CN107728491B - V2X car networking is at ring simulation system - Google Patents
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Abstract
The invention discloses a V2X car networking in-loop simulation system, and belongs to the field of car networking. The system is mainly constructed by an IPG Carmaker vehicle networking simulation platform (01), a Simulink environment module (02), a channel simulator (03), a V2X communication terminal (04) and V2X roadside equipment (05). The IPG CarMaker simulation tool is responsible for building a simulation scene and configuring simulation parameters; the Simulink environment module is responsible for building a channel model, a simulation scene, a real scene mapping model, a control model, a communication model and the like; the channel simulator is used for carrying out performance test on LTE-V and 802.11p communication protocols; the V2X communication terminal acquires scene information by establishing connection with a Simulink communication model to realize ring simulation; and the V2X road side equipment imports the acquired information of the real scene into the simulation scene to realize the outdoor test function. All the modules supplement each other to form a perfect in-loop simulation system, and a good testing and verifying platform is provided for the application of the Internet of vehicles.
Description
Technical Field
The invention belongs to the technical field of vehicle networking systems, and discloses an in-loop simulation test system for vehicle networking, which is built by using modules such as an IPG (internet protocol gateway) card simulation tool, a Simulink tool, a channel simulator, a V2X communication terminal, V2X road side equipment and the like to realize V2X communication test, mutual mapping and information interaction of a real scene and a simulation scene, access of a real vehicle and a traffic object to the simulation scene and consistency test of vehicle networking application functions.
Background
With the increasing number of automobiles in the modern society, phenomena of traffic jam and traffic accidents frequently occur, and the proposal of the internet of vehicles brings about the relief of the problems. In the research related to the internet of vehicles, in order to reduce the cost, reduce the dependence on the actual scene, improve the research and development efficiency, and accurately perform the work of communication and functional consistency test of the internet of vehicles, the work is usually completed by means of an indoor simulation system.
At present, the Internet of vehicles simulation system is continuously and deeply researched and built at home and abroad, and some progress is made. Fig. 2 is a flow chart of a conventional scheme, which combines network simulation software (06) and road simulation software (07) together to construct a car networking simulation system. The network simulation software mainly simulates the communication characteristics of the internet of vehicles, the road simulation software mainly simulates the movement characteristics of vehicles, the method described in the figure 2 can lead the real world track into the network simulation software, and the network simulation software and the road traffic software are coupled through the middleware technology, so that the information interaction is realized.
Although the information interaction between the real world and the simulation scene is realized in the simulation method, the external information can be transmitted to the road traffic simulator only through network simulation software, so that the information transmission efficiency is not high, the real-time performance is poor, and in the prior art, the communication middleware used in the method has high technical research cost, the technology is not mature, the network simulator is various in types and frequent in updating, the organic combination workload of different platforms is extremely high, and the operability is not strong. In addition, the method mainly depends on simulation software to carry out the related technical test of the vehicle networking, does not establish a mutual mapping model of a real scene and a simulation scene, and does not simulate a real vehicle and a traffic object of the real scene into the simulation scene. In conclusion, the method is not flexible to the test of the car networking application, and the practicability of the test information and the accuracy of the model are not guaranteed.
Disclosure of Invention
Aiming at the defect of the application of the Internet of vehicles to a simulation platform, the invention aims to construct an in-loop simulation, test and verification system of the Internet of vehicles by means of an IPG Carmaker simulation platform, a Simulink tool, a wireless channel simulator, a V2X communication terminal, V2X roadside equipment and the like. The simulation system can realize the test of two communication protocols of the Internet of vehicles, realize the real-time mutual mapping and information interaction of a real scene and a simulation scene, and realize the test of the consistency of the real vehicle and a traffic object accessing the simulation scene and the Internet of vehicles application function.
In order to achieve the aim, the technical scheme of the invention is as follows: a V2X car networking is at ring simulation system, includes IPGCarmaker car networking simulation platform, Simulink environment module, channel simulator, V2X communication terminal and V2X roadside equipment.
The IPG Carmaker Internet of vehicles simulation platform is built with an Internet of vehicles simulation scene, and is used for outputting simulation environment parameters to a Simulink environment module, receiving and displaying data of an external test verification object; the vehicle networking simulation scene comprises building object, tree and parking lot models established by calling a building model library, vehicles of different models established by calling a vehicle model library, curve, straight road, slope and crossroad road models established by calling a traffic road model library, and traffic light models established by calling a traffic light model library.
