CN115685957A - Simulation test method and device for vehicle control algorithm and electronic equipment - Google Patents
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及自动驾驶算法仿真技术领域，尤其涉及一种车辆控制算法的仿真测试方法及装置、电子设备。The invention relates to the technical field of automatic driving algorithm simulation, in particular to a simulation test method and device for a vehicle control algorithm, and electronic equipment.
背景技术Background technique
编队行驶具有节能降耗、减少人力、安全高效等优势，近几年发展比较迅速，是未来公路运输车辆发展的一个方向。实现编队行驶的一项关键技术得对车辆控制算法，由于实际道路试验具有周期长、风险高、代价大等缺点，通过仿真测试可有效提升算法改进效率、降低成本。Formation driving has the advantages of energy saving, reducing manpower, safety and efficiency, etc. It has developed rapidly in recent years and is a direction for the development of road transport vehicles in the future. A key technology to realize formation driving is the vehicle control algorithm. Since the actual road test has the disadvantages of long cycle, high risk, and high cost, the simulation test can effectively improve the algorithm improvement efficiency and reduce the cost.
现有技术中，只能提供仅仅依靠软件实现仿真的方法，且领航车行为生成灵活度较差，不能针对性的实现对用于编队行驶的车辆控制算法的仿真测试。In the prior art, only a software-based simulation method can be provided, and the flexibility of the behavior generation of the pilot car is poor, and the simulation test of the vehicle control algorithm for formation driving cannot be realized in a targeted manner.
发明内容Contents of the invention
本发明要解决的技术问题是针对现有技术中，只能提供仅仅依靠软件实现仿真的方法，且领航车行为生成灵活度较差，不能针对性的实现对用于编队行驶的车辆控制算法的仿真测试，有鉴于此，本发明提供一种车辆控制算法的仿真测试方法及装置、电子设备。The technical problem to be solved by the present invention is that in the prior art, only software can be provided to realize the simulation method, and the behavior generation flexibility of the pilot car is relatively poor, and it is impossible to realize the control algorithm of the vehicles used for formation driving in a targeted manner. Simulation test, in view of this, the present invention provides a simulation test method and device, and electronic equipment for a vehicle control algorithm.
本发明采用的技术方案是，所述一种车辆控制算法的仿真测试方法，包括：The technical solution adopted by the present invention is that the simulation test method of the vehicle control algorithm includes:
响应于领航车的模拟控制输入，计算测试时间内的所述领航车的至少两个领航位姿信息；In response to the simulated control input of the pilot vehicle, calculating at least two pilot pose information of the pilot vehicle during the test time;
根据至少两个所述领航位姿信息，确定所述领航车在所述测试时间内的领航行驶轨迹；determining the pilot running track of the pilot vehicle within the test time according to at least two of the pilot pose information;
获取当前至少一辆跟随车所对应的跟随位姿信息；Obtain the following pose information corresponding to at least one following vehicle;
基于所述跟随位姿信息以及所述领航行驶轨迹，确定所述跟随位姿信息对应的所述跟随车的跟随行驶轨迹；其中，所述跟随行驶轨迹用于对应的所述跟随车的预先配置的车控模拟器计算而得到对所述跟随车的模拟控制指令，所述跟随车响应于所述模拟控制指令进行移动，并更新所述跟随位姿信息；Based on the following pose information and the leading driving trajectory, determine the following driving trajectory of the following vehicle corresponding to the following posture information; wherein the following driving trajectory is used for pre-configuration of the corresponding following vehicle The car control simulator calculates and obtains the simulated control command to the following car, and the following car moves in response to the simulated control command, and updates the following pose information;
响应于至少一辆所述跟随车反馈的当前所述跟随位姿信息，确定所述领航车的下一步动作。In response to the current following pose information fed back by at least one of the following vehicles, the next action of the lead vehicle is determined.
