CN105741635A - Multifunctional road experiment vehicle platform - Google Patents

Abstract

The invention discloses a multifunctional road test vehicle platform, which includes a car as a vehicle platform, a lane line recognition module for collecting front lane line information, a laser radar module for collecting front obstacle information, and a GPS/inertial navigation module for vehicle motion status, CAN module for collecting vehicle information, on-board industrial computer for synchronous collection and information processing, collection module for monitoring cockpit status, display module for monitoring collection status . The road test vehicle platform can simultaneously collect information such as the vehicle environment, vehicle motion status, and driver operations, and provide data storage and analysis functions. The platform requires less modification of the vehicle and less interference with the driver, and can be used to target driving behavior, etc. Experiment with content.

Description

A multifunctional road test vehicle platform

technical field

The invention relates to a vehicle platform, in particular to a multifunctional road test vehicle platform.

Background technique

At present, the death toll of road traffic accidents in my country ranks first in the world, and traffic accidents remain high. The national road traffic safety situation is severe. Through the analysis of the inducing factors of road traffic accidents in our country, it can be known that the main cause of traffic accidents is the driver. Therefore, in order to ensure the safety of pedestrians in traffic life, extensive and in-depth research has been carried out around the world on the interaction mechanism of people-vehicle-road. During the driving process of the vehicle, the real-time and stable collection, processing and analysis of the vehicle's own state information, the driver's operating state information, and the external environment information have become the key prerequisites for all research issues. Therefore, in order to collect human-vehicle-road information data more efficiently, accurately, and safely, it is of great practical significance to develop a human-vehicle-road information collection system using computer technology, sensor technology, and data processing technology.

Contents of the invention

The technical problem to be solved by the present invention is to provide a multi-functional road test vehicle platform for the defects in the prior art. The multi-functional road test vehicle platform can monitor the vehicle environment, vehicle motion state and driver during the road driving test. The synchronous collection and storage of operation and other information plays an important role in the research of road driving safety and the development of automobile-related driving assistance systems, with strong practicability and high reliability.

The technical solution adopted by the present invention to solve the technical problems is: a multifunctional road test vehicle platform, the multifunctional road test vehicle platform is arranged on a car as a carrier vehicle platform, including:

The lane line recognition module is used to identify the lane line by using the Hough algorithm based on the front video and image information collected by the camera, and calculate the distance and angle of the vehicle relative to the left lane line and the right lane line based on the installation position and angle of the camera; The lane line recognition module outputs the above information to the on-board industrial computer through the CAN bus;

The laser radar module is used to collect the information of obstacles ahead;

The GPS and inertial navigation module is used to collect the vehicle's motion state; the vehicle's GPS position information, three-axis acceleration and three-axis angular velocity information are obtained through the GPS/INS fusion algorithm; the module outputs the above data information to the vehicle-mounted industrial computer through the CAN bus storage;

CAN module, used to collect and analyze CAN messages of cars;

The vehicle-mounted industrial computer is used to receive the information of the lane line recognition module and the GPS and inertial navigation module through the CAN bus, receive the information of the laser radar module and the CAN module, and store the received data synchronously;

The acquisition module is used to monitor the state of the cockpit; the acquisition module is composed of a miniature camera and a hard disk video recorder; wherein the miniature camera is installed on the A-pillar on the side of the co-pilot to monitor the overall situation of the driver, and the collected video is directly stored in the DVR;

The display module is used to monitor the data acquisition status of each module; the display module is connected with the vehicle-mounted industrial computer.

According to the solution above, the lane line recognition module is an embedded system.

According to the above solution, the GPS and inertial navigation module is a subsystem composed of a single-chip microcomputer, a GPS positioning module and an inertial navigation chip.

According to the above solution, the display module is a touch screen, and the display module is connected to the vehicle-mounted industrial computer through a USB, VGA or HDMI interface.

According to the above scheme, the acquisition module is made up of a miniature camera and a hard disk video recorder; the miniature camera is installed on the A-pillar on the side of the co-pilot to monitor the overall situation of the driver, and directly store the collected video into the hard disk video recorder.

