CN108681264A - A kind of intelligent vehicle digitalized artificial test device - Google Patents
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Abstract
The invention belongs to vehicle testing technical fields, disclose a kind of intelligent vehicle digitalized artificial test device, the present apparatus is provided with computer, emulation vehicle, display, network interface, physical interface, emulation vehicle is connected by interface with computer, it shows equipment and calculates mechatronics, computer is connected by interface with network system, and emulation testing can be carried out to intelligent vehicle in laboratory environments using the device.The present invention can carry out emulation testing in laboratory environment under inoperative environment to intelligent vehicle, avoid the discharge of tail gas, have the characteristics that accurate, quick, safe, repeatable, economical, environmentally friendly, in the research of intelligent vehicle, exploitation, verification, test, inspection, there is irreplaceable role.
Description
Technical field
The invention belongs to vehicle testing technical field more particularly to a kind of intelligent vehicle digitalized artificial test devices.
Background technology
Currently, the prior art commonly used in the trade is such：
Usually the operation of vehicle substantially can be considered to a multi input, multi output, input/output relation are complicated and changeable,
The control process of the Complex Nonlinear System of uncertain multi-jamming sources.Driver should environment of accepting for example road, crowded, direction,
The information of pedestrian etc. will also experience the information of automobile such as speed, laterally offset, yaw velocity etc., then by judging, analyzing
And decision, and compared with the driving experience of oneself, determine the control action that do, finally by body, hand, foot etc. Lai complete
At the action for manipulating vehicle.Therefore in entire driving procedure, the human factor of driver accounts for prodigious proportion.Once occurring
The case where driver drives for a long time, fatigue is driven, error in judgement, it is easy to cause traffic accident.Intelligent vehicle is a collection
Environment sensing, programmed decision-making, multi-grade auxiliary the functions such as drive in the integrated system of one, it, which is concentrated, has used computer, existing
It generation sensing, information fusion, communication, artificial intelligence and the technologies such as automatically controls, is typical new and high technology synthesis.At present to intelligence
The research of energy vehicle is directed generally to improve safety, the comfort of automobile, and provides excellent people's car mutual interface, to intelligence
The test of energy vehicle need to repeatedly carry out in the state that vehicle is run.
In conclusion problem of the existing technology is：
The detection of vehicle can only be carried out in the state that vehicle is run, detection consumption is high, not complete enough to the detection of vehicle
Face, accuracy is not high, and detection time is long, and the discharge of tail gas in the process of running causes the pollution of environment.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of intelligent vehicle digitalized artificial test devices.
The invention is realized in this way a kind of intelligent vehicle digitalized artificial test method, the intelligent vehicle digitlization
Emulation test method establishes out the model of place for emulation, train's simulation model by computer, model with data file or
The form of database preserves on computers；Simulation computer controls subsystem by the automatic Pilot of various interfaces and emulation vehicle
System is attached；Train's simulation model, virtual environment model, perception layer model needed for simulation computer load emulation, and lead to
Cross the correlation module that interface starts emulation vehicle；
When carrying out emulation testing, simulation computer carries out periodic simulation calculation；In each period, first to passing
Sense layer module is emulated, and may include laser radar, millimetre-wave radar, visual sensor, GPS module；
Simulation result data is sent to the automatic Pilot control subsystem of emulation vehicle by interface or bus；Control subsystem
The decision of vehicle drive behavior is carried out according to these data, the control algolithm of itself, and is sent out to simulation computer by CAN bus
Send steering instructions；After simulation computer receives steering instructions, train's simulation model is called to carry out the simulation calculation of vehicle-state；
The result of simulation calculation is transmitted to the subsystems such as sensing layer emulation for driving vision emulation system, sound simulation system
System, and be recorded in database or data file；The simulation result of vehicle-state will also be sent back to the automatic of emulation vehicle
Driving control subsystem is used for next computation of Period；
Simulation process periodic cycle is run, until emulation terminates；After emulation, the simulation result being recorded is read out
Come, for assessment, the analysis to emulating vehicle Function for Automatic Pilot.
