示效果，三路VGA计算机信号提供显示内容支持，相邻通道的NEC NP4100+主流工程型投影仪之间采用硬件非线性几何矫正技术，最终实现了在环形屏幕上的良好投影效果。The steering wheel assembly is integrated with a steering wheel angle sensor, which collects the steering wheel angle signal, which is sent to the industrial computer in the form of CAN messages for the operation of the vehicle dynamics model inside the industrial computer. The pedal assembly and the industrial computer are connected by a USB cable. Acceleration pedals, brake pedals and clutch pedals are arranged in sequence from right to left. The accelerator pedals and brake pedals are integrated with their own pedal displacement sensors. Displacement sensors The corresponding pedal stroke signal collected is sent to the industrial computer for the operation of the vehicle dynamics model inside the industrial computer. The electric cylinder control system includes a PID controller, D/A card and servo amplifier. The industrial computer generates speed control instructions through The signal line is transmitted to the PID controller, and the PID controller performs calculation based on its own PID algorithm, obtains the speed signal and transmits the signal to the D/A card, and the D/A card converts the speed signal into a voltage signal and transmits it to the servo controller. The servo controller ultimately controls the motion of the electric cylinder. The industrial computer is equipped with a driving skill recognition system, which is realized based on computer software. The specific software involved is PanoSim and MATLAB/Simulink. A vehicle virtual simulation platform is proposed to verify the many challenges faced, which can simulate the response of the vehicle to the driver, road surface and aerodynamic input. Simulink is a visual simulation tool in MATLAB, which can realize dynamic system modeling and simulation and analysis functions, Simulink provides an integrated environment for dynamic system modeling, simulation and comprehensive analysis. The screen is a circular screen, and the circular screen is projected by three NEC NP4100+ mainstream engineering projectors. Each projector forms a channel to generate a three-channel mosaic display effect in a horizontal spanning manner. Three VGA computer signals provide display content support. The NEC NP4100+ mainstream engineering projectors in adjacent channels adopt hardware nonlinear geometric correction technology, and finally achieve a good projection effect on the circular screen.
本发明的有益效果：Beneficial effects of the present invention:
本发明提供的一种基于驾驶模拟系统的驾驶技能辨识装置及方法，各组成部分之间连接可靠，检测维修十分方便；在基于各个部件合理布局的条件下，有效的提供了真实汽车驾驶过程中的各个运动姿态的多方位模拟。实现了基于双移线工况的驾驶人驾驶技能辨识。为科研、教学提供了新型的工具手段，在实现驾驶感觉贴切模拟的同时也降低了实现的成本。The driving skill identification device and method based on the driving simulation system provided by the present invention have reliable connections between components and are very convenient for detection and maintenance; Multi-directional simulation of each motion posture. The identification of driver's driving skills based on double lane-changing conditions is realized. It provides a new type of tool for scientific research and teaching, and reduces the cost of realization while realizing the appropriate simulation of driving feeling.
附图说明Description of drawings
图1为本发明所述装置整体结构示意图。Fig. 1 is a schematic diagram of the overall structure of the device of the present invention.
图2为本发明所述座椅系统结构示意图。Fig. 2 is a structural schematic diagram of the seat system of the present invention.
图3为本发明所采用的双移线工况示意图。Fig. 3 is a schematic diagram of the double line shifting working condition adopted in the present invention.
图4为本发明所述电动缸控制系统连接结构示意图。Fig. 4 is a schematic diagram of the connection structure of the electric cylinder control system of the present invention.
1、座椅 2、转向盘总成 3、踏板总成 4、支架 5、屏幕1. Seat 2. Steering wheel assembly 3. Pedal assembly 4. Bracket 5. Screen
6、工控机 7、连接板 8、底板 9、电动缸 10、电动缸控制系统6. Industrial computer 7. Connection plate 8. Base plate 9. Electric cylinder 10. Electric cylinder control system
11、万向轮 12、音响 13、加速踏板 14、制动踏板 15、离合踏板11. Universal wheel 12. Audio 13. Acceleration pedal 14. Brake pedal 15. Clutch pedal
16、显示器。16. Display.
