道路环境与驾驶行为数据同步采集系统研发

Development of a synchronous collection system for road environment and driving behavior data

摘要:

高精度、可移植、多维度的在途车辆及其周边驾驶环境数据在L3级及以上自动驾驶汽车场景库测试、不良驾驶行为谱构建以及在途实时交通管控等领域有至关重要的作用,由单一传感器构成的数据采集系统在精度、维度上都受到了较大限制,导致其可靠度较低。为实现多类数据传感器协同一体化,研发了一款包含激光雷达、车载运动测量与组合定位、车载踏板与方向盘位移传感器和雷视道路多维感知一体机的多模块道路环境数据与驾驶行为同步采集系统,支持多项交通数据采集任务的并行处理,融合了用户的真实驾驶行为,并基于该系统设计了依维柯某车型的数据实车采集平台。该系统由上位机与下位机两个子系统构成,集成了多模块数据采集、储存、传输与标定等功能,且对各个模块完成了时间同步处理,适用于两客一危场景,并设计了易操作的上位机用户交互界面,对多模块数据实现实时可视化,直观查看各时段数据的变化规律,具有较高的应用价值。

Abstract:

High-precision, portable, and multi-dimensional driving environment data of vehicles in transit and their surroundings play a crucial role in the field of L3 and above autonomous vehicle scenario library testing, bad driving behavior spectrum construction, and real-time traffic control in transit. The data acquisition system composed of a single sensor is greatly limited in accuracy and dimension, resulting in low reliability. In order to realize the collaborative integration of multiple types of data sensors, a multi-module and road environment data and driving behavior synchronous acquisition system including lidar, vehicle motion measurement and combined positioning, vehicle pedal and steering wheel displacement sensor and Rayleigh integrated machine was designed and developed. It supports the parallel processing of multiple traffic data collection tasks, integrates the real driving behavior of users, and designs a data real vehicle collection platform for a certain IVECO model based on this system. The system is composed of two subsystems of upper computer and lower computer, integrating multi-module data acquisition, storage, transmission and calibration functions, and completing time synchronization processing for each module, suitable for “tourist chartered buses, Liner buses and dangerous goods transport vehicles” scenario, and designing an easy-to-operate upper computer user interface, real-time visualization of multi-module data, intuitive view of the change law of data in each period, with high application value.