CN104460349A - Real automobile in-the-loop simulation testing method, real-time simulation machine and system - Google Patents
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Abstract
The invention provides a real automobile in-the-loop simulation testing method, a real-time simulation machine and a system. The method includes the steps that the real-time simulation machine simulates the analogue traffic environment; the first motion state information of a real automobile, which is acquired by an automobile positioning device, is received; a controller sensor signal is calculated according to the first motion state information and the simulated traffic environment; the controller sensor signal is sent to a detected controller in the real automobile; a control signal which is output by the detected controller according to the controller sensor signal and a signal which is output after a real automobile controller responds to the control signal are acquired, and the second motion state information of the real automobile, the traffic environment information and the like are received to be used as the performance testing analysis basis of the detected controller. Compared with traditional HIL testing, the real automobile in-the-loop simulation testing method improves the accuracy of performance testing results of the detected controller; compared with real automobile testing, the cost is saved, the testing risk is lowered, and the testing reproducibility is enhanced.
Description
Technical field
The application relates to automotive field, and particularly a kind of real vehicle is in loop simulation method of testing, real-time simulation machine and system.
Background technology
Along with the development of automotive electronic industry, for ensureing comfortableness and the security of driver, a lot of controller relevant to active safety is developed, such as vehicle Unmanned Systems, automated parking system, automatic cruising system, Lane Departure Warning System, blind area monitoring system etc., these systems, except the test of function aspects, more focus on performance test.
At present, HIL (Hardware-in-the-Loop, hardware is in loop) the equipment pair controller relevant to active safety is often adopted to carry out performance test.Carry out performance test owing to adopting HIL equipment and belong to semi-hardware type simulation test, in the system adopting HIL testing equipment, only have tested controller to be real, the system such as dynamics of vehicle, road, driver, power, transmission of the automobile relevant to tested controller is all virtual, needs the system such as dynamics of vehicle, road, driver, power, transmission being carried out simulated automotive by realistic model.
But owing to adopting HIL testing equipment to be real-time testing, for ensureing the real-time that realistic model calculates, on the basis of existing computer calculate level, realistic model can only be a kind of model comparatively simplified, the system such as dynamics of vehicle, road, driver, power, transmission of the automobile of therefore simulating out is the system comparatively simplified, and causes the degree of accuracy of the performance test results of tested controller not high.Again because the system such as dynamics of vehicle, road, driver, power, transmission of automobile that simulated by realistic model and the system such as dynamics of vehicle, road, driver, power, transmission of real car exist deviation, therefore reduce further the degree of accuracy of the performance test results of tested controller.
Summary of the invention
For solving the problems of the technologies described above, the embodiment of the present application provides a kind of real vehicle at loop simulation method of testing, real-time simulation machine and related system, and to reach the object of the degree of accuracy of the performance test results improving tested controller, technical scheme is as follows:
A kind of real vehicle is in loop simulation method of testing, and based on the real vehicle HIL system be arranged in real vehicle, described real vehicle HIL system comprises real-time simulation machine and automobile positioning device, and described method comprises:
Described real-time simulation machine simulates simulation traffic environment; And;
Receive the first movement state information of the described real vehicle that described automobile positioning device gets; And,
According to described first movement state information, described simulation traffic environment, calculate controller sensor signal; And,
Send described controller sensor signal to the tested controller in described real vehicle, send to make described tested controller and control signal to for described controller sensor signal the real vehicle controller be connected with the bus of described tested controller; And,
The second movement state information obtaining control signal that described tested controller exports for described controller sensor signal, signal that described real vehicle controller exports after responding described control signal and receive described real vehicle, the simulation traffic environment of described real-time simulation machine emulation, and described first movement state information, as the analysis foundation of the performance test of described tested controller;
Wherein, described second movement state information is obtained by the vehicle motion sensor of described real vehicle self, is the movement state information of described real vehicle after described real vehicle controller receives described control signal.
Preferably, described according to described first movement state information, described simulation traffic environment, calculate the process of controller sensor signal, comprising:
By described first movement state information, calculate the positional information of described real vehicle in described simulation traffic environment;
According to the positional information of described real vehicle in described simulation traffic environment, calculate controller sensor signal.