在一个实施方式中，所述响应于领航车的模拟控制输入，计算测试时间内的所述领航车的至少两个领航位姿信息的步骤之前，所述方法还包括：In one embodiment, before the step of calculating at least two pilot pose information of the pilot vehicle within the test time in response to the simulated control input of the pilot vehicle, the method further includes:
预先配置所述领航车的位姿信息以及至少一个所述跟随车的位姿信息。The pose information of the leading car and the pose information of at least one of the following cars are preconfigured.
在一个实施方式中，所述跟随车利用自组网电台建立通信连接。In one embodiment, the following vehicle uses an ad hoc network station to establish a communication connection.
在一个实施方式中，所述模拟控制输入包括：通过驾驶模拟器生成的用于对所述领航车的速度以及方向进行控制的指令；In one embodiment, the simulated control input includes: an instruction for controlling the speed and direction of the pilot vehicle generated by a driving simulator;
所述模拟控制指令包括：通过所述车控模拟器生成的用于对所述跟随车的速度以及方向进行控制的指令。The simulated control instructions include: instructions generated by the vehicle control simulator for controlling the speed and direction of the following vehicle.
在一个实施方式中，所述车控模拟器通过CAN协议与对应的所述跟随车的仿真软件算法进行通讯。In one embodiment, the vehicle control simulator communicates with the corresponding simulation software algorithm of the following vehicle through the CAN protocol.
在一个实施方式中，所述跟随车接收所述跟随行驶轨迹后，将所述跟随行驶轨迹显示到所述跟随车所配置的终端GUI界面内，同时显示所述领航行驶轨迹。In one embodiment, after the following vehicle receives the following driving trajectory, it displays the following driving trajectory in a terminal GUI interface configured for the following vehicle, and simultaneously displays the leading driving trajectory.
本发明的另一方面还提供了一种车辆控制算法的仿真测试装置，包括：Another aspect of the present invention also provides a kind of simulation testing device of vehicle control algorithm, comprising:
第一计算模块，被配置为响应于领航车的模拟控制输入，计算测试时间内的所述领航车的至少两个领航位姿信息；The first calculation module is configured to calculate at least two pieces of pilot pose information of the pilot vehicle during the test time in response to the simulated control input of the pilot vehicle;
第二计算模块，被配置为根据至少两个所述领航位姿信息，确定所述领航车在所述测试时间内的领航行驶轨迹；The second calculation module is configured to determine the pilot driving trajectory of the pilot vehicle within the test time according to at least two pieces of the pilot pose information;
第一获取模块，被配置为获取当前至少一辆跟随车所对应的跟随位姿信息；The first acquisition module is configured to acquire the current following pose information corresponding to at least one following vehicle;
第三计算模块，被配置为基于所述跟随位姿信息以及所述领航行驶轨迹，确定所述跟随位姿信息对应的所述跟随车的跟随行驶轨迹；其中，所述跟随行驶轨迹用于对应的所述跟随车的预先配置的车控模拟器计算而得到对所述跟随车的模拟控制指令，所述跟随车响应于所述模拟控制指令进行移动，并更新所述跟随位姿信息；The third calculation module is configured to determine the following driving trajectory of the following vehicle corresponding to the following posture information based on the following posture information and the leading driving trajectory; wherein the following driving trajectory is used to correspond to The pre-configured vehicle control simulator of the following vehicle calculates to obtain a simulated control command for the following vehicle, the following vehicle moves in response to the simulated control command, and updates the following pose information;
第二获取模块，被配置为获取响应于至少一辆所述跟随车反馈的当前所述跟随位姿信息，确定所述领航车的下一步动作。The second acquiring module is configured to acquire the current following pose information fed back by at least one of the following vehicles, and determine the next action of the leading vehicle.
本发明的另一方面还提供了一种电子设备，其特征在于，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如上任一项所述的方法的步骤。Another aspect of the present invention also provides an electronic device, which is characterized in that it includes: a memory, a processor, and a computer program stored in the memory and operable on the processor, the computer program being controlled by the The steps of any one of the methods described above are implemented when the processor executes.