According to the above scheme, the lane line recognition module is installed in the middle position above the front windshield in the cab; the laser radar module is installed in the middle position of the air intake fence; the CAN module is installed in the trunk of the car; The industrial computer is installed in the trunk of the car, and is fixed on a flat plate with a shock-absorbing function; the acquisition module is installed on the A-pillar on the passenger side; the display module is installed in the rear seats or the trunk of the car.

According to the above solution, the GPS and inertial navigation modules are installed at the center of mass of the vehicle.

According to the above solution, the vehicle-mounted industrial computer includes a LAN interface, a BNC interface, a CAN interface and a serial port.

The beneficial effects produced by the present invention are: the present invention can synchronously collect information such as the vehicle environment, vehicle motion state, and driver operation, and the platform has less interference with vehicle transformation and driver, and can be effectively applied to scientific research on road driving safety. The development and research of the relevant automobile auxiliary driving system have important theoretical and verification support functions.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and embodiment, in the accompanying drawing:

Fig. 1 is the structural representation of the embodiment of the present invention;

Fig. 2 is a schematic diagram of the position setting of the platform device according to the embodiment of the present invention; in the figure: 1-car, 2-lane recognition module, 3-lidar module, 4-GPS module, 5-inertial navigation module, 6-display module , 7-vehicle industrial computer, 8-acquisition module, 9-CAN module.

detailed description

In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

As shown in Figure 1, a multifunctional road test vehicle platform uses a car as the vehicle platform, including: lane line recognition module, laser radar module, GPS/inertial navigation module, CAN module, vehicle-mounted industrial computer, and acquisition module and display modules.

As shown in Figure 2, the lane line recognition module 2 is installed in the middle position above the front windshield in the cab; the laser radar module 3 is installed in the middle position of the air intake fence; the CAN module 9 is installed in the trunk of the car; the vehicle-mounted industrial computer 7 Installed in the trunk of a car, and fixed on a flat plate with a damping function; the acquisition module 8 for monitoring the state of the cockpit is installed on the copilot side A-pillar; the display for monitoring the acquisition status of each module The module 6 is installed in the rear seat or the trunk of the car, and the GPS module 4 and the inertial navigation module 5 are installed at the center of mass of the vehicle. During the driving process of the road test vehicle 1, firstly, each data information acquisition module is opened by operating the display module 6: the lane line recognition module 2, the laser radar module 3, the GPS module 4, the inertial navigation module 5, and the acquisition module 8, so that it can enter In the working state, the default automatic start-up working module can also be set according to the needs, and it will automatically enter the working state when the experimental vehicle enters a stable working condition.

details as follows:

The laser radar module 3 scans obstacles in front by emitting laser light, collects data at a set frequency and automatically stores it in the vehicle-mounted industrial computer 7 . The laser radar module is a one-line or multi-line laser radar, which outputs the original data in the form of point cloud to the on-board industrial computer for storage, and can cooperate with the use of agglomerative hierarchical clustering algorithm, which can cluster and identify obstacles in front of the target, and can stably track distance A target with the smallest longitudinal distance from the car and an obstacle target with the smallest lateral distance from the car.

The lane line recognition module 2 detects and recognizes the road lane line in real time through its camera, and collects the left and right offset and angle of the experimental vehicle 1 relative to the lane line through the set sampling frequency and stores it in the industrial computer.

Lane line recognition module 2 adopts the Hough algorithm to identify the lane line according to the front video and image information collected by the camera, and calculates the distance and angle of the vehicle relative to the left lane line and the right lane line based on the installation position and angle of the camera; the lane line The identification module outputs the above information to the vehicle-mounted industrial computer through the CAN bus, and the information output frequency is not lower than 10Hz; further, the module can also output the processed video information through the AV terminal or BNC terminal for the storage of the front video;

The GPS and inertial navigation module includes a GPS navigation module 4 and an inertial navigation module 5; the GPS navigation module 4 collects the position information of the experimental vehicle 1 in real time through the set sampling frequency and stores it in the industrial computer, and the inertial navigation module 5 passes the set sampling frequency. Collect the three-axis acceleration and three-axis angular velocity information of the experimental vehicle 1 in real time, and output them to the industrial computer for storage.

The GPS and inertial navigation module form a subsystem by integrating single-chip microcomputer, GPS positioning module and inertial navigation (INS) chip, which can collect vehicle motion status information in real time; the output frequency is not lower than 50Hz.

