CN113218676A - Vehicle motion simulation method and system - Google Patents
Vehicle motion simulation method and system Download PDFInfo
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- CN113218676A CN113218676A CN202110631922.2A CN202110631922A CN113218676A CN 113218676 A CN113218676 A CN 113218676A CN 202110631922 A CN202110631922 A CN 202110631922A CN 113218676 A CN113218676 A CN 113218676A
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- 238000004088 simulation Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000012360 testing method Methods 0.000 claims abstract description 167
- 238000006073 displacement reaction Methods 0.000 claims abstract description 22
- 238000011065 in-situ storage Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 9
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 claims description 11
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 claims description 11
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 claims description 11
- 230000008859 change Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The invention discloses a vehicle motion simulation method, which comprises the following steps: placing the test vehicle on a test bench, and enabling the test vehicle to run in situ according to the test vehicle speed; the test vehicle synchronously outputs the test vehicle speed to a speed control system of the target vehicle in real time; calculating the relative speed and displacement of the target vehicle and the test vehicle in the vehicle moving process by taking the ground as a reference system; converting the speed of the test vehicle and the relative speed of the target vehicle into the relative speed taking the test vehicle as a reference frame; and controlling the target vehicle to move in the opposite direction relative to the test vehicle by the relative vehicle speed and displacement under the reference system of the test vehicle. The invention also discloses a vehicle motion simulation system. The invention can simulate the motion state between the test vehicle and the target vehicle without the high-speed running of the target vehicle, save the field and equipment required by the vehicle motion simulation test, reduce the vehicle motion simulation test cost, improve the control precision, the test precision and the safety of the vehicle motion simulation test, and reduce the test risk.
Description
Technical Field
The invention relates to the field of automobiles, in particular to a vehicle motion simulation method for simulating and testing a motion state between a vehicle and a target vehicle through low-speed motion of the target vehicle and a simulation system for simulating and testing the motion state between the vehicle and the target vehicle through the low-speed motion of the target vehicle.
Background
The exercise control is visible everywhere in daily life, for example, the treadmill can control the movement of the crawler belt to lead a runner to step in situ, thus greatly reducing the field requirement of exercise and further showing the importance of the exercise control.
In the current intelligent driving and ADAS simulation test, virtual simulation test and real vehicle road test are mainly passed. The virtual simulation test simulates various driving scenes by simulating sensor data or directly tests in simulation software, the fidelity of the test virtual environment in the mode is insufficient, the technology is not mature enough, and therefore the simulation test result is unreliable.
And the real vehicle road test faces many restrictions, for example, the test period is long, the efficiency of the research and development of the automatic driving technology is greatly influenced, the test cost is huge, the running safety is not easy, and the like. When the speed required to be tested is higher, the required site equipment requirement is higher, and the safety coefficient is also reduced; when the vehicle interaction scene test is carried out, when two vehicles run at high speed, the speed of the two vehicles needs to be controlled, the required control precision is high, and particularly under the limit working condition, the requirement on the control precision is almost in the centimeter and millimeter level and is very high.
Therefore, a vehicle motion simulation scheme is needed to improve the safety factor and control accuracy in intelligent driving and ADAS simulation tests.
Disclosure of Invention
In this summary, a series of simplified form concepts are introduced that are simplifications of the prior art in this field, which will be described in further detail in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The invention aims to provide a vehicle motion simulation method capable of simulating and testing the motion state between a vehicle and a target vehicle through the low-speed motion of the target vehicle.
The motion state between the test vehicle and the target vehicle includes: vehicle motion parameters related in intelligent driving such as vehicle speed, driving direction and relative displacement and ADAS simulation test.
The invention also provides a vehicle motion simulation system capable of simulating and testing the motion state between the vehicle and the target vehicle through the low-speed motion of the target vehicle.
