CN104460349B - Real automobile in-the-loop simulation testing method, real-time simulation machine and system - Google Patents

Real automobile in-the-loop simulation testing method, real-time simulation machine and system Download PDF

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CN104460349B
CN104460349B CN201410705507.7A CN201410705507A CN104460349B CN 104460349 B CN104460349 B CN 104460349B CN 201410705507 A CN201410705507 A CN 201410705507A CN 104460349 B CN104460349 B CN 104460349B
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described
controller
real
real vehicle
state information
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CN201410705507.7A
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CN104460349A (en
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薛俊亮
万亮
陈上楼
张大鹏
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北京经纬恒润科技有限公司
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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

Real vehicle is in loop simulation method of testing, real-time simulation machine and system

Technical field

The application is related to automotive field, particularly to a kind of real vehicle in loop simulation method of testing, real-time simulation machine and is System.

Background technology

With the continuous development of automotive electronic industry, for ensureing comfortableness and the safety of driver, a lot of and active is pacified The controller of total correlation is developed, such as vehicle Unmanned Systems, automated parking system, automatic cruising system, track Deviate early warning system, blind area monitoring system etc., these systems, except the test of function aspects, more focus on performance test.

At present, related to active safety frequently with hil (hardware-in-the-loop, hardware is in loop) equipment pair Controller carries out performance test.Belong to semi-hardware type simulation test due to performance test is carried out using hil equipment, set using hil In the standby system tested, only tested controller is real, the dynamics of vehicle of automobile related to tested controller, The systems such as road, driver, power, transmission are all virtual, need by phantom come the dynamics of vehicle of simulated automotive, The systems such as road, driver, power, transmission.

But due to being real-time testing using hil testing equipment, for ensureing the real-time that phantom calculates, existing On the basis of some computer calculated levels, phantom can only be a kind of model of more simplification, the vapour therefore simulating out The systems such as the dynamics of vehicle of car, road, driver, power, transmission are the system of more simplification, lead to the property of tested controller The degree of accuracy of energy test result is not high.The dynamics of vehicle of automobile due to being simulated by phantom, road, driving again There is deviation in the systems such as the dynamics of vehicle of the systems such as member, power, transmission and real car, road, driver, power, transmission, Therefore reduce further the degree of accuracy of the performance test results of tested controller.

Content of the invention

For solving above-mentioned technical problem, the embodiment of the present application provides a kind of real vehicle in loop simulation method of testing, imitates in real time Prototype and related system, to reach the purpose of the degree of accuracy of the performance test results improving tested controller, technical scheme is as follows:

A kind of real vehicle in loop simulation method of testing, based on the real vehicle hil system being arranged in real vehicle, described real vehicle hil System includes real-time simulation machine and automobile positioning device, and methods described includes:

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;With And,

Send the tested controller to described real vehicle for the described controller sensor signal, so that described tested controller is sent out Send the real vehicle controller that the control signal for described controller sensor signal is extremely connected with the bus of described tested controller; And,

Obtain described tested controller and be directed to the control signal of described controller sensor signal output, the control of described real vehicle Device responds the signal of output and the second movement state information of the described real vehicle of reception after described control signal, described real-time simulation machine The simulation traffic environment of emulation, and described first movement state information, as the analysis of the performance test of described tested controller Foundation;

Wherein, described second movement state information is obtained by the vehicle motion sensor of described real vehicle itself, is described reality Movement state information after described real vehicle controller receives described control signal for the car.

Preferably, described according to described first movement state information, described simulation traffic environment, calculate controller sensing The process of device signal, comprising:

By described first movement state information, calculate positional information in described simulation traffic environment for the described real vehicle;

According to positional information in described simulation traffic environment for the described real vehicle, calculate controller sensor signal.

Preferably, described simulation traffic environment at least includes: different tracks and lane line, static vehicular traffic, fortune Dynamic vehicular traffic, pedestrian, traffic signss, barrier.