本发明的另一方面还提供了一种计算机存储介质，所述计算机存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如上任一项所述方法的步骤。Another aspect of the present invention also provides a computer storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any one of the above methods are implemented.
采用上述技术方案，本发明至少具有下列优点：Adopt above-mentioned technical scheme, the present invention has following advantage at least:
本发明提供的一种车辆控制算法的仿真测试方法，是一种硬件在环测试方法，能够较为真实、直观的模拟编队车辆行驶状态，验证跟随车辆控制算法的有效性和实用性；同时能够验证自组网系统数据传输对编队行驶支撑的有效性。仿真测试平台对编队行驶的车辆贴合度高，针对性强。The simulation test method of a vehicle control algorithm provided by the present invention is a hardware-in-the-loop test method, which can more realistically and intuitively simulate the driving state of formation vehicles, and verify the effectiveness and practicability of the follow-up vehicle control algorithm; at the same time, it can verify The effectiveness of ad hoc network system data transmission for formation driving support. The simulation test platform has a high degree of fit and strong pertinence to the vehicles driving in formation.
附图说明Description of drawings
图1为根据本发明实施例的车辆控制算法的仿真测试方法流程图；Fig. 1 is a flow chart of a simulation test method for a vehicle control algorithm according to an embodiment of the present invention;
图2为根据本发明实施例的车辆控制算法的仿真测试装置组成结构示意图；2 is a schematic diagram of the composition and structure of a simulation test device for a vehicle control algorithm according to an embodiment of the present invention;
图3为根据本发明实施例的实际应用结构示意图；FIG. 3 is a schematic diagram of a practical application structure according to an embodiment of the present invention;
图4为根据本发明实施例的电子设备结构示意图。Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
具体实施方式Detailed ways
为更进一步阐述本发明为达成预定目的所采取的技术手段及功效，以下结合附图及较佳实施例，对本发明进行详细说明如后。In order to further explain the technical means and functions adopted by the present invention to achieve the intended purpose, the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.
本发明中说明书中对方法流程的描述及本发明说明书附图中流程图的步骤并非必须按步骤标号严格执行，方法步骤是可以改变执行顺序的。而且，可以省略某些步骤，将多个步骤合并为一个步骤执行，和/或将一个步骤分解为多个步骤执行。The description of the method flow in the description of the present invention and the steps of the flow chart in the drawings of the description of the present invention do not have to be strictly executed according to the step numbers, and the execution order of the method steps can be changed. Moreover, some steps may be omitted, multiple steps may be combined into one step for execution, and/or one step may be decomposed into multiple steps for execution.
本发明第一实施例，一种车辆控制算法的仿真测试方法，如图1所示，包括以下具体步骤：In the first embodiment of the present invention, a simulation test method of a vehicle control algorithm, as shown in Figure 1, includes the following specific steps:
步骤S1，响应于领航车的模拟控制输入，计算测试时间内的领航车的至少两个领航位姿信息。Step S1, in response to the simulated control input of the pilot car, calculate at least two pieces of pilot pose information of the pilot car within the test time.
步骤S2，根据至少两个领航位姿信息，确定领航车在测试时间内的领航行驶轨迹。Step S2, according to at least two pilot pose information, determine the pilot driving trajectory of the pilot vehicle within the test time.
步骤S3，获取当前至少一辆跟随车所对应的跟随位姿信息。Step S3, obtaining the following pose information corresponding to at least one following vehicle.
步骤S4，基于跟随位姿信息以及领航行驶轨迹，确定跟随位姿信息对应的所述跟随车的跟随行驶轨迹；其中，跟随行驶轨迹用于对应的跟随车的预先配置的车控模拟器计算而得到对跟随车的模拟控制指令，跟随车响应于模拟控制指令进行移动，并更新跟随位姿信息。Step S4, based on the following pose information and the leading driving trajectory, determine the following driving trajectory of the following car corresponding to the following pose information; wherein, the following driving trajectory is used for calculation by the pre-configured vehicle control simulator of the corresponding following vehicle The simulated control command to the following vehicle is obtained, and the following vehicle moves in response to the simulated control command, and updates the following pose information.