Further, the intelligent vehicle digitalized artificial test method specifically includes：
Step 1 starts intelligent vehicle digitalized artificial test platform, opens the computer or related hardware of each subsystem
Equipment；Each subsystem initialize；
Model, the technology ginseng of virtual-sensor is arranged according to the configuring condition of tested smart vehicle sensor in step 2
Number；
Step 3, virtual-sensor module are initialized according to setting；
Step 4 requires the virtual test scene needed for selection according to test outline, and weather, time, traffic flow is arranged
Situation scenario parameters；
Step 5 loads virtual test scene according to the setting of step 4；Including what comes into a driver's 3D model of place, high-precision field
Scape model, physics model of place and road data, virtual map and the traffic of emulation flow object；
After step 6, step 3 and step 5 execute, that is, start emulation testing；Original state is arranged in all subsystems
Afterwards, simulation clock starts to promote, and all subsystems proceed by calculation or simulation operation；
Step 7, virtual scene running environment simulation subsystem carry out simulation calculation to traffic flow, means of transportation state, and
According to the Obj State in result of calculation synchronized update different scenes；
Step 8, virtual laser radar, virtual millimetre-wave radar, virtual vehicle-mounted pick-up in sensing layer simulation subsystem
Head, virtual GPS and inertial navigation module carry out simulation perception to the updated scene of step 7, and by the output interface of actual sensor
And agreement sends virtual sensor data to tested automatic Pilot control subsystem；
Step 9 is handled data after automatic Pilot control subsystem receives sensing data, is used for automatic Pilot
Decision；
Step 10, according to the operation result and vehicle's current condition of step 9, automatic Pilot control subsystem is according to itself
Algorithm, realizing route planning calculate and driving behavior decision；
Step 11, tested automatic Pilot control result of calculation of the onboard subsystem according to step 10, generate and drive
Instruction, and issued to running simulation subsystem；
Step 12, running simulation subsystem refer to according to the steering instructions, current vehicle condition, human-machine operation that receive
Data are enabled to carry out the simulation calculation of vehicle logic；
Step 13 carries out the simulation calculation of automobile dynamics according to step 12 result of calculation, road data；
Step 14 carries out the objects such as collision detection, collision response according to step 13 result of calculation, physics model of place
Manage the calculating of effect；
Step 15, by Step 12: Step 13: the result of calculation of step 14 by interfaces such as Ethernets to correlation
Subsystem is issued；
Step 10 six, after indicating that layer subsystem receives data, control correlation module is to scenic picture, audio, motion platform
Posture is controlled；
Step 10 seven, checks whether emulation testing terminates；If be not finished, start the calculating of a next emulation cycle, turns
To step 7；If terminated, step 10 eight is gone to；
Step 10 eight, the Simulation result data generated to step 7-step 10 seven in each emulation cycle records, defeated
Go out into computer screen, data file；
Step 10 nine, subsystems discharge resource, terminate emulation testing.
Another object of the present invention is to provide a kind of intelligence for realizing the intelligent vehicle digitalized artificial test method
Vehicle digitizes simulation testing device, and the intelligent vehicle digitalized artificial test device includes：Emulate vehicle, physical interface,
Network interface, computer, display；
Emulation vehicle is connected by physical interface with computer, and computer is connect by network interface with outer net, display
With calculating mechatronics, computer is connect by network interface with outer net.
Further, the emulation vehicle includes：Automatic Pilot control subsystem, running simulation subsystem, sensing layer
Simulation subsystem, virtual scene and running environment simulation subsystem, performance layer subsystem；
Automatic Pilot control subsystem is the measurand in system, is by the to be tested complete automatic of User Exploitation
Ride Control System；Including：Environmental perception module, path planning module, sensor interface and drive module, automobile control driving
Module, interface protocol；
Running simulation subsystem, for emulating the various functions in addition to automatic Pilot controls of tested vehicle, moving
Mechanical characteristic performance；Including：Vehicle circuit and control logic emulation module, vehicle dynamics simulation module, man-machine interface, data
Communication module, interface protocol；
Sensing layer simulation subsystem commonly uses the complete function of various classification different model sensors for simulating intelligent vehicle
And interface；The sensor of emulation includes：Laser radar, millimetre-wave radar, vehicle-mounted camera, GPS and inertial navigation system；
Virtual scene and running environment simulation subsystem, the running environment for simulating tested vehicle；For simulating reality
Road and traffic environment；Including：Emulation two parts of road traffic environment static scene, dynamic traffic object；
Layer subsystem is showed, provides related status information to tested personnel in terms of vision, the sense of hearing, body-sensing three respectively,
Real-time status when allowing tester that can directly grasp vehicle testing.