The Simulink environment module is used for establishing data communication between the IPG Carmaker vehicle networking simulation platform and the V2X communication terminal and between the IPG Carmaker vehicle networking simulation platform and the V2X roadside equipment; the Simulink environment module is provided with a serial port communication module, and communication between the IPG Carmaker car networking simulation platform and the V2X communication terminal is realized through the serial port communication module. And the Simulink environment module is also provided with a CAN message packaging module, the CAN message packaging module is connected with an industrial personal computer through a network port, and the industrial personal computer is communicated with the V2X communication terminal through a CAN bus.
The channel simulator is used for importing scene channel data output by the vehicle networking simulation scene through the Simulink environment module, outputting a signal generated according to the scene channel data change to a V2X communication terminal needing to be tested, and performing performance test on a communication protocol.
The V2X communication terminal is used for receiving information of the channel simulator and testing communication performance, or/and receiving vehicle control and operation parameters, uploading the information to an Internet of vehicles simulation scene through a Simulink environment module to control a simulation vehicle, and dynamically displaying the actual state of the vehicle.
And the V2X road side equipment is used for acquiring the information state of a real scene in real time and uploading the information state to the Internet of vehicles simulation scene through the Simulink environment module to control the simulated traffic object. The information state of the real scene includes position, speed and moving direction information of the moving object, and position, state and remaining second information of the traffic light.
In the above scheme, the UDP/TCP communication module provided in the Simulink environment module is combined, so that the following outdoor test can be performed, real-time communication between the V2X communication terminal device and the Simulink environment module is realized, and dynamic mapping between a real vehicle and a simulated vehicle is formed.
The invention has the beneficial effects that: the invention constructs a vehicle networking in-loop simulation system based on a simulation platform and a simulation scene, performs performance and function tests on LTE-V and 802.11P communication standards by establishing a channel model in a Simulink environment, realizes a method for accessing a real traffic object to the simulation platform by information interaction of the real scene and the simulation scene, performs consistency test on the vehicle networking standards and functions, reduces the cost for the test and practice of the vehicle networking system, and greatly reduces manpower and material resources. Compared with a pure simulation system, the in-loop simulation system has the advantages of more reliable data, higher accuracy and better demonstration effect, and lays a foundation for testing the car networking application (such as improving the safety coefficient of the car and enhancing the traffic efficiency of the car).
Drawings
FIG. 1 is a general architecture diagram of a networked in-the-loop simulation system;
FIG. 2 is a schematic diagram of a prior art Internet of vehicles simulation system;
FIG. 3 is a structural diagram of a simulation scene for building the Internet of vehicles by using an IPG Carmaker simulation platform;
FIG. 4 is a flow chart of a simulation model for building Simulink channels to test LTE-V, 802.11P communication performance;
fig. 5 is a flow chart of the LTE-V, 802.11P communication function test by means of the V2X communication terminal;
FIG. 6 is a flow chart for implementing real scene and simulated scene real-time mutual mapping;
FIG. 7 is an in-loop simulation system design flow diagram;
FIG. 8 is a flow chart of an outdoor real vehicle access simulation scenario;
FIG. 9 is another flow diagram of an outdoor real vehicle access simulation scenario;
FIG. 10 is a flow chart of an outdoor real scene traffic object accessing a simulation scene;
FIG. 11 is a flow chart of format conversion and parsing of data output to an external communication device;
FIG. 12 is a flow chart of format conversion and parsing of data input to a simulation scenario;
fig. 13 is a flowchart of the consistency test of the pre-warning collision avoidance function of the internet of vehicles.
Detailed Description
In order to make the purpose, technical solution and main purpose of the present invention more apparent, the following will further describe the embodiments of the present invention with reference to the accompanying drawings.
The invention aims to build an internet of vehicles on-loop simulation system by means of an IPG (internet protocol gateway) Carmaker simulation platform, a Simulink tool, a channel simulator, V2X communication terminal communication equipment and V2X road side equipment, and the system is shown in figure 1. In order to achieve the purpose, firstly, the invention provides a simulation scene building based on a simulation platform IPG Carmaker.
The Internet of vehicles is a huge Internet system, and traffic objects such as vehicles, pedestrians, traffic lights and the like are contained in the Internet system.
First, the selection of a test environment is simulated. Different road types and road information are established aiming at different test environments, wherein the road types comprise urban roads, rural roads, expressways and the like, and the road information comprises straight roads, curved roads, T-shaped intersections, crossroads and the like.