步骤S5，响应于至少一辆所述跟随车反馈的当前跟随位姿信息，确定领航车的下一步动作。Step S5, in response to the current following pose information fed back by at least one of the following vehicles, determine the next action of the lead vehicle.
参考图1以及图2，下面将分步对本实施例所提供的方法进行详细介绍。Referring to FIG. 1 and FIG. 2 , the method provided by this embodiment will be described step by step in detail below.
步骤S1，响应于领航车的模拟控制输入，计算测试时间内的领航车的至少两个领航位姿信息。Step S1, in response to the simulated control input of the pilot car, calculate at least two pieces of pilot pose information of the pilot car within the test time.
本实施例中，领航车辆的仿真可以采用一台主机，主机可以采用windows操作系统并搭载matlab软件，在matlab软件中搭建实车运动学模型，以完成仿真处理。In this embodiment, a host computer can be used for the simulation of the pilot vehicle, and the host computer can use a windows operating system and be equipped with matlab software, and a real vehicle kinematics model is built in the matlab software to complete the simulation process.
示例性地，领航车对应的matlab运动学模型可以与罗技G29驾驶模拟器建立连接，在G29驾驶模拟器中，可以生成例如油门、刹车、转向等控制指令作为输入，输入至matlab运动学模型中，以应用于实际的仿真过程中。For example, the matlab kinematics model corresponding to the pilot car can be connected to the Logitech G29 driving simulator. In the G29 driving simulator, control commands such as accelerator, brake, and steering can be generated as input and input into the matlab kinematics model , to be applied in the actual simulation process.
本实施例中，可以预先在领航车的主机预先配置领航车的初始位姿信息，可以包括领航车的位置，车身的朝向，车轮的朝向，或是初始的行车速度等相关信息。In this embodiment, the initial pose information of the pilot car can be pre-configured on the host computer of the pilot car, which can include related information such as the position of the pilot car, the orientation of the vehicle body, the orientation of the wheels, or the initial driving speed.
本实施例中，主机响应于驾驶模拟器生成的对领航车的模拟控制输入，在matlab运动学模型中进行领航车的仿真行驶，在可控制的测试时间范围内，获取至少两个(一般为多个)领航车的位姿信息。In this embodiment, the host computer responds to the simulated control input to the pilot car generated by the driving simulator, performs the simulated driving of the pilot car in the matlab kinematics model, and obtains at least two (generally multiple) pose information of the pilot vehicle.
示例性地，模拟控制输入可以包括油门、刹车、转向等控制指令。Exemplarily, the analog control input may include control commands such as accelerator, brake, and steering.
其中，位姿信息可以是通过设置一定的获取频率，按照该频率依次截取当前时刻的领航车的位姿信息，也可以是通过人为进行截取或是其他可能的方式，获取测试时间内的所述领航车的至少两个领航位姿信息。Among them, the pose information can be obtained by setting a certain acquisition frequency and sequentially intercepting the pose information of the pilot vehicle at the current moment according to the frequency, or by artificially intercepting or other possible ways to obtain the above-mentioned information within the test time. At least two pilot pose information of the pilot car.
步骤S2，根据至少两个所述领航位姿信息，确定所述领航车在测试时间内的领航行驶轨迹。Step S2, according to at least two pieces of the pilot pose information, determine the pilot driving track of the pilot vehicle within the test time.
本实施例中，可以在主机的matlab软件中通过实现例如直接构造法、路径速度分解法等方式，基于截取的至少两个位姿信息得到对应的测试时间内，领航车的领航行驶轨迹。In this embodiment, in the matlab software of the host computer, for example, the direct construction method, the path velocity decomposition method, etc., can be used to obtain the pilot driving trajectory of the pilot vehicle within the corresponding test time based on at least two intercepted pose information.
步骤S3，获取当前至少一辆跟随车所对应的跟随位姿信息。Step S3, obtaining the following pose information corresponding to at least one following vehicle.