Preferably, described simulation traffic environment at least comprises: different tracks and lane line, static vehicular traffic, the vehicular traffic of motion, pedestrian, traffic sign, barrier.
A kind of real-time simulation machine, comprising:
Emulation module, for simulating simulation traffic environment;
First receiver module, the first movement state information of the described real vehicle that the automobile positioning device for receiving real vehicle HIL system belonging to described real-time simulation machine gets;
Computing module, for according to described first movement state information, described simulation traffic environment, calculates controller sensor signal;
Sending module, for sending described controller sensor signal to the tested controller in described real vehicle, sending to make described tested controller and controlling signal to for described controller sensor signal the real vehicle controller be connected with the bus of described tested controller;
Bus receiver module, for obtaining the signal exported after control signal that described tested controller exports for described controller sensor signal and described real vehicle controller respond described control signal, and receives the second movement state information of described real vehicle;
Wherein, second movement state information of the control signal that described tested controller exports for described controller sensor signal, signal that described real vehicle controller exports after responding described control signal and described real vehicle, the simulation traffic environment of described real-time simulation machine emulation, and described first movement state information is as the analysis foundation of the performance test of described tested controller, described second movement state information is obtained by the vehicle motion sensor of described real vehicle self, is the movement state information of described real vehicle after described real vehicle controller receives described control signal.
Preferably, described computing module comprises:
First computing unit, for by described first movement state information, calculates the positional information of described real vehicle in described simulation traffic environment;
Second computing unit, for according to the positional information of described real vehicle in described simulation traffic environment, calculates controller sensor signal.
A kind of real vehicle HIL system, comprising: supply module, automobile positioning device and the real-time simulation machine as described in above-mentioned any one, wherein:
Described automobile positioning device, is connected with described real-time simulation machine, for obtaining the movement state information of real vehicle
Described supply module is connected with described real-time simulation machine with described automobile positioning device respectively.
Preferably, also comprise: host computer;
Described host computer is connected with described real-time simulation machine by wired or wireless network.
Compared with prior art, the beneficial effect of the application is:
In this application, provide a kind of real vehicle in loop simulation method of testing, based on the real vehicle HIL system be arranged in real vehicle, wherein, real vehicle also take part in the performance test of tested controller.
Due to the dynamics of vehicle in real vehicle, road, driver, power, the systems such as transmission are all necessary beings, therefore tested controller can send and control signal to for described controller sensor signal the real vehicle controller be connected with the bus of described tested controller, thus the control signal that the tested controller that real vehicle HIL system is got exports for described controller sensor signal, the signal exported after described real vehicle controller responds described control signal, second movement state information of described real vehicle, the simulation traffic environment of described real-time simulation machine emulation, described first movement state information is all actual signals, using the analysis foundation of actual signal as the performance test of tested controller, to realize carrying out performance test to tested controller, compared to by realistic model, performance test is carried out to tested controller, the degree of accuracy of the performance test results is improved, in addition, compared with real steering vectors, the application also a saving cost, reduce the risk of test, enhance the reproducibility of test.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present application, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of process flow diagram of the real vehicle that provides of the application in loop simulation method of testing;
Fig. 2 is the information interaction schematic diagram between real vehicle HIL system, real vehicle and tested controller that the application provides;
Fig. 3 is a kind of logical organization schematic diagram of the real-time simulation machine that the application provides;
Fig. 4 is a kind of structural representation of the real vehicle HIL system that the application provides;
Fig. 5 is the another kind of structural representation of the real vehicle HIL system that the application provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, be clearly and completely described the technical scheme in the embodiment of the present application, obviously, described embodiment is only some embodiments of the present application, instead of whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the application's protection.
Embodiment one
Present embodiment illustrates real vehicle that the application provides in loop simulation method of testing, for carrying out performance test to tested controller.Tested controller involved by the present embodiment is specially the controller relevant to active safety, such as vehicle Unmanned Systems or automated parking system or automatic cruising system or Lane Departure Warning System or blind area monitoring system.
