CN109141929A - Intelligent network joins automobile emulation test system and method - Google Patents
Intelligent network joins automobile emulation test system and method Download PDFInfo
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- CN109141929A CN109141929A CN201811227395.3A CN201811227395A CN109141929A CN 109141929 A CN109141929 A CN 109141929A CN 201811227395 A CN201811227395 A CN 201811227395A CN 109141929 A CN109141929 A CN 109141929A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Abstract
The present invention provides intelligent network connection automobile emulation test system and methods, are related to intelligent network connection automobile emulation testing field, comprising: carry out operation to vehicle dynamic model, export state of motion of vehicle；Motion change is carried out to environmental model according to state of motion of vehicle, exports emulated interface and simulated target information；Emulated interface and state of motion of vehicle are obtained, the athletic performance situation of real vehicle is simulated according to state of motion of vehicle, and executes driver behavior, the movement of vehicle dynamic model is controlled according to driver behavior；Target identification information is calculated according to emulated interface and the simulated target information；According to be target identification information calculate vehicle control information, and according to vehicle control information control vehicle dynamic model movement.Period that is rich, reducing intelligent network connection automobile technology development and inspection detection and the cost of verifying scene can be improved in the present invention.
Description
Technical field
The present invention relates to intelligent networks to join automobile emulation testing field, especially intelligent network connection automobile emulation test system and side
Method.
Background technique
Intelligent network connection automobile, which refers to, carries the devices such as advanced onboard sensor, controller, actuator, and merges modern logical
Letter and network technology realize that vehicle exchanges with intelligent information such as people, vehicle, road, clouds, is shared, have complex environment perception, intelligence is determined
The functions such as plan, Collaborative Control are, it can be achieved that " safe and efficient, comfortable, energy saving " travel, and finally can be achieved to substitute people to operate
Young mobile can be realized the optimal traveling and automatic Pilot of vehicle itself.Intelligent network connection automobile is related to more complicated function
It can and apply, exploitation test is also made to face lot of challenges.Operating condition scene be it is unlimited, harsh, complex working condition somethings can only be found by accident, and not through seeking, also
It is not reproducible, can not repeated authentication, then, how long just drive test will last is able to verify that Function for Automatic Pilot having under any circumstance
Effect and reliability, while in addition to the test of public way, the special test verifying domestic and international various regions in place are also being built, but are being opened
It can not meet the exploitation verifying demand of intelligent network connection Automobile Complex function in terms of hair time, cost, flexibility.Intelligent network joins automobile
Test evaluation be to excavate hiding functional defect, so orthodox car test method has been unable to satisfy intelligent network connection automobile and has surveyed
Try certification demand.Virtual Simulation becomes the important tool for solving intelligent network connection automobile large scale test verifying.
Summary of the invention
In view of this, can be improved the purpose of the present invention is to provide intelligent network connection automobile emulation test system and method
Verify period that is rich, reducing intelligent network connection automobile technology development and inspection detection and the cost of scene.
In a first aspect, the embodiment of the invention provides a kind of intelligent networks to join automobile emulation test system, wherein include:
Vehicle simulation system exports state of motion of vehicle for carrying out operation to vehicle dynamic model；
Environmental simulation system, for carrying out motion change, output emulation to environmental model according to the state of motion of vehicle
Picture and simulated target information；
Driving analog system, for obtaining the emulated interface and the state of motion of vehicle, according to the vehicle movement
The athletic performance situation of state simulation real vehicle, and driver behavior is executed, the vehicle dynamic model is controlled according to driver behavior
Movement；
Sensor analog system, for calculating target identification letter according to the emulated interface and the simulated target information
Breath；
Controller system is target identification information calculating vehicle control information for basis, and according to the vehicle control
Information controls the movement of the vehicle dynamic model.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein institute
Stating vehicle simulation system includes dynamics of vehicle modeling unit and real time processing system；
The dynamics of vehicle modeling unit, for establishing the vehicle dynamic model；
The real time processing system exports the vehicle movement shape for carrying out operation to the vehicle dynamic model
State.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, wherein institute
Stating environmental simulation system includes environmental modeling unit and industrial computer；
The environmental modeling unit, for establishing the environmental model；
The industrial computer, for carrying out motion change to the environmental model according to the state of motion of vehicle information,
Export the emulated interface and the simulated target information.