本实施例中，在仿真的开始阶段，至少一辆跟随车所对应的跟随位姿信息可以是预先配置在主机中的，也可以通过获取的方式得到跟随位姿信息。In this embodiment, at the initial stage of the simulation, the following pose information corresponding to at least one following vehicle may be pre-configured in the host computer, or the following pose information may be obtained through acquisition.
具体地，本实施例中，每台跟随车可以采用一台主机、一台编队导航终端和一个车控控制器进行仿真，跟随车的主机上可以采用windows操作系统并搭载matlab软件，matlab软件中搭建实车运动学模型，车控控制器内部含车辆控制算法。Specifically, in this embodiment, each follower car can use a host computer, a formation navigation terminal, and a car control controller for simulation, and the host computer of the follower car can use a windows operating system and carry matlab software. Build a real vehicle kinematics model, and the vehicle control controller contains vehicle control algorithms.
本实施例中，领航车主机与自组网电台通过以太网连接，跟随车自组网电台与编队导航终端通过以太网连接，从而进一步构成了自组网电台系统，实现了领航车的主机与各个跟随车的编队导航终端实现数据交互功能。In this embodiment, the main engine of the pilot car is connected to the ad hoc network radio station through Ethernet, and the self-organizing network radio station of the following car is connected to the formation navigation terminal through Ethernet, thereby further forming the ad hoc network radio system, realizing the host computer of the pilot car and the formation navigation terminal. The formation navigation terminal of each following vehicle realizes the data interaction function.
通常情况下，在执行本实施例所提供的方法前，可以对领航车主机与自组网电台之间的以太网连接，以及跟随车自组网电台与编队导航终端之间的以太网连接进行检查，确保通讯正常。Normally, before performing the method provided by this embodiment, the Ethernet connection between the pilot vehicle host and the ad hoc network radio station, and the Ethernet connection between the following vehicle ad hoc network radio station and the formation navigation terminal can be carried out. Check to make sure the communication is normal.
也就是说，至少一辆跟随车所对应的跟随位姿信息，是由对应的编队导航终端通过自组网电台系统传输至领航车的主机。That is to say, the following pose information corresponding to at least one following vehicle is transmitted from the corresponding formation navigation terminal to the host computer of the leading vehicle through the ad hoc network radio system.
步骤S4，基于跟随位姿信息以及领航行驶轨迹，确定跟随位姿信息对应的跟随车的跟随行驶轨迹；其中，跟随行驶轨迹用于对应的跟随车的预先配置的车控模拟器计算而得到对跟随车的模拟控制指令，跟随车响应于模拟控制指令进行移动，并更新跟随位姿信息。Step S4, based on the following pose information and the leading driving trajectory, determine the following driving trajectory of the following car corresponding to the following pose information; wherein, the following driving trajectory is used for the calculation of the corresponding following vehicle's pre-configured vehicle control simulator to obtain the corresponding Following the simulated control command of the car, the following car moves in response to the simulated control command, and updates the following pose information.
本实施例中，类似于上述S2，通过领航行驶轨迹以及跟随位姿信息，可以通过在主机的matlab软件中通过实现例如直接构造法、路径速度分解法等方式，得到对应的跟随车的跟随行驶轨迹。In this embodiment, similar to the above-mentioned S2, the following driving of the corresponding following car can be obtained by implementing methods such as the direct construction method and the path velocity decomposition method in the matlab software of the host computer through the pilot driving trajectory and the following pose information track.
具体地，编队导航终端通过跟随车自组网电台，获取领航车的主机所下发的跟随行驶轨迹，并将跟随行驶轨迹发送至该跟随车内部的车控控制器，车控控制器根据当前跟随车的位姿信息以及所获取的跟随行驶轨迹，可以对应生成一系列模拟控制指令，示例性地，模拟控制指令可以包括油门、刹车、转向等。Specifically, the formation navigation terminal obtains the follow-up trajectory issued by the host computer of the pilot vehicle through the following vehicle ad hoc network radio station, and sends the follow-up trajectory to the vehicle control controller inside the follow vehicle. The pose information of the following car and the obtained following driving trajectory can generate a series of simulated control commands correspondingly. For example, the simulated control commands can include accelerator, brake, steering and so on.