The real vehicle that the application provides, in loop simulation method of testing, is participated in the performance test of tested controller by real vehicle and real vehicle, ensure that the system such as the dynamics of vehicle of automobile, road, driver, power, transmission is all necessary being.
The real vehicle that the application provides is in loop simulation method of testing, based on the real vehicle HIL system be arranged in real vehicle, described real vehicle HIL system comprises real-time simulation machine and automobile positioning device, refer to Fig. 1, it illustrates real vehicle that the application provides at a kind of process flow diagram of loop simulation method of testing, can comprise the following steps:
Step S11: real-time simulation machine simulates simulation traffic environment.
In the present embodiment, the simulation traffic environment simulated specifically can but be not limited to different tracks and lane line, static vehicular traffic, the vehicular traffic of motion, pedestrian, traffic sign and/or barrier.
When carrying out performance test to tested controller, although employ real vehicle, but when carrying out performance test, do not need to arrange real road barrier and real traffic environment, tester only needs to use real vehicle, in the simulation traffic environment that real-time simulation machine simulates, carry out performance test.
Step S12: real-time simulation machine receives the first movement state information of the described real vehicle that described automobile positioning device gets.
Carrying out in test process tested controller, tester drives real vehicle, and travel in comparatively spacious place, in the process of moving, described automobile positioning device can get the first movement state information of described real vehicle to real vehicle.
First movement state information is before real-time simulation machine does not send the controller sensor signal for tested controller, the movement state information of real vehicle, the mode obtained is the positioning system by real-time simulation machine and this test macro, as automobile positioning device obtain, concrete, the positional information of automobile can be obtained in real time by automobile positioning device, these information are passed to real-time simulation machine by car position system, and replicating machine goes out the first movement state information of automobile according to positional information calculation.
First movement state information is specifically as follows the speed of real vehicle all directions, acceleration, angular velocity and angular acceleration.
Step S13: real-time simulation machine, according to described first movement state information, described simulation traffic environment, calculates controller sensor signal.
The signal of sensor when this controller sensor signal here refers to for detecting the true traffic environment identical with simulating traffic environment.In the embodiment of the present invention; because real vehicle assemblage on-orbit; traffic environment is emulation; therefore calculate the value of required sensor signal by simulation algorithm and be sent to real vehicle controller by hardware; the radar sensor of such as present stage or the signal of camera sensing device; certain the application is not limited in this, detects extraneous road barrier as long as can be used in detecting or be beneficial to and simulates the protection domain that the relevant sensor of traffic environment and the relevant information that detects thereof all belong to the application.
The controller sensor signal calculated is for carrying out performance test to tested controller.
In the present embodiment, real-time simulation machine is according to described first movement state information, described simulation traffic environment, and the detailed process calculating controller sensor signal is:
Steps A 11: by described first movement state information, calculates the positional information of described real vehicle in described simulation traffic environment.
The positional information of described real vehicle in described simulation traffic environment comprises the relative position relation of the simulated roadway barrier in described real vehicle and described simulation traffic environment.
Steps A 12: according to the positional information of described real vehicle in described simulation traffic environment, calculate controller sensor signal.
Step S14: send described controller sensor signal to the tested controller in described real vehicle, sends to make described tested controller and controls signal to for described controller sensor signal the real vehicle controller be connected with the bus of described tested controller.
In the present embodiment, the bus system of tested controller is connected with real vehicle, to carry out information interaction to control system relevant with tested controller in real vehicle.
Tested controller is after receiving described controller sensor signal, respond described controller sensor signal, generate for the control signal of described controller sensor signal, and the control signal for described controller sensor signal is sent to is about to the real vehicle controller that the bus of described tested controller is connected be sent to and the control system relevant with described tested controller in real vehicle for the control signal of described controller sensor signal.
Step S15: obtain the control signal that described tested controller exports for described controller sensor signal, signal that described real vehicle controller exports after responding described control signal, and receive the second movement state information of described real vehicle, the simulation traffic environment of described real-time simulation machine emulation, and described first movement state information, as the analysis foundation of the performance test of described tested controller.