At the same time, the CAN module 9 is connected to the OBD-II of the vehicle through the wire and the OBD-II interface to collect the state information of the experimental vehicle 1 in real time and store it in the industrial computer. The CAN module can collect and analyze the CAN messages of all cars through the driver and SDK, and the collected data is directly output to the vehicle-mounted industrial computer for storage and processing with related programs;

The vehicle-mounted industrial computer 7 has its own SSD hard disk, has general interfaces such as LAN interface, BNC interface, CAN interface, and serial port, and supports the expansion of the device; based on the above-mentioned interface, the collection of peripheral equipment information can be realized; the lane line recognition module can be collected at the same time video, laser radar point cloud, CAN bus information, and store the data synchronously; all time-related information of the system is provided by the system clock; when the system collects data, it sends the necessary information to the display module;

The acquisition module 8 monitors the driver's operating state in real time through its camera and stores the video in the industrial computer. The acquisition module 8 is composed of a miniature camera and a hard disk video recorder; the miniature camera is installed on the A-pillar of the passenger side to monitor the overall situation of the driver, and directly store the collected video to the hard disk video recorder;

The display module 6 that is used to monitor acquisition status includes a touch display screen, and the display module 6 can display the working status of each module. display in real time.

It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should belong to the protection scope of the appended claims of the present invention.

Claims (8)

1. a kind of multifunctional road test vehicle platform, described multifunctional road test vehicle platform is arranged on a car as the vehicle platform of carrier, is characterized in that, comprises: The lane line recognition module is used to identify the lane line by using the Hough algorithm based on the front video and image information collected by the camera, and calculate the distance and angle of the vehicle relative to the left lane line and the right lane line based on the installation position and angle of the camera; The lane line recognition module outputs the above information to the on-board industrial computer through the CAN bus; The laser radar module is used to collect the information of obstacles ahead; The GPS and inertial navigation module is used to collect the vehicle's motion state; the vehicle's GPS position information, three-axis acceleration and three-axis angular velocity information are obtained through the GPS/INS fusion algorithm; the module outputs the above data information to the vehicle-mounted industrial computer through the CAN bus storage; CAN module, used to collect and analyze CAN messages of cars; The vehicle-mounted industrial computer is used to receive the information of the lane line recognition module and the GPS and inertial navigation module through the CAN bus, receive the information of the laser radar module and the CAN module, and store the received data synchronously; The acquisition module is used to monitor the status of the cockpit; it consists of a miniature camera and a hard disk video recorder; the miniature camera is installed on the A-pillar on the side of the co-pilot to monitor the overall situation of the driver, and directly store the collected video to the hard disk video recorder; A display module for monitoring the acquisition status; The display module is connected with the vehicle-mounted industrial computer. 2. The multifunctional road test vehicle platform according to claim 1, wherein the lane line recognition module is an embedded system. 3. The multifunctional road test vehicle platform according to claim 1, wherein said GPS and inertial navigation module are subsystems composed of fusion single-chip microcomputer, GPS positioning module and inertial navigation chip. 4. The multifunctional road test vehicle platform according to claim 1, wherein the display module is a touch display, and the display module is connected with the vehicle-mounted industrial computer through a USB, VGA or HDMI interface. 5. The multifunctional road test vehicle platform according to claim 1, wherein the collection module is made up of a miniature camera and a hard disk video recorder; the miniature camera is installed on the co-pilot side A-pillar to monitor the driver's overall situation. Surveillance, store the collected video directly into the hard disk video recorder. 6. The multifunctional road test vehicle platform according to claim 1, wherein the lane line recognition module is installed in the middle position above the front windshield in the cab; the laser radar module is installed in the middle position of the air intake fence The CAN module is installed in the trunk of the car; the vehicle-mounted industrial computer is installed in the trunk of the car, and is fixed on a flat plate with a damping function; the acquisition module is installed on the A-pillar of the passenger side; The above display module is installed in the rear seats or the trunk of the car. 7. The multifunctional road test vehicle platform according to claim 1, wherein the GPS and inertial navigation modules are installed at the center of mass of the vehicle. 8. The multifunctional road test vehicle platform according to claim 1, wherein the vehicle-mounted industrial computer includes a LAN interface, a BNC interface, a CAN interface and a serial port.