进一步地，车控控制器所生成的模拟控制指令会被该跟随车的主机获取并实施仿真，对跟随车进行仿真后，跟随车当前的位姿信息也会进一步被更新。Furthermore, the simulation control command generated by the vehicle control controller will be obtained by the host of the following vehicle and simulated. After the simulation of the following vehicle, the current pose information of the following vehicle will be further updated.
示例性地，车控控制器可以通过CAN(控制器局域网总线，ControllerAreaNetwork)协议实现与对应的跟随车的主机的通讯。Exemplarily, the vehicle control controller can communicate with the corresponding host computer following the vehicle through the CAN (Controller Area Network, Controller Area Network) protocol.
进一步地，跟随车的编队导航终端接收跟随行驶轨迹后，可以将跟随行驶轨迹显示到跟随车的编队导航终端中所配置的终端GUI(图形用户界面，Graphical UserInterface)内，也可以同时在该界面中显示领航行驶轨迹，使用户能够更加直观地了解仿真情况。Further, after the formation navigation terminal of the following vehicle receives the following driving trajectory, the following driving trajectory can be displayed in the terminal GUI (Graphical User Interface, Graphical User Interface) configured in the formation navigation terminal of the following vehicle, or can be displayed on the interface at the same time. The navigation trajectory is displayed in the center, so that users can understand the simulation situation more intuitively.
步骤S5，响应于至少一辆跟随车反馈的当前跟随位姿信息，确定领航车的下一步动作。Step S5, in response to the current following pose information fed back by at least one following car, determine the next action of the lead car.
本实施例中，在跟随车的主机完成了对跟随车的位姿信息的更新后，会传输至对应的编队导航终端，再进一步反馈至领航车的主机中，通常情况下，领航车会得到多个跟随车的反馈，可以根据实际仿真情况，进行下一步对领航车的仿真处理，可以是重复S1至S5，也可以根据实际需要进行合理规划以及调整。In this embodiment, after the host computer of the following vehicle finishes updating the pose information of the following vehicle, it will be transmitted to the corresponding formation navigation terminal, and further fed back to the host computer of the pilot vehicle. Normally, the pilot vehicle will get Feedback from multiple follower cars can be used to carry out the next step of simulation processing for the lead car according to the actual simulation situation, which can be repeated from S1 to S5, or can be reasonably planned and adjusted according to actual needs.
本实施例提供的一种车辆控制算法的仿真测试方法，是一种硬件在环测试方法，能够较为真实、直观的模拟编队车辆行驶状态，验证跟随车辆控制算法的有效性和实用性；同时能够验证自组网系统数据传输对编队行驶支撑的有效性。仿真测试平台对编队行驶的车辆贴合度高，针对性强。The simulation test method of a vehicle control algorithm provided in this embodiment is a hardware-in-the-loop test method, which can simulate the driving state of formation vehicles more realistically and intuitively, and verify the effectiveness and practicability of the follow-up vehicle control algorithm; Verify the effectiveness of the data transmission of the ad hoc network system for supporting formation driving. The simulation test platform has a high degree of fit and strong pertinence to the vehicles driving in formation.
本发明第二实施例，本实施例是在上述实施例的基础上，介绍一个本发明的应用实例。The second embodiment of the present invention, this embodiment introduces an application example of the present invention on the basis of the foregoing embodiments.