Further, the road traffic environment static scene includes：The three-dimensional scene models of vision simulation, for sensing
Vision simulation in the Image Acquisition and performance layer subsystem of the virtual vehicle-mounted camera of layer simulation subsystem；Physics scene and road
Data, for vehicle dynamics simulation, Traffic Flow Simulation, physical characteristic emulation, collision detection and response；High-precision three-dimensional scene
Model, the emulation of virtual laser radar and the virtual millimetre-wave radar course of work for sensing layer simulation subsystem；Virtually
Figure, including road and longitude and latitude are used for the positioning of virtual GPS；The emulation of dynamic traffic object is mainly to the friendship in virtual scene
Through-flow, traffic control equipment dynamic object operational process is emulated.
Further, the vision simulation module includes：The vision simulation of one computer or multiple stage computers composition calculates
Machine cluster, projection, display, VR glasses or other types of display equipment, other ancillary equipments；Audio emulation module includes：
Audio simulation computer or sound generating device, audio-frequency power amplifier, loud speaker or speaker；Body-sensing emulation module includes：It is more
Degree of freedom motion platform, motion platform control computer.
The intelligent vehicle digitalized artificial test device further comprises：
Automatic Pilot control car-mounted computer, for running automatic Pilot program to be tested, by 3.0 buses of USB,
Universal serial bus, CAN bus, Ethernet are connected with sensing layer simulation subsystem computer, respectively simulation and vehicle-mounted camera, laser
The actual interface of the sensing layers module such as radar, millimetre-wave radar, GPS and inertial navigation system；Pass through universal serial bus, CAN bus
It is connected with running simulation subsystem computer, simulates true vehicle control, instrumentation tap；
Running simulation subsystem computer further includes data acquisition control system, vehicle performance equipment；For running
Vehicle simulation software, human-computer interaction interface simulation calculation task；
Sensing layer simulation subsystem computer, for running vehicle-mounted camera, laser radar, millimetre-wave radar, GPS and being used to
The simulation software of property navigation system sensor；Have 3.0 buses of USB, universal serial bus, CAN bus, Ethernet interface；
Virtual scene and running environment simulation subsystem computer, the emulation for simulating real road and traffic environment are soft
Part exchanges data by Ethernet with other subsystems；
Presentation layer hardware system, including vision simulation, audio emulation, the relevant hardware device of body-sensing emulation；Vision simulation
Module includes vision simulation computer and display equipment；The rendering that vision simulation computer is used to complete what comes into a driver's picture calculates, defeated
Go out to display equipment and shows；Audio emulation module includes audio simulation computer, audio-frequency power amplifier, loud speaker group；Body-sensing
Emulation module includes motion platform control computer and multi-degree-of-freedom motion platform；Motion platform control computer is transported for completing
The calculating of moving platform controlled quentity controlled variable, and issue control instruction to motion platform；Motion platform band motor vehicles bodies realize body-sensing simulated effect.
The present invention can under inoperative environment in laboratory environment to intelligent vehicle carry out emulation testing, reduce 95% with
On train experiment, avoid the discharge of tail gas, have the characteristics that it is accurate, quick, safe, repeatable, economical, environmentally friendly, in intelligence
There can be irreplaceable role in the research of vehicle, exploitation, verification, test, inspection.
Description of the drawings
Fig. 1 is the structural schematic diagram of intelligent vehicle digitalized artificial test device provided in an embodiment of the present invention；
Fig. 2 is system block diagram provided in an embodiment of the present invention；
Fig. 3 is system hardware structure block diagram provided in an embodiment of the present invention；
Fig. 4 is emulation testing operational flow diagram provided in an embodiment of the present invention；
In figure：1, vehicle is emulated；2, physical interface；3, network interface；4, computer；5, display.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows.