A kind of real-time simulation machine, comprising:

Emulation module, is used for simulating simulation traffic environment;

First receiver module, the automobile positioning device for receiving described real-time simulation machine affiliated real vehicle hil system obtains First movement state information of the real vehicle arriving;

Computing module, passes for according to described first movement state information, described simulation traffic environment, calculating controller Sensor signal;

Sending module, for sending the tested controller to described real vehicle for the described controller sensor signal, so that institute State tested controller and send the control signal being directed to described controller sensor signal to the bus phase with described tested controller Real vehicle controller even;

Bus receiver module, is directed to the control of described controller sensor signal output for obtaining described tested controller The signal of output after signal and the described real vehicle controller described control signal of response, and the second kinestate receiving described real vehicle Information;

Wherein, described tested controller is directed to the control signal of described controller sensor signal output, described real vehicle control Device processed responds the signal of output and the second movement state information of described real vehicle after described control signal, and described real-time simulation machine is imitated Really simulate traffic environment, and the analysis of the performance test as described tested controller for described first movement state information according to According to described second movement state information is obtained by the vehicle motion sensor of described real vehicle itself, is described real vehicle in described reality Vehicle controller receives the movement state information after described control signal.

Preferably, described computing module includes:

First computing unit, for by described first movement state information, calculating described real vehicle in described simulation traffic Positional information in environment;

Second computing unit, for the positional information in described simulation traffic environment according to described real vehicle, calculates control Device sensor signal processed.

A kind of real vehicle hil system, comprising: supply module, automobile positioning device and real-time as described in above-mentioned any one Replicating machine, wherein:

Described automobile positioning device, is connected with described real-time simulation machine, for obtaining the first movement state information of real vehicle With the second movement state information;

Described supply module is connected with described automobile positioning device and described real-time simulation machine respectively.

Preferably, also include: host computer;

Described host computer is connected with described real-time simulation machine by wired or wireless network.

Compared with prior art, the having the beneficial effect that of the application

In this application, provide a kind of real vehicle in loop simulation method of testing, based on the real vehicle hil system being arranged in real vehicle System, wherein, real vehicle has also assisted in the performance test of tested controller.

Because the systems such as the dynamics of vehicle in real vehicle, road, driver, power, transmission are all necessary beings, therefore Tested controller can send control signal for described controller sensor signal to the bus with described tested controller Connected real vehicle controller, so that the tested controller that real vehicle hil system gets is directed to described controller sensor letter Number output control signal, described real vehicle controller respond described control signal after output signal, described real vehicle second fortune Dynamic status information, the simulation traffic environment of described real-time simulation machine emulation, described first movement state information is all actual signal, Using the analysis foundation of the performance test as tested controller for the actual signal, to realize carrying out performance test to tested controller, Compared to by phantom, tested controller is carried out with performance test, the degree of accuracy of the performance test results is improved, in addition, Compared with real steering vectors, the application also a saving cost, reduces the risk of test, enhances the reproducibility of test.

Brief description

For the technical scheme being illustrated more clearly that in the embodiment of the present application, will make to required in embodiment description below Accompanying drawing be briefly described it should be apparent that, drawings in the following description are only some embodiments of the present application, for For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these accompanying drawings His accompanying drawing.

Fig. 1 is a kind of flow chart in loop simulation method of testing for the real vehicle of the application offer;

Fig. 2 is the information exchange schematic diagram between real vehicle hil system, real vehicle and the tested controller that the application provides;

Fig. 3 is a kind of logical construction 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 another kind of structural representation of the real vehicle hil system that the application provides.

Specific embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete Site preparation describes it is clear that described embodiment is only some embodiments of the present application, rather than whole embodiments.It is based on Embodiment in the application, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work Embodiment, broadly falls into the scope of the application protection.