In order to solve the technical problem, the invention provides a vehicle motion simulation method, which comprises the following steps:
s1, placing the test vehicle on a test bench, appointing a test vehicle speed, and enabling the test vehicle to run on site according to the test vehicle speed;
s2, the test vehicle synchronously outputs the test vehicle speed to the speed control system of the target vehicle in real time;
s3, calculating the relative speed and displacement of the target vehicle and the test vehicle in the vehicle moving process by taking the ground as a reference system;
s4, converting the speed of the test vehicle and the relative speed of the target vehicle into the relative speed with the test vehicle as a reference frame;
and S5, controlling the target vehicle to move in the opposite direction relative to the test vehicle according to the relative vehicle speed and displacement under the reference system of the test vehicle.
Optionally, the vehicle motion simulation method is further improved, when the ground is used as a reference system, the vehicle speed of the test vehicle is set to be Xkm/h, and the vehicle speed of the target vehicle is set to be Ykm/h;
then, when the test vehicle is taken as a reference system, the relative speed of the test vehicle is 0km/h, the relative speed of the target vehicle is Xkm/h-Ykm/h in the same direction, and the opposite direction is Xkm/h + Ykm/h.
Optionally, the vehicle motion simulation method is further improved, and the method can be used for intelligent driving and ADAS simulation tests.
Optionally, the vehicle motion simulation method is further improved, and when step S2 is implemented, the test vehicle speed of the test vehicle is synchronously output to the speed control system of the target vehicle in real time through the CAN bus.
In order to solve the above technical problem, the present invention provides a vehicle motion simulation system, including:
the vehicle testing bench is used for testing the vehicle to run in situ according to the testing vehicle speed and synchronously outputting the testing vehicle speed to the speed control system of the target vehicle in real time;
the target vehicle takes the ground as a reference system and calculates the relative speed and displacement of the target vehicle and the test vehicle in the vehicle moving process;
and converting the speed of the test vehicle and the relative speed of the target vehicle into the relative speed with the test vehicle as a reference frame, and executing the relative speed and displacement under the reference frame of the test vehicle to perform reverse motion relative to the test vehicle.
Optionally, the vehicle motion simulation system is further improved, when the ground is used as a reference system, the vehicle speed of the test vehicle is set to be Xkm/h, and the vehicle speed of the target vehicle is set to be Ykm/h;
then, when the test vehicle is taken as a reference system, the relative speed of the test vehicle is 0km/h, the relative speed of the target vehicle is Xkm/h-Ykm/h in the same direction, and the opposite direction is Xkm/h + Ykm/h.
Optionally, the vehicle motion simulation system is further improved, and can be used for intelligent driving and ADAS simulation tests.
Optionally, the vehicle motion simulation system is further improved, and the test vehicle speed of the test vehicle is synchronously output to the speed control system of the target vehicle in real time through the CAN bus.
Optionally, the vehicle motion simulation system is further improved, and the speed range of the target vehicle is 1 km/h-30 km/h.
The working principle of the invention is as follows:
as shown in fig. 2, taking the conventional overtaking in the vehicle movement as an example, the overtaking is performed by the absolute speed of the ground reference system, the speed of the vehicle is increased and the lane is changed, and the overtaking is completed when the speed exceeds the front vehicle and the vehicle is far away from the front vehicle; for intelligent driving and ADAS test vehicles, the fusion perception of a camera and a radar can acquire vector characteristics based on global coordinates, and the relative speed and the relative spatial change of a front vehicle and a self vehicle are measured to perform lane change and overtaking.
Based on the principle, the invention can realize the in-situ simulation of the high-speed running state of the test vehicle by utilizing the relative speed change and displacement at low speed, and realize the interaction of overtaking and the like of the test vehicle by controlling the relative backing running of the target vehicle and carrying out the relative displacement;
as shown in fig. 3, the test of the state of motion of intelligent driving and ADAS passing is performed by controlling the change of the relative speed and displacement of the target vehicle in the in-situ simulation driving state of the test vehicle. The test vehicle keeps a running state in situ through the test equipment, calculates the relative motion value and the change of the target vehicle relative to the test vehicle under the actual overtaking condition, controls the target vehicle to reach the corresponding relative speed, and controls the target vehicle to move reversely at the same time, thereby generating the same effect as the actual overtaking.
The invention can simulate the motion state between the test vehicle and the target vehicle without the high-speed running of the target vehicle, can save the field and equipment required by the vehicle motion simulation test, and reduces the vehicle motion simulation test cost. In addition, the target vehicle moves at a low speed, so that the control precision and the test precision of the vehicle motion simulation test are improved, the risk of the vehicle motion simulation test is reduced, and the safety of the vehicle motion simulation test is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification. The drawings are not necessarily to scale, however, and may not be intended to accurately reflect the precise structural or performance characteristics of any given embodiment, and should not be construed as limiting or restricting the scope of values or properties encompassed by exemplary embodiments in accordance with the invention. The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
FIG. 1 is a flow chart of a vehicle motion simulation method according to the present invention.
Fig. 2 is a schematic diagram of a target vehicle motion in a conventional overtaking motion simulation scheme.
FIG. 3 is a schematic diagram of the movement of a target vehicle in the cut-in motion simulation scheme of the present invention.
FIG. 4 is a schematic diagram of a vehicle motion simulation system according to the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and technical effects of the present invention will be fully apparent to those skilled in the art from the disclosure in the specification. The invention is capable of other embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the general spirit of the invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. The following exemplary embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the specific embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the technical solutions of these exemplary embodiments to those skilled in the art.
A first embodiment;
as shown in fig. 1, the present invention provides a vehicle motion simulation method, comprising the steps of:
s1, placing the test vehicle on a test bench, appointing a test vehicle speed, and enabling the test vehicle to run on site according to the test vehicle speed;
s2, the test vehicle synchronously outputs the test vehicle speed to the speed control system of the target vehicle in real time;
s3, calculating the relative speed and displacement of the target vehicle and the test vehicle in the vehicle moving process by taking the ground as a reference system;
s4, converting the speed of the test vehicle and the relative speed of the target vehicle into the relative speed with the test vehicle as a reference frame;
and S5, controlling the target vehicle to move in the opposite direction relative to the test vehicle according to the relative vehicle speed and displacement under the reference system of the test vehicle.
A second embodiment;
the invention provides a vehicle motion simulation method, which comprises the following steps:
s1, placing the test vehicle on a test bench, appointing a test vehicle speed, and enabling the test vehicle to run on site according to the test vehicle speed;
s2, synchronously outputting the test vehicle speed of the test vehicle to the speed control system of the target vehicle in real time through the CAN bus;
s3, calculating the relative speed and displacement of the target vehicle and the test vehicle in the vehicle moving process by taking the ground as a reference system;
s4, converting the speed of the test vehicle and the relative speed of the target vehicle into the relative speed with the test vehicle as a reference frame; when the ground is taken as a reference system, setting the speed of a test vehicle as Xkm/h and the speed of a target vehicle as Ykm/h;
then, when the test vehicle is taken as a reference system, the relative speed of the test vehicle is 0km/h, the relative speed of the target vehicle is Xkm/h-Ykm/h in the same direction, and the opposite direction is Xkm/h + Ykm/h;
and S5, controlling the target vehicle to move in the opposite direction relative to the test vehicle according to the relative vehicle speed and displacement under the reference system of the test vehicle.
Alternatively, the first or second embodiments described above can be used for intelligent driving and simulated motion testing between the ADAS target vehicle and the test vehicle.
A third embodiment;
the invention provides a vehicle motion simulation system, which can be used for intelligent driving and ADAS simulation test, and comprises:
the vehicle testing bench is used for testing the vehicle to run in situ according to the testing vehicle speed and synchronously outputting the testing vehicle speed to the speed control system of the target vehicle in real time;
the target vehicle takes the ground as a reference system and calculates the relative speed and displacement of the target vehicle and the test vehicle in the vehicle moving process;
and converting the speed of the test vehicle and the relative speed of the target vehicle into the relative speed with the test vehicle as a reference frame, and executing the relative speed and displacement under the reference frame of the test vehicle to perform reverse motion relative to the test vehicle.
A fourth embodiment;
referring to fig. 4, the present invention provides a vehicle motion simulation system including:
the vehicle testing bench is used for testing the vehicle to run in situ according to the testing vehicle speed and synchronously outputting the testing vehicle speed to the speed control system of the target vehicle in real time;
the target vehicle takes the ground as a reference system and calculates the relative speed and displacement of the target vehicle and the test vehicle in the vehicle moving process;
and converting the speed of the test vehicle and the relative speed of the target vehicle into the relative speed with the test vehicle as a reference frame, and executing the relative speed and displacement under the reference frame of the test vehicle to perform reverse motion relative to the test vehicle.
When the ground is taken as a reference system, the speed of a test vehicle is set to be Xkm/h, and the speed of a target vehicle is set to be Ykm/h;
then, when the test vehicle is taken as a reference system, the relative speed of the test vehicle is 0km/h, the relative speed of the target vehicle is Xkm/h-Ykm/h in the same direction, and the opposite direction is Xkm/h + Ykm/h.
Wherein the target vehicle speed range is 1 km/h-30 km/h, preferably 2km/h, 3km/h, 4km/h, 5km/h, 6km/h, 7km/h, 8km/h, 9km/h, 10km/h, 15km/h or 20 km/h.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.
Claims (9)
1. A vehicle motion simulation method, comprising the steps of:
s1, placing the test vehicle on a test bench, appointing a test vehicle speed, and enabling the test vehicle to run on site according to the test vehicle speed;
s2, the test vehicle synchronously outputs the test vehicle speed to the speed control system of the target vehicle in real time;
s3, calculating the relative speed and displacement of the target vehicle and the test vehicle in the vehicle moving process by taking the ground as a reference system;
s4, converting the speed of the test vehicle and the relative speed of the target vehicle into the relative speed with the test vehicle as a reference frame;
and S5, controlling the target vehicle to move in the opposite direction relative to the test vehicle according to the relative vehicle speed and displacement under the reference system of the test vehicle.
2. The vehicle motion simulation method according to claim 1, characterized in that: when the ground is taken as a reference system, setting the speed of a test vehicle as Xkm/h and the speed of a target vehicle as Ykm/h;
then, when the test vehicle is taken as a reference system, the relative speed of the test vehicle is 0km/h, the relative speed of the target vehicle is Xkm/h-Ykm/h in the same direction, and the opposite direction is Xkm/h + Ykm/h.
3. The vehicle motion simulation method according to claim 1, characterized in that: it can be used for intelligent driving and ADAS simulation test.
4. The vehicle motion simulation method according to claim 1, characterized in that: when step S2 is executed, the test vehicle speed of the test vehicle is synchronously output to the speed control system of the target vehicle in real time through the CAN bus.
5. A vehicle motion simulation system, comprising:
the vehicle testing bench is used for testing the vehicle to run in situ according to the testing vehicle speed and synchronously outputting the testing vehicle speed to the speed control system of the target vehicle in real time;
the target vehicle takes the ground as a reference system and calculates the relative speed and displacement of the target vehicle and the test vehicle in the vehicle moving process;
and converting the speed of the test vehicle and the relative speed of the target vehicle into the relative speed with the test vehicle as a reference frame, and executing the relative speed and displacement under the reference frame of the test vehicle to perform reverse motion relative to the test vehicle.
6. The vehicle motion simulation system according to claim 5, wherein:
when the ground is taken as a reference system, setting the speed of a test vehicle as Xkm/h and the speed of a target vehicle as Ykm/h;
then, when the test vehicle is taken as a reference system, the relative speed of the test vehicle is 0km/h, the relative speed of the target vehicle is Xkm/h-Ykm/h in the same direction, and the opposite direction is Xkm/h + Ykm/h.
7. The vehicle motion simulation system according to claim 5, wherein: it can be used for intelligent driving and ADAS simulation test.
8. The vehicle motion simulation system according to claim 5, wherein: and the test vehicle speed of the test vehicle is synchronously output to a speed control system of the target vehicle in real time through the CAN bus.
9. The vehicle motion simulation system according to claim 5, wherein: the speed range of the target vehicle is 1 km/h-30 km/h.
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| CN202110631922.2A CN113218676A (en) | 2021-06-07 | 2021-06-07 | Vehicle motion simulation method and system |
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Application publication date: 20210806 |