Second, selection of traffic objects. The main traffic objects related to the vehicle networking system comprise vehicles, pedestrians, traffic lights, greening, houses, electronic equipment and the like. The traffic objects can be placed at the designated positions in the scene according to actual needs, and different functions are set.
Third, the running control and the route setting of the vehicle are simulated. Compared with other simulation software, the IPG Carmaker simulation platform has a stronger driver model, and any vehicle arranged in a scene can control the driving behavior and the driving path of the vehicle, so that a foundation is laid for building a vehicle networking simulation system.
Specifically, the IPG Carmaker simulation platform can build a simulation scene according to the vehicle networking test requirements, as shown in fig. 3, a building model library 08 in the IPG Carmaker simulation platform is called to set traffic objects such as building objects, trees, parking lots and the like in the scene; different types of vehicles can be set in the scene by calling the vehicle model library 09 in the IPG Carmaker simulation platform; the traffic road model library 10 in the IPG Carmaker simulation platform is called to set road types such as curves, straight roads, slopes and crossroads in a scene; and calling a traffic light model library 11 in an IPG Carmaker simulation platform to set traffic lights in the scene. The model libraries are called to configure parameters of the simulation environment, the parameters can be displayed in the simulation scene in real time through a TCL file format, and can also be transmitted to the Simulink environment in real time through the scene input and output association model 12, so that a data base is provided for building the Simulink model.
The key technology of the Internet of vehicles is V2X communication, and the invention carries out the V2X communication test of the Internet of vehicles by means of a simulation scene built by an IPG (internet protocol) CarMaker simulation platform and V2X communication terminal equipment. The invention provides a performance test method for two vehicle networking communication protocols of LTE-V and 802.11P, which comprises the following specific steps:
the performance test method of the Internet of vehicles communication protocol needs to establish a channel simulation model in the Simulink environment, input parameters of the channel model are real-time parameters generated by a simulation scene, output parameters of the channel model are a series of channel impulse responses, finally, a receiving signal of a receiving party is simulated and transmitted to a channel simulator, and finally, the receiving signal is transmitted to V2X communication terminal equipment through an antenna, so that the communication performance of LTE-V and 802.11P is tested.
Furthermore, the function test method of the two vehicle networking communication protocols is realized by sending the parameters of the simulation environment to the V2X communication terminal in real time, and then the V2X communication terminal communicates with each other through LTE-V and 802.11P and then transmits the communication back to the simulation environment. Data needing verification in a simulation scene are transmitted to V2X communication terminal communication equipment (a communication module integrating 802.11P or LTE-V) in a real scene in real time through a CAN bus (vehicle parameters) and a serial port (GPS mapping information) module, and V2X communication is simulated to acquire scene information. The V2X communication terminal then transmits the data back to the window glass of the simulated vehicle in the simulation scene for display after 802.11P or LTE-V communication.
Aiming at the communication test of the Internet of vehicles V2X, the invention tests the performance and the function of two vehicle communication protocols which are most widely applied at home and abroad at present. Referring to fig. 4, the method provides a performance test of the LTE-V, 802.11p vehicle communication protocol. In the method, a channel model 13 needs to be established for vehicle-to-vehicle communication, the channel model is a Simulink model, and the specific implementation method comprises the following steps: two vehicles are selected from a simulation scene, one vehicle is used as a sender, the other vehicle is used as a receiver, information such as positions, speeds, direction angles, occlusion and the like of the sender and the receiver is used as input of a channel model, then the channel model can output a series of channel impulse responses, finally receiving signals of the receiver are simulated, finally the signals are input into a channel simulator 14 for testing, and then a test result is transmitted to a V2X communication terminal through an antenna.
Based on a simulation system and CAN bus communication of a V2X communication terminal, the invention provides a function test method of LTE-V and 802.11p vehicle communication protocols. The specific implementation method is shown in fig. 5, the IPG Carmaker simulation platform carries out CAN message compilation 15 on the generated simulated vehicle parameters, the compiled CAN message DBC is compiled by a Msys compilation tool 16 and transmitted to an industrial personal computer (XPark)17 through a network port, and the V2X communication terminal transmits the simulated vehicle parameters acquired from the industrial personal computer to the window glass of the simulated vehicle in a simulated scene after the communication of LTE-V and 802.11 p.