With reference to first aspect, the embodiment of the invention provides the third possible embodiments of first aspect, wherein institute
Stating driving analog system includes skimulated motion mechanism unit, simulator cockpit unit, simulation what comes into a driver's unit and simulation sound effect unit:
The skimulated motion mechanism unit, for simulating the athletic performance situation of real vehicle according to the state of motion of vehicle；
The simulator cockpit unit, for controlling the movement of the vehicle dynamic model according to driver behavior；
The simulation what comes into a driver's unit, for emulated interface described in real-time display；
The simulation sound effect unit, for the sound in simulating vehicle traveling.
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible embodiments of first aspect, wherein institute
Stating simulated target information includes target object and target component, and the sensor analog system includes camera simulation system, thunder
Up to simulation system, vehicle to extraneous information exchange V2X simulation system；
The camera simulation system, for calculating the target identification information according to the emulated interface；
The Radar Simulation System for the target object to be converted to corresponding radar echo signal, and passes through hair
Injection device is transmitted to tested radar, identifies the target identification information；
The vehicle is to extraneous information exchange V2X simulation system, after the target component is converted to radiofrequency signal
It exports to the controller system.
With reference to first aspect, the embodiment of the invention provides the 5th kind of possible embodiments of first aspect, wherein institute
Stating controller system includes rapid prototyping controller, vehicle-mounted real controllers.
With reference to first aspect, the embodiment of the invention provides the 6th kind of possible embodiments of first aspect, wherein institute
State vehicle simulation system, the environmental simulation system, the driving analog system, the sensor analog system and the control
It is communicated between device system by CAN bus or Ethernet.
With reference to first aspect, the embodiment of the invention provides the 7th kind of possible embodiments of first aspect, wherein institute
Stating vehicle dynamic model includes body dynamics model, engine mounting model, steering system model, suspension system model, system
Dynamic system model, tire model, power train models and Aerodynamics Model.
With reference to first aspect, the embodiment of the invention provides the 8th kind of possible embodiments of first aspect, wherein institute
Stating environmental model includes road, traffic sign, target vehicle, target pedestrian and sensor.
Second aspect, the embodiment of the present invention also provide a kind of intelligent network connection automobile emulation test method, wherein include:
Operation is carried out to vehicle dynamic model, exports state of motion of vehicle；
Motion change is carried out to environmental model according to the state of motion of vehicle, exports emulated interface and simulated target letter
Breath；
The emulated interface and the state of motion of vehicle are obtained, the movement of real vehicle is simulated according to the state of motion of vehicle
Situation is showed, and executes driver behavior, the movement of the vehicle dynamic model is controlled according to driver behavior；
Target identification information is calculated according to the emulated interface and the simulated target information；
According to being that target identification information calculates vehicle control information, and controls the vehicle according to the vehicle control information
The movement of kinetic model.
The embodiment of the present invention bring it is following the utility model has the advantages that
Intelligent network connection automobile emulation test system provided by the invention and method, comprising: vehicle dynamic model is carried out
Operation exports state of motion of vehicle；Motion change is carried out to environmental model according to state of motion of vehicle, exports emulated interface and mould
Quasi- target information；Emulated interface and state of motion of vehicle are obtained, the athletic performance situation of real vehicle is simulated according to state of motion of vehicle,
And driver behavior is executed, the movement of vehicle dynamic model is controlled according to driver behavior；According to emulated interface and the simulation mesh
It marks information and calculates target identification information；According to being that target identification information calculates vehicle control information, and according to vehicle control information
Control the movement of vehicle dynamic model.True driver, actual sensor, real controllers may be implemented virtual in the present invention
Deep integrating under simulated environment solves the test validation problem that intelligent network connection automobile respectively develops link, has reached reduction skill
The period of detection and the effect of cost are examined in art exploitation.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is that the intelligent network that the embodiment of the present invention one provides joins automobile emulation test system schematic diagram；
Fig. 2 is the vehicle simulation system schematic diagram that the embodiment of the present invention one provides；
Fig. 3 is the environmental simulation system schematic diagram that the embodiment of the present invention one provides；
Fig. 4 is the driving analog system schematic diagram that the embodiment of the present invention one provides；
Fig. 5 is the sensor analog system schematic diagram that the embodiment of the present invention one provides；
Fig. 6 is the controller simulation system schematic diagram that the embodiment of the present invention one provides；
Fig. 7 is that intelligent network provided by Embodiment 2 of the present invention joins automobile emulation test method flow chart.