下面结合附图和实施例对本发明作进一步详述：Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:
S1：在matlab模型中设置领航车、跟随车的起始位置及姿态，运行matlab程序；S1: Set the initial position and attitude of the leading car and the following car in the matlab model, and run the matlab program;
S2：打开领航车、跟随车的自组网电台，检查并确保电台间通讯正常；S2: Turn on the ad hoc network radio stations of the leading car and the following car, check and ensure that the communication between the radio stations is normal;
S3：领航车仿真主机连接罗技G29驾驶模拟器，将模拟器的油门/刹车/转向作为输入接入到matlab模型中，matlab运动学模型从车辆起始位姿根据油门/刹车/转向输入信息计算车辆实时位姿，并以一定频率存储车辆位姿信息，生成领航车运行轨迹；S3: The pilot car simulation host is connected to the Logitech G29 driving simulator, and the accelerator/brake/steering of the simulator is connected to the matlab model as input, and the matlab kinematics model is calculated from the initial pose of the vehicle based on the accelerator/brake/steering input information Real-time vehicle pose, and store the vehicle pose information at a certain frequency to generate the running track of the pilot car;
S4：领航车matlab模型根据收到的跟随车位姿状态，基于领航车运行轨迹，决策各跟随车辆的运动轨迹并下发；S4: The matlab model of the pilot car determines the trajectory of each following vehicle based on the received pose state of the following car and based on the running track of the pilot car, and issues it;
S5：跟随车编队导航终端接收轨迹后转发给车控控制器，并将轨迹显示到终端GUI界面内，同时显示领航车运行轨迹。S5: The following vehicle formation navigation terminal receives the trajectory and forwards it to the vehicle control controller, and displays the trajectory in the terminal GUI interface, and displays the running trajectory of the leading vehicle at the same time.
S6：车控控制器根据控制算法计算车辆控制指令(油门/刹车/转向)，并将指令通过CAN发送到跟随车matlab运动学模型。S6: The vehicle control controller calculates the vehicle control command (acceleration/braking/steering) according to the control algorithm, and sends the command to the matlab kinematics model of the following car through CAN.
S7：跟随车matlab运动学模型从车辆起始位姿根据油门/刹车/转向输入信息计算车辆实时位姿，并将实时位姿及运动状态发送给跟随车编队导航终端和领航车。S7: The matlab kinematics model of the following car calculates the real-time pose of the vehicle from the initial pose of the vehicle according to the accelerator/brake/steering input information, and sends the real-time pose and motion state to the following car formation navigation terminal and the leading car.
S8：执行S3，开始下一个循环周期。S8: Execute S3 to start the next cycle.
本发明第三实施例，一种车辆控制算法的仿真测试装置，如图3所示，包括：In the third embodiment of the present invention, a simulation test device for a vehicle control algorithm, as shown in FIG. 3 , includes:
第一计算模块，被配置为响应于领航车的模拟控制输入，计算测试时间内的领航车的至少两个领航位姿信息；The first calculation module is configured to calculate at least two pieces of pilot pose information of the pilot vehicle within the test time in response to the simulated control input of the pilot vehicle;
第二计算模块，被配置为根据至少两个领航位姿信息，确定领航车在测试时间内的领航行驶轨迹；The second calculation module is configured to determine the pilot running track of the pilot vehicle within the test time according to at least two pieces of pilot pose information;
第一获取模块，被配置为获取当前至少一辆跟随车所对应的跟随位姿信息；The first acquisition module is configured to acquire the current following pose information corresponding to at least one following vehicle;
第三计算模块，被配置为基于跟随位姿信息以及领航行驶轨迹，确定跟随位姿信息对应的跟随车的跟随行驶轨迹；其中，跟随行驶轨迹用于对应的跟随车的预先配置的车控模拟器计算而得到对跟随车的模拟控制指令，跟随车响应于模拟控制指令进行移动，并更新跟随位姿信息；The third computing module is configured to determine, based on the following pose information and the leading driving trajectory, the following driving trajectory of the following vehicle corresponding to the following posture information; wherein the following driving trajectory is used for the pre-configured vehicle control simulation of the corresponding following vehicle The simulated control command for the following vehicle is obtained through calculation by the controller, and the following vehicle moves in response to the simulated control command, and updates the following pose information;
第二获取模块，被配置为获取响应于至少一辆跟随车反馈的当前跟随位姿信息，确定领航车的下一步动作。The second acquiring module is configured to acquire current following pose information fed back by at least one following vehicle, and determine the next action of the leading vehicle.
