CN108961680A - A kind of performance detecting system and method driven when intoxicated with fatigue driving judgement system - Google Patents
A kind of performance detecting system and method driven when intoxicated with fatigue driving judgement system Download PDFInfo
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- CN108961680A CN108961680A CN201810802986.2A CN201810802986A CN108961680A CN 108961680 A CN108961680 A CN 108961680A CN 201810802986 A CN201810802986 A CN 201810802986A CN 108961680 A CN108961680 A CN 108961680A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
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Abstract
The present invention provides a kind of performance detecting system and method driven when intoxicated with fatigue driving judgement system, which includes Modeling Calculation machine, replicating machine, driver operational data input equipment, preprocessor, tested ECU, display equipment.This method generates C language five degree of freedom vehicle digital simulation model on Modeling Calculation machine；Replicating machine C language five degree of freedom vehicle digital simulation model is generated on Modeling Calculation machine；Replicating machine C language five degree of freedom vehicle digital simulation model is downloaded in replicating machine and carries out real-time simulated animation, obtains travel condition of vehicle data；Driver operational data and travel condition of vehicle data are separately input into driver operational data and travel condition of vehicle data after preprocessor is respectively obtained plus made an uproar；It will add the driver operational data after making an uproar that rear vehicle running state data of making an uproar is added to be input to tested ECU and carry out driving condition identification；The recognition result of tested ECU is compared analysis with actual result and determines tested ECU detection performance.
Description
Technical field
The present invention relates to active safeties and the field of test technology, specifically design one kind and drive when intoxicated and fatigue driving differentiation system
The performance detecting system and method for system.
Background technique
In recent years, vehicle guaranteeding organic quantity and driver's number increase sharply, and driving environment is caused increasingly to aggravate,
Traffic safety accident also therefore year by year increases.And by analyzing traffic accidents in recent years it is found that driving when intoxicated
Also gradually become one of the main reason for leading to traffic accident with fatigue driving.Traditional passive security can occur in accident
When, the extent of injury of driver is reduced, guarantees the safety of driver, but traffic accident can not be reduced.Therefore, people
From the angle of active safety, design and drive when intoxicated and fatigue driving judgement system, when system identification goes out at driver
When both driving conditions, driver will be reminded even to take appropriate measures when necessary to guarantee driver safety, reduced
The generation of traffic accidents.
The research and development of products stage needs to test judgement system accordingly.Usual system testing can using real vehicle and
Driving simulator two ways carries out.Dangerous driving behavior is belonged to fatigue driving however, driving when intoxicated.It is carried out using real vehicle
Test cannot preset driver and be in after drinking or fatigue state, thus cannot using real vehicle condition to drive when intoxicated with it is tired
Please it sails judgement system and carries out product test；The safety of drive simulation technology is higher, but entire test process experimental program
The validity of design is difficult to hold, and experimental period is longer, and testing cost is high.
Summary of the invention
In order to solve the above-mentioned technical problem, the invention proposes a kind of performances driven when intoxicated with fatigue driving judgement system
Detection system and method.
The technical solution of present system is a kind of performance detecting system driven when intoxicated with fatigue driving judgement system,
It is characterized in that, comprising: Modeling Calculation machine, driver operational data input equipment, preprocessor, tested ECU, is shown replicating machine
Show equipment；The Modeling Calculation machine is connect with the replicating machine；The replicating machine is connect with the preprocessor；The driver
Operation data input equipment is connect with the replicating machine；The driver operational data input equipment and the preprocessor connect
It connects；The preprocessor is connect with the tested ECU；The tested ECU is connect with the display equipment.
The Modeling Calculation machine includes modeling and simulating software Dymola and Simulink, for establishing vehicle Digital Simulation mould
Type；The Modeling Calculation machine will be connected with the replicating machine, convenient for the simulation model to be downloaded in the replicating machine；Institute
Replicating machine is stated for carrying out Semi-physical Real-time Simulation；Output interface one side and the institute of the driver operational data input equipment
Replicating machine input interface is stated to be connected, for driver operational data to be input to the replicating machine, on the other hand with it is described pre-
The input interface of processor connects, for driver operational data to be input to the preprocessor；The output of the replicating machine
Interface is connected with the preprocessor input interface, and the preprocessor is used for needing to be input to the tested ECU's
Detection data is pre-processed；The output interface of the preprocessor is connected to the tested ECU input interface, is used for institute
It states tested ECU and detection data is provided；The tested ECU refers to the ECU to drive when intoxicated with fatigue driving judgement system；It is described
Tested ECU is connect with the display equipment by serial ports；The display equipment is used for the output knot of display performance detection system
Fruit.