Icon:
101- vehicle simulation system；102- environmental simulation system；103- driving analog system；104- Sensor Analog Relay System
System；105- controller system；201- dynamics of vehicle modeling unit；202- real time processing system；301- environmental modeling
Unit；302- industrial computer；401- skimulated motion mechanism unit；402- simulator cockpit unit；403- simulates what comes into a driver's list
Member；404- simulation sound effect unit；501- camera simulation system；502- Radar Simulation System；503-V2X simulation system；
601- rapid prototyping controller；The vehicle-mounted real controllers of 602-.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Intelligent network connection automobile, which refers to, carries the devices such as advanced onboard sensor, controller, actuator, and merges modern logical
Letter and network technology realize that vehicle exchanges with intelligent information such as people, vehicle, road, clouds, is shared, have complex environment perception, intelligence is determined
The functions such as plan, Collaborative Control are, it can be achieved that " safe and efficient, comfortable, energy saving " travel, and finally can be achieved to substitute people to operate
Young mobile can be realized the optimal traveling and automatic Pilot of vehicle itself.Intelligent network connection automobile is related to more complicated function
It can and apply, exploitation test is also made to face lot of challenges.Operating condition scene be it is unlimited, harsh, complex working condition somethings can only be found by accident, and not through seeking, also
It is not reproducible, can not repeated authentication, then, how long just drive test will last is able to verify that Function for Automatic Pilot having under any circumstance
Effect and reliability, while in addition to the test of public way, the special test verifying domestic and international various regions in place are also being built, but are being opened
It can not meet the exploitation verifying demand of intelligent network connection Automobile Complex function in terms of hair time, cost, flexibility.Intelligent network joins automobile
Test evaluation be to excavate hiding functional defect, so orthodox car test method has been unable to satisfy intelligent network connection automobile and has surveyed
Try certification demand.Virtual Simulation becomes the important tool for solving intelligent network connection automobile large scale test verifying.
Based on this, intelligent network connection automobile emulation test system provided in an embodiment of the present invention and method be may be implemented true
The Deep integrating of driver, actual sensor, real controllers under virtual simulation environment solves intelligent network connection automobile and respectively opens
The test validation problem of hair ring section has achieved the effect that reduce technological development and has examined period and the cost of detection.
To be surveyed to the connection automobile emulation of intelligent network disclosed in the embodiment of the present invention first convenient for understanding the present embodiment
Test system describes in detail.
Embodiment one:
Fig. 1 is that the intelligent network that the embodiment of the present invention one provides joins automobile emulation test system schematic diagram.
Referring to Fig.1, intelligent network connection automobile emulation test system mainly includes following content:
Vehicle simulation system 101 exports state of motion of vehicle for carrying out operation to vehicle dynamic model；
Environmental simulation system 102 exports picture for carrying out motion change to environmental model according to state of motion of vehicle
Face and simulated target information；
Driving analog system 103 is simulated real for obtaining emulated interface and state of motion of vehicle according to state of motion of vehicle
The athletic performance situation of vehicle, and driver behavior is executed, the movement of vehicle dynamic model is controlled according to driver behavior；
Sensor analog system 104, for calculating target identification information according to emulated interface and simulated target information；
Controller system 105 is that target identification information calculates vehicle control information, and is believed according to vehicle control for basis
The movement of breath control vehicle dynamic model.
Specifically, vehicle simulation system 101, environmental simulation system 102, driving analog system 103, sensor analog system
Between 104 and controller system 105 by CAN (Controller Area Network, controller local area network) bus or with
Too net (Ethernet) is communicated.
Further, referring to Fig. 2, vehicle simulation system 101 includes dynamics of vehicle modeling unit 201 and real-time processing system
System 202.
Dynamics of vehicle modeling unit 201, for establishing vehicle dynamic model；Real time processing system 202, for vehicle
Kinetic model carries out operation, exports state of motion of vehicle.