具体实施方式Detailed ways
请参阅图1至图4所示：Please refer to Figure 1 to Figure 4:
本发明提供的基于驾驶模拟系统的驾驶技能辨识装置包括有座椅1、转向盘总成2、踏板总成3、支架4、屏幕5和工控机6，其中转向盘总成2固定在支架4上，踏板总成3装配在支架4的下方，屏幕5设在转向盘总成2和支架4的前方，座椅1对应转向盘总成2设置，座椅1的下方设置有连接板7和底板8，连接板7顶面与座椅1底部之间装配有电动缸9，连接板7的后侧与底板8的后端板之间也装配有电动缸9，前述的电动缸9均与电动缸控制系统10相连接并由电动缸控制系统10控制工作，转向盘总成2、踏板总成3、屏幕5和电动缸控制系统10与工控机6相连接，转向盘总成2、踏板总成3、屏幕5、工控机6和电动缸控制系统10均由同一电源提供电力，连接板7的底面与底板8顶面之间装配有万向轮11。The driving skill identification device based on the driving simulation system provided by the present invention includes a seat 1, a steering wheel assembly 2, a pedal assembly 3, a bracket 4, a screen 5 and an industrial computer 6, wherein the steering wheel assembly 2 is fixed on the bracket 4 Above, the pedal assembly 3 is assembled under the bracket 4, the screen 5 is arranged in front of the steering wheel assembly 2 and the bracket 4, the seat 1 is set corresponding to the steering wheel assembly 2, and the connecting plate 7 and the Base plate 8, electric cylinder 9 is equipped between the top surface of connecting plate 7 and the bottom of seat 1, and electric cylinder 9 is also equipped between the rear side of connecting plate 7 and the rear end plate of base plate 8, and aforementioned electric cylinder 9 is all connected with Electric cylinder control system 10 is connected and controlled by electric cylinder control system 10. Steering wheel assembly 2, pedal assembly 3, screen 5 and electric cylinder control system 10 are connected with industrial computer 6. Steering wheel assembly 2, pedal Assembly 3 , screen 5 , industrial computer 6 and electric cylinder control system 10 are all powered by the same power supply, and universal wheels 11 are assembled between the bottom surface of connecting plate 7 and the top surface of base plate 8 .
支架4的顶面上设置有音响12，音响12通过USB线与工控机6相连接，音响12用于模拟真实驾驶过程中的声音。The top surface of the support 4 is provided with a sound 12, the sound 12 is connected with the industrial computer 6 through a USB line, and the sound 12 is used to simulate the sound in the real driving process.
转向盘总成2与工控机6之间由CAN线相连接，转向盘总成2采用SENSO-Wheel转向盘总成，该转向盘总成2提供自由可编程调节的刚度、阻尼和扭矩，能够实现转向的驾驶感觉体验，转向盘总成2内部集成设置有转向盘转角传感器，转角传感器采集转向盘转角信号，转角信号以CAN报文形式发送到工控机6，供工控机6内部的车辆动力学模型运行使用。The steering wheel assembly 2 and the industrial computer 6 are connected by a CAN line. The steering wheel assembly 2 adopts the SENSO-Wheel steering wheel assembly. The steering wheel assembly 2 provides freely programmable adjustable stiffness, damping and torque, which can To realize the driving feeling experience of steering, the steering wheel assembly 2 is integrated with a steering wheel angle sensor. The angle sensor collects the steering wheel angle signal, and the angle signal is sent to the industrial computer 6 in the form of a CAN message for the vehicle power inside the industrial computer 6. The learning model is run and used.
踏板总成3与工控机6之间由USB线相连接，踏板总成3采用G29系列踏板组件，从右至左依次布置有加速踏板13、制动踏板14和离合踏板15，加速踏板13和制动踏板14内部都集成设置有各自的踏板位移传感器，位移传感器采集得到对应的踏板行程信号发送至工控机6，供工控机6内部的车辆动力学模型运行使用。The pedal assembly 3 and the industrial computer 6 are connected by a USB cable. The pedal assembly 3 adopts the G29 series pedal assembly, and the accelerator pedal 13, the brake pedal 14 and the clutch pedal 15 are arranged in sequence from right to left, and the accelerator pedal 13 and Brake pedals 14 are integrated with their own pedal displacement sensors, and the corresponding pedal travel signals collected by the displacement sensors are sent to the industrial computer 6 for use by the vehicle dynamics model inside the industrial computer 6 .
屏幕5为环形屏幕，环形屏幕采用三台NEC NP4100+主流工程型投影仪进行投影，每台投影仪组成一个通道，以水平跨越的方式生成三通道拼接显示效果，三路VGA计算机信号提供显示内容支持，相邻通道的NEC NP4100+主流工程型投影仪之间采用硬件非线性几何矫正技术，最终实现了在环形屏幕上的良好投影效果。Screen 5 is a circular screen. The circular screen is projected by three NEC NP4100+ mainstream engineering projectors. Each projector forms a channel to generate a three-channel mosaic display effect in a horizontal spanning manner. Three VGA computer signals provide display content support , NEC NP4100+ mainstream engineering projectors in adjacent channels adopt hardware nonlinear geometric correction technology, and finally achieve a good projection effect on the circular screen.
