CN107728491A - A kind of V2X car networkings assemblage on-orbit system - Google Patents
A kind of V2X car networkings assemblage on-orbit system Download PDFInfo
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- CN107728491A CN107728491A CN201710890864.9A CN201710890864A CN107728491A CN 107728491 A CN107728491 A CN 107728491A CN 201710890864 A CN201710890864 A CN 201710890864A CN 107728491 A CN107728491 A CN 107728491A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a kind of V2X car networkings assemblage on-orbit system, belong to car networking field.The system is mainly built by IPG Carmaker car networkings emulation platforms (01), Simulink environment modules (02), channel simulator (03), V2X communication terminals (04) and V2X roadside devices (05).IPG CarMaker emulation tools be responsible for simulating scenes build and simulation parameter configuration；Simulink environment modules are responsible for building channel model, simulating scenes and real scene mapping model, Controlling model and traffic model etc.；Channel simulator is used to carry out performance test to LTE V, 802.11p communication protocols；V2X communication terminals realize assemblage on-orbit by establishing connection acquisition scene information with Simulink traffic models；The information of the real scene got imported into simulating scenes and realizes outdoor test function by V2X roadside devices.Modules are complemented each other, and form a perfect assemblage on-orbit system, and a good test and validation platform is provided for car networking application.
Description
Technical field
The invention belongs to car networking systems technology field, utilizes IPG Carmaker emulation tools, Simulink instruments, letter
The modules such as road emulator, V2X communication terminals, V2X roadside devices build car networking assemblage on-orbit test system and realize that V2X communications are surveyed
Examination, real scene and the mutual mapping of simulating scenes and information exchange, true vehicle and traffic object access simulating scenes
And car networking application function uniformity test.
Background technology
Growing with today's society automobile quantity, traffic congestion, the phenomenon of traffic accident occur again and again, and car joins
The it is proposed of net brings dawn to alleviating these problems.In car networking correlative study, in order to reduce cost, reduce to actual field
The dependence of scape, research and development efficiency is improved, exactly to work such as car networking communication and function conformance testings, it usually needs borrow
Indoor Simulation system is helped to complete.
At present, research and car networking analogue system also is built deepening continuously both at home and abroad, and have made some progress.Such as figure
It is the flow chart of existing scheme shown in 2, it is that Network Simulation Software (06) and road simulation software (07) are combined together,
So as to build a car networking analogue system.The communication characteristic of Network Simulation Software main analog car networking, road simulation are soft
Part is mainly responsible for the mobility of simulating vehicle, and it is soft that the method described in Fig. 2 can import real world track networking emulation
In part, Network Simulation Software and road traffic software are coupled by middleware Technology, so as to realize the interaction of information.
Although realizing the information exchange of real world and simulating scenes in above-mentioned emulation mode, due to needing to pass through
Network Simulation Software could be delivered to external information road traffic emulator, therefore information transmission inefficient, real-time
It is poor, and from present's view, the communication middleware technical research cost used in this method is high, and technology is not also overripened, network
The species of emulator is various and renewal is frequent, to realize that the combination workload of different platform is very big, and operability is not yet
By force.In addition, this method relies primarily on the correlation technique test that simulation software carries out car networking, real scene and emulation are not established
The mutual mapping model of scene, also not by real vehicles and the simulation of the traffic object of real scene into simulating scenes.Always
For it, the test that this method is applied to car networking is dumb, test information practicality and model accuracy also no
To guarantee.
The content of the invention
The shortcoming in emulation platform is applied for car networking, the purpose of the present invention is flat by IPG Carmaker emulation
Platform, Simulink instruments, radio channel emulator, V2X communication terminals, V2X roadside devices etc. build a car networking and imitated in ring
Very, test and validation system.The analogue system can realize the test to two big communication protocol of car networking, realize real scene and
Real-time mutually mapping and the information exchange of simulating scenes, realize true vehicle and traffic object access simulating scenes and car
Working application function conformance testing.
To achieve these goals the technical scheme is that：A kind of V2X car networkings assemblage on-orbit system, including IPG
Carmaker car networkings emulation platform, Simulink environment modules, channel simulator, V2X communication terminals and V2X roadside devices.
Wherein, the IPG Carmaker car networking emulation platform buildings have car networking simulating scenes, are emulated for exporting
Ambient parameter receives data and the display of external testing identifying object to Simulink environment modules；Car networking simulating scenes bag
Include the buildings for calling building model storehouse to establish, trees and parking field model, the different shaped for calling auto model storehouse to establish
Number vehicle, bend, straight way, slope and the crossroad road model for calling traffic route model library to establish, call traffic lights
The traffic lights model that model library is established.
The Simulink environment modules, for establishing IPG Carmaker car networkings emulation platforms and V2X communication terminals
Between, and IPG Carmaker car networkings emulation platforms communicate with the data between V2X roadside devices；Simulink environment moulds
Block has serial communication modular, realizes that IPG Carmaker car networkings emulation platforms communicate eventually with V2X by serial communication modular
Communication between end.Also there is CAN message package module in Simulink environment modules, CAN message package module passes through net
Mouth is connected with industrial computer, is communicated between industrial computer and V2X communication terminals by CAN.
The channel simulator, for importing the scene exported by car networking simulating scenes through Simulink environment modules
Channel data, the signal of generation will be changed according to scene channel data, the V2X communication terminals for needing to test are output to, to communication
Agreement carries out performance test.
The V2X communication terminals, for receiving the information of channel simulator and testing communication performance, or/and receive vehicle
Control and operational factor, and car networking simulating scenes control emulation vehicle is uploaded to by Simulink environment modules, dynamic is aobvious
Show the virtual condition of vehicle.
The V2X roadside devices, for obtaining the information state of real scene in real time, by Simulink environment modules
Pass to the traffic object of car networking simulating scenes control emulation.The information state of real scene includes the position of Moving Objects, speed
Degree and direction of motion information, position, state and the remaining number of seconds information of traffic lights.
In such scheme, with reference to the UDP/TCP communication modules set in the Simulink environment modules, it can carry out
Following outdoor test, the real-time Communication for Power between V2X communication terminal devices and Simulink environment modules is realized, form real vehicles
With the dynamic mapping of emulation vehicle.
The beneficial effects of the invention are as follows：For the present invention based on emulation platform, simulating scenes are foundation, construct a base
In V2X car networking assemblage on-orbit system, and by established in Simulink environment channel model to LTE-V,
802.11P communication standards have carried out performance and functional test, are realized by the information exchange of real scene and simulating scenes true
The method that traffic object accesses emulation platform, uniformity test has been carried out to car networking standard and function, is car networking system
Test and practice reduce cost, greatly reduce man power and material.This assemblage on-orbit system is than simple analogue system number
According to more reliable, accuracy is higher, and demonstrating effect is more preferable, while is also car networking application (safety coefficient, enhancing as improved vehicle
The traffic efficiency of vehicle) test lay the foundation.
Brief description of the drawings
Fig. 1 is car networking assemblage on-orbit system general frame figure；
Fig. 2 is the schematic diagram of existing car networking analogue system；
Fig. 3 is the structure chart using IPG Carmaker emulation platform building car networking simulating scenes；
Fig. 4 is the flow chart for establishing Simulink channel simulation models test LTE-V, 802.11P communication performance；
Fig. 5 is the flow chart tested by V2X communication terminals LTE-V, 802.11P communication function；
Fig. 6 is to realize the flow chart that real scene and simulating scenes mutually map in real time；
Fig. 7 is assemblage on-orbit system design flow figure；
Fig. 8 is the flow chart of outdoor real vehicles access simulating scenes；
Fig. 9 is another flow chart of outdoor real vehicles access simulating scenes；
Figure 10 is the flow chart of outdoor real scene traffic object access simulating scenes；
Figure 11 is the flow chart for the data for being output to external communication device being carried out format conversion and parsing；
Figure 12 is the flow chart for the data for being input to simulating scenes being carried out format conversion and parsing；
Figure 13 is the flow chart of car networking anti-collision early warning function conformance testing.
Embodiment
It is of greater clarity to illustrate the purpose of the present invention, technical scheme and main application, below in conjunction with accompanying drawing pair
The embodiment of the present invention is described further.
The purpose of the present invention is led to by IPG Carmaker emulation platforms, Simulink instruments, channel simulator, V2X
Letter terminal communication device and V2X roadside devices build a car networking assemblage on-orbit system, as described in Figure 1.In order to realize this
Purpose, first, the present invention provide the simulating scenes based on emulation platform IPG Carmaker and built.
Car networking is a huge net contact system, and the inside includes the traffic objects such as vehicle, pedestrian, traffic lights, the present invention
By a kind of car networking simulating scenes of IPG Carmaker Design of Simulation Platform, the foundation of the car networking system emulation scene includes
Three parts below.
First, the selection of Simulation Test Environment.Different road types and road letter are established for different test environments
Breath, wherein road type include urban road, backroad, highway etc., and road information includes straight way, bend, T-shaped road
Mouth, crossroad etc..
Second, the selection of traffic object.The main traffic object that car networking system is related to has vehicle, pedestrian, traffic lights, green
The information such as change, house, electronic equipment.The position that these traffic objects can be placed on and be specified in scene according to being actually needed, if
Fixed different function.
3rd, emulate traveling control and the path setting of vehicle.Compared with other simulation softwares, IPG Carmaker emulation
Platform possesses more powerful pilot model, and any vehicle set in scene can control its traveling behavior and traveling road
Footpath, this lays a good foundation to building for car networking analogue system.
Specifically, IPG Carmaker emulation platforms can build simulating scenes according to car networking testing requirement, referring to Fig. 3 institutes
Show, call the building model storehouse 08 in IPG Carmaker emulation platforms that buildings, trees can be in the scene set, stopped
The traffic objects such as parking lot；Call the auto model storehouse 09 in IPG Carmaker emulation platforms that different shaped can be set in the scene
Number vehicle；Call the traffic route model library 10 in IPG Carmaker emulation platforms that bend, straight can be set in the scene
The road types such as road, slope, crossroad；Call the traffic lights model library 11 in IPG Carmaker emulation platforms can be with the scene
Traffic lights is set in scape.By calling these model libraries to carry out the parameter configuration of simulated environment, these parameters can pass through TCL texts
Part form real-time display can also pass through the real-time delivery of scene input and output correlation model 12 to Simulink in simulating scenes
In environment, offer data basis is built for Simulink models.
The key technology of car networking is that V2X communicates, and the present invention imitates by IPG CarMaker emulation platform buildings are good
True scene and V2X communication terminal devices have carried out car networking V2X communication tests.The invention provides LTE-V, 802.11P two
The performance test methods of kind car networking communication protocol, concrete scheme are as follows：
The performance test methods of described car networking communication protocol need to establish channel simulator mould in Simulink environment
Type, the input parameter of the channel model is real-time parameter caused by simulating scenes, and the output parameter of the channel model is a series of
Channel impulse response, finally simulates the reception signal of recipient, and is transmitted to channel simulator, is sent to finally by antenna
V2X communication terminal devices, so as to test LTE-V, 802.11P communication performance.
Further, the function test method of two kinds of described car networking communication protocols is by by the parameter of simulated environment
V2X communication terminals are sent in real time, V2X communication terminals pass back to emulation ring again after being in communication with each other again by LTE-V, 802.11P
Realized in border.The data for needing to verify in simulating scenes are passed through into CAN (vehicle parameter) and serial ports (GPS map informations)
Module is real-time transmitted to V2X serial communications equipment (communication module for being integrated with 802.11P or LTE-V) in real scene
In, simulation V2X communications obtain scene information.Then data after V2X communication terminals are communicated by 802.11P or LTE-V
Pass back to and shown on the glass for vehicle window that vehicle is emulated in simulating scenes.
For above car networking V2X communication tests, the present invention to using widest two kinds of vehicle communications at present both at home and abroad
Agreement carries out performance and functional test.Shown in reference picture 4, this method is to provide the property of LTE-V, 802.11p vehicle communication agreement
Can test.In the method, vehicle needs to establish channel model 13 with vehicle communication, and the channel model is Simulink models,
Specific implementation method is：Two cars are chosen in simulating scenes, one is used as sender, and another will send as recipient
Side and the position of recipient, speed, deflection, have input of the information such as unobstructed as channel model, then this channel model
A series of channel impulse responses can be exported, finally simulate the reception signal of recipient, these signals are finally input to channel
Tested in emulator 14, then test result is sent to V2X communication terminals by antenna.
Communicated based on analogue system and the CAN of V2X communication terminals, the present invention provides LTE-V, 802.11p vehicle and led to
Believe the function test method of agreement.Shown in specific implementation method reference picture 5, IPG Carmaker emulation platforms are by the emulation of generation
Vehicle parameter carries out CAN message establishment 15, and the CAN message DBC generated after establishment is passed through by the compiling of Msys compilation tools 16 again
Network interface be transferred to industrial computer (XPark) 17, V2X communication terminals the emulation vehicle parameter obtained from industrial computer by LTE-V,
802.11p communication after return to simulating scenes emulation it is vehicle window pane on.
Shown in reference picture 6, this method provides the mutual mapping function of simulating scenes and real scene, to build assemblage on-orbit
System establishes foundation stone, and its embodiment includes following steps：
The first step, Google Maps software is opened, path is set in map, wherein the method in setting path includes two kinds
Mode：First way is that Google Maps will form a path file after inputting beginning and end in software；Second
Kind mode is that beginning and end is artificially set in map, can equally form a path file.
Second step, obtain being modified as TCL forms after path file, imported into IPG Carmaker emulation platforms
In.
3rd step, lead-in path file are mapped in emulation platform equivalent to true map afterwards, in order to realize emulation
The mutual mapping of scene two-dimensional coordinate and real scene latitude and longitude coordinates in Simulink environment, it is necessary to establish a position
Mapping model 18, so as to realize actual situation scene mapping function truly, wherein position mapping principle is sat based on sphere
The projection relation of mark and geodetic coordinates, embodiment are：
Using the origin of simulating scenes two-dimensional coordinate as basic point, emulation field can be obtained by being programmed in Simulink environment
Traffic object corresponds to the distance L of this basic point in scape：
Wherein, (x1,y1) be basic point coordinate, (x2,y2) for the coordinate of simulating scenes some traffic objects.
The direct north of geographical coordinate is corresponded to coordinate y-axis, emulation can be obtained by being programmed in Simulink environment
Traffic object corresponds to the azimuth angle alpha of direct north in scene：
Finally the latitude and longitude coordinates according to corresponding to basic point, distance, azimuth establish Simulink mapping models obtain it is imitative
The latitude and longitude coordinates of real scene, calculation formula are as follows corresponding to true scene two-dimensional coordinate：
Bw=90-arccos (cos (90-Aw)×cos(C)+sin(90-Aw)×sin(C)+cosα)(3)
Wherein, AjFor the longitude of basic point, AwFor the latitude of basic point；BjFor the longitude of simulating scenes traffic object, BwFor emulation
(north latitude is just, south latitude is negative to the latitude of scene traffic object；East longitude is just, west longitude is negative), radian C is：
Wherein, R is earth mean radius.
Shown in reference picture 7, this method provides building for car networking assemblage on-orbit system, and vehicle in simulating scenes is joined
Number and the parameter of surrounding traffic object are transferred in Simulink environment by scene input and output correlation model, then by these
Parameter gives V2X communication terminals, the real scene letter that simulation V2X communications obtain by serial ports or CAN communication real-time Transmission
Breath.CAN communication is that the parameter of simulating scenes is packaged into CAN message form, and industry control is transmitted to by PC network interface after compiling
Machine (XPark), industrial computer relay to V2X communication terminals.Wherein industrial computer has real-time, rich interface, data capacity
The characteristics of big, good test effect.Specific implementation method is：In Simulink environment, IPG CarMaker tool boxes 19 are called
The parameter of traffic object in simulating scenes is transferred to Simulink serial communication mould by Simulink input/output models
In block 20 or industrial computer, then by Simulink serial communication modular or industrial computer to establish IPG CarMaker emulation flat
The communication connection of platform and V2X communication terminals, the vehicle-mounted V2X parameter of traffic object being output in real time in real scene communicate eventually
On end, with reference to real scene and simulating scenes mapping function and vehicle between be in communication with each other, simulation V2X communication obtain
Real scene information, realize the assemblage on-orbit of car networking.
When carrying out outdoor emulation testing and checking, vehicle and roadside unit can be accessed in simulating scenes, specifically
For：
Directly the speed of vehicle is led to the throttle of real vehicles, brake, corner and clutch parameter or by UDP/TCP
In the incoming emulation platform of letter, the vehicle in simulating scenes can be controlled in real time by this method.Similarly, this side can also be passed through
Method realizes the wagon control real vehicles of simulating scenes.
UDP/TCP communications being in communication with each other between V2X communication terminals and Simulink UDP/TCP communication modules,
Simulink communication modules, which can receive V2X communication terminal informations, can also send parameter information in simulating scenes.
Described real vehicles control emulation vehicle is from V2X communication terminals by Simulink UDP/TCP communication modules
After the kinematic parameter for receiving vehicle, then these vehicle movement parameters are transferred to by scene input and output correlation model by emulation
What the emulation vehicle specified in scene was realized.
Described emulation wagon control real vehicles are specified in simulating scenes by scene input and output correlation model
The kinematic parameter of emulation vehicle is sent to Simulink UDP/TCP communication modules, is then forwarded to the realization of V2X communication terminals.
Described scene input and output correlation model is by calling IPG CarMaker instruments in Simulink environment
What case was realized.
It is the implementation process figure real vehicles access simulating scenes, first real vehicles shown in reference picture 8 and Fig. 9
Throttle, brake, corner and clutch parameter or the velocity information of vehicle is directly stored V2X by vehicle-mounted OBD modules 21
In communication terminal device, then communicated by UDP/TCP and these parameters are passed to simulating scenes from V2X communication terminal devices
In, the vehicle in control simulating scenes in real time is realized, real vehicles is formed and emulates the dynamic mapping of vehicle.
In addition, the kinematic parameter for emulating vehicle again may be by UDP/TCP communications control real vehicles in real time, mould
Intend automatic Pilot.
The UDP/TCP communications mentioned in the above method refer to V2X communication terminal devices and Simulink UDP/TCP communications
Communication between module, UDP/TCP communication modules are integrated with Simulink environment, establish and communicate to connect with V2X communication terminals
Afterwards, data can is mutually transmitted in real time.Meanwhile V2X communication terminals obtain the kinematic parameter of real vehicles and passed in real time
The vehicle control interface unit of analogue system, so as to control the emulation vehicle specified in simulating scenes.
, can also be by the position of Moving Objects, speed and the direction of motion according to Fig. 8 and Fig. 9 principle shown in reference picture 10
Information, into simulating scenes, different simply V2X communication terminals are set position, state and the remaining number of seconds information simulation of traffic lights
It is standby to become V2X roadside devices.
For the traffic lights in real scene, the parameters such as its position, state, remaining number of seconds are passed in simulating scenes
On the traffic lights of simulation, and the parameter of true traffic lights and emulation traffic lights is allowed to keep synchronous by information exchange.
For Moving Objects in real scene, it is right in simulating scenes that their position, speed, direction angular dimensions are passed to
On the Moving Objects answered, and the parameter of real motion object and simulating sports object is allowed to keep synchronous by information exchange.
Because Simulink UDP/TCP modules only support bytes of stream data form, therefore the present invention is provided for multiple
The method that data parsing is carried out data are sent simultaneously when, this method are operated in Simulink environment.It is several shown in reference picture 11
According to the flow chart that V2X communication terminal devices are transferred to from simulating scenes, the data for the ease of V2X communication terminal devices to receiving
Handled, emulation platform needs to carry out multiple bytes of stream data the conversion of data type, is then packed (equivalent to every
Individual byte is sent in order), facilitate the storage and processing of V2X communication terminal devices.
It is the flow chart that data are sent to simulating scenes from V2X communication terminal devices shown in reference picture 12, external equipment is every
When some cycles send a string of byte streams, the Unpack modules in Simulink environment are unpacked this string byte stream, so
It is sequentially inputted in order in each data-interface of emulation platform afterwards.
It is the flow chart of car networking application collision prevention of vehicle warning function uniformity test shown in reference picture 13, specific implementation
Method is：Be first according to Fig. 6 principle put up the mapping model of real scene and simulating scenes, Information Interaction Model after,
Two cars are set in real scene and their throttle, brake, corner and clutch parameter are passed to according to Fig. 8 or Fig. 9 principle
The two cars in simulating scenes are controlled into simulating scenes, according still further to Figure 10 principle the real-time parameters of real vehicles (such as position
Put, velocity information) it is passed in simulating scenes, establish Simulink anti-collision early warnings model 22 using these data and realize two cars
Anti-collision early warning function.Principle of the early warning object information according still further to Figure 10 is finally transmitted to real vehicles in real time, informs driver
Warning information.
More car networking application function uniformity tests can also be realized by above-mentioned principle；In addition, by right
Parameter caused by simulated environment enters uniformity test of the row format encapsulation realization to car networking application standard；This method of testing tool
There is the features such as more accurate, more effective.
Presently preferred embodiments of the present invention is the foregoing is only, rather than is limited；For the professional technique of the art
For personnel or ordinary people, the modification and improvement of correlation can be still carried out in the interest field that the present invention is limited, but
These change also should be within the scope of the present invention.
Claims (6)
- A kind of 1. V2X car networkings assemblage on-orbit system, it is characterised in that：Including IPG Carmaker car networking emulation platforms (01), Simulink environment modules (02), channel simulator (03), V2X communication terminals (04) and V2X roadside devices (05),Wherein, the IPG Carmaker car networkings emulation platform (01) has built car networking simulating scenes, is emulated for exporting Ambient parameter receives data and the display of external testing identifying object to Simulink environment modules；The Simulink environment modules (02), for establishing IPG Carmaker car networkings emulation platforms and V2X communication terminals Between, and IPG Carmaker car networkings emulation platforms communicate with the data between V2X roadside devices；The channel simulator (03), for importing the scene exported by car networking simulating scenes through Simulink environment modules Channel data, the signal of generation will be changed according to scene channel data, the V2X communication terminals for needing to test are output to, to communication Agreement carries out performance test；The V2X communication terminals (04), for receiving the information of channel simulator and testing communication performance, or/and receive vehicle Control and operational factor, and car networking simulating scenes control emulation vehicle is uploaded to by Simulink environment modules, dynamic is aobvious Show the virtual condition of vehicle；The V2X roadside devices (05), for obtaining the information state of real scene in real time, by Simulink environment modules Pass to the traffic object of car networking simulating scenes control emulation.
- A kind of 2. V2X car networkings assemblage on-orbit system according to claim 1, it is characterised in that：The car networking emulates field Scape includes buildings, trees and the parking field model for calling building model storehouse (08) to establish, and calls auto model storehouse (09) The vehicle of the different model of foundation, bend, straight way, slope and the crossroad road for calling traffic route model library (10) to establish Model, the traffic lights model for calling traffic lights model library (11) to establish.
- A kind of 3. V2X car networkings assemblage on-orbit system according to claim 1, it is characterised in that：The Simulink environment Module has serial communication modular, realizes that IPG Carmaker car networking emulation platforms communicate with V2X by serial communication modular Communication between terminal.
- A kind of 4. V2X car networkings assemblage on-orbit system according to claim 1, it is characterised in that：The Simulink environment Module also has CAN message package module, and CAN message package module is connected by network interface with industrial computer, and industrial computer communicates with V2X Communicated between terminal by CAN.
- 5. according to a kind of any one of claim 1 to 4 V2X car networkings assemblage on-orbit system, it is characterised in that：It is described true The information state of scene includes position, speed and the direction of motion information of Moving Objects, position, state and the remaining second of traffic lights Number information.
- A kind of 6. V2X car networkings assemblage on-orbit system according to claim 5, it is characterised in that：The Simulink environment UDP/TCP communication modules are also set up in module, are realized logical in real time between V2X communication terminal devices and Simulink environment modules Letter, form real vehicles and emulate the dynamic mapping of vehicle.
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| CN108508761A (en) * | 2018-03-28 | 2018-09-07 | 惠州市德赛西威汽车电子股份有限公司 | A kind of AEB algorithm function verification methods based on CarMaker simulated environment |
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| CN113759752A (en) * | 2021-08-31 | 2021-12-07 | 信通院车联网创新中心(成都)有限公司 | Simulation test method for vehicle road early warning function of V2X vehicle-mounted terminal |
| CN116133012A (en) * | 2023-04-14 | 2023-05-16 | 智道网联科技(北京)有限公司 | Communication device, test method, system, equipment and storage medium |
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