Specifically, vehicle modeling unit 201 selects modeling software carsim, the kinetic simulation of vehicle subsystems is established
Type, including body powered model, engine mounting model, steering system model, suspension system model, brake system model,
Tire model, power train models, Aerodynamics Model.Established vehicle dynamic model passes through under Ethernet
It is downloaded to real time processing system 202.Real time processing system 202 includes real-time processor and data collecting plate card, data collecting plate card
Include vehicle-mounted CAN bus and vehicle-mounted ethernet communication board.Real time processing system 202 is for transporting vehicle dynamic model
It calculates, the input/output interface variable of auto model is set, vehicle dynamic model input variable includes accelerator pedal stroke, braking
Pedal travel, wheel steering angle etc., output variable includes main parking stall shifting, main vehicle speed, main vehicle acceleration etc., and passes through net
Network agreement downloads in real time processing system, then passes through software kit veristand and environmental simulation system 102, drive simulation
System 103 and 105 system of controller are attached.On the one hand, above-mentioned vehicle dynamic model input variable passes to ring ring
Border simulation system 102, so that the environmental model in environmental simulation system 102 changes with the movement of vehicle dynamic model,
On the other hand above-mentioned vehicle dynamic model input variable passes to driving analog system 103, so that driving analog system 103
It is moved accordingly according to the calculated case of vehicle dynamic model.
Further, referring to Fig. 3, environmental simulation system 102 includes environmental modeling unit 301 and industrial computer 302.Environment
Modeling unit, for establishing environmental model；Industrial computer, for being moved according to state of motion of vehicle information to environmental model
Variation exports emulated interface and simulated target information.
Specifically, environmental modeling unit 301 can select modeling software prescan, environmental model, including main vehicle mould are established
Type, target vehicle model, pedestrian dummy, plant model, animal model, building model, traffic sign model, sensor model.
Wherein, main vehicle model is served only for picture and shows, does not have vehicle dynamics characteristics, adds sensor die in main vehicle model
Type, including camera shooting head model, millimetre-wave radar model, laser radar model, ultrasonic radar model, V2X (vehicle to
X, vehicle is to extraneous information exchange) RF transceiver model, it adjusts each sensor model position and angle is consistent with real vehicle；Add
Add road model, road geometry and characterisitic parameter are set；Add traffic sign model, setting traffic lights, sign board etc.；Add
Add the models such as plant, animal, building, animation display effect true to nature is set, the environmental model of foundation operates in high-performance work
In industry computer 302.Industrial computer 302 is used to carry out motion change to environmental model according to state of motion of vehicle information, and output is imitative
True picture and simulated target information, and network interface CAN reception vehicle simulation system 101 is turned by data-interface USB and is transmitted across
The state of motion of vehicle information come is that driving analog system 103 provides emulated interface by high definition video interface HDMI, passes through number
Word video interface LVDS is that camera image processing unit injects emulation animation.
Further, referring to Fig. 4, driving analog system 103 includes skimulated motion mechanism unit 401, drive simulating shipping bill
Member 402, simulation what comes into a driver's unit 403 and simulation sound effect unit 404.
Specifically, skimulated motion mechanism unit 401 is used to simulate the athletic performance situation of real vehicle according to state of motion of vehicle；
Motion conditions of the skimulated motion mechanism unit 401 to simulating vehicle six direction, including it is transverse movement, longitudinal movement, vertical
Movement, roll motion, pitching movement, weaving receive the position from vehicle simulation system 101 by CAN or Ethernet
The information such as shifting, speed, acceleration, and go out by calculating simulation the athletic performance situation of real vehicle.Simulator cockpit unit 402 is used for
The movement of vehicle dynamic model is controlled according to driver behavior；Simulator cockpit unit 402 and real vehicle cabin interior structure phase
Together, instrument board, steering wheel, gas pedal, brake pedal, gearshift, rearview mirror, seat etc., drive simulating shipping bill are provided with
Member 402 can acquire the driver behavior of driver, and be exported driver behavior to vehicle simulation system by CAN or Ethernet
101, control the movement of auto model.Simulation what comes into a driver's unit 403 is made of flat curtain, 180 degree ring curtain or 360 degree of ring curtains, for real
When show emulated interface, which shows according to the visual angle of driver.Simulation sound effect unit 404 is used for the fortune according to vehicle
Dynamic state simulation goes out the corresponding sound of each system in vehicle driving, including engine sound, tire and the sound of ground friction,
Vehicle and the sound of windage etc..Simulation what comes into a driver's unit 403 and simulation sound effect unit 404 are passed through by environmental simulation system 102
CAN and HDMI transmission provides support.
Further, referring to Fig. 5, sensor analog system 104 includes camera simulation system 501, Radar Simulation System
502, V2X simulation system 503.