Embodiment one

Present embodiment illustrates the real vehicle that the application provides is in loop simulation method of testing, for carrying out to tested controller Performance test.Tested controller involved by the present embodiment is specially the controller related to active safety, and such as vehicle is unmanned Control loop 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 that real vehicle participates in tested controller by real vehicle Performance test it is ensured 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 being arranged in real vehicle, described Real vehicle hil system includes real-time simulation machine and automobile positioning device, refers to Fig. 1, and the real vehicle that it illustrates the application offer exists A kind of flow chart of loop simulation method of testing, may comprise steps of:

Step s11: real-time simulation machine simulates simulation traffic environment.

In the present embodiment, simulate simulation traffic environment specifically can but be not limited to different tracks and track Line, static vehicular traffic, the vehicular traffic of motion, pedestrian, traffic signss and/or barrier.

When performance test is carried out to tested controller although employing real vehicle, but when carrying out performance test, it is not required to Real road barrier and real traffic environment are set, and tester only needs to use real vehicle, imitate in real-time simulation machine Carry out performance test in the simulation traffic environment really going out.

Step s12: real-time simulation machine receives the first kinestate of the described real vehicle that described automobile positioning device gets Information.

Tested controller is being carried out in test process, tester drives real vehicle, travelling in more spacious place, real In the process of moving, described automobile positioning device can get the first movement state information of described real vehicle to car.

First movement state information is the controller sensor signal not sent in real-time simulation machine for tested controller Before, the movement state information of real vehicle, the mode of acquisition is the alignment system by real-time simulation machine and this test system, such as vapour Car positioner is obtained, and specifically, can obtain the positional information of automobile, bus location in real time by automobile positioning device By these information transmissions to real-time simulation machine, replicating machine goes out the first kinestate letter of automobile according to positional information calculation to system Breath.

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 control Device sensor signal processed.

This controller sensor signal herein refers to for detecting and simulating the true traffic environment of traffic environment identical When required sensor signal.In the embodiment of the present invention, because real vehicle assemblage on-orbit, traffic environment is emulation, therefore Real vehicle controller is simultaneously sent to by hardware by the value that simulation algorithm calculates required sensor signal, thunder such as at this stage Reach the signal of sensor or camera sensing device, certain the application is not limited to that, as long as can be used in detecting or being beneficial to The extraneous road barrier of the detection sensor related with simulation traffic environment and its relevant information detecting broadly fall into the application Protection domain.

The controller sensor signal calculating is used for carrying out performance test to tested controller.

In the present embodiment, real-time simulation machine, according to described first movement state information, described simulation traffic environment, calculates The detailed process going out controller sensor signal is:

Step a11: by described first movement state information, calculate position in described simulation traffic environment for the described real vehicle Confidence ceases.

Positional information in described simulation traffic environment for the described real vehicle includes described real vehicle and described simulation traffic environment In simulated roadway barrier relative position relation.

Step a12: according to positional information in described simulation traffic environment for the described real vehicle, calculate controller sensor Signal.

Step s14: send the tested controller to described real vehicle for the described controller sensor signal, so that described tested Controller sends the reality that the control signal for described controller sensor signal is extremely connected with the bus of described tested controller Vehicle controller.

In the present embodiment, the bus system of tested controller is connected with real vehicle, with real vehicle in tested controller phase The control system closed carries out information exchange.

Tested controller, after receiving described controller sensor signal, responds described controller sensor signal, raw Become the control signal for described controller sensor signal, and the control signal for described controller sensor signal is sent out Deliver to the control that the real vehicle controller being connected with the bus of described tested controller will be directed to described controller sensor signal Signal send to related with described tested controller control system in real vehicle.

Step s15: obtain described tested controller and be directed to the control signal of described controller sensor signal output, described Real vehicle controller responds the signal of output after described control signal, and the second movement state information of the described real vehicle of reception, described The simulation traffic environment of real-time simulation machine emulation, and described first movement state information, as the performance of described tested controller The analysis foundation of test.

Described second movement state information is obtained by the vehicle motion sensor of described real vehicle itself, is described real vehicle in institute State the movement state information after real vehicle controller receives described control signal.