The structure of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, intelligent vehicle digitalized artificial test device provided in an embodiment of the present invention includes：Emulation vehicle 1,
Physical interface 2, network interface 3, computer 4, display 5.
Emulation vehicle 1 is connected by physical interface 2 with computer 4, and computer 4 is connect by network interface 3 with outer net, is shown
Show that device 5 is electrically connected with computer 4, computer 4 is connect by network interface 3 with outer net.
The present invention operation principle be:Computer 4 is connect by network interface 3 with outer net, by physical interface 2 and is imitated
The connection of 1, true vehicle, emulation vehicle is modeled using computer 4, simulation run, data analysis, what comes into a driver's picture, simulation run
Parameter, intelligent vehicle state parameter, man-machine interface content are shown by display 5.
It includes five major subsystems to emulate vehicle, these modules are：Automatic Pilot control subsystem (measurand),
Running simulation subsystem, sensing layer simulation subsystem, virtual scene and running environment simulation subsystem, presentation layer subsystem
System.
Automatic Pilot control subsystem is the measurand in system, is by the to be tested complete automatic of User Exploitation
Ride Control System is an automatic Pilot control subsystem that is complete, being run on true intelligent vehicle.The subsystem
System is made of corresponding soft and hardware.In general, hardware is a car-mounted computer, have logical with the other components of intelligent vehicle
All kinds of interface systems, including CAN bus, usb bus, universal serial bus, Ethernet etc. of news.Software in the subsystem is usually
Exist in the form of embedded software, operates on car-mounted computer, include mainly：Environmental perception module, path planning module,
Sensor interface and drive module, automobile control drive module, interface protocol etc..
Running simulation subsystem is used for emulating the various functions in addition to automatic Pilot controls, the power of tested vehicle
Learn the properties such as characteristic.The subsystem is made of corresponding soft and hardware.Hardware is a computer or multiple stage computers composition
Simulation computer cluster, controlling of sampling equipment, the compositions such as controlling equipment, and have the hardware interfaces such as CAN bus, Ethernet,
It is communicated with the data of other subsystems with realizing.Running software on these computers, includes mainly：Vehicle circuit and control are patrolled
Collect emulation module, vehicle dynamics simulation module, man-machine interface, data communication module, interface protocol etc..
Sensing layer simulation subsystem is for simulating the complete function that intelligent vehicle commonly uses various classification different model sensors
And interface.The subsystem is made of corresponding soft and hardware.Hardware is the simulation calculation of a computer or multiple stage computers composition
Machine cluster, and have the hardware interfaces such as CAN bus, universal serial bus, usb bus, Ethernet, to realize the number with other subsystems
According to communication.The sensor emulated includes mainly：Laser radar, millimetre-wave radar, vehicle-mounted camera, GPS and inertial navigation system
System.By option and installment, sensing layer simulation subsystem can simulate the various kinds of sensors of different model.Sensing layer simulation subsystem
From function, performance, data transmission format, communication protocol and externally performance will the energy true sensor of full simulation.With virtual
For laser radar, it is desirable that after it accesses the automatic Pilot program of client, it can be recognized directly as a true laser radar,
Automatic Pilot control subsystem can also carry out it operations such as parameter configuration, digital independent, and mode of operation swashs with true
Optical radar and indistinction.
Virtual scene and running environment simulation subsystem are used to simulate the running environment of tested vehicle.The subsystem is by corresponding
Soft and hardware composition.Hardware is the simulation computer cluster of a computer or multiple stage computers composition, and has Ethernet and connect
Mouthful.Running software on these computers, for simulating real road and traffic environment, includes mainly：Road traffic environment is quiet
Emulation two parts of state scene, dynamic traffic object.Wherein road traffic environment static scene includes：1. the three of vision simulation
Model of place is tieed up, what comes into a driver's in the Image Acquisition and performance layer subsystem of the virtual vehicle-mounted camera for sensing layer simulation subsystem
Emulation.2. physics scene and road data, for vehicle dynamics simulation, Traffic Flow Simulation, physical characteristic emulation, collision detection
And response etc..3. high-precision three-dimensional model of place, the virtual laser radar for sensing layer simulation subsystem and virtual millimeter wave
The emulation of the radar course of work.4. virtual map, including road and longitude and latitude are used for the positioning of virtual GPS.Dynamic traffic object
Emulation mainly to the traffic flow (vehicle, non-motor vehicle, pedestrian) in virtual scene, traffic control equipment, (signal lamp variable is handed over
Logical message board) etc. the operational process of dynamic objects emulated.