Specifically, simulated target information includes target object and target component.Camera simulation system 501 is used for according to imitative
True picture calculates target identification information, obtains target identification information there are two types of method, and one is by real camera and display
It is placed in camera bellows jointly, camera is by shooting display and identifies the target object in display, and one is by environmental simulation
Emulated interface in system injects board by video in a manner of video flowing and is directly injected into camera image processing chip, figure
As processing chip is obtained by calculation to obtain target object.Radar Simulation System 502 divides for millimetre-wave radar, laser radar, surpasses
Sound radar for target object to be converted to corresponding radar echo signal, and is transmitted to tested radar by emitter,
Identify target identification information.Controller system is given in output after V2X simulation system 503 is used to being converted to target component into radiofrequency signal
System 105.It here, is the transmitting for receiving true radar using millimetre-wave radar analog machine for the target simulation of millimetre-wave radar
Signal, and the reflection echo for simulating target is handled by certain time delay and Doppler frequency shift, true radar receiving is reflected back
The relevant information of simulated target can be obtained after wave；Ultrasonic radar, laser radar, V2X radio-frequency apparatus target simulation and milli
Metre wave radar target simulation method is similar, but the corresponding simulated target signal type of different sensors is different, ultrasonic wave target
Analog machine transmitting is ultrasonic signal, and the transmitting of laser radar target simulation equipment is laser beam, V2X target simulation equipment
Transmitting is radiofrequency signal.
Further, referring to Fig. 6, controller system 105 includes rapid prototyping controller 601 and vehicle-mounted real controllers
602。
Specifically, rapid prototyping controller 601 connects Sensor Analog Relay System by network protocol with vehicle-mounted real controllers 602
System 104 simultaneously receives target identification information, sends vehicle simulation system 101 for simulated target information by calculating.
Embodiment two:
Provided intelligent network joins automobile emulation test system based on the above embodiment, and referring to Fig. 7, the present embodiment provides one
Kind intelligent network joins automobile emulation test method, this method comprises:
Step S01 carries out operation to vehicle dynamic model, exports state of motion of vehicle；
Step S02 carries out motion change to environmental model according to the state of motion of vehicle, exports emulated interface and simulation
Target information；
Step S03 obtains the emulated interface and the state of motion of vehicle, is simulated according to the state of motion of vehicle real
The athletic performance situation of vehicle, and driver behavior is executed, the movement of the vehicle dynamic model is controlled according to driver behavior；
Step S04 calculates target identification information according to the emulated interface and the simulated target information；
Step S05, according to be target identification information calculate vehicle control information, and according to the vehicle control information control
The movement of the vehicle dynamic model.
The technical effect and aforementioned system embodiment phase of method provided by the embodiment of the present invention, realization principle and generation
Together, to briefly describe, embodiment of the method part does not refer to place, can refer to corresponding contents in embodiment same as before.
The embodiment of the present invention bring it is following the utility model has the advantages that
Intelligent network connection automobile emulation test system provided by the invention and method, comprising: vehicle dynamic model is carried out
Operation exports state of motion of vehicle；Motion change is carried out to environmental model according to the state of motion of vehicle, exports emulated interface
With simulated target information；The emulated interface and the state of motion of vehicle are obtained, is simulated according to the state of motion of vehicle real
The athletic performance situation of vehicle, and driver behavior is executed, the movement of the vehicle dynamic model is controlled according to driver behavior；According to
The emulated interface and the simulated target information calculate target identification information；According to be target identification information calculate vehicle control
Information, and control according to the vehicle control information movement of the vehicle dynamic model.The present invention may be implemented really to drive
The Deep integrating of the person of sailing, actual sensor, real controllers under virtual simulation environment solves intelligent network connection automobile and respectively develops
The test validation problem of link has achieved the effect that reduce technological development and has examined period and the cost of detection.
The embodiment of the present invention also provides a kind of electronic equipment, including memory, processor, and being stored in memory can locate
The computer program run on reason device, processor realize intelligent network connection automobile provided by the above embodiment when executing computer program
The step of emulation test method.
The embodiment of the present invention also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium
Calculation machine program executes the step of the intelligent network connection automobile emulation test method of above-described embodiment when computer program is run by processor
Suddenly.