Described second movement state information is obtained by the vehicle motion sensor of described real vehicle self, is the movement state information of described real vehicle after described real vehicle controller receives described control signal.
The real vehicle controller relevant to tested controller, after receiving the control signal that tested controller sends, performs and operates accordingly, to realize the controlling functions of tested controller.The real vehicle controller relevant to tested controller is after performing corresponding operation, and the movement state information of real vehicle changes, and the movement state information after change is the second movement state information.
The signal that the control signal that the described tested controller of real-time simulation machine acquisition exports for described controller sensor signal, described real vehicle controller export after responding described control signal, and receive the second movement state information of described real vehicle, the simulation traffic environment of real-time simulation machine emulation, and described first movement state information, and show tester, as the analysis foundation of the performance test of described tested controller.
The signal that tester can observe the control signal that described tested controller exports for described controller sensor signal, described real vehicle controller exports after responding described control signal, and receive the second movement state information of described real vehicle, the simulation traffic environment of real-time simulation machine emulation, and described first movement state information, the performance of tested controller is evaluated.
Tester, can also second movement state information of display exhibits of real-time monitored real vehicle except observing the second movement state information that real-time simulation machine is shown.
In this application, provide a kind of real vehicle in loop simulation method of testing, based on the real vehicle HIL system be arranged in real vehicle, wherein, real vehicle also take part in the performance test of tested controller.
Due to the dynamics of vehicle in real vehicle, road, driver, power, the systems such as transmission are all necessary beings, therefore tested controller can send and control signal to for described controller sensor signal the real vehicle controller be connected with the bus of described tested controller, thus the control signal that the tested controller that real vehicle HIL system is got exports for described controller sensor signal, the signal exported after described real vehicle controller responds described control signal and the second movement state information of described real vehicle are all real signals, using the analysis foundation of actual signal as the performance test of tested controller, to realize carrying out performance test to tested controller, compared to by realistic model, performance test is carried out to tested controller, the degree of accuracy of the performance test results is improved.
Further, owing to carrying out in the process of performance test to tested controller, real-time simulation machine has simulated simulation traffic environment, tester can drive real vehicle and test tested controller in comparatively spacious place, do not need actual arrangement barrier and traffic environment, reduce security risk and the testing cost of tester, reduce the labour intensity of test, improve the efficiency of test.
Real vehicle shown in Fig. 1 in loop simulation method of testing in the process of implementation, namely carries out in the process of performance test to tested controller, the information interaction schematic diagram between real vehicle HIL system, real vehicle and tested controller refers to Fig. 2.Wherein, what the real vehicle HIL system in Fig. 2 adopted is independently-powered mode, is powered to automobile positioning device and real-time simulation machine by the supply module in real vehicle HIL system.
Now illustrate and the real vehicle that the application provides is described, specifically for automated parking system in loop simulation method of testing.Such as, the controller of automated parking system is as tested controller, when starting to carry out performance test to the controller of automated parking system, real-time simulation machine simulates simulation traffic environment, tester then drives the real vehicle being provided with real vehicle HIL system and travels in comparatively spacious place, automobile positioning device obtains the first movement state information of real vehicle and is sent to real-time simulation machine, real-time simulation machine receives described first movement state information, real-time simulation machine is according to the first movement state information, simulation traffic environment, calculate the controller sensor signal detecting and exist needed for barrier (i.e. traffic environment) around, and this controller sensor signal is sent to the controller of automated parking system, the controller of automated parking system is after receiving controller sensor signal, parking route can be calculated, and control the steering of real vehicle, tester is helped to turn to, finally realize the object of automatic parking.The signal that the control signal that tester then observes automated parking system send after receiving controller sensor signal, the real vehicle controller relevant to the controller of automated parking system export after responding described control signal, and the second movement state information of described real vehicle, the simulation traffic environment of the first movement state information and the emulation of described real-time simulation machine, the performance of the controller of automated parking system is evaluated, to complete the performance test of the controller of automated parking system.