本发明第四实施例，一种电子设备，参考图4，可以作为实体装置来理解，包括处理器以及存储有处理器可执行指令的存储器，当指令被处理器执行时，执行如下操作：In the fourth embodiment of the present invention, an electronic device, referring to FIG. 4 , can be understood as a physical device, including a processor and a memory storing instructions executable by the processor. When the instructions are executed by the processor, the following operations are performed:
S1、响应于领航车的模拟控制输入，计算测试时间内的领航车的至少两个领航位姿信息；S1. In response to the simulated control input of the pilot car, calculate at least two pilot pose information of the pilot car within the test time;
S2、根据至少两个领航位姿信息，确定领航车在测试时间内的领航行驶轨迹；S2. According to at least two pilot pose information, determine the pilot driving trajectory of the pilot vehicle within the test time;
S3、获取当前至少一辆跟随车所对应的跟随位姿信息；S3. Obtain following pose information corresponding to at least one following vehicle;
S4、基于跟随位姿信息以及领航行驶轨迹，确定跟随位姿信息对应的跟随车的跟随行驶轨迹；其中，跟随行驶轨迹用于对应的跟随车的预先配置的车控模拟器计算而得到对跟随车的模拟控制指令，跟随车响应于模拟控制指令进行移动，并更新跟随位姿信息；S4. Based on the following pose information and the leading driving trajectory, determine the following driving trajectory of the following car corresponding to the following pose information; wherein, the following driving trajectory is used for the calculation of the corresponding following car's pre-configured vehicle control simulator to obtain the following The simulation control command of the car, the following car moves in response to the simulation control command, and updates the following pose information;
S5、响应于至少一辆跟随车反馈的当前跟随位姿信息，确定领航车的下一步动作。S5. In response to the current following pose information fed back by at least one following vehicle, determine the next action of the leading vehicle.
本发明第五实施例，本实施例的一种车辆控制算法的仿真测试方法的流程与第一、二实施例相同，区别在于，在工程实现上，本实施例可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的所述方法可以以计算机软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台设备(可以是基站等网络设备)执行本发明实施例所述的方法。In the fifth embodiment of the present invention, the flow of a simulation test method for a vehicle control algorithm in this embodiment is the same as that in the first and second embodiments, the difference is that in terms of engineering implementation, this embodiment can use software plus necessary general hardware platform, of course, can also be implemented through hardware, but in many cases the former is a better implementation. Based on this understanding, the method of the present invention can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), and includes several instructions to make a A station device (which may be a network device such as a base station) executes the method described in the embodiment of the present invention.
综上，相较于现有技术，本发明提供的一种车辆控制算法的仿真测试方法，是一种硬件在环测试方法，能够较为真实、直观的模拟编队车辆行驶状态，验证跟随车辆控制算法的有效性和实用性；同时能够验证自组网系统数据传输对编队行驶支撑的有效性。仿真测试平台对编队行驶的车辆贴合度高，针对性强。In summary, compared with the prior art, the present invention provides a simulation test method for vehicle control algorithms, which is a hardware-in-the-loop test method, which can more realistically and intuitively simulate the driving state of formation vehicles and verify the following vehicle control algorithms. Effectiveness and practicability; at the same time, it can verify the effectiveness of the data transmission of the ad hoc network system for the support of formation driving. The simulation test platform has a high degree of fit and strong pertinence to the vehicles driving in formation.
通过具体实施方式的说明，应当可对本发明为达成预定目的所采取的技术手段及功效得以更加深入且具体的了解，然而所附图示仅是提供参考与说明之用，并非用来对本发明加以限制。Through the description of the specific implementation, it should be possible to gain a deeper and more specific understanding of the technical means and effects of the present invention to achieve the intended purpose. However, the attached drawings are only for reference and description, and are not used to explain the present invention. limit.
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