The flow chart and block diagram in the drawings show the system of multiple embodiments according to the present invention, method and computer journeys
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, section or code of table, a part of the module, section or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually base
Originally it is performed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that
It is the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, can uses and execute rule
The dedicated hardware based system of fixed function or movement is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
Intelligent network provided by the embodiment of the present invention joins the computer program product of automobile emulation test system and method, packet
The computer readable storage medium for storing the executable non-volatile program code of processor is included, what said program code included
Instruction can be used for executing previous methods method as described in the examples, and specific implementation can be found in embodiment of the method, no longer superfluous herein
It states.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, of the invention
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the present invention
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can be with
Store the medium of program code.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of intelligent network joins automobile emulation test system characterized by comprising
Vehicle simulation system exports state of motion of vehicle for carrying out operation to vehicle dynamic model；
Environmental simulation system exports emulated interface for carrying out motion change to environmental model according to the state of motion of vehicle
With simulated target information；
Driving analog system, for obtaining the emulated interface and the state of motion of vehicle, according to the state of motion of vehicle
The athletic performance situation of real vehicle is simulated, and executes driver behavior, the fortune of the vehicle dynamic model is controlled according to driver behavior
It is dynamic；
Sensor analog system, for calculating target identification information according to the emulated interface and the simulated target information；
Controller system is target identification information calculating vehicle control information for basis, and according to the vehicle control information
Control the movement of the vehicle dynamic model.
2. intelligent network according to claim 1 joins automobile emulation test system, which is characterized in that
The vehicle simulation system includes dynamics of vehicle modeling unit and real time processing system；
The dynamics of vehicle modeling unit, for establishing the vehicle dynamic model；
The real time processing system exports the state of motion of vehicle for carrying out operation to the vehicle dynamic model.
3. intelligent network according to claim 1 joins automobile emulation test system, which is characterized in that
The environmental simulation system includes environmental modeling unit and industrial computer；
The environmental modeling unit, for establishing the environmental model；
The industrial computer, for carrying out motion change, output to the environmental model according to the state of motion of vehicle information
The emulated interface and the simulated target information.
4. intelligent network according to claim 1 joins automobile emulation test system, which is characterized in that
The driving analog system includes skimulated motion mechanism unit, simulator cockpit unit, simulation what comes into a driver's unit and analog audio
Imitate unit:
The skimulated motion mechanism unit, for simulating the athletic performance situation of real vehicle according to the state of motion of vehicle；
The simulator cockpit unit, for controlling the movement of the vehicle dynamic model according to driver behavior；
The simulation what comes into a driver's unit, for emulated interface described in real-time display；
The simulation sound effect unit, for the sound in simulating vehicle traveling.
5. intelligent network according to claim 1 joins automobile emulation test system, which is characterized in that the simulated target information
Including target object and target component, the sensor analog system includes camera simulation system, Radar Simulation System, vehicle pair
Extraneous information exchange V2X simulation system；
The camera simulation system, for calculating the target identification information according to the emulated interface；
The Radar Simulation System for the target object to be converted to corresponding radar echo signal, and passes through transmitting dress
It sets and is transmitted to tested radar, identify the target identification information；
The vehicle is to extraneous information exchange V2X simulation system, for exporting after the target component is converted to radiofrequency signal
To the controller system.
6. intelligent network according to claim 1 joins automobile emulation test system, which is characterized in that the controller system packet
Include rapid prototyping controller, vehicle-mounted real controllers.
7. intelligent network according to claim 1 joins automobile emulation test system, which is characterized in that
The vehicle simulation system, the environmental simulation system, the driving analog system, the sensor analog system and institute
It states and is communicated between controller system by CAN bus or Ethernet.
8. intelligent network according to claim 2 joins automobile emulation test system, which is characterized in that the dynamics of vehicle mould
Type includes body dynamics model, engine mounting model, steering system model, suspension system model, brake system model, tire
Model, power train models and Aerodynamics Model.
9. intelligent network according to claim 3 joins automobile emulation test system, which is characterized in that the environmental model includes
Road, traffic sign, target vehicle, target pedestrian and sensor.
10. a kind of intelligent network joins automobile emulation test method characterized by comprising
Operation is carried out to vehicle dynamic model, exports state of motion of vehicle；
Motion change is carried out to environmental model according to the state of motion of vehicle, exports emulated interface and simulated target information；
The emulated interface and the state of motion of vehicle are obtained, the athletic performance of real vehicle is simulated according to the state of motion of vehicle
Situation, and driver behavior is executed, the movement of the vehicle dynamic model is controlled according to driver behavior；
Target identification information is calculated according to the emulated interface and the simulated target information；
According to being that target identification information calculates vehicle control information, and controls the vehicle power according to the vehicle control information
Learn the movement of model.
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