The real vehicle controller related to tested controller, after receiving the control signal that tested controller sends, executes phase The operation answered, to realize the control function of tested controller.Corresponding in execution with the related real vehicle controller of tested controller After operation, the movement state information of real vehicle changes, and the movement state information after change is the second movement state information.

Real-time simulation machine obtains described tested controller and is directed to the control signal of described controller sensor signal output, institute State the signal that real vehicle controller responds output after described control signal, and the second movement state information of the described real vehicle of reception, real When replicating machine emulation simulation traffic environment, and described first movement state information, and show tester, as described quilt Survey the analysis foundation of the performance test of controller.

Tester can observe described tested controller be directed to the output of described controller sensor signal control signal, Described real vehicle controller responds the signal of output after described control signal, and the second movement state information of the described real vehicle of reception, The simulation traffic environment of real-time simulation machine emulation, and described first movement state information, comment to the performance of tested controller Fixed.

Tester, can be with real-time monitored except observing the second movement state information shown on real-time simulation machine Second movement state information of the display exhibits of real vehicle.

In this application, provide a kind of real vehicle in loop simulation method of testing, based on the real vehicle hil system being arranged in real vehicle System, wherein, real vehicle has also assisted in the performance test of tested controller.

Because the systems such as the dynamics of vehicle in real vehicle, road, driver, power, transmission are all necessary beings, therefore Tested controller can send control signal for described controller sensor signal to the bus with described tested controller Connected real vehicle controller, so that the tested controller that real vehicle hil system gets is directed to described controller sensor letter Number output control signal, described real vehicle controller respond described control signal after output signal and described real vehicle second fortune Dynamic status information is all real signal, using the analysis foundation of the performance test as tested controller for the actual signal, to realize Performance test is carried out to tested controller, compared to by phantom, performance test, performance test is carried out to tested controller The degree of accuracy of result is improved.

Further, because, during carrying out performance test to tested controller, real-time simulation machine has simulated mould Intend traffic environment, tester can drive real vehicle and in more spacious place, tested controller be tested it is not necessary to real Border arranges barrier and traffic environment, reduces security risk and the testing cost of tester, the work reducing test is strong Degree, improves the efficiency of test.

Real vehicle shown in Fig. 1 in loop simulation method of testing in the process of implementation, carries out performance survey to tested controller During examination, the information exchange schematic diagram between real vehicle hil system, real vehicle and tested controller refers to Fig. 2.Wherein, Fig. 2 In real vehicle hil system use independently-powered mode, by the supply module in real vehicle hil system to automobile positioning device It is powered with real-time simulation machine.

The real vehicle that the application is provided of now illustrating illustrates in loop simulation method of testing, specifically with automated parking system As a example.For example, the controller of automated parking system, as tested controller, is carried out starting the controller to automated parking system During performance test, real-time simulation machine simulates simulation traffic environment, and tester then drives the real vehicle being provided with real vehicle hil system Travel in more spacious place, automobile positioning device obtains the first movement state information of real vehicle and sends to real-time simulation Machine, real-time simulation machine receives described first movement state information, and real-time simulation machine is according to the first movement state information, simulation traffic Environment, calculates and there is controller sensor signal needed for barrier (i.e. traffic environment) around detection, and by this controller Sensor signal sends to the controller of automated parking system, and the controller of automated parking system is receiving controller sensor After signal, parking route can be calculated, and control the steering of real vehicle, help tester to be turned to, final realize from The dynamic purpose parked.Tester then observes the control letter that automated parking system sends after receiving controller sensor signal Number real vehicle controller related to the controller of automated parking system responds the signal of output after described control signal, and described Second movement state information of real vehicle, the simulation traffic environment of the first movement state information and the emulation of described real-time simulation machine, comes 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 this Shen A kind of logical construction schematic diagram of the real-time simulation machine that please provide, real-time simulation machine includes: emulation module 31, the first receiver module 32nd, computing module 33, sending module 34 and bus receiver module 35, wherein:

Emulation module 31, is used for simulating simulation traffic environment.