Embodiment two
In the present embodiment, show a kind of real-time simulation machine that the application provides, refer to Fig. 3, it illustrates a kind of logical organization schematic diagram of the real-time simulation machine that the application provides, real-time simulation machine comprises: emulation module 31, first receiver module 32, computing module 33, sending module 34 and bus receiver module 35, wherein:
Emulation module 31, for simulating simulation traffic environment.
First receiver module 32, the first movement state information of the described real vehicle that the automobile positioning device for receiving real vehicle HIL system belonging to described real-time simulation machine gets.
Computing module 33, for according to described first movement state information, described simulation traffic environment, calculates controller sensor signal.
In the present embodiment, computing module 33 specifically can comprise the first computing unit and the second computing unit.Wherein:
First computing unit, for by described first movement state information, calculates the positional information of described real vehicle in described simulation traffic environment.
The positional information of described real vehicle in described simulation traffic environment comprises the relative position relation of the simulated roadway barrier in described real vehicle and described simulation traffic environment.
Second computing unit, for according to the positional information of described real vehicle in described simulation traffic environment, calculates controller sensor signal.
Sending module 34, for sending described controller sensor signal to the tested controller in described real vehicle, sending to make described tested controller and controlling signal to for described controller sensor signal the real vehicle controller be connected with the bus of described tested controller.
Bus receiver module 35, for obtaining the signal exported after control signal that described tested controller exports for described controller sensor signal and described real vehicle controller respond described control signal, and receives the second movement state information of described real vehicle.
Wherein, second movement state information of the control signal that described tested controller exports for described controller sensor signal, signal that described real vehicle controller exports after responding described control signal and described real vehicle, the simulation traffic environment of described real-time simulation machine emulation, and described first movement state information is as the analysis foundation of the performance test of described tested controller, described second movement state information is obtained by the vehicle motion sensor of described real vehicle self, is the movement state information of described real vehicle after described real vehicle controller receives described control signal.
Embodiment three
In the present embodiment, show the real vehicle HIL system that the application provides, refer to Fig. 4, illustrate that HIL system comprises: automobile positioning device 41 and real-time simulation machine 42.
The concrete structure of real-time simulation machine 42 and function refer to embodiment two, do not repeat them here.
Automobile positioning device 41, is connected with real-time simulation machine 42, for obtaining the movement state information of real vehicle
Automobile positioning device 41, specifically for obtaining the first movement state information involved in embodiment one and embodiment two and the second movement state information.
Real vehicle HIL system shown in Fig. 5 can adopt the power supply of real vehicle to power.Certainly, independently-powered mode can also be adopted.If real vehicle HIL system adopts independently-powered mode, then the real vehicle HIL system shown in Fig. 5 also comprises: supply module 43, is connected with real-time simulation machine 42 with automobile positioning device 41 respectively;
In addition, based on above-mentioned disclosed real vehicle HIL system, host computer (not shown) is also comprised; Described host computer can be mobile terminal, as notebook computer, panel computer etc.; Described host computer is connected with described real-time simulation machine by wired or wireless network, and to realize man-machine interaction, more convenient carrying out emulates and test controller.Such as, the radio communication that can realize between real-time simulation machine and host computer by wireless network card.Host computer and real-time simulation machine can be connected by netting twine, realize the wire communication between host computer and real-time simulation machine.
It should be noted that, each embodiment in this instructions all adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar part mutually see.For device class embodiment, due to itself and embodiment of the method basic simlarity, so description is fairly simple, relevant part illustrates see the part of embodiment of the method.
Finally, also it should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
For convenience of description, various unit is divided into describe respectively with function when describing above device.Certainly, the function of each unit can be realized in same or multiple software and/or hardware when implementing the application.
As seen through the above description of the embodiments, those skilled in the art can be well understood to the mode that the application can add required general hardware platform by software and realizes.Based on such understanding, the technical scheme of the application can embody with the form of software product the part that prior art contributes in essence in other words, this computer software product can be stored in storage medium, as ROM/RAM, magnetic disc, CD etc., comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform the method described in some part of each embodiment of the application or embodiment.
Above the real vehicle that the application provides is described in detail in loop simulation method of testing, real-time simulation machine and system, apply specific case herein to set forth the principle of the application and embodiment, the explanation of above embodiment is just for helping method and the core concept thereof of understanding the application; Meanwhile, for one of ordinary skill in the art, according to the thought of the application, all will change in specific embodiments and applications, in sum, this description should not be construed as the restriction to the application.
Claims (7)
1. real vehicle is in a loop simulation method of testing, it is characterized in that, based on the real vehicle hardware be arranged in real vehicle in loop HIL system, described real vehicle HIL system comprises real-time simulation machine and automobile positioning device, and described method comprises:
Described real-time simulation machine simulates simulation traffic environment; And,
Receive the first movement state information of the described real vehicle that described automobile positioning device gets; And,
According to described first movement state information, described simulation traffic environment, calculate controller sensor signal; And,
Send described controller sensor signal to the tested controller in described real vehicle, send to make described tested controller and control signal to for described controller sensor signal the real vehicle controller be connected with the bus of described tested controller; And,
The second movement state information obtaining control signal that described tested controller exports for described controller sensor signal, signal that described real vehicle controller exports after responding described control signal and receive described real vehicle, the simulation traffic environment of described real-time simulation machine emulation, and described first movement state information, as the analysis foundation of the performance test of described tested controller;
Wherein, described second movement state information is obtained by the vehicle motion sensor of described real vehicle self, is the movement state information of described real vehicle after described real vehicle controller receives described control signal.
2. method according to claim 1, is characterized in that, described according to described first movement state information, described simulation traffic environment, calculates the process of controller sensor signal, comprising:
By described first movement state information, calculate the positional information of described real vehicle in described simulation traffic environment;
According to the positional information of described real vehicle in described simulation traffic environment, calculate controller sensor signal.
3. method according to claim 1, is characterized in that, described simulation traffic environment at least comprises: different tracks and lane line, static vehicular traffic, the vehicular traffic of motion, pedestrian, traffic sign, barrier.
4. a real-time simulation machine, is characterized in that, comprising:
Emulation module, for simulating simulation traffic environment;
First receiver module, the first movement state information of the described real vehicle that the automobile positioning device for receiving real vehicle HIL system belonging to described real-time simulation machine gets;
Computing module, for according to described first movement state information, described simulation traffic environment, calculates controller sensor signal;
Sending module, for sending described controller sensor signal to the tested controller in described real vehicle, sending to make described tested controller and controlling signal to for described controller sensor signal the real vehicle controller be connected with the bus of described tested controller;
Bus receiver module, for obtaining the signal exported after control signal that described tested controller exports for described controller sensor signal and described real vehicle controller respond described control signal, and receives the second movement state information of described real vehicle;
Wherein, second movement state information of the control signal that described tested controller exports for described controller sensor signal, signal that described real vehicle controller exports after responding described control signal and described real vehicle, the simulation traffic environment of described real-time simulation machine emulation, and described first movement state information is as the analysis foundation of the performance test of described tested controller, described second movement state information is obtained by the vehicle motion sensor of described real vehicle self, is the movement state information of described real vehicle after described real vehicle controller receives described control signal.
5. real-time simulation machine according to claim 4, is characterized in that, described computing module comprises:
First computing unit, for by described first movement state information, calculates the positional information of described real vehicle in described simulation traffic environment;
Second computing unit, for according to the positional information of described real vehicle in described simulation traffic environment, calculates controller sensor signal.
6. a real vehicle HIL system, is characterized in that, comprising: supply module, automobile positioning device and the real-time simulation machine as described in claim 4-5 any one, wherein:
Described automobile positioning device, is connected with described real-time simulation machine, for obtaining the movement state information of real vehicle;
Described supply module is connected with described real-time simulation machine with described automobile positioning device respectively.
7. real vehicle HIL system according to claim 6, is characterized in that, also comprise: host computer;
Described host computer is connected with described real-time simulation machine by wired or wireless network.
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