The technical solution of the method for the present invention is a kind of method for testing performance driven when intoxicated with fatigue driving judgement system,
It is characterized in that, comprising the following steps:
Step 1: vehicle five being established freely using Modelica language by modeling software Dymola on Modeling Calculation machine
Vehicle digital simulation model is spent, five degree of freedom vehicle digital simulation model is generated by Simulink institute according to modeling software Dymola
The C language five degree of freedom vehicle digital simulation model of support；
Step 2: on Modeling Calculation machine, C language five degree of freedom vehicle digital simulation model is imported into Simulink,
Driver operational data input interface and travel condition of vehicle data output interface are added, and generates replicating machine C language five freely
Spend vehicle digital simulation model；
Step 3: replicating machine C language five degree of freedom vehicle digital simulation model being downloaded in replicating machine, is grasped by driver
Make data input device and input driver operational data to replicating machine, according to replicating machine C language five degree of freedom vehicle Digital Simulation
Model obtains travel condition of vehicle data to carry out real-time simulated animation；
Step 4: driver operational data and travel condition of vehicle data are separately input into preprocessor, it is dry by being superimposed
Signal is disturbed to carry out driver operational data after data prediction is respectively obtained plus made an uproar and add rear vehicle running state data of making an uproar；
Step 5: driver operational data will be added after making an uproar and to add rear vehicle running state data of making an uproar to be input to tested
ECU carries out the identification of driving condition；
Step 6: by locating driving when driver's operating and controlling vehicle in the recognition result of tested ECU and driver operational data
State is compared analysis, determines whether tested ECU can correctly identify and drives when intoxicated and fatigue driving state.
Preferably, the digital simulation model of 5DOF vehicle described in step 1 are as follows:
Der (u)=Fx/m-Cα/m*u2+ms/m*h′*der(q)+v*r
Der (v)=Fy/m-ms/m*h′*der(p)-u*r
Der (r)=Mz/Izz+(Ixx-Iyy)/Izz*p*q
(IZZS-Iyys)*q*r-ms*h′*(der(v)+u*r))
(IXXS-IZZS)*p*r+ms*h′*(der(u)-v*r))
Wherein, der (u) is the longitudinal movement model of vehicle, and der (v) is the transverse movement model of vehicle, and der (r) is vehicle
Pitching movement model, der (p) be vehicle roll motion model, der (q) be vehicle weaving model, p is vehicle
Roll velocity, q be vehicle rate of pitch, u be vehicle longitudinal velocity, v be vehicle side velocity, r is vehicle
Yaw velocity；
Wherein, msFor the quality of spring in suspension, m is car mass, CαFor coefficient of air resistance, h ' is the mass center of suspension
Arrive the distance between roll axis, FxFor the longitudinal force that vehicle is subject to, FyFor the lateral force that vehicle is subject to, MzFor the sideway power of vehicle
Square, IxxIt is vehicle around the rotary inertia of X-axis, IyyIt is vehicle around the rotary inertia of Y-axis, IzzFor the rotary inertia of vehicle about the z axis,
IXXSIt is spring carried mass around the rotary inertia of X-axis, IyysIt is spring carried mass around the rotary inertia of Y-axis, IZZSFor spring carried mass around
The rotary inertia of Z axis,For vehicle roll angle,For the pitch angle of vehicle body,For the roll stiffness of vehicle,For vehicle
Damping is rolled,For the pitch stiffness of vehicle,For the damping in pitch of vehicle；
Preferably, the C language five degree of freedom vehicle digital simulation model being imported into after Simulink described in step 2 is
Modelica and Simulink associative simulation model, by addition input, output interface, so as to mode input data and output
Real time simulation results；
Preferably, driver's operand that driver operational data input equipment described in step 3 is inputted to replicating machine
According to are as follows:
dataI, j={ δI, j, haI, j, hbI, j, dsI, j, dgI, j, doI, j, lineI, j, roadI, jI ∈ [1, M], j ∈ [1, N]
Wherein, dataI, jFor the driver operational data of the i-th moment jth vehicle, M is driver operational data sampling instant
Quantity, N be driver operational data vehicle fleet size, δI, jFor the steering wheel angle of the i-th moment jth vehicle, haI, jIt is i-th
The gas pedal depth of moment jth vehicle, hbI, jFor the brake pedal depth of the i-th moment jth vehicle, dsI, jFor the i-th moment jth
Locating driving condition when driver's operating and controlling vehicle of vehicle, locating driving condition by normal driving state, fatigue driving state with
And drink horizontal driving condition of difference is constituted, dgI, jFor driver's gender of the i-th moment jth vehicle, doI, jFor the i-th moment jth
Driver's age of vehicle, road line style lineI, jFor the road line style of the i-th moment jth vehicle, road line style by straight line and
Bend is constituted, roadI, jFor the road type of the i-th moment jth vehicle, road type is made of urban road and highway；
At the i moment, input data of the driver operational data of different three vehicles as replicating machine is selected, that is, is selected
