CN110046833A - A kind of traffic congestion auxiliary system virtual test system - Google Patents
A kind of traffic congestion auxiliary system virtual test system Download PDFInfo
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- CN110046833A CN110046833A CN201910392402.3A CN201910392402A CN110046833A CN 110046833 A CN110046833 A CN 110046833A CN 201910392402 A CN201910392402 A CN 201910392402A CN 110046833 A CN110046833 A CN 110046833A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
- G06F11/3604—Software analysis for verifying properties of programs
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
- G06Q10/06393—Score-carding, benchmarking or key performance indicator [KPI] analysis
Abstract
The invention discloses a kind of traffic congestion auxiliary system virtual test systems, are generated by driving simulator system, signal and are formed with converting system, tested traffic congestion auxiliary system；Driving simulator system uses developing automobile driving simulator, provides Driving Scene, vehicle mathematical model, movement body-sensing harmony and rings, and generate the heat transfer agent under car status information and virtual scene；Signal generation connect driving simulator system and tested traffic congestion auxiliary system with converting system, completes the signal conversion between two systems, and generate the other signals of system under test (SUT) needs；Tested traffic congestion auxiliary system is software code or hardware ECU.The present invention using driving simulator can the sufficiently advantages such as the driving campaign body-sensing of simulating vehicle, operation feeling, sound sense of hearing virtually verified, the virtual test system can carry out the test in SIL, HIL, DIL each stage to traffic congestion auxiliary system and verify, and carry out objective and subjective thoroughly evaluating.
Description
Technical field
The present invention relates to intelligent automobiles to test verifying field, and in particular to traffic congestion auxiliary system virtual test system.
Background technique
Traffic congestion auxiliary system (TJA) combines start-stop self-adaption cruise system (ACC) and lane keeps auxiliary system
(LKA) function, when vehicle low speed passes through traffic congestion section, real-time monitoring front and adjacent lane running environment, through driving
Horizontal and vertical control is carried out to vehicle automatically after the person's of sailing confirmation, greatly reduces driver to gas pedal/brake pedal and side
Operation to disk is each large-scale Automobile Enterprises i.e. by the intelligent driving auxiliary system of entrucking.Traffic congestion auxiliary system is related to vapour
When vehicle various driving modes, including start-stop, idling, acceleration, cruise, deceleration etc., control performance not only determine vehicle driving
Safety, but also affect the ride comfort of vehicle.Therefore, in order to improve equipment traffic congestion auxiliary system vehicle city
Field competitiveness and driver and passenger carry out adequately test verifying to traffic congestion auxiliary system and extremely close to the acceptance level of the system
It is important.
The academic documents published mainly study influence of the traffic congestion auxiliary system to tester's psychology.Ebru
Paper that Dogan is delivered at it " Transition of control in a partially automated vehicle:
Design is utilized in Effects of anticipation and non-driving-related task involvement "
One section of congested link scene analyzes using traffic congestion auxiliary system by the section and passes through the section without using the system
Tester monitors the behavior difference of environment, and has studied adapter tube traffic congestion auxiliary control system power transient process；
Paper " the Impacts of a Congestion Assistant on driving that C.J.G.van Driel is delivered at it
It is had studied in behavior and acceptance using a driving simulator " and assists system using traffic congestion
System by the speed behavior of congested link, following behavior, accelerate behavior, and by the way of subjective survey questionnaire to tester into
Receptive subjective assessment is gone.Paper " the Driving with a that Karel A.Brookhuis is delivered at it
congestion assistant；The void provided in mental workload and acceptance " using driving simulator
Near-ring border has carried out subjective assessment to the acceptance of tester and psychological work burden by the way of subjective survey questionnaire.
In conclusion in the document published, about the test verification method of traffic congestion auxiliary system and survey
The academic documents that the composition of test system is defined comprehensively have not been reported.
Summary of the invention
For above situation, the present invention, which provides, a kind of virtually to be surveyed traffic congestion auxiliary system using driving simulator
The traffic congestion auxiliary system virtual test system of examination, using driving simulator can sufficiently simulating vehicle driving campaign body-sensing,
The advantages such as operation feeling, the sound sense of hearing are virtually verified, be shorten the traffic congestion auxiliary system development cycle, reduce exploitation at
This important means, the virtual test system can carry out the test in SIL, HIL, DIL each stage to traffic congestion auxiliary system
Verifying, in addition, virtual test system proposed by the present invention traffic congestion auxiliary system can be carried out it is objective and subjective comprehensive
Evaluation, can carry out entirely it auxiliary control system algorithm development early period using virtual test system of the invention in traffic congestion
The test evaluation in face substantially reduces experimentation cost, shortens the development cycle, promotes properties of product and quality.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of traffic congestion auxiliary system virtual test system, by driving simulator system, signal generate with converting system,
Tested traffic congestion auxiliary system composition；
The driving simulator system use developing automobile driving simulator, provide Driving Scene, vehicle mathematical model,
It moves body-sensing harmony to ring, and generates the heat transfer agent under car status information and virtual scene, generated by signal and conversion is
System supplies tested traffic congestion system；
The signal generation connect driving simulator system and tested traffic congestion auxiliary system with converting system, completes two
Signal conversion between a system, and generate the other signals that tested traffic congestion auxiliary system needs；Signal generates and conversion
By UDP/IP agreement progress ethernet communication, the driver for receiving driving analog system is set for system and driving simulator system
Determine parameter, vehicle status parameters and sensor output data, UDP signal is converted into CAN signal and is sent to tested traffic congestion
Auxiliary system, while longitudinal acceleration and steering wheel angle CAN signal that tested traffic congestion auxiliary system decision goes out are received, and
It is converted into UDP signal, driving simulator system is sent to by ethernet communication；
The tested traffic congestion auxiliary system is software code or hardware ECU.
Further, a kind of traffic congestion auxiliary system virtual test system of the present invention, driving simulator system
Including vehicle cabin subsystem, vehicle power storage subsystem, motion platform subsystem, what comes into a driver's subsystem and sound subsystem, on
It states and ethernet communication is carried out by UDP/IP agreement between each driving simulator subsystem；
The vehicle cabin subsystem is real vehicle driver's cab, provides human-computer interaction interface and sense of touch simulation, is formed and driven
Operating environment；The analog electrical signal of the pedal operation of driver, steering wheel operation, shift lever operation is converted by cockpit subsystem
Digital physical signal is sent to vehicle power storage subsystem, at the same receive the speed of vehicle power storage subsystem, engine speed,
The digital signal of gear is simultaneously converted into analog signal and is shown in cockpit instrument；Receive the side of vehicle power storage subsystem calculating
To disk aligning torque and brake pedal force feedback, is provided and driven to driver by control moment simulated machine and pedal feedback mechanism
Sail sense of touch；
The vehicle power storage subsystem is kinetic model, is travelled according in the operation signal of driver and virtual scene
The status information on road surface, calculates in real time and the motion state of more new vehicle responds, and sends motion platform for state of motion of vehicle
Subsystem, what comes into a driver's subsystem harmony rattle system；
The motion platform subsystem is 6DOF electric cylinders platform, the vehicle sent by receiving vehicle power storage subsystem
Status information specifically includes car body linear velocity, angular speed, linear acceleration, angular acceleration and vehicle body attitude angle, solve 6 from
By the corresponding position of degree electric cylinders platform, speed, acceleration, the movement of vehicle six-way is simulated, driver is supplied to and drives body-sensing；
The what comes into a driver's subsystem includes vehicles in complex traffic scene simulation software VTD and projection device, is generated virtually for rendering
Test scene is supplied to driver's driving environment, obtains the kinaesthesis such as speed, inclination, pitching；
The sound subsystem receives engine speed, the accelerator open degree, shift signal that vehicle power storage subsystem is sent,
According to the operating status of engine, the engine sound is generated in real time, provides acoustic environments to driver.
Further, a kind of traffic congestion auxiliary system virtual test system of the present invention, vehicles in complex traffic scene are imitative
True software VTD carries out vehicles in complex traffic scene modeling, and traffic scene model includes 3D virtual environment information, road information, special bus
Information, traffic event information, Weather information, traffic light information, traffic sign information；
Vehicles in complex traffic scene simulation software VTD receives vehicle location, the speed, acceleration that vehicle power storage subsystem transmits
Main vehicle traveling pavement state information with virtual scene seen in this information real-time update driver, and is sent to vehicle by information
Information level；
Vehicles in complex traffic scene simulation software VTD provides Traffic Flow Simulation, sets traffic flow parameter according to user, guide car is joined
Number generates traffic current and guide car around main vehicle；
Vehicles in complex traffic scene simulation software VTD provides virtual sensor process model, passes through sensors configured type, quantity and property
Energy parameter, provides and the consistent transducing signal of actual sensor to tested traffic congestion auxiliary system；
The projection device includes the screen of projector, image co-registration device and 40 ° of verticals angle of view and 160 ° of horizontal view angles
Curtain.
Further, a kind of traffic congestion auxiliary system virtual test system of the present invention, signal generates and conversion
System hardware is based on dSPACE Mid-Size Simulator, dSPACE Mid-Size Simulator and driving simulator system
System carries out ethernet communication by UDP/IP agreement, receives driver's setup parameter, the vehicle-state ginseng of driving analog system
Several and sensor output data, by UDP signal is converted into CAN signal by the RTI module of dSPACE and is sent to tested traffic gathering around
Stifled auxiliary system；Longitudinal acceleration and steering wheel angle CAN signal that tested traffic congestion auxiliary system decision goes out are received simultaneously,
And it is converted into UDP signal, driving simulator system is sent to by ethernet communication.
The functional characteristics of traffic congestion auxiliary system virtual test system proposed by the present invention:
Traffic congestion auxiliary system virtual test system proposed by the present invention based on developing automobile driving simulator,
The test in SIL, HIL, DIL stage can be carried out to traffic congestion auxiliary system to verify, and traffic is gathered around from objective and subjective aspect
Stifled auxiliary system is comprehensively evaluated.
When carrying out SIL test, tested traffic congestion auxiliary system of the invention is operated in AutoBox, carries out HIL test
When, the present invention is tested traffic congestion auxiliary system and operates in ECU hardware.
Virtual test system proposed by the present invention is generated and is handed over using dSPACE Mid-Size Simulator as signal
System is changed, to make tested traffic congestion auxiliary system by CAN signal and extraneous progress data interaction, provides one more
Close to the test environment of real vehicle.
When being verified using the test that virtual test system of the invention carries out traffic congestion auxiliary system, tester can root
It is tested according to the measurement condition and objective examination's index and subjective assessment table that define.
When test traffic congestion auxiliary system using virtual test system of the present invention, set using VTD software
The traffic car state in each measurement condition, road physical condition, weather condition, the information such as traffic sign, tester's seat are set
In driving simulator cockpit, tested traffic congestion auxiliary system is operated in AutoBox or ECU.Start test emulation, test
Person experiences the control effect of traffic congestion auxiliary system under each measurement condition, and the ControlDesk provided using dSPACE is soft
Part acquisition objective indicator data completion objectively evaluates, and tester completes subjective assessment according to subjectivity marking table.
The present invention have compared with prior art it is following the utility model has the advantages that
Traffic congestion auxiliary system virtual test system provided by the invention provides real vehicle CAN communication interface, virtual sensing
Simulation can carry out the virtual test in each stages such as SIL, HIL, DIL to traffic congestion auxiliary system.In addition, the present invention is not only
It can complete to objectively evaluate traffic congestion auxiliary system system, while platform is capable of providing vision true to nature, the sense of hearing, body-sensing
Deng impression, so as to complete the subjective assessment to traffic congestion auxiliary system using subjective marking table.Apply the present invention to
The virtual test verifying of traffic congestion auxiliary control system algorithm development early period, can substantially reduce experimentation cost, shorten exploitation
Period promotes properties of product and quality.
Detailed description of the invention
Fig. 1 is the structure composition figure of virtual test system of the present invention
Fig. 2 is driving simulator system theory of constitution figure of the present invention
Fig. 3 is dSPACE Mid-Size Simulator principle of signal conversion figure of the present invention
Fig. 4 is the tested traffic congestion auxiliary system input/output signal schematic diagram of the present invention
Fig. 5 is SIL/HIL test principle schematic diagram of the present invention
Specific embodiment
With reference to the accompanying drawings and examples, it elaborates to technical solution of the present invention.
Referring to Fig. 1, a kind of traffic congestion auxiliary system virtual test system, by driving simulator system, signal generate with
Converting system, tested traffic congestion auxiliary system composition, driving simulator system and signal generate and pass through UDP/ with converting system
IP agreement carries out ethernet communication, and signal, which is generated, carries out CAN signal connection with converting system and tested traffic congestion auxiliary system.
(1) driving simulator system
The driving simulator system is developing automobile driving simulator, provides Driving Scene true to nature, accurate vehicle
Mathematical model, high fidelity movement body-sensing harmony ring, and generate the heat transfer agent under car status information and virtual scene,
It is generated by signal and converting system supplies tested traffic congestion auxiliary system.
Referring to fig. 2, driving simulator system specifically includes vehicle cabin subsystem, vehicle power storage subsystem, moves and put down
Station subsystem, what comes into a driver's subsystem harmony rattle system, above-mentioned each driving simulator subsystem carry out ether by UDP/IP agreement
Network Communication.
The vehicle cabin subsystem is real vehicle driver's cab, provides true human-computer interaction interface and steering wheel return positive force
The simulation of the senses of touch such as square, pedal force feedback, forms and the consistent driver behavior environment of true height.Cockpit subsystem is also by driver
The analog electrical signals such as pedal operation, steering wheel operation, shift lever operation be converted into digital physical signal and be sent to vehicle power
Storage subsystem, while the digital signals such as speed, engine speed, gear for receiving vehicle power storage subsystem and being converted into simulating
Signal is shown in cockpit instrument；Steering wheel return positive moment and the brake pedal force for receiving the calculating of vehicle power storage subsystem are anti-
Feedback, is supplied to driver's driving sense of touch true to nature by control moment simulated machine and pedal feedback mechanism.
The vehicle power storage subsystem is high-precision quality kinetic model, according to the operation signal of driver (including
Accelerator pedal signal, brake pedal signal, hand-wheel signal, shift signal) and virtual scene in track status information
(including ground elevation, ground normal vector, ground friction coefficient), calculates in real time and the motion state of more new vehicle responds, and will
State of motion of vehicle is sent to motion platform subsystem, what comes into a driver's subsystem harmony rattle system.
The motion platform subsystem is 6DOF electric cylinders platform, the vehicle sent by receiving vehicle power storage subsystem
Status information specifically includes car body linear velocity, angular speed, linear acceleration, angular acceleration and vehicle body attitude angle, solve 6 from
By the corresponding position of degree electric cylinders platform, speed, acceleration, the movement of vehicle six-way is simulated, driver's driving true to nature is supplied to
Body-sensing.
The what comes into a driver's subsystem includes vehicles in complex traffic scene simulation software VTD and projection device, is generated virtually for rendering
Test scene is supplied to driver's driving environment true to nature, obtains the kinaesthesis such as speed, inclination, pitching.
This example VTD can carry out vehicles in complex traffic scene modeling, and traffic scene model includes 3D virtual environment information, road
Information, special bus information, traffic event information, Weather information, traffic light information, traffic sign information etc..It is received
Vehicle location that vehicle power storage subsystem transmits, speed, acceleration information, with void seen in this information real-time update driver
Quasi- scene, and main vehicle traveling pavement state information is sent to vehicle power storage subsystem.VTD provides Traffic Flow Simulation, can be with
The parameters such as traffic flow, guide car speed are set according to user, and traffic current and guide car are generated around main vehicle.VTD provides millimeter
The virtual sensor process models such as wave radar, ultrasonic radar, camera will by sensors configured type, quantity and performance parameter
It is provided and the consistent transducing signal of actual sensor to tested traffic congestion auxiliary system.
By forming image true to nature in projection to screen, the projection device includes three projectors and figure
As fusion device and the screen of 40 ° of verticals angle of view and 160 ° of horizontal view angles.
The sound subsystem receives the letter such as engine speed, accelerator open degree, gear that vehicle power storage subsystem is sent
Number, according to the operating status of engine, the engine sound is generated in real time, acoustic environments true to nature are provided to driver.
(2) signal generation and converting system
Referring to Fig. 3, the signal generation connect driving simulator system and tested traffic congestion auxiliary system with converting system
System completes the signal conversion between two systems, and generates the other signals (such as power supply) of system under test (SUT) needs.Letter of the invention
Number generate with converting system hardware be based on dSPACE Mid-Size Simulator, software be based on MATLAB correlation module and
The RTI module of dSPACE.DSPACE Mid-Size Simulator and driving simulator system by UDP/IP agreement carry out with
Too Network Communication receives driver's setup parameter (setting cruising speed etc.), the vehicle status parameters (vehicle of driving analog system
Longitudinal velocity etc.) and sensor output data (millimetre-wave radar, ultrasonic radar, camera sensing data), pass through dSPACE
RTI module UDP signal be converted into CAN signal be sent to tested traffic congestion auxiliary system.Tested traffic is received simultaneously to gather around
The longitudinal acceleration and steering wheel angle CAN signal that stifled auxiliary system decision goes out, and it is converted into UDP signal, pass through ether Netcom
Letter is sent to driving simulator system.
(3) it is tested traffic congestion auxiliary system
Tested congestion auxiliary system can be software code and hardware ECU.When system under test (SUT) is software code, can carry out
SIL test, software code running environment are the embedded systems such as AutoBox；It is directly logical when system under test (SUT) is hardware ECU
CAN communication interface is crossed to connect with signal generation with converting system.It is software code that this example, which is tested traffic congestion auxiliary system, fortune
Row is generated by CAN communication and signal in AutoBox hardware and carries out information exchange with exchange system.Referring to fig. 4, this example
Tested traffic congestion auxiliary system receives signal and generates driver's setup parameter (the setting cruise speed come with exchange system transmission
Degree), vehicle status parameters (vehicular longitudinal velocity) and sensor output data (millimetre-wave radar, ultrasonic radar, camera
Sensing data), go out the controlled due longitudinal acceleration of vehicle and steering wheel angle using these input decisions, and then pass through CAN
Communication is sent to signal generation and exchange system.
Functional characteristics of the invention are as follows:
Traffic congestion auxiliary system virtual test system proposed by the present invention based on developing automobile driving simulator,
The test in SIL, HIL, DIL stage can be carried out to traffic congestion auxiliary system to verify, and traffic is gathered around from objective and subjective aspect
Stifled auxiliary system is comprehensively evaluated.
Referring to Fig. 5, when carrying out SIL test, tested traffic congestion auxiliary system of the invention is operated in AutoBox, into
When row HIL is tested, the present invention is tested traffic congestion auxiliary system and operates in ECU hardware.The present embodiment carries out SIL test, quilt
Traffic congestion auxiliary system is surveyed to operate in AutoBox.
Virtual test system proposed by the present invention is generated and is handed over using dSPACE Mid-Size Simulator as signal
System is changed, to make tested traffic congestion auxiliary system by CAN signal and extraneous progress data interaction, provides one more
Close to the test environment of real vehicle.
When being verified using the test that virtual test system of the invention carries out traffic congestion auxiliary system, tester can root
It is tested according to the measurement condition and objective examination's index and subjective assessment table that define.
Measurement condition described in the present embodiment blocks lane line, bend, four class work of arrow path from longitudinal dynamic following front truck, other vehicle
Condition carries out, and carries out thoroughly evaluating to the vertical and horizontal performance of traffic congestion auxiliary system.
Objectively evaluate described in this example and evaluated in terms of safety, specific targets analyze main vehicle and front truck minimum TTC,
Main vehicle and front truck minimum range, tire outer boundary and lane line boundary minimum range index.
Subjective assessment table described in this example lists subjective marking project from ride comfort, using way of questionnaires, this
A ride comfort subjective assessment content sample volume that example provides is as shown in table 1.
The content of 1 traffic congestion auxiliary system of table progress ride comfort subjective assessment
| Evaluation content | Score value |
| Accelerate pitching | |
| Accelerate shake | |
| Acceleration is waved | |
| Acceleration pushes away back | |
| Braking deceleration | |
| Brake pitching | |
| With front truck following distance | |
| Lane center retentivity | |
| Sports coordination | |
| Ride comfort (total score) |
When test traffic congestion auxiliary system using virtual test system of the present invention, set using VTD software
The traffic car state in each measurement condition, road physical condition, weather condition, the information such as traffic sign, tester's seat are set
In driving simulator cockpit, this example is tested traffic congestion auxiliary system and operates in AutoBox.Start test emulation, surveys
Examination person experiences the control effect of traffic congestion auxiliary system under each measurement condition, the ControlDesk provided using dSPACE
The completion of software collection objective indicator data objectively evaluates, and tester completes subjective assessment according to subjectivity marking table.
Claims (4)
1. a kind of traffic congestion auxiliary system virtual test system, which is characterized in that by driving simulator system, signal generate with
Converting system, tested traffic congestion auxiliary system composition；
The driving simulator system uses developing automobile driving simulator, provides Driving Scene, vehicle mathematical model, movement
Body-sensing and the sound, and the heat transfer agent under car status information and virtual scene is generated, it is generated by signal and is supplied with converting system
To tested traffic congestion auxiliary system；
The signal generation connect driving simulator system and tested traffic congestion auxiliary system with converting system, and completing two is
Signal conversion between system, and generate the other signals of system under test (SUT) needs；Signal generates and converting system and driving simulator
System carries out ethernet communication by UDP/IP agreement, receives driver's setup parameter, the vehicle-state of driving analog system
UDP signal is converted into CAN signal and is sent to tested traffic congestion auxiliary system, connect simultaneously by parameter and sensor output data
Longitudinal acceleration and steering wheel angle CAN signal that tested traffic congestion auxiliary system decision goes out are received, and is converted into UDP signal,
Driving simulator system is sent to by ethernet communication；
The tested traffic congestion auxiliary system is software code or hardware ECU.
2. a kind of traffic congestion auxiliary system virtual test system as described in claim 1, which is characterized in that the driving mould
Quasi- device system includes vehicle cabin subsystem, vehicle power storage subsystem, motion platform subsystem, what comes into a driver's subsystem and sound
System carries out ethernet communication by UDP/IP agreement between above-mentioned each driving simulator subsystem；
The vehicle cabin subsystem is real vehicle driver's cab, provides human-computer interaction interface and sense of touch simulation, forms driver behavior
Environment；The analog electrical signal of the pedal operation of driver, steering wheel operation, shift lever operation is converted into number by cockpit subsystem
Physical signal is sent to vehicle power storage subsystem, while receiving the speed, engine speed, gear of vehicle power storage subsystem
Digital signal and be converted into analog signal and shown in cockpit instrument；Receive the steering wheel of vehicle power storage subsystem calculating
Aligning torque and brake pedal force feedback are supplied to driver by control moment simulated machine and pedal feedback mechanism and drive touching
Sense；
The vehicle power storage subsystem is kinetic model, according to track in the operation signal of driver and virtual scene
Status information, in real time calculate and more new vehicle motion state respond, send motion platform subsystem for state of motion of vehicle
System, what comes into a driver's subsystem harmony rattle system；
The motion platform subsystem is 6DOF electric cylinders platform, the vehicle shape sent by receiving vehicle power storage subsystem
State information specifically includes car body linear velocity, angular speed, linear acceleration, angular acceleration and vehicle body attitude angle, solves 6DOF
The corresponding position of electric cylinders platform, speed, acceleration simulate the movement of vehicle six-way, are supplied to driver and drive body-sensing；
The what comes into a driver's subsystem includes vehicles in complex traffic scene simulation software VTD and projection device, generates virtual test for rendering
Scene is supplied to driver's driving environment, obtains the kinaesthesis such as speed, inclination, pