CN104298122A - Hardware-in-loop test system and test method for ACC system development - Google Patents

Hardware-in-loop test system and test method for ACC system development Download PDF

Info

Publication number
CN104298122A
CN104298122A CN201410058065.1A CN201410058065A CN104298122A CN 104298122 A CN104298122 A CN 104298122A CN 201410058065 A CN201410058065 A CN 201410058065A CN 104298122 A CN104298122 A CN 104298122A
Authority
CN
China
Prior art keywords
test
acc
signal
development
ecu
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201410058065.1A
Other languages
Chinese (zh)
Other versions
CN104298122B (en
Inventor
李会仙
刘伟
袁世杰
李飞
路晓静
吕金桐
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhengzhou Yutong Bus Co Ltd
Original Assignee
Zhengzhou Yutong Bus Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhengzhou Yutong Bus Co Ltd filed Critical Zhengzhou Yutong Bus Co Ltd
Priority to CN201410058065.1A priority Critical patent/CN104298122B/en
Publication of CN104298122A publication Critical patent/CN104298122A/en
Application granted granted Critical
Publication of CN104298122B publication Critical patent/CN104298122B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention discloses a hardware-in-loop test system and test method for an ACC system development. Actual test environment information is received through a test input interface, so that road traffic information as real as possible can be provided for system development, and meanwhile, test and evaluation for ACC control system execution link control instructions and vehicle hardware system response can be provided. The hardware-in-loop test system can provide a test bench capable of representing the real road traffic environment at an earlier stage of development of a self-adaptive cruise control (ACC) system, can carry out self-adaptive cruise control system development under the premise of reducing development cost and improving test security, is used for system control logic instruction functional development, is used for controller electrical performance test, can meet some special demands in the ACC system development, not only can help system development very well, but also can reduce development risk to a great extent.

Description

A kind of hardware-in-the-loop test system for ACC system development and test method
Technical field
The present invention relates to a kind of hardware-in-the-loop test system for ACC system development and test method.
Background technology
The exploitation of vehicle electrically controlling system adopts V model usually, and in V model, hardware in loop experiment is exactly the control performance utilizing virtual control object to carry out detection control device.Along with the complexity of vehicle electrically controlling system is more and more higher, its development difficulty is also in continuous increase, and the effect of hardware in loop experiment in systems development process is also more and more important.
Adaptive cruise control system (ACC system) is the environmental information (comprising road, front vehicles, barrier etc.) being travelled front by the intelligent sensor such as video, radar perception vehicle, environmentally middle road traffic condition is reminded driver, is controlled vehicle, thus avoids accident that the active safety control system of vehicle safety occurs to improve.On stream, need to carry out a large amount of tests, gather traffic and analysis control algorithm, if these tests directly adopt real steering vectors ACC-ECU, certain risk can be there is.
The technology of recent hardware-in-loop simulation system grows up gradually, and it is the software and hardware system that a set of requirement of real-time is higher, and its development depends on the development of microelectric technique and computer technology.The research and development of hardware-in-loop simulation is also along with the development of electronic technology and computer technology in recent years gets up.
Have multiple hardwares on the market the-loop test bed at present, but these testing tables are all general, for some specific demands in ACC system development, these testing tables can not can meet completely.
Summary of the invention
The object of this invention is to provide a kind of hardware-in-the-loop test system for ACC system development, to solve the problem that existing real steering vectors exists risk, provide a kind of test method using this test traditional simultaneously.
In order to realize above object, the technical solution adopted in the present invention is: a kind of hardware-in-the-loop test system for ACC system development, comprise and be at least provided with one for receiving the host computer of the test input interface of actual environment information and the execution test machine for generating auto model, described host computer is used for generating test signal according to the actual environment information received, this host computer is used for being connected with ACC-ECU to be measured sending to ACC-ECU to be measured with the test signal generated, described execution test machine is used for performing corresponding operation to the testing and control instruction that ACC-ECU to be measured connects to generate according to ACC-ECU to be measured and generating feedback signal, and described host computer with perform test machine and be connected according to the feedback signal performing test machine test signal to be evaluated and revise.
Described ACC-ECU to be measured is also provided with the test input interface for receiving actual environment information.
Described host computer is provided with one for receiving the test video signal input interface that actual environment information is vision signal, and described ACC-ECU to be measured is provided with one for receiving the radar signal test input interface that actual environment information is radar signal.
The technical scheme that the hardware-in-the-loop test method that the present invention is used for ACC system development adopts comprises the steps:
(1) at least one actual environment information generation test signal that host computer is used for according to receiving sends ACC-ECU to be measured to;
(2) ACC-ECU to be measured generates testing and control instruction and sends it to and performs in test machine;
(3) auto model performing test machine utilization generation performs according to the testing and control instruction that ACC-ECU test to be measured sends and operates and generate feedback signal accordingly;
(4) host computer receives the feedback signal that performs test machine and to evaluate test signal according to feedback signal and revise.
The actual environment information that described host computer receives is vision signal, and it also carries out this signal processing the control logic test signal generating test environment information and correspondence; Described ACC-ECU to be measured receives the radar signal corresponding with vision signal, and the test signal that this radar signal and the host computer received send is generated testing and control instruction.
The actual environment information that described host computer receives comprises vision signal and/or radar signal.
The present invention is used for the hardware-in-the-loop test system of ACC system development and test method by the actual test environment information of test input interface, real as far as possible Traffic Information can be provided for system development, ACC control system can be provided simultaneously to perform the test and evaluation of Absent measures instruction and vehicle hardware system responses.This hardware-in-the-loop test system can provide a testing table that can reproduce real roads traffic environment in adaptive cruise control system exploitation early stage, the exploitation of adaptive cruise control system is carried out under the prerequisite reducing cost of development and raising experimental safe, for the functional exploitation of system control logic instruction, for the test of controller electric property, some specific demands in ACC system development can be met, not only can the exploitation of good help system, greatly reduce the risk of exploitation simultaneously.
Accompanying drawing explanation
Fig. 1 is the video acquisition schematic diagram of actual environment information;
Fig. 2 is the radar acquisition principle figure of actual environment information;
Fig. 3 is structure principle chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment, the present invention is described further.
Be illustrated in figure 3 the structure principle chart of the present invention for the hardware-in-the-loop test system of ACC system development, as seen from the figure, this system comprises and is at least provided with one for receiving the host computer of the test input interface of actual environment information and the execution test machine for generating auto model, host computer is used for generating test signal according to the actual environment information received, this host computer is used for being connected with ACC-ECU to be measured sending to ACC-ECU to be measured with the test signal generated, perform test machine to be used for performing corresponding operation to the testing and control instruction that ACC-ECU to be measured connects to generate according to ACC-ECU to be measured and generating feedback signal, and host computer is connected to evaluate test signal according to the feedback signal performing test machine and revise with execution test machine.
The actual environment information of the present embodiment comprises vision signal and radar signal, due to the difference of communication protocol, radar information data directly cannot communicate with host computer, for ease of communication, ACC-ECU to be measured in the present embodiment is also provided with the test input interface for receiving actual environment information, namely host computer is arranged one for receiving the test video signal input interface that actual environment information is vision signal, the video signal data a large amount of by this interface processes; ACC-ECU to be measured is provided with one for receiving the radar signal test input interface that actual environment information is radar signal.
Certainly, radar signal also can be transferred in host computer by the mode of protocol conversion, and host computer receiving video signals and/or radar signal process.
Present invention also offers a kind of hardware-in-the-loop test method for ACC system development, comprise the steps:
(1) at least one actual environment information generation test signal that host computer is used for according to receiving sends ACC-ECU to be measured to;
(2) ACC-ECU to be measured generates testing and control instruction and sends it to and performs in test machine;
(3) auto model performing test machine utilization generation performs according to the testing and control instruction that ACC-ECU test to be measured sends and operates and generate feedback signal accordingly;
(4) host computer receives the feedback signal that performs test machine and to evaluate test signal according to feedback signal and revise.
As shown in Figure 1, vision signal comprises lane line 1, vehicle target 2, the trees on barrier 3(and side, track, fence) etc., for providing real traffic environment, utilize the real traffic information of the equipment such as camera or video camera collection, then by test video signal input interface access host computer, for providing human-machine interactive information, and hardware in loop experimental system is made to have real traffic information; As shown in Figure 2, the radar signal corresponding with vision signal comprises the lane line 5 etc. of target 4 that detections of radar arrives and Radar Calibration, for providing the data message of vehicle front barrier in true traffic environment, comprises the distance of front vehicles, speed etc.
The actual environment information that the present embodiment host computer receives is vision signal, the true traffic environment that vision signal inputs by host computer, vehicle action, human-machine operation instruction etc. are merged, generate test environment information for providing the operation and control interface of a human, driver operation signals such as generating the control logic test signal corresponding with test environment information simultaneously, the control logic test signal now generated comprises the speed of a motor vehicle, brake, turn to.
The environmental information of radar collection is reproduced in real time by the mode of CAN, environmental data information is provided at ring for the controller hardware for ACC-ECU to be measured, ACC-ECU to be measured utilizes actual hardware control, steering logic is write by bottom C code or MATLAB/SIMULINK, the test signal send host computer and the radar signal of input carry out logical operation, and generate on-off model, analog signals, CAN signal etc. by hardware control, send execution test machine to for testing and control instructions such as simulating vehicle acceleration, decelerations.
In addition, if vision signal is all connected host computer with radar signal, host computer generates complete test environment information and steering order according to two kinds of signals, what now host computer mainly generated is logic testing signal, and whether normally control for decision logic, steering order generates after carrying out logical operation by ACC-ECU according to test signal and radar data input signal, and logical operation mainly comprises vehicle speed, vehicle acceleration, vehicle deceleration and vehicle with the distance operation between target vehicle and control.
ACC-ECU reads the data message of the various target of vehicle front that radar is sent, and according to target its data (fore-and-aft distance, relative velocity, lateral separation) etc. identify and follow target, simultaneously according to the velocity variations of target self, in conjunction with the test signal that host computer produces, produce testing and control instruction, to vehicle, each topworks controls, and realizes vehicle acceleration, speed-down action.
Perform test machine and can produce the dynamic (dynamical) simulated environment of simulating vehicle by generating auto model, utilize vehicle dynamics simulation software truckSim or VeDyNa etc. according to vehicle inherent characteristic, utilize associated vehicle performance parameter or mathematical formulae to set up auto model; According to the testing and control instruction that ACC-ECU assemblage on-orbit to be measured is sent, each topworks of vehicle being controlled, generating feedback signal for simulating the action of actual vehicle after receiving steering order.
Ipc monitor performs the responsive state of auto model in test machine, and feedback signal back is used for man-machine interaction to host computer, and developer can test test signal, evaluates and revise.
Test philosophy of the present invention is as follows: when target vehicle speed or target change from vehicle distance (comprising in radar data), ACC-ECU can export acceleration or deceleration steering order to performing test machine by computing, now perform test machine and the feedback signal after action is delivered to host computer by developer's observed result, and according to the steering logic in results modification ACC-ECU, again carry out testing authentication, until steering logic can satisfy the demands.
Above embodiment only understands core concept of the present invention for helping; the present invention can not be limited with this; for those skilled in the art; every according to thought of the present invention; the present invention is modified or equivalent replacement; any change done in specific embodiments and applications, all should be included within protection scope of the present invention.

Claims (6)

1. the hardware-in-the-loop test system for ACC system development, it is characterized in that: comprise and be at least provided with one for receiving the host computer of the test input interface of actual environment information and the execution test machine for generating auto model, described host computer is used for generating test signal according to the actual environment information received, this host computer is used for being connected with ACC-ECU to be measured sending to ACC-ECU to be measured with the test signal generated, described execution test machine is used for performing corresponding operation to the testing and control instruction that ACC-ECU to be measured connects to generate according to ACC-ECU to be measured and generating feedback signal, and described host computer with perform test machine and be connected according to the feedback signal performing test machine test signal to be evaluated and revise.
2. the hardware-in-the-loop test system for ACC system development according to claim 1, is characterized in that: described ACC-ECU to be measured is also provided with the test input interface for receiving actual environment information.
3. the hardware-in-the-loop test system for ACC system development according to claim 2, it is characterized in that: described host computer is provided with one for receiving the test video signal input interface that actual environment information is vision signal, described ACC-ECU to be measured is provided with one for receiving the radar signal test input interface that actual environment information is radar signal.
4., for a hardware-in-the-loop test method for ACC system development, it is characterized in that, comprise the steps:
(1) at least one actual environment information generation test signal that host computer is used for according to receiving sends ACC-ECU to be measured to;
(2) ACC-ECU to be measured generates testing and control instruction and sends it to and performs in test machine;
(3) auto model performing test machine utilization generation performs according to the testing and control instruction that ACC-ECU test to be measured sends and operates and generate feedback signal accordingly;
(4) host computer receives the feedback signal that performs test machine and to evaluate test signal according to feedback signal and revise.
5. the hardware-in-the-loop test method for ACC system development according to claim 4, it is characterized in that: the actual environment information that described host computer receives is vision signal, it also carries out this signal processing the control logic test signal generating test environment information and correspondence; Described ACC-ECU to be measured receives the radar signal corresponding with vision signal, and the test signal that this radar signal and the host computer received send is generated testing and control instruction.
6. the hardware-in-the-loop test method for ACC system development according to claim 4, is characterized in that: the actual environment information that described host computer receives comprises vision signal and/or radar signal.
CN201410058065.1A 2014-02-20 2014-02-20 A kind of hardware-in-the-loop test system and test method for ACC system exploitation Active CN104298122B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410058065.1A CN104298122B (en) 2014-02-20 2014-02-20 A kind of hardware-in-the-loop test system and test method for ACC system exploitation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410058065.1A CN104298122B (en) 2014-02-20 2014-02-20 A kind of hardware-in-the-loop test system and test method for ACC system exploitation

Publications (2)

Publication Number Publication Date
CN104298122A true CN104298122A (en) 2015-01-21
CN104298122B CN104298122B (en) 2018-01-19

Family

ID=52317902

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410058065.1A Active CN104298122B (en) 2014-02-20 2014-02-20 A kind of hardware-in-the-loop test system and test method for ACC system exploitation

Country Status (1)

Country Link
CN (1) CN104298122B (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105388021A (en) * 2015-10-21 2016-03-09 重庆交通大学 ADAS virtual development and test system
CN106873397A (en) * 2017-01-23 2017-06-20 同济大学 Intelligent network joins automobile " hardware in loop " accelerated loading emulation test system
CN106991041A (en) * 2015-11-06 2017-07-28 福特全球技术公司 Method and apparatus for testing the software for autonomous vehicle
CN108760338A (en) * 2018-06-22 2018-11-06 天津英创汇智汽车技术有限公司 It is unmanned in ring test apparatus and system
CN108845509A (en) * 2018-06-27 2018-11-20 中汽研(天津)汽车工程研究院有限公司 A kind of adaptive learning algorithms algorithm development system and method
CN108919785A (en) * 2018-07-25 2018-11-30 安徽江淮汽车集团股份有限公司 A kind of test macro and test method
CN108958066A (en) * 2017-05-19 2018-12-07 百度在线网络技术(北京)有限公司 Emulation test method and device
CN109388070A (en) * 2017-08-03 2019-02-26 上汽通用汽车有限公司 A kind of emulation platform of active safety system
CN109669363A (en) * 2018-10-25 2019-04-23 中国工程物理研究院计算机应用研究所 A kind of automation simulation test optimization method based on state behavior tree

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6052632A (en) * 1997-02-21 2000-04-18 Honda Giken Kogyo Kabushiki Kaisha Network system for vehicle-mounted electronic devices and vehicle-mounted operating system used therein
CN202641690U (en) * 2012-05-15 2013-01-02 王伟东 Auxiliary driving adaptive cruise control system for drivers
CN203047253U (en) * 2012-12-06 2013-07-10 长安大学 Collision avoidance device base don self-adaptive cruise system
CN103328299A (en) * 2010-12-29 2013-09-25 沃尔沃拉斯特瓦格纳公司 X adaptative cruise control
CN103318176A (en) * 2013-06-28 2013-09-25 郑州宇通客车股份有限公司 Coach self-adaptive cruise control system and control method thereof

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6052632A (en) * 1997-02-21 2000-04-18 Honda Giken Kogyo Kabushiki Kaisha Network system for vehicle-mounted electronic devices and vehicle-mounted operating system used therein
CN103328299A (en) * 2010-12-29 2013-09-25 沃尔沃拉斯特瓦格纳公司 X adaptative cruise control
CN202641690U (en) * 2012-05-15 2013-01-02 王伟东 Auxiliary driving adaptive cruise control system for drivers
CN203047253U (en) * 2012-12-06 2013-07-10 长安大学 Collision avoidance device base don self-adaptive cruise system
CN103318176A (en) * 2013-06-28 2013-09-25 郑州宇通客车股份有限公司 Coach self-adaptive cruise control system and control method thereof