电动缸控制系统10中包括有PID控制器、D/A卡和伺服放大器，工控机6产生速度控制指令通过信号线传递到PID控制器，PID控制器基于自身的PID算法进行解算，获得速度信号并将信号传递给D/A卡，D/A卡将速度信号转化为电压信号传递给伺服控制器，伺服控制器最终控制电动缸9的运动。The electric cylinder control system 10 includes a PID controller, a D/A card and a servo amplifier. The speed control command generated by the industrial computer 6 is transmitted to the PID controller through the signal line. The PID controller performs calculation based on its own PID algorithm to obtain the speed Signal and transmit the signal to the D/A card, the D/A card converts the speed signal into a voltage signal and transmits it to the servo controller, and the servo controller finally controls the movement of the electric cylinder 9.
连接板7顶面与座椅1底部之间装配的电动缸9对称设置有两组四个，连接板7的后侧与底板8的后端板之间装配的电动缸9设置有两个。The electric cylinder 9 assembled between the top surface of the connecting plate 7 and the bottom of the seat 1 is symmetrically arranged in two groups of four, and there are two electric cylinders 9 assembled between the rear side of the connecting plate 7 and the rear end plate of the base plate 8 .
连接板7的底面与底板8顶面之间装配的万向轮11设置有四个。There are four universal wheels 11 assembled between the bottom surface of the connecting plate 7 and the top surface of the bottom plate 8 .
工控机6内的主板采用研华主板aimb781，工控机6的显卡为GTX1070，工控机6的CPU为i7，工控机6还连接有显示器16，工控机6内设置有驾驶技能辨识系统，驾驶技能辨识系统是基于计算机软件实现的，具体涉及的软件有PanoSim和MATLAB/Simulink，PanoSim是为解决现代智能汽车与汽车智能化技术与产品开发、测试与验证面临的诸多挑战而提出的一款汽车虚拟仿真平台，能够仿真车辆对驾驶员、路面及空气动力学输入的响应，Simulink是MATLAB中的一种可视化仿真工具，能够实现动态系统建模、仿真和分析的功能，Simulink提供一个动态系统建模、仿真和综合分析的集成环境。The motherboard in the industrial computer 6 adopts Advantech motherboard aimb781, the graphics card of the industrial computer 6 is GTX1070, the CPU of the industrial computer 6 is i7, the industrial computer 6 is also connected to a display 16, and the industrial computer 6 is equipped with a driving skill recognition system. The system is implemented based on computer software, and the software involved specifically includes PanoSim and MATLAB/Simulink. PanoSim is a car virtual simulation proposed to solve many challenges faced by modern smart cars and car intelligent technology and product development, testing and verification The platform can simulate the response of the vehicle to the driver, road surface and aerodynamic input. Simulink is a visual simulation tool in MATLAB, which can realize the functions of dynamic system modeling, simulation and analysis. Simulink provides a dynamic system modeling, An integrated environment for simulation and synthesis analysis.
本发明提供的基于驾驶模拟系统的驾驶技能辨识方法，其方法如下所述：The driving skill identification method based on the driving simulation system provided by the present invention is as follows:
步骤一、设已知训练集：Step 1. Set up a known training set:
T＝{(x1，y1)，...，(xm，ym)}∈(X×Y)mT={(x1 , y1 ),..., (xm , ym )}∈(X×Y)m
其中，xi∈X＝Rn，yi∈Y＝{1，-1}(i＝1，2，...，m)；Xi对应代表数名被测驾驶人的驾驶数据，yi代表驾驶人的驾驶技能标签，1对应表示专家型驾驶人，-1对应表示新手型驾驶人,Xi为特征向量；Among them, xi ∈ X = Rn , yi ∈ Y = {1, -1} (i = 1, 2, ..., m); Xi corresponds to the driving data representing several tested drivers, yi represents the driver's driving skill label, 1 corresponds to an expert driver, -1 corresponds to a novice driver,Xi is a feature vector;
步骤二、选取适当的核函数K(x,x＇)和适当的参数C，构造并求解最优化问题：Step 2. Select an appropriate kernel function K(x,x') and an appropriate parameter C to construct and solve the optimization problem:
得到最优解：Get the optimal solution:
选取α*的一个正分量0＜αj*＜C，并据此计算阈值：Select a positive component of α* 0<αj* <C, and calculate the threshold accordingly:
构造决策函数：Construct a decision function:
至此，则完成了驾驶技能辨识模型的训练；So far, the training of the driving skill identification model has been completed;
步骤三、对应于未知驾驶技能的驾驶人，通过输入其驾驶过双移线工况的驾驶数据，通过决策函数的输出值来判断该驾驶人的驾驶技能情况，若决策函数f(x)值为1，则认为该驾驶人的驾驶技能表现为专家型,若f(x)值为-1，则认为该驾驶人的驾驶技能表现为新手型；Step 3: For the driver whose driving skill is unknown, by inputting the driving data of the double-lane-shifting condition, the output value of the decision function is used to judge the driving skill of the driver. If the value of the decision function f(x) is If f(x) is 1, the driver’s driving skills are considered to be expert; if the value of f(x) is -1, the driver’s driving skills are considered to be novice;
步骤四、当驾驶人坐在模拟驾驶器的座椅1上时，六个电动缸9会做出不同的动作，以模拟真实车辆驾驶过程中产生的俯仰、侧倾、横摆的运动，驾驶人操作转向盘、踏板，驾驶驶过双移线工况，驾驶技能辨识系统分析驾驶数据进而辨识驾驶人驾驶技能情况，即新手型或专家型。Step 4. When the driver sits on the seat 1 of the simulated driver, the six electric cylinders 9 will make different actions to simulate the pitch, roll, and yaw motions generated during the driving process of the real vehicle. Humans operate the steering wheel and pedals, and drive through double-lane shifting conditions. The driving skill identification system analyzes the driving data and then identifies the driver's driving skills, that is, novice or expert.
本发明的工作原理：Working principle of the present invention:
本发明提供的驾驶技能辨识装置中座椅1的下方设置有六个电动缸9，六个电动缸9在电动缸控制系统10和工控机6的控制下模仿车辆的前后、横摆运动，使驾驶者产生真实的驾驶感觉，并且座椅1的下方还设置有万向轮11，能够更好地实现前后、横摆运动。In the driving skill recognition device provided by the present invention, six electric cylinders 9 are arranged under the seat 1, and the six electric cylinders 9 imitate the forward and backward movement and lateral movement of the vehicle under the control of the electric cylinder control system 10 and the industrial computer 6, so that The driver produces a real driving feeling, and the bottom of the seat 1 is also provided with a universal wheel 11, which can better realize front and rear and lateral movement.
转向盘总成2内部集成设置有转向盘转角传感器，转角传感器采集转向盘转角信号，转角信号以CAN报文形式发送到工控机6，供工控机6内部的车辆动力学模型运行使用。踏板总成3与工控机6之间由USB线相连接，从右至左依次布置有加速踏板13、制动踏板14和离合踏板15，加速踏板13和制动踏板14内部都集成设置有各自的踏板位移传感器，位移传感器采集得到对应的踏板行程信号发送至工控机6，供工控机6内部的车辆动力学模型运行使用，电动缸控制系统10中包括有PID控制器、D/A卡和伺服放大器，工控机6产生速度控制指令通过信号线传递到PID控制器，PID控制器基于自身的PID算法进行解算，获得速度信号并将信号传递给D/A卡，D/A卡将速度信号转化为电压信号传递给伺服控制器，伺服控制器最终控制电动缸9的运动。工控机6内设置有驾驶技能辨识系统，驾驶技能辨识系统是基于计算机软件实现的，具体涉及的软件有PanoSim和MATLAB/Simulink，PanoSim是为解决现代智能汽车与汽车智能化技术与产品开发、测试与验证面临的诸多挑战而提出的一款汽车虚拟仿真平台，能够仿真车辆对驾驶员、路面及空气动力学输入的响应，Simulink是MATLAB中的一种可视化仿真工具，能够实现动态系统建模、仿真和分析的功能，Simulink提供一个动态系统建模、仿真和综合分析的集成环境。屏幕5为环形屏幕，环形屏幕采用三台NECNP4100+主流工程型投影仪进行投影，每台投影仪组成一个通道，以水平跨越的方式生成三通道拼接显示效果，三路VGA计算机信号提供显示内容支持，相邻通道的NEC NP4100+主流工程型投影仪之间采用硬件非线性几何矫正技术，最终实现了在环形屏幕上的良好投影效果。The steering wheel assembly 2 is integrated with a steering wheel angle sensor. The angle sensor collects the steering wheel angle signal, and the angle signal is sent to the industrial computer 6 in the form of a CAN message for the operation of the vehicle dynamics model inside the industrial computer 6 . The pedal assembly 3 and the industrial computer 6 are connected by a USB cable, and an accelerator pedal 13, a brake pedal 14, and a clutch pedal 15 are sequentially arranged from right to left, and the accelerator pedal 13 and the brake pedal 14 are integrated with respective The pedal displacement sensor, the displacement sensor collects the corresponding pedal stroke signal and sends it to the industrial computer 6 for the operation of the vehicle dynamics model inside the industrial computer 6. The electric cylinder control system 10 includes a PID controller, a D/A card and The servo amplifier and industrial computer 6 generate speed control instructions and transmit them to the PID controller through the signal line. The signal is converted into a voltage signal and transmitted to the servo controller, and the servo controller finally controls the movement of the electric cylinder 9 . The driving skill recognition system is set in the industrial computer 6, and the driving skill recognition system is realized based on computer software. The specific software involved includes PanoSim and MATLAB/Simulink. A vehicle virtual simulation platform is proposed for the many challenges faced by the verification, which can simulate the response of the vehicle to the driver, road surface and aerodynamic input. Simulink is a visual simulation tool in MATLAB, which can realize dynamic system modeling, Simulation and analysis functions, Simulink provides an integrated environment for dynamic system modeling, simulation and comprehensive analysis. Screen 5 is a circular screen, and the circular screen is projected by three NECNP4100+ mainstream engineering projectors. Each projector forms a channel to generate a three-channel mosaic display effect in a horizontal spanning manner. Three VGA computer signals provide display content support. The NEC NP4100+ mainstream engineering projectors in adjacent channels adopt hardware nonlinear geometric correction technology, and finally achieve a good projection effect on the circular screen.
参阅图3，驾驶技能辨识工况选择双移线工况。试验时，每名被测驾驶人在驾驶模拟器上把模拟车辆加速到80km/h，之后驶入测试的双移线道路进行双移线驾驶操作，车辆驶出双移线工况后被测驾驶人踩动制动踏板14，直至车辆保持静止。图中涉及的尺寸参数：L1＝70m，L2＝30m，L3＝20m，L4＝30m，L5＝50m，L6＝4m，L7＝3.5m，圆点对应表示路桩的位置。本试验共计选取50名被测驾驶人(男女比例为1：1)进行双移线工况驾驶数据采集，根据被测驾驶人的驾龄长短、驾驶熟练程度等通过主、客观测评判断被测驾驶人的驾驶技能熟练程度，最终确定50名被测驾驶人中驾驶技能表现为专家型共计28名，驾驶技能表现为新手型共计22名。采集的驾驶数据包括有：车辆平均速度、车辆平均加速度、转向盘转角标准差、车辆最大加速度、车辆最大横摆角速度共计5个参数作为用于驾驶人驾驶技能辨识的支持向量机模型输入特征参数。Referring to Fig. 3, the driving skill recognition working condition selects the double lane changing working condition. During the test, each driver under test accelerated the simulated vehicle to 80km/h on the driving simulator, and then drove into the test double lane change road for double lane change driving operation. The vehicle was tested after driving out of the double lane change condition. The driver depresses the brake pedal 14 until the vehicle remains stationary. The size parameters involved in the figure: L1 = 70m, L2 = 30m, L3 = 20m, L4 = 30m, L5 = 50m, L6 = 4m, L7 = 3.5m, and the dots correspond to road piles Location. In this test, a total of 50 tested drivers (male to female ratio of 1:1) were selected to collect driving data under double-lane shifting conditions. According to the length of driving experience and driving proficiency of the tested drivers, the tested drivers were judged through subjective and objective evaluations. According to the proficiency of driving skills, among the 50 tested drivers, 28 were experts in driving skills, and 22 were novice drivers in driving skills. The collected driving data include: vehicle average speed, vehicle average acceleration, steering wheel angle standard deviation, vehicle maximum acceleration, and vehicle maximum yaw rate. A total of 5 parameters are used as the input feature parameters of the support vector machine model for driver's driving skill identification. .
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| CN201711119070.9ACN107886798B (en) | 2017-11-14 | 2017-11-14 | Driving skill identification device and method based on driving simulation system |
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| CN201711119070.9ACN107886798B (en) | 2017-11-14 | 2017-11-14 | Driving skill identification device and method based on driving simulation system |
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| CN201711119070.9AActiveCN107886798B (en) | 2017-11-14 | 2017-11-14 | Driving skill identification device and method based on driving simulation system |
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