dataI, k、dataI, mAnd dataI, lIn δI, k, haI, m, hbI, lIt is different when being inputted as the input data of replicating machine
The driving condition of three vehicle drivers is identical, i.e. dsI, k=dsI, m=dsI, l；
According to replicating machine C language five degree of freedom vehicle digital simulation model to carry out real-time simulated animation described in step 3
For by dataI, k、dataI, mAnd dataI, lIt is calculated and is solved according to C language five degree of freedom vehicle digital simulation model:
Fy=Fy1+Fy3)cosδI, k+(Fx1+Fx3)sinδI, k+Fy2+Fy4
Wherein, when driver operates gas pedal, Fx=Fx1, when driver operates brake pedal, Fx=Fx2, R is vehicle
Take turns radius, MSFor motor torque, α0Accelerator open degree when for gas pedal depth being zero, igRatio, i are transmitted for speed changer0Master subtracts
Fast device transmission ratio, ηtFor transmission efficiency, hbI, lMax is maximum brake pedal depth, MmaxMaximum braking moment, MFFor resistance
Square, IQFor the rotary inertia of wheel,For the corner acceleration of wheel；
Wherein, msFor the quality of spring in suspension, piIt is the vehicle roll angular speed at i moment,It is the vehicle side at i moment
Inclination angle acceleration, qiIt is the vehicle pitch angular speed at i moment,It is the vehicle pitch angular acceleration at i moment, uiIt is the vehicle at i moment
Longitudinally running speed,It is the longitudinal acceleration of the vehicle at i moment, viIt is the vehicle lateral speed at i moment,It is the i moment
Vehicle lateral acceleration, riIt is the yaw rate at i moment,It is the Vehicular yaw angular acceleration at i moment,When being i
The vehicle roll angle at quarter,It is the vehicle roll angular speed at i moment,It is the vehicle pitch angle at i moment,It is the i moment
Vehicle pitch angular speed；
Wherein, m is car mass, CαIndicate coefficient of air resistance, Fx、FyThe respectively longitudinal force, lateral that is subject to of vehicle
Power, MzFor the yaw moment of vehicle, the distance between mass center of h ' expression suspension to roll axis, IxxIt is rotation of the vehicle around X-axis
Inertia, IyyIt is vehicle around the rotary inertia of Y-axis, IXXS、IyysAnd IZZSIt is that spring carried mass is used around the rotation of X, Y and Z axis respectively
Amount,It respectively indicates the roll stiffness of vehicle and rolls damping,Respectively indicate the pitch stiffness and pitching of vehicle
Damping；
Input pilot control data dataI, k、dataI, mAnd dataI, lAfterwards, the travel condition of vehicle number at i moment is obtained
According to:
Wherein, the longitudinal direction of car speed of service at i moment is ui, the longitudinal acceleration of the vehicle at i moment isThe vehicle at i moment
Lateral velocity is vi, the vehicle lateral acceleration at i moment isThe yaw rate at i moment is ri, the vehicle cross at i moment
Pivot angle acceleration isThe vehicle roll angle at i moment isThe vehicle roll angular speed at i moment isThe vehicle at i moment is bowed
Elevation angle degree isThe vehicle pitch angular speed at i moment is
Preferably, interference signal described in step 4 are as follows:
ω1=r
ω2=g
ω3=s
ω4=r+s
ω5=r+g
ω6=g+s
ω7=r+s+g
Wherein, s indicates that sinusoidal interference signal, r indicate that random interfering signal, r indicate that random interfering signal, s indicate sinusoidal
Interference signal, g indicate pulse interference signal, ωkK ∈ [1,7] indicates combined interference signal；
Add driver operational data after making an uproar described in step 4 are as follows:
Add rear vehicle running state data of making an uproar described in step 4 are as follows:
Wherein, the driver operational data at i moment is dataI, j, the travel condition of vehicle data at i moment are sdatai；
Preferably, being tested ECU described in step 5 includes drive when intoxicated judgement system ECU and fatigue driving differentiation system
Unite ECU, according to data required for tested ECU from add make an uproar after driver operational data and adding make an uproar rear vehicle operating status number
Performance detection is completed according to the middle corresponding detection data of selection, obtains the recognition result of tested ECU.
In general, contemplated performance detecting system and method for testing performance through the invention, mainly has below
Advantage:
Performance detection is carried out to judgement system compared to by real vehicle, method for testing performance provided by the present invention is carrying out
When performance detection, pass through the driving of input different conditions, different road linearities (bend of straight line, different turning radius and direction)
Member's operation data, and then simulates travel condition of vehicle of the vehicle under different running environments, when avoiding measuring on-board in order to
The trouble that different detection places are detected and converted under different running environments, carries out performance detection with real vehicle simultaneously for inconvenience
Scene, such as be identification to driver status when running at high speed, this method for testing performance can also be passed through and carry out simulation test；And
And this method for testing performance avoids and causes dangerous risk in detection process to driver, while also avoiding because road is prominent
Hair event and to the factor that has an impact of test.