First receiver module 32, the automobile positioning device for receiving described real-time simulation machine affiliated real vehicle hil system obtains First movement state information of the described real vehicle got.

Computing module 33, for according to described first movement state information, described simulation traffic environment, calculating controller Sensor signal.

In the present embodiment, computing module 33 specifically can include the first computing unit and the second computing unit.Wherein:

First computing unit, for by described first movement state information, calculating described real vehicle in described simulation traffic Positional information in environment.

Positional information in described simulation traffic environment for the described real vehicle includes described real vehicle and described simulation traffic environment In simulated roadway barrier relative position relation.

Second computing unit, for the positional information in described simulation traffic environment according to described real vehicle, calculates control Device sensor signal processed.

Sending module 34, for sending the tested controller to described real vehicle for the described controller sensor signal, so that Described tested controller sends the control signal being directed to described controller sensor signal to the bus with described tested controller Connected real vehicle controller.

Bus receiver module 35, is directed to the control of described controller sensor signal output for obtaining described tested controller The signal of output after signal processed and the described real vehicle controller described control signal of response, and the second motion shape receiving described real vehicle State information.

Wherein, described tested controller is directed to the control signal of described controller sensor signal output, described real vehicle control Device processed responds the signal of output and the second movement state information of described real vehicle after described control signal, and described real-time simulation machine is imitated Really simulate traffic environment, and the analysis of the performance test as described tested controller for described first movement state information according to According to described second movement state information is obtained by the vehicle motion sensor of described real vehicle itself, is described real vehicle in described reality Vehicle controller receives the movement state information after 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 includes: 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, will not be described 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 involved the first kinestate in embodiment one and embodiment two Information and the second movement state information.

Real vehicle hil system shown in Fig. 5 can adopt the power supply of real vehicle to be powered.It is, of course, also possible to be supplied using independent The mode of electricity.If real vehicle hil system is by the way of independently-powered, the real vehicle hil system shown in Fig. 5 also includes: power supply mould Block 43, is connected with automobile positioning device 41 and real-time simulation machine 42 respectively;

In addition, based on real vehicle hil system disclosed above, also including host computer (not shown);Described host computer can Think mobile terminal, such as notebook computer, panel computer etc.;Described host computer is imitated with described in real time by wired or wireless network Prototype is connected, and to realize man-machine interaction, is more convenient to be emulated and controller is tested.For example, it is possible to pass through wireless network The radio communication between real-time simulation machine and host computer realized by card.Host computer and real-time simulation machine can be connected by netting twine, real Existing wire communication between host computer and real-time simulation machine.

It should be noted that each embodiment in this specification is all described by the way of going forward one by one, each embodiment weight Point explanation is all difference with other embodiment, between each embodiment identical similar partly mutually referring to. For device class embodiment, due to itself and embodiment of the method basic simlarity, so description is fairly simple, related part ginseng See that the part of embodiment of the method illustrates.

Last in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by One entity or operation are made a distinction with another entity or operation, and not necessarily require or imply these entities or operation Between there is any this actual relation or order.And, term " inclusion ", "comprising" or its any other variant meaning Covering comprising of nonexcludability, so that including a series of process of key elements, method, article or equipment not only include that A little key elements, but also include other key elements being not expressly set out, or also include for this process, method, article or The intrinsic key element of equipment.In the absence of more restrictions, the key element being limited by sentence "including a ...", does not arrange Remove and also there is other identical element in the process including described key element, method, article or equipment.

For convenience of description, it is divided into various units to be respectively described with function when describing apparatus above.Certainly, implementing this The function of each unit can be realized in same or multiple softwares and/or hardware during application.

As seen through the above description of the embodiments, those skilled in the art can be understood that the application can Mode by software plus necessary general hardware platform to be realized.Based on such understanding, the technical scheme essence of the application On in other words prior art is contributed partly can be embodied in the form of software product, this computer software product Can be stored in storage medium, such as rom/ram, magnetic disc, CD etc., include some instructions use so that a computer equipment (can be personal computer, server, or network equipment etc.) executes some of each embodiment of the application or embodiment Partly described method.