Referring to fig. 6, the method provides a function of mapping a simulation scene and a real scene with each other, and lays a foundation for constructing a ring simulation system, and the implementation scheme thereof includes the following steps:
the method comprises the following steps that firstly, Google map software is opened, and a path is set in a map, wherein the method for setting the path comprises two modes: the first mode is that after a starting point and an end point are input in software, a Google map forms a path file; the second way is to set a starting point and an end point in the map by human, and a path file is also formed.
And secondly, modifying the path file into a TCL format after obtaining the path file, and importing the path file into an IPG Carmaker simulation platform.
Thirdly, after the path file is imported, the real map is mapped into the simulation platform, in order to realize the mutual mapping of the two-dimensional coordinates of the simulation scene and the longitude and latitude coordinates of the real scene, a position mapping model 18 needs to be established in the Simulink environment, so that the virtual and real scene mapping function in the real sense is realized, wherein the position mapping principle is based on the projection relation of the spherical coordinates and the geodetic coordinates, and the specific implementation mode is as follows:
taking the original point of the two-dimensional coordinates of the simulation scene as a base point, the distance L of the traffic object in the simulation scene corresponding to the base point can be calculated by programming in the Simulink environment:
wherein (x)1,y1) Is the coordinate of the base point, (x)2,y2) The coordinates of a certain traffic object in the simulation scene.
By using the coordinate y axis to correspond to the true north direction of the geographic coordinate, the azimuth angle alpha of the traffic object in the simulation scene corresponding to the true north direction can be calculated through programming in the Simulink environment:
and finally, establishing a Simulink mapping model according to the longitude and latitude coordinates, the distance and the azimuth angle corresponding to the base point to obtain the longitude and latitude coordinates of the real scene corresponding to the two-dimensional coordinates of the simulation scene, wherein the calculation formula is as follows:
Bw＝90-arccos(cos(90-Aw)×cos(C)+sin(90-Aw)×sin(C)+cosα) (3)
wherein A isjIs the longitude of the base point, AwLatitude as a base point; b isjFor simulating the longitude, B, of a scene traffic objectwThe latitude of a traffic object in a simulation scene (north latitude is positive, south latitude is negative, east longitude is positive, west longitude is negative), and radian C is as follows:
wherein R is the earth mean radius.
Referring to fig. 7, the method provides the building of an internet of vehicles-in-loop simulation system, the parameters of the vehicle and the parameters of surrounding traffic objects in a simulation scene are transmitted to a Simulink environment through a scene input and output correlation model, and then the parameters are transmitted to a V2X communication terminal through serial ports or CAN bus communication in real time, so as to simulate real scene information obtained through V2X communication. The CAN bus communication is to encapsulate the parameters of the simulation scene into a CAN message format, transmit the CAN message format to an industrial personal computer (XPark) through a PC interface after the CAN message format is compiled, and transmit the industrial personal computer to a V2X communication terminal. The industrial personal computer has the characteristics of strong real-time performance, rich interfaces, large data capacity and good test effect. The specific implementation method comprises the following steps: in a Simulink environment, an IPG CarMaker tool box 19 is called to transmit parameters of a traffic object in a simulation scene to a serial port communication module 20 or an industrial personal computer of the Simulink through a Simulink input and output model, then a communication connection between an IPG CarMaker simulation platform and a V2X communication terminal is established through the serial port communication module or the industrial personal computer of the Simulink, the parameters of the traffic object are output to an on-vehicle V2X communication terminal in a real scene in real time, and real scene information obtained by V2X communication is simulated by combining the mapping function of the real scene and the simulation scene and the mutual communication between vehicles, so that the on-loop simulation of the vehicle networking is realized.
When outdoor simulation test and verification are carried out, the vehicle and the road side unit can be accessed into a simulation scene, and the method specifically comprises the following steps:
the parameters of an accelerator, a brake, a turning angle and a clutch of a real vehicle or the speed of the vehicle is directly transmitted into the simulation platform through UDP/TCP communication, and the vehicle in the simulation scene can be controlled in real time through the method. Similarly, the method can also be used for realizing the control of the real vehicle by the vehicle in the simulation scene.
The UDP/TCP communication is mutual communication between a V2X communication terminal and a Simulink UDP/TCP communication module, and the Simulink communication module can receive V2X communication terminal information and can also send parameter information in a simulation scene.
The real vehicle control simulation vehicle is realized by receiving the motion parameters of the vehicle from the V2X communication terminal through the Simulink UDP/TCP communication module and transmitting the motion parameters of the vehicle to the specified simulation vehicle in the simulation scene through the scene input and output association model.