Compared to the performance detection for carrying out judgement system using driving simulator, method for testing performance provided by the present invention
It can achieve the purpose for saving human and material resources；Since driving simulator is when carrying out performance detection, driver is needed to carry out corresponding
Operation to generate travel condition of vehicle data, therefore in order to obtain a large amount of detection data just need a large amount of experimenter come
It is tested, not only expends a large amount of human and material resources, while can also extend detection time；Moreover, current a large amount of drive simulation
Device more focuses on the degree true to nature of Driving Scene, to bring driver's experience really driven, therefore in dynamics of vehicle modeling side
Face is lacking, and resulting detection data will there is biggish errors between true vehicle operation data, and move
The driving mold price of mechanical modeling comparatively perfect is again sufficiently expensive, is not suitable for the performance detection for carrying out judgement system；So this
Method for testing performance provided by inventing not only reduces testing cost, reduces detection time, while the detection data generated is more pasted
Close actual vehicle operation data.
Detailed description of the invention
Fig. 1: performance detecting system schematic diagram；
Fig. 2: method for testing performance flow chart.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is described in further detail.It should be appreciated that specific embodiment described herein is used only for explaining the present invention,
It is distinct from the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of the present invention retouched below that
Not constituting conflict between this can be combined with each other.
Fig. 1 is the schematic diagram of the performance detecting system of real-time example according to the present invention, as shown in Figure 1, one kind drive when intoxicated and
The performance detecting system of fatigue driving judgement system, comprising: Modeling Calculation machine, replicating machine, driver operational data input equipment,
Preprocessor, tested ECU, display equipment；The Modeling Calculation machine is connect with the replicating machine；The replicating machine with it is described pre-
Processor connection；The driver operational data input equipment is connect with the replicating machine；The driver operational data input
Equipment is connect with the preprocessor；The preprocessor is connect with the tested ECU；The tested ECU is shown with described
Show that equipment connects.
The Modeling Calculation machine includes modeling and simulating software Dymola and Simulink, for establishing vehicle Digital Simulation mould
Type；The Modeling Calculation machine will be connected with the replicating machine, convenient for the simulation model to be downloaded in the replicating machine；Institute
Replicating machine is stated for carrying out Semi-physical Real-time Simulation；
On the one hand the output interface of the driver operational data input equipment is connected with the replicating machine input interface,
For driver operational data to be input to the replicating machine, on the other hand it connect, uses with the input interface of the preprocessor
In driver operational data is input to the preprocessor；
The output interface of the replicating machine is connected with the preprocessor input interface, and the preprocessor is used for need
The detection data for being input to the tested ECU is pre-processed；
The output interface of the preprocessor is connected to the tested ECU input interface, is used for the tested ECU
Detection data is provided；The tested ECU refers to the ECU to drive when intoxicated with fatigue driving judgement system；The tested ECU with
The display equipment is connected by serial ports；
The display equipment is used for the output result of display performance detection system.
In the present embodiment, the Modeling Calculation machine is association's T4900 computer；The replicating machine is NI's
PXIe-8840 replicating machine；Driver data's input equipment is the ipc-610H industrial personal computer for grinding China；The preprocessor
For SJ-TJ600 preprocessor；The tested ECU is the ECU of the DAS fatigue warning system of Volvo XC60；Described is aobvious
Show that equipment is PANEL5000-A2151 display.