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
M6BUS R,等: "multi-target multi-object tracking,sensor fusion of radar and infrad", 《IEEE INTELLIGENT VEHICLES SYMPOSIUM UNIV OF PARMA》 *
王地川: "汽车自适应巡航控制跟踪模式研究", 《中国优秀硕士学位论文全文数据库工程科技II辑》 *
管欣,等: "用于车辆电子制系统开发的仿真环境", 《科学技术与工程》 *

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105388021A (en) * 2015-10-21 2016-03-09 重庆交通大学 ADAS virtual development and test system
CN106991041A (en) * 2015-11-06 2017-07-28 福特全球技术公司 Method and apparatus for testing the software for autonomous vehicle
CN106873397A (en) * 2017-01-23 2017-06-20 同济大学 Intelligent network joins automobile " hardware in loop " accelerated loading emulation test system
CN106873397B (en) * 2017-01-23 2020-02-14 同济大学 Intelligent networking automobile hardware-in-loop acceleration loading simulation test system
CN108958066A (en) * 2017-05-19 2018-12-07 百度在线网络技术(北京)有限公司 Emulation test method and device
CN109388070A (en) * 2017-08-03 2019-02-26 上汽通用汽车有限公司 A kind of emulation platform of active safety system
CN108760338A (en) * 2018-06-22 2018-11-06 天津英创汇智汽车技术有限公司 It is unmanned in ring test apparatus and system
CN108845509A (en) * 2018-06-27 2018-11-20 中汽研(天津)汽车工程研究院有限公司 A kind of adaptive learning algorithms algorithm development system and method
CN108919785A (en) * 2018-07-25 2018-11-30 安徽江淮汽车集团股份有限公司 A kind of test macro and test method
CN108919785B (en) * 2018-07-25 2020-01-14 安徽江淮汽车集团股份有限公司 Test system and test method
CN109669363A (en) * 2018-10-25 2019-04-23 中国工程物理研究院计算机应用研究所 A kind of automation simulation test optimization method based on state behavior tree

Also Published As

Publication number Publication date
CN104298122B (en) 2018-01-19

Similar Documents

Publication Publication Date Title
CN104298122A (en) Hardware-in-loop test system and test method for ACC system development
CN108681264A (en) A kind of intelligent vehicle digitalized artificial test device
CN104460349A (en) Real automobile in-the-loop simulation testing method, real-time simulation machine and system
CN105825241B (en) Operator brake based on fuzzy neural network is intended to discrimination method
Gietelink et al. Development of a driver information and warning system with vehicle hardware-in-the-loop simulations
CN107479532A (en) The domain controller test system and method for a kind of intelligent automobile
CN105808314B (en) A kind of method and device of traffic simulation
CN109901546B (en) Hardware-in-loop simulation test method and system for auxiliary driving vehicle
Nentwig et al. Hardware-in-the-loop testing of computer vision based driver assistance systems
CN105151044A (en) Method and device for aided driving of vehicle
CN202352127U (en) Three-dimensional automobile driving training simulator
Galko et al. Vehicle-Hardware-In-The-Loop system for ADAS prototyping and validation
CN101587658A (en) Graphics rendering engine and physics engine-based three-dimension automobile driving simulation device
CN110427682A (en) A kind of traffic scene simulation experiment platform and method based on virtual reality
Short et al. Hardware in the loop simulation of embedded automotive control system
Yu et al. Modeling overtaking behavior in virtual reality traffic simulation system
Skruch et al. The simulation strategy and its realization in the development process of active safety and advanced driver assistance systems
CN107871418A (en) It is a kind of to be used to evaluate the man-machine experiment porch for driving reliability altogether
CN109388070A (en) A kind of emulation platform of active safety system
Maas et al. Simulator setup according to use case scenarios-A human-oriented method for virtual development
Luo et al. UML-based design of intelligent vehicles virtual reality platform
CN106774287B (en) A kind of real vehicle of active safety controller is in ring test system and method
CN109801534A (en) Driving behavior hardware-in-the-loop test system based on automatic Pilot simulator
Obermaier et al. Dynamic scenario control for vanet simulations
Rossi et al. Vehicle Hardware-In-the-Loop System for ADAS Virtual Testing

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
GR01 Patent grant