It shows layer subsystem and provides related status information to tested personnel in terms of vision, the sense of hearing, body-sensing three respectively,
Purposes is real-time status when allowing tester that can directly grasp vehicle testing.The subsystem is made of three main modulars,
Including：Vision simulation module, audio emulation module, body-sensing emulation module.Three modules are made of corresponding soft and hardware.Depending on
The hardware of scape emulation module includes：The vision simulation computer cluster of one computer or multiple stage computers composition, projection, display
Device, VR glasses or other types of display equipment, other ancillary equipments.The hardware of audio emulation module includes：Audio emulation meter
Calculation machine (or sound generating device), audio-frequency power amplifier, loud speaker or speaker.The hardware of body-sensing emulation module includes：Mostly certainly
By degree motion platform, motion platform control computer etc..
Above-mentioned five sub- system synergistic workings, realize the digitalized artificial test platform of intelligent vehicle.
The hardware design structure of this system is as shown in figure 3, dotted line frame indicates the hardware device of a subsystem in figure, in total
It is most of to be divided into five.
First part is that automatic Pilot controls car-mounted computer, for running automatic Pilot program to be tested.The calculating
Machine is connected by 3.0 buses of USB, universal serial bus, CAN bus, Ethernet with sensing layer simulation subsystem computer, respectively mould
The actual interface of the sensing layers modules such as quasi- and vehicle-mounted camera, laser radar, millimetre-wave radar, GPS and inertial navigation system.It should
Computer is connected by universal serial bus, CAN bus with running simulation subsystem computer, simulate true vehicle control,
Instrumentation tap.
Second part is running simulation subsystem computer (group), further includes data acquisition control system in the system
System, vehicle performance equipment.For running the calculating tasks such as vehicle simulation software, human-computer interaction interface emulation.
Part III is sensing layer simulation subsystem computer (group), for running vehicle-mounted camera, laser radar, millimeter
The simulation software of the sensors such as wave radar, GPS and inertial navigation system.These computers need to have 3.0 buses of USB, serial total
Line, CAN bus, Ethernet interface.
Part IV is virtual scene and running environment simulation subsystem computer (group), for simulating real road and friendship
The simulation software of logical environment, data are exchanged by Ethernet with other subsystems.
Part V is presentation layer hardware system, includes mainly vision simulation, audio emulation, the relevant hardware of body-sensing emulation
Equipment, structure are as shown above.Vision simulation module includes vision simulation computer (group) and display equipment.Vision simulation meter
The rendering that calculation machine is used to complete what comes into a driver's picture calculates, and is output to display equipment and shows.What comes into a driver's picture can be single channel, can also be
Multichannel exports.Show that equipment can be with various types of equipment such as projection device, display, LED large screens, VR glasses.
Audio emulation module includes audio simulation computer, audio-frequency power amplifier, loud speaker (speaker) group.Audio simulation computer is matched
Standby profession sound card generates this vehicle, traffic flow or other ambient sounds for running audio simulated program.The voice signal of generation
After being sent to audio-frequency power amplifier amplification, exported by loud speaker group.The sound generated can be 2.1 sound channels, 5.1 sound channels,
The number of channels of 7.1 sound channels or other needs.Body-sensing emulation module includes motion platform control computer and multifreedom motion
Platform.Motion platform control computer is used to complete the calculating of motion platform controlled quentity controlled variable, and issues control instruction to motion platform.
Motion platform band motor vehicles bodies realize body-sensing simulated effect.
Fig. 4 be intelligent vehicle digitalized artificial test platform system broad flow diagram, it is specific as follows：
1. starting intelligent vehicle digitalized artificial test platform, the computer or relevant hardware devices of each subsystem are opened.
Each subsystem initialize.
2. according to the configuring condition of tested smart vehicle sensor, model, the technical parameter of virtual-sensor are set.
3. virtual-sensor module is initialized according to the setting of the 2nd step.
4. the virtual test scene needed for selection is required according to test outline, and weather, time, traffic flow conditions are set etc.
Scenario parameters.
5. according to the setting of the 4th step, virtual test scene is loaded.Including what comes into a driver's 3D model of place, high-precision model of place,
Physics model of place and road data, virtual map and emulation traffic flow object.
6. after the 3rd step, the 5th step execute, you can start emulation testing.After all subsystem setting original states, imitate
True clock starts to promote, and all subsystems proceed by calculation or simulation operation.
7. virtual scene running environment simulation subsystem to traffic flow, means of transportation state carry out simulation calculation, and according to
Obj State in result of calculation synchronized update different scenes.
8. virtual laser radar, virtual millimetre-wave radar, virtual vehicle-mounted camera in sensing layer simulation subsystem, virtual
GPS and the 7th updated scene of step of inertial navigation module pair carry out simulation perception, and by the output interface of actual sensor and agreement to
Tested automatic Pilot control subsystem sends virtual sensor data.
9. after automatic Pilot control subsystem receives sensing data, handling these data, it to be used for automatic Pilot
Decision.
10. according to the operation result and vehicle's current condition of the 9th step, automatic Pilot control subsystem is according to the calculation of itself
Method, realizing route planning calculates and driving behavior decision.
11. tested automatic Pilot control onboard subsystem generates steering instructions according to the result of calculation of the 10th step, and
It is issued to running simulation subsystem.
12. running simulation subsystem is according to numbers such as steering instructions, current vehicle condition, the human-machine operation instructions received
According to the simulation calculation for carrying out vehicle logic.
13. according to the 12nd step result of calculation, road data, the simulation calculation of automobile dynamics is carried out.
14. according to the 13rd step result of calculation, physics model of place, the physical effects such as collision detection, collision response are carried out
It calculates.
15. by the 12nd, 13, the result of calculation of 14 steps issued by interfaces such as Ethernets to correlation subsystem.
16. after indicating that layer subsystem receives data, control correlation module to scenic picture, audio, motion platform gesture into
Row control.
17. checking whether emulation testing terminates.If be not finished, starts the calculating of a next emulation cycle, go to the 7th
Step.If terminated, the 18th step is gone to.
18. the Simulation result data that 7-17 steps generate in pair each emulation cycle records, it is output to computer screen
In curtain, data file.
19. subsystems discharge resource, terminate emulation testing.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Every any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (7)
1. a kind of intelligent vehicle digitalized artificial test method, which is characterized in that intelligent vehicle digitalized artificial test side
Method establishes out the model of place for emulation, train's simulation model by computer, and model is with data file or the shape of database
Formula preserves on computers；Simulation computer is connected by the automatic Pilot control subsystem of various interfaces and emulation vehicle
It connects；Train's simulation model, virtual environment model, perception layer model needed for simulation computer load emulation, and opened by interface
The correlation module of dynamic emulation vehicle；
When carrying out emulation testing, simulation computer carries out periodic simulation calculation；In each period, first to sensing layer
Module is emulated, and may include laser radar, millimetre-wave radar, visual sensor, GPS module；
Simulation result data is sent to the automatic Pilot control subsystem of emulation vehicle by interface or bus；Control subsystem according to
These data, the control algolithm of itself carry out the decision of vehicle drive behavior, and are driven to simulation computer transmission by CAN bus
Sail instruction；After simulation computer receives steering instructions, train's simulation model is called to carry out the simulation calculation of vehicle-state；
The result of simulation calculation is used to drive vision emulation system, sound simulation system, is transmitted to the subsystems such as sensing layer emulation, and
It is recorded in database or data file；The simulation result of vehicle-state will also be sent back to the automatic Pilot control of emulation vehicle
Subsystem is used for next computation of Period；
Simulation process periodic cycle is run, until emulation terminates；After emulation, the simulation result being recorded is read out,
For assessment, the analysis to emulating vehicle Function for Automatic Pilot.
2. intelligent vehicle digitalized artificial test method as described in claim 1, which is characterized in that the intelligent vehicle number
Change emulation test method to specifically include：
Step 1 starts intelligent vehicle digitalized artificial test platform, opens the computer or relevant hardware devices of each subsystem；
Each subsystem initialize；
Model, the technical parameter of virtual-sensor is arranged according to the configuring condition of tested smart vehicle sensor in step 2；
Step 3, virtual-sensor module are initialized according to setting；
Step 4 requires the virtual test scene needed for selection according to test outline, and weather, time, traffic flow conditions is arranged
Scenario parameters；
Step 5 loads virtual test scene according to the setting of step 4；Including what comes into a driver's 3D model of place, high-precision scene mould
Type, physics model of place and road data, virtual map and the traffic of emulation flow object；
After step 6, step 3 and step 5 execute, that is, start emulation testing；After all subsystem setting original states,
Simulation clock starts to promote, and all subsystems proceed by calculation or simulation operation；
Step 7, virtual scene running environment simulation subsystem to traffic flow, means of transportation state carry out simulation calculation, and according to
Obj State in result of calculation synchronized update different scenes；
Step 8, virtual laser radar, virtual millimetre-wave radar in sensing layer simulation subsystem, virtual vehicle-mounted camera, void
Quasi- GPS and inertial navigation module carry out simulation perception to the updated scene of step 7, and by the output interface of actual sensor and association
It discusses to tested automatic Pilot control subsystem and sends virtual sensor data；
Step 9 is handled data after automatic Pilot control subsystem receives sensing data, is determined for automatic Pilot
Plan；
Step 10, according to the operation result and vehicle's current condition of step 9, automatic Pilot control subsystem is according to the calculation of itself
Method, realizing route planning calculates and driving behavior decision；
Step 11, tested automatic Pilot control result of calculation of the onboard subsystem according to step 10, generate steering instructions,
And it is issued to running simulation subsystem；
Step 12, running simulation subsystem instruct number according to the steering instructions, current vehicle condition, human-machine operation received
According to the simulation calculation for carrying out vehicle logic；
Step 13 carries out the simulation calculation of automobile dynamics according to step 12 result of calculation, road data；
Step 14 carries out the physics such as collision detection, collision response effect according to step 13 result of calculation, physics model of place
The calculating answered；
Step 15, by Step 12: Step 13: the result of calculation of step 14 by interfaces such as Ethernets to related subsystem
System is issued；
Step 10 six, after indicating that layer subsystem receives data, control correlation module is to scenic picture, audio, motion platform gesture
It is controlled；
Step 10 seven, checks whether emulation testing terminates；If be not finished, starts the calculating of a next emulation cycle, go to step
Rapid seven；If terminated, step 10 eight is gone to；
Step 10 eight, the Simulation result data generated to step 7-step 10 seven in each emulation cycle are recorded, are output to
In computer screen, data file；
Step 10 nine, subsystems discharge resource, terminate emulation testing.
3. a kind of intelligent vehicle digitalized artificial test for realizing intelligent vehicle digitalized artificial test method described in claim 1
Device, which is characterized in that the intelligent vehicle digitalized artificial test device includes：Emulation vehicle, physical interface, network connect
Mouthful, computer, display；
Emulation vehicle is connected by physical interface with computer, and computer is connect by network interface with outer net, display and meter
Mechatronics are calculated, computer is connect by network interface with outer net.
4. intelligent vehicle digitalized artificial test device as claimed in claim 3, which is characterized in that the emulation vehicle packet
It includes：Automatic Pilot control subsystem, running simulation subsystem, sensing layer simulation subsystem, virtual scene and running environment
Simulation subsystem, performance layer subsystem；
Automatic Pilot control subsystem is the measurand in system, is the complete automatic Pilot to be tested by User Exploitation
Control system；Including：Environmental perception module, path planning module, sensor interface and drive module, automobile control driving mould
Block, interface protocol；
Running simulation subsystem, the various functions in addition to automatic Pilot controls, dynamics for emulating tested vehicle
Characteristic performance；Including：Vehicle circuit and control logic emulation module, vehicle dynamics simulation module, man-machine interface, data communication
Module, interface protocol；
Sensing layer simulation subsystem is commonly used the complete function of various classification different model sensors and is connect for simulating intelligent vehicle
Mouthful；The sensor of emulation includes：Laser radar, millimetre-wave radar, vehicle-mounted camera, GPS and inertial navigation system；
Virtual scene and running environment simulation subsystem, the running environment for simulating tested vehicle；For simulating real road
And traffic environment；Including：Emulation two parts of road traffic environment static scene, dynamic traffic object；
Layer subsystem is showed, allows survey to tested personnel's offer related status information from vision, the sense of hearing, body-sensing three in terms of respectively
Examination personnel can directly grasp real-time status when vehicle testing.
5. intelligent vehicle digitalized artificial test device as claimed in claim 4, which is characterized in that the road traffic environment
Static scene includes：The three-dimensional scene models of vision simulation are used for the virtual vehicle-mounted camera of sensing layer simulation subsystem
Vision simulation in Image Acquisition and performance layer subsystem；Physics scene and road data, for vehicle dynamics simulation, traffic flow
Emulation, physical characteristic emulation, collision detection and response；High-precision three-dimensional model of place is used for the void of sensing layer simulation subsystem
The emulation of quasi- laser radar and the virtual millimetre-wave radar course of work；Virtual map, including road and longitude and latitude, for virtual
The positioning of GPS；The emulation of dynamic traffic object is mainly to the fortune of traffic flow, traffic control equipment dynamic object in virtual scene
Row process is emulated.
6. intelligent vehicle digitalized artificial test device as claimed in claim 4, which is characterized in that the vision simulation module
Including：Vision simulation computer cluster, projection, display, the VR glasses or other of one computer or multiple stage computers composition
Display equipment, the other ancillary equipments of type；Audio emulation module includes：Audio simulation computer or sound generating device, sound
Frequency power amplifier, loud speaker or speaker；Body-sensing emulation module includes：Multi-degree-of-freedom motion platform, motion platform control calculate
Machine.
7. intelligent vehicle digitalized artificial test device as claimed in claim 4, which is characterized in that the intelligent vehicle number
Change simulation testing device to further comprise：
Automatic Pilot controls car-mounted computer, for running automatic Pilot program to be tested, by USB3.0 buses, serial total
Line, CAN bus, Ethernet are connected with sensing layer simulation subsystem computer, respectively simulation with vehicle-mounted camera, laser radar,
The actual interface of the sensing layers module such as millimetre-wave radar, GPS and inertial navigation system；Pass through universal serial bus, CAN bus and vehicle
It runs simulation subsystem computer to be connected, simulates true vehicle control, instrumentation tap；
Running simulation subsystem computer further includes data acquisition control system, vehicle performance equipment；For running vehicle
Simulation software, human-computer interaction interface simulation calculation task；
Sensing layer simulation subsystem computer is led for running vehicle-mounted camera, laser radar, millimetre-wave radar, GPS and inertia
The simulation software of boat system sensor；Have USB3.0 buses, universal serial bus, CAN bus, Ethernet interface；
Virtual scene and running environment simulation subsystem computer, the simulation software for simulating real road and traffic environment,
By Ethernet data are exchanged with other subsystems；
Presentation layer hardware system, including vision simulation, audio emulation, the relevant hardware device of body-sensing emulation；Vision simulation module
Including vision simulation computer and display equipment；The rendering that vision simulation computer is used to complete what comes into a driver's picture calculates, and is output to
Display equipment is shown；Audio emulation module includes audio simulation computer, audio-frequency power amplifier, loud speaker group；Body-sensing emulates
Module includes motion platform control computer and multi-degree-of-freedom motion platform；Motion platform control computer is flat for completing movement
The calculating of platform controlled quentity controlled variable, and issue control instruction to motion platform；Motion platform band motor vehicles bodies realize body-sensing simulated effect.
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