Fig. 2 is a kind of method for testing performance process driven when intoxicated with fatigue driving judgement system of the embodiment of the present invention
Figure, the method for testing performance specifically include following steps:
Step 1: vehicle five being established freely using Modelica language by modeling software Dymola on Modeling Calculation machine
Vehicle digital simulation model is spent, five degree of freedom vehicle digital simulation model is generated by Simulink institute according to modeling software Dymola
The C language five degree of freedom vehicle digital simulation model of support；
The digital simulation model of 5DOF vehicle described in step 1 are as follows:
Wherein, der (u) is the longitudinal movement model of vehicle, and der (v) is the transverse movement model of vehicle, and der (r) is vehicle
Pitching movement model, der (p) be vehicle roll motion model, der (q) be vehicle weaving model, p is vehicle
Roll velocity, q be vehicle rate of pitch, u be vehicle longitudinal velocity, v be vehicle side velocity, r is vehicle
Yaw velocity；
Wherein, msFor the quality of spring in suspension, m is car mass, CαFor coefficient of air resistance, h ' is the mass center of suspension
Arrive the distance between roll axis, FxFor the longitudinal force that vehicle is subject to, FyFor the lateral force that vehicle is subject to, MzFor the sideway power of vehicle
Square, IxxIt is vehicle around the rotary inertia of X-axis, IyyIt is vehicle around the rotary inertia of Y-axis, IzzFor the rotary inertia of vehicle about the z axis,
IXXSIt is spring carried mass around the rotary inertia of X-axis, IyysIt is spring carried mass around the rotary inertia of Y-axis, IZZSFor spring carried mass around
The rotary inertia of Z axis,For vehicle roll angle,For the pitch angle of vehicle body,For the roll stiffness of vehicle,For vehicle
Damping is rolled,For the pitch stiffness of vehicle,For the damping in pitch of vehicle；
Step 2: on Modeling Calculation machine, C language five degree of freedom vehicle digital simulation model is imported into Simulink,
Driver operational data input interface and travel condition of vehicle data output interface are added, and generates replicating machine C language five freely
Spend vehicle digital simulation model；
C language five degree of freedom vehicle digital simulation model after importeding into Simulink described in step 2 is Modelica
With Simulink associative simulation model, by addition input, output interface, so as to mode input data and output real-time simulation
As a result；
Step 3: replicating machine C language five degree of freedom vehicle digital simulation model being downloaded in replicating machine, is grasped by driver
Make data input device and input driver operational data to replicating machine, according to replicating machine C language five degree of freedom vehicle Digital Simulation
Model obtains travel condition of vehicle data to carry out real-time simulated animation；
The driver operational data that driver operational data input equipment described in step 3 is inputted to replicating machine are as follows:
dataI, j={ δI, j, haI, j, hbI, j, dsI, j, dgI, j, doI, j, lineI, j, roadI, jI ∈ [1, M], j ∈ [1, N]
Wherein, dataI, jFor the driver operational data of the i-th moment jth vehicle, M is driver operational data sampling instant
Quantity, N be driver operational data vehicle fleet size, δI, jFor the steering wheel angle of the i-th moment jth vehicle, haI, jIt is i-th
The gas pedal depth of moment jth vehicle, hbI, jFor the brake pedal depth of the i-th moment jth vehicle, dsI, jFor the i-th moment jth
Locating driving condition when driver's operating and controlling vehicle of vehicle, locating driving condition by normal driving state, fatigue driving state with
And drink horizontal driving condition of difference is constituted, dgI, jFor driver's gender of the i-th moment jth vehicle, doI, jFor the i-th moment jth
Driver's age of vehicle, road line style lineI, jFor the road line style of the i-th moment jth vehicle, road line style by straight line and
Bend is constituted, roadI, jFor the road type of the i-th moment jth vehicle, road type is made of urban road and highway；
At the i moment, input data of the driver operational data of different three vehicles as replicating machine is selected, that is, is selected
dataI, k、dataI, mAnd dataI, lIn δI, k, haI, m, hbI, lIt is different when being inputted as the input data of replicating machine
The driving condition of three vehicle drivers is identical, i.e. dsI, k=dsI, m=dsI, l；
According to replicating machine C language five degree of freedom vehicle digital simulation model to carry out real-time simulated animation described in step 3
For by dataI, k、dataI, mAnd dataI, lIt is calculated and is solved according to C language five degree of freedom vehicle digital simulation model:
Fy=Fy1+Fy3)cosδI, k+(Fx1+Fx3)sinδI, k+Fy2+Fy4
Wherein, when driver operates gas pedal, Fx=Fx1, when driver operates brake pedal, Fx=Fx2, R is vehicle
Take turns radius, MSFor motor torque, α0Accelerator open degree when for gas pedal depth being zero, igRatio, i are transmitted for speed changer0Master subtracts
Fast device transmission ratio, ηtFor transmission efficiency, hbI, lMax is maximum brake pedal depth, MmaxMaximum braking moment, MFFor resistance
Square, IQFor the rotary inertia of wheel,For the corner acceleration of wheel；
Wherein, msFor the quality of spring in suspension, piIt is the vehicle roll angular speed at i moment,It is the vehicle side at i moment
Inclination angle acceleration, qiIt is the vehicle pitch angular speed at i moment,It is the vehicle pitch angular acceleration at i moment, uiIt is the vehicle at i moment
Longitudinally running speed,It is the longitudinal acceleration of the vehicle at i moment, viIt is the vehicle lateral speed at i moment,It is the i moment
Vehicle lateral acceleration, riIt is the yaw rate at i moment,It is the Vehicular yaw angular acceleration at i moment,When being i
The vehicle roll angle at quarter,It is the vehicle roll angular speed at i moment,It is the vehicle pitch angle at i moment,It is the i moment
Vehicle pitch angular speed；
Wherein, m is car mass, CαIndicate coefficient of air resistance, Fx、FyThe respectively longitudinal force, lateral that is subject to of vehicle
Power, MzFor the yaw moment of vehicle, the distance between mass center of h ' expression suspension to roll axis, IxxIt is rotation of the vehicle around X-axis
Inertia, IyyIt is vehicle around the rotary inertia of Y-axis, IXXS、IyysAnd IZZSIt is that spring carried mass is used around the rotation of X, Y and Z axis respectively
Amount,It respectively indicates the roll stiffness of vehicle and rolls damping,Respectively indicate the pitch stiffness and pitching of vehicle
Damping；
Input pilot control data dataI, k、dataI, mAnd dataI, lAfterwards, the travel condition of vehicle number at i moment is obtained
According to:
Wherein, the longitudinal direction of car speed of service at i moment is ui, the longitudinal acceleration of the vehicle at i moment isThe vehicle at i moment
Lateral velocity is vi, the vehicle lateral acceleration at i moment isThe yaw rate at i moment is ri, the vehicle at i moment
Sideway angular acceleration isThe vehicle roll angle at i moment isThe vehicle roll angular speed at i moment isThe vehicle at i moment
Pitch angle isThe vehicle pitch angular speed at i moment is
Step 4: driver operational data and travel condition of vehicle data are separately input into preprocessor, it is dry by being superimposed
Signal is disturbed to carry out driver operational data after data prediction is respectively obtained plus made an uproar and add rear vehicle running state data of making an uproar；
Interference signal described in step 4 are as follows:
ω1=r
ω2=g
ω3=s
ω4=r+s
ω5=r+g
ω6=g+s
ω7=r+s+g
Wherein, s indicates that sinusoidal interference signal, r indicate that random interfering signal, r indicate that random interfering signal, s indicate sinusoidal
Interference signal, g indicate pulse interference signal, ωkK ∈ [1,7] indicates combined interference signal；
Add driver operational data after making an uproar described in step 4 are as follows:
Add rear vehicle running state data of making an uproar described in step 4 are as follows:
Wherein, the driver operational data at i moment is dataI, j, the travel condition of vehicle data at i moment are sdatai；
Step 5: driver operational data will be added after making an uproar and to add rear vehicle running state data of making an uproar to be input to tested
ECU carries out the identification of driving condition；
It includes the judgement system ECU and fatigue driving judgement system ECU that drives when intoxicated that ECU is tested described in step 5, according to
Data required for tested ECU from add make an uproar after driver operational data and add in rear vehicle running state data of making an uproar and select phase
The detection data answered completes performance detection, obtains the recognition result of tested ECU；
Step 6: by locating driving when driver's operating and controlling vehicle in the recognition result of tested ECU and driver operational data
State is compared analysis, determines whether tested ECU can correctly identify and drives when intoxicated and fatigue driving state.
Although Modeling Calculation machine, replicating machine, driver operational data input equipment, pretreatment is used more herein
The terms such as device, tested ECU, display equipment, but a possibility that be not precluded using other terms.It is only using these terms
In order to more easily describe essence of the invention, being construed as any additional limitation all is and spirit of that invention phase
It violates.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention
Benefit requires to make replacement or deformation under protected ambit, fall within the scope of protection of the present invention, this hair
It is bright range is claimed to be determined by the appended claims.
Claims (8)
1. a kind of performance detecting system driven when intoxicated with fatigue driving judgement system, characterized by comprising: Modeling Calculation machine,
Replicating machine, driver operational data input equipment, preprocessor, tested ECU, display equipment；The Modeling Calculation machine and institute
State replicating machine connection；The replicating machine is connect with the preprocessor；The driver operational data input equipment is imitated with described
Prototype connection；The driver operational data input equipment is connect with the preprocessor；The preprocessor is tested with described
Try ECU connection；The tested ECU is connect with the display equipment.
2. the performance detecting system according to claim 1 driven when intoxicated with fatigue driving judgement system, it is characterised in that:
The Modeling Calculation machine includes modeling and simulating software Dymola and Simulink, for establishing vehicle digital simulation model；It is described
Modeling Calculation machine will be connected with the replicating machine, convenient for the simulation model to be downloaded in the replicating machine；The emulation
Machine is for carrying out Semi-physical Real-time Simulation；Output interface one side and the emulation of the driver operational data input equipment
Machine input interface is connected, for driver operational data to be input to the replicating machine, on the other hand with the preprocessor
Input interface connection, for driver operational data to be input to the preprocessor；The output interface of the replicating machine with
The preprocessor input interface is connected, and the preprocessor is used for the testing number for needing to be input to the tested ECU
According to being pre-processed；The output interface of the preprocessor is connected to the tested ECU input interface, for being tested to described
It tries ECU and detection data is provided；The tested ECU refers to the ECU to drive when intoxicated with fatigue driving judgement system；It is described tested
ECU is connect with the display equipment by serial ports；The display equipment is used for the output result of display performance detection system.
3. a kind of carried out after drinking using described in claim 1 driving when intoxicated with the performance detecting system of fatigue driving judgement system
Drive the method for testing performance with fatigue driving judgement system, which comprises the following steps:
Step 1: by modeling software Dymola, using Modelica language, to establish vehicle five degree of freedom whole on Modeling Calculation machine
Vehicle digital simulation model is supported five degree of freedom vehicle digital simulation model generation Simulink according to modeling software Dymola
C language five degree of freedom vehicle digital simulation model；
Step 2: on Modeling Calculation machine, C language five degree of freedom vehicle digital simulation model being imported into Simulink, is added
Driver operational data input interface and travel condition of vehicle data output interface, and it is whole to generate replicating machine C language five degree of freedom
Vehicle digital simulation model；
Step 3: replicating machine C language five degree of freedom vehicle digital simulation model being downloaded in replicating machine, by driver's operand
Driver operational data is inputted to replicating machine according to input equipment, according to replicating machine C language five degree of freedom vehicle digital simulation model
To carry out real-time simulated animation, travel condition of vehicle data are obtained；
Step 4: driver operational data and travel condition of vehicle data being separately input into preprocessor, pass through superposition interference letter
Data prediction number is carried out to respectively obtain plus driver operational data and add rear vehicle running state data of making an uproar after making an uproar；
Step 5: driver operational data after making an uproar will be added and rear vehicle running state data of making an uproar is added to be input to tested ECU, into
The identification of row driving condition；
Step 6: by locating driving condition when driver's operating and controlling vehicle in the recognition result of tested ECU and driver operational data
It is compared analysis, determines whether tested ECU can correctly identify and drive when intoxicated and fatigue driving state.
4. according to using the method for testing performance driven when intoxicated with fatigue driving judgement system as claimed in claim 3, in step 1
The 5DOF vehicle digital simulation model are as follows:
Wherein, der (u) is the longitudinal movement model of vehicle, and der (v) is the transverse movement model of vehicle, and der (r) is vehicle
Pitching movement model, der (p) are the roll motion model of vehicle, and der (q) is the weaving model of vehicle, and p is vehicle
Roll velocity, q are the rate of pitch of vehicle, and u is the longitudinal velocity of vehicle, and v is the side velocity of vehicle, and r is vehicle
Yaw velocity；
Wherein, msFor the quality of spring in suspension, m is car mass, CαFor coefficient of air resistance, h ' is the mass center of suspension to side
Incline the distance between axis, FxFor the longitudinal force that vehicle is subject to, FyFor the lateral force that vehicle is subject to, MzFor the yaw moment of vehicle, Ixx
It is vehicle around the rotary inertia of X-axis, IyyIt is vehicle around the rotary inertia of Y-axis, IzzFor the rotary inertia of vehicle about the z axis, IXXSFor
Rotary inertia of the spring carried mass around X-axis, IyysIt is spring carried mass around the rotary inertia of Y-axis, IZZSIt is spring carried mass around Z axis
Rotary inertia,For vehicle roll angle,For the pitch angle of vehicle body,For the roll stiffness of vehicle,For the inclination of vehicle
Damping,For the pitch stiffness of vehicle,For the damping in pitch of vehicle.
5. according to using the method for testing performance driven when intoxicated with fatigue driving judgement system as claimed in claim 3, as excellent
Choosing, C language five degree of freedom vehicle digital simulation model after Simulink is imported into described in step 2 be Modelica with
Simulink associative simulation model, by addition input, output interface, so as to mode input data and output real-time simulation knot
Fruit.
6. according to using the method for testing performance driven when intoxicated with fatigue driving judgement system as claimed in claim 3, in step 3
The driver operational data that the driver operational data input equipment is inputted to replicating machine are as follows:
datai,j={ δi,j,hai,j,hbi,j,dsi,j,dgi,j,doi,j,linei,j,roadi,j}i∈[1,M],j∈[1,N]
Wherein, datai,jFor the driver operational data of the i-th moment jth vehicle, M is the number of driver operational data sampling instant
Amount, N are the vehicle fleet size of driver operational data, δi,jFor the steering wheel angle of the i-th moment jth vehicle, hai,jFor the i-th moment
The gas pedal depth of jth vehicle, hbi,jFor the brake pedal depth of the i-th moment jth vehicle, dsi,jFor the i-th moment jth vehicle
Driver's operating and controlling vehicle when locating driving condition, locating driving condition is by normal driving state, fatigue driving state and not
With drinking, horizontal driving condition is constituted, dgi,jFor driver's gender of the i-th moment jth vehicle, doi,jFor the i-th moment jth vehicle
Driver's age, road line style linei,jFor the road line style of the i-th moment jth vehicle, road line style is by straight line and bend
It constitutes, roadi,jFor the road type of the i-th moment jth vehicle, road type is made of urban road and highway；
At the i moment, input data of the driver operational data of different three vehicles as replicating machine, i.e. selection data are selectedi,k、
datai,mAnd datai,lIn δi,k,hai,m,hbi,lAs the input data of replicating machine, three different vehicles when being inputted
The driving condition of driver is identical, i.e. dsi,k=dsi,m=dsi,l；
It is incited somebody to action described in step 3 according to replicating machine C language five degree of freedom vehicle digital simulation model with carrying out real-time simulated animation
datai,k、datai,mAnd datai,lIt is calculated and is solved according to C language five degree of freedom vehicle digital simulation model:
Fy=Fy1+Fy3)cosδi,k+(Fx1+Fx3)sinδi,k+Fy2+Fy4
Wherein, when driver operates gas pedal, Fx=Fx1, when driver operates brake pedal, Fx=Fx2, R is wheel half
Diameter, MSFor motor torque, α0Accelerator open degree when for gas pedal depth being zero, igRatio, i are transmitted for speed changer0Main reducing gear
Transmission ratio, ηtFor transmission efficiency, hbi,lMax is maximum brake pedal depth, MmaxMaximum braking moment, MFFor the moment of resistance, IQ
For the rotary inertia of wheel,For the corner acceleration of wheel；
Wherein, msFor the quality of spring in suspension, piIt is the vehicle roll angular speed at i moment,It is the vehicle roll angle at i moment
Acceleration, qiIt is the vehicle pitch angular speed at i moment,It is the vehicle pitch angular acceleration at i moment, uiBe the i moment vehicle it is vertical
To the speed of service,It is the longitudinal acceleration of the vehicle at i moment, viIt is the vehicle lateral speed at i moment,It is the vehicle at i moment
Transverse acceleration, riIt is the yaw rate at i moment,It is the Vehicular yaw angular acceleration at i moment,It is the vehicle at i moment
Side tilt angle,It is the vehicle roll angular speed at i moment,It is the vehicle pitch angle at i moment,It is the vehicle at i moment
Rate of pitch；
Wherein, m is car mass, CαIndicate coefficient of air resistance, Fx、FyThe respectively longitudinal force, the lateral force that are subject to of vehicle, MzFor
The yaw moment of vehicle, h′Indicate the mass center of suspension the distance between to roll axis, IxxIt is rotary inertia of the vehicle around X-axis, Iyy
It is vehicle around the rotary inertia of Y-axis, IXXS、IyysAnd IZZSIt is rotary inertia of the spring carried mass around X, Y and Z axis respectively,
It respectively indicates the roll stiffness of vehicle and rolls damping,Respectively indicate the pitch stiffness and damping in pitch of vehicle；
Input pilot control data datai,k、datai,mAnd datai,lAfterwards, the travel condition of vehicle data at i moment are obtained:
Wherein, the longitudinal direction of car speed of service at i moment is ui, the longitudinal acceleration of the vehicle at i moment isThe lateral direction of car at i moment
Speed is vi, the vehicle lateral acceleration at i moment isThe yaw rate at i moment is ri, the Vehicular yaw angle at i moment
Acceleration isThe vehicle roll angle at i moment isThe vehicle roll angular speed at i moment isThe vehicle pitch rate at i moment
Degree isThe vehicle pitch angular speed at i moment is
7. according to using the method for testing performance driven when intoxicated with fatigue driving judgement system as claimed in claim 3, in step 4
The interference signal are as follows:
ω1=r
ω2=g
ω3=s
ω4=r+s
ω5=r+g
ω6=g+s
ω7=r+s+g
Wherein, s indicates that sinusoidal interference signal, r indicate that random interfering signal, r indicate that random interfering signal, s indicate sinusoidal interference
Signal, g indicate pulse interference signal, ωkK ∈ [1,7] indicates combined interference signal；
Add driver operational data after making an uproar described in step 4 are as follows:
Add rear vehicle running state data of making an uproar described in step 4 are as follows:
Wherein, the driver operational data at i moment is datai,j, the travel condition of vehicle data at i moment are sdatai。
8. according to using the method for testing performance driven when intoxicated with fatigue driving judgement system as claimed in claim 3, in step 5
The tested ECU includes the judgement system ECU and fatigue driving judgement system ECU that drives when intoxicated, according to required for tested ECU
Data from add make an uproar after driver operational data and add to make an uproar corresponding detection data selected in rear vehicle running state data
Performance detection is completed, the recognition result of tested ECU is obtained.
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