Above real vehicle provided herein is carried out in loop simulation method of testing, real-time simulation machine and system in detail Introduce, specific case used herein is set forth to the principle of the application and embodiment, the explanation of above example It is only intended to help and understand the present processes and its core concept;Simultaneously for one of ordinary skill in the art, according to this The thought of application, all will change in specific embodiments and applications, and in sum, this specification content should not It is interpreted as the restriction to the application.

Claims (7)

1. a kind of real vehicle in loop simulation method of testing it is characterised in that based on the real vehicle hil system being arranged in real vehicle, institute State real vehicle hil system and include real-time simulation machine and automobile positioning device, methods described includes:
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 the tested controller to described real vehicle for the described controller sensor signal, so that described tested controller sends pin The real vehicle controller that the control signal of described controller sensor signal is extremely connected with the bus of described tested controller;With And,
Obtain described tested controller and be directed to the control signal of described controller sensor signal output, described real vehicle controller sound After answering described control signal, the second movement state information of the signal of output and the described real vehicle of reception, described real-time simulation machine emulate Simulation traffic environment 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 itself, is that described real vehicle exists Described real vehicle controller receives the movement state information after described control signal.
2. method according to claim 1 it is characterised in that described according to described first movement state information, described mould Intend traffic environment, calculate the process of controller sensor signal, comprising:
By described first movement state information, calculate positional information in described simulation traffic environment for the described real vehicle;
According to positional information in described simulation traffic environment for the described real vehicle, calculate controller sensor signal.
3. method according to claim 1 is it is characterised in that described simulation traffic environment at least includes: different tracks With lane line, static vehicular traffic, the vehicular traffic of motion, pedestrian, traffic signss, barrier.
4. a kind of real-time simulation machine is it is characterised in that include:
Emulation module, is used for simulating simulation traffic environment;
First receiver module, the automobile positioning device for receiving described real-time simulation machine affiliated real vehicle hil system gets First movement state information of real vehicle;
Computing module, for according to described first movement state information, described simulation traffic environment, calculating controller sensor Signal;
Sending module, for sending the tested controller to described real vehicle for the described controller sensor signal, so that described quilt The control signal that survey controller sends for described controller sensor signal is extremely connected with the bus of described tested controller Real vehicle controller;
Bus receiver module, is directed to the control signal of described controller sensor signal output for obtaining described tested controller Respond the signal of output after described control signal, and the second kinestate letter receiving described real vehicle with described real vehicle controller Breath;
Wherein, described tested controller is directed to the control signal of described controller sensor signal output, described real vehicle controller After responding described control signal, the second movement state information of the signal of output and described real vehicle, described real-time simulation machine emulate The analysis foundation of the simulation traffic environment and described first movement state information performance test as described tested controller, institute State the second movement state information to be obtained by the vehicle motion sensor of described real vehicle itself, be that described real vehicle controls in described real vehicle Device receives the movement state information after described control signal.
5. real-time simulation machine according to claim 4 is it is characterised in that described computing module includes:
First computing unit, for by described first movement state information, calculating described real vehicle in described simulation traffic environment In positional information;
Second computing unit, for the positional information in described simulation traffic environment according to described real vehicle, calculates controller Sensor signal.
6. a kind of real vehicle hil system is it is characterised in that include: supply module, automobile positioning device and such as claim 4-5 are appointed Real-time simulation machine described in meaning one, wherein:
Described automobile positioning device, is connected with described real-time simulation machine, for obtaining first movement state information and of real vehicle Two movement state information;
Described supply module is connected with described automobile positioning device and described real-time simulation machine respectively.
7. real vehicle hil system according to claim 6 is it is characterised in that also include: host computer;
Described host computer is connected with described real-time simulation machine by wired or wireless network.
CN201410705507.7A 2014-11-28 2014-11-28 Real automobile in-the-loop simulation testing method, real-time simulation machine and system CN104460349B (en)

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