The simulation vehicle controls the real vehicle by sending the motion parameters of the specified simulation vehicle in the simulation scene to the Simulink UDP/TCP communication module and then to the V2X communication terminal through the scene input and output correlation model.
The scene input and output correlation model is realized by calling an IPG CarMaker tool box in a Simulink environment.
Referring to fig. 8 and 9, which are flow charts for implementing the real vehicle accessing the simulation scenario, firstly, the accelerator, brake, steering angle and clutch parameters of the real vehicle or the speed information of the vehicle is directly stored in the V2X communication terminal device through the on-board OBD module 21, and then the parameters are transmitted into the simulation scenario from the V2X communication terminal device through UDP/TCP communication, so as to implement real-time control of the vehicle in the simulation scenario, and form a dynamic mapping of the real vehicle and the simulated vehicle.
Besides, the motion parameters of the simulated vehicle can also control the real vehicle in real time through UDP/TCP communication to simulate automatic driving.
The UDP/TCP communication mentioned in the method refers to the communication between V2X communication terminal equipment and a Simulink UDP/TCP communication module, the UDP/TCP communication module is integrated in the Simulink environment, and after the communication connection is established with the V2X communication terminal, data can be mutually transmitted in real time. Meanwhile, the V2X communication terminal acquires the motion parameters of the real vehicle in real time and transmits the motion parameters to the vehicle control interface unit of the simulation system, so that the specified simulation vehicle in the simulation scene is controlled.
Referring to fig. 10, according to the principle of fig. 8 and 9, the position, speed and moving direction information of the moving object, the position, state and remaining second information of the traffic light can also be simulated into the simulation scene, except that the V2X communication terminal device becomes the V2X road side device.
Aiming at the traffic light in the real scene, parameters such as the position, the state, the remaining seconds and the like of the traffic light are transmitted to the simulated traffic light in the simulated scene, and the parameters of the real traffic light and the simulated traffic light are kept synchronous through information interaction.
Aiming at moving objects in a real scene, the position, the speed and the direction angle parameters of the moving objects are transmitted to the corresponding moving objects in the simulation scene, and the parameters of the real moving objects and the parameters of the simulation moving objects are kept synchronous through information interaction.
Since the UDP/TCP module of Simulink only supports byte stream data format, the present invention provides a method for data parsing when multiple data are transmitted simultaneously, which operates in the Simulink environment. Referring to fig. 11, which is a flow chart of data transmission from a simulation scenario to a V2X communication terminal device, in order to facilitate the V2X communication terminal device to process the received data, the simulation platform needs to perform data type conversion on a plurality of byte stream data, and then perform packing (equivalent to sending each byte in sequence) to facilitate storage and processing of the V2X communication terminal device.
Referring to fig. 12, which is a flowchart of a scenario in which data is transmitted from a V2X communication terminal device to a simulation, when an external device transmits a string of byte streams at regular intervals, an upnp module in the Simulink environment unpacks the string of byte streams, and then sequentially inputs the string of byte streams to each data interface of the simulation platform.
Referring to fig. 13, a flowchart of a vehicle anti-collision warning function consistency test applied to the internet of vehicles is shown, and the specific implementation method includes: firstly, after a mapping model and an information interaction model of a real scene and a simulation scene are built according to the principle of fig. 6, two vehicles are set in the real scene, and throttle, brake, corner and clutch parameters of the two vehicles are transmitted into the simulation scene according to the principle of fig. 8 or fig. 9 to control the two vehicles in the simulation scene, then real-time parameters (such as position and speed information) of the real vehicle are transmitted into the simulation scene according to the principle of fig. 10, and a Simulink anti-collision early warning model 22 is built by using the data to realize the anti-collision early warning function of the two vehicles. And finally, transmitting the early warning result information to a real vehicle in real time according to the principle of the figure 10, and informing a driver of the early warning information.
More car networking application function consistency tests can be realized through the principle; in addition, the consistency test of the application standard of the Internet of vehicles is realized by carrying out format packaging on the parameters generated by the simulation environment; the testing method has the characteristics of higher accuracy, higher efficiency and the like.
The foregoing is considered as illustrative and not restrictive of the preferred embodiments of the present invention; it will be apparent to those skilled in the art that modifications and improvements can be made within the scope of the invention as defined in the claims, and that such modifications and improvements are within the scope of the invention.
Claims (3)
1. The utility model provides a V2X car networking is at ring simulation system which characterized in that: comprises an IPG Carmaker vehicle networking simulation platform (01), a Simulink environment module (02), a channel simulator (03), a V2X communication terminal (04) and V2X roadside equipment (05),
the IPG Carmaker vehicle networking simulation platform (01) is provided with a vehicle networking simulation scene and used for outputting simulation environment parameters to the Simulink environment module;
the Simulink environment module (02) is provided with a serial port communication module, and data communication between the IPG Carmaker car networking simulation platform and the V2X road side equipment is realized through the serial port communication module; the Simulink environment module is also internally provided with a UDP/TCP communication module to realize real-time communication between the V2X communication terminal and the Simulink environment module and form dynamic mapping of a real vehicle and a simulated vehicle;
the channel simulator (03) is used for importing scene channel data output by the vehicle networking simulation scene through the Simulink environment module, outputting a signal generated according to the scene channel data change to a V2X communication terminal to be tested, and performing performance test on a communication protocol;
the V2X communication terminal (04) is used for receiving information of the channel simulator and testing communication performance, or/and receiving vehicle control and operation parameters, uploading the information to an Internet of vehicles simulation scene through a Simulink environment module to control a simulation vehicle, and dynamically displaying the actual state of the vehicle;
the V2X road side equipment (05) is used for acquiring the information state of a real scene in real time and uploading the information state to the vehicle networking simulation scene through the Simulink environment module to control the simulated traffic object;
transmitting vehicle parameters and parameters of surrounding traffic objects in a simulation scene to a Simulink environment through a scene input and output correlation model, transmitting the parameters to a V2X communication terminal through a serial port or CAN bus communication in real time, simulating real scene information acquired by V2X communication, wherein the CAN bus communication is to package the parameters of the simulation scene into a CAN message format, transmit the CAN message format to an industrial personal computer through a PC machine network port after compiling, and transmit the industrial personal computer to the V2X communication terminal; the specific implementation method comprises the following steps: in a Simulink environment, calling an IPG CarMaker tool box to transmit parameters of a traffic object in a simulation scene to a serial port communication module or an industrial personal computer of the Simulink through a Simulink input and output model, establishing communication connection between an IPG CarMaker simulation platform and a V2X communication terminal through the serial port communication module or the industrial personal computer of the Simulink, outputting the parameters of the traffic object to an on-vehicle V2X communication terminal in a real scene in real time, and simulating real scene information acquired by V2X communication by combining the mapping function of the real scene and the simulation scene and the mutual communication between vehicles to realize the on-loop simulation of the Internet of vehicles;
when outdoor simulation test and verification are carried out, the vehicle and the road side unit are accessed into a simulation scene, and the method specifically comprises the following steps: the accelerator, brake, corner and clutch parameters of the real vehicle or the speed of the vehicle are directly transmitted into the simulation platform through UDP/TCP communication, the vehicle in the simulation scene can be controlled in real time through the method, and similarly, the vehicle in the simulation scene can be controlled to control the real vehicle through the method;
the UDP/TCP communication is mutual communication between a V2X communication terminal and a Simulink UDP/TCP communication module, and the Simulink communication module can receive V2X communication terminal information and can also send parameter information in a simulation scene;
the real vehicle control simulation vehicle is realized by transmitting the vehicle motion parameters to the specified simulation vehicle in the simulation scene through the scene input and output association model after receiving the vehicle motion parameters from the V2X communication terminal through the Simulink UDP/TCP communication module;
the control of the real vehicle by the simulated vehicle is realized by sending the motion parameters of the specified simulated vehicle in the simulated scene to a Simulink UDP/TCP communication module and then to a V2X communication terminal through a scene input and output correlation model;
the scene input and output correlation model is realized by calling an IPG CarMaker tool box in a Simulink environment.
2. The V2X car networking-in-loop simulation system of claim 1, wherein: the vehicle networking simulation scene comprises building object, tree and parking lot models established by calling a building model library (08), vehicles of different models established by calling a vehicle model library (09), curve, straight road, slope and crossroad road models established by calling a traffic road model library (10), and traffic light models established by calling a traffic light model library (11).
3. The V2X car networking-in-loop simulation system according to claim 1 or 2, wherein: the information state of the real scene comprises the position, the speed and the movement direction information of the moving object, and the position, the state and the remaining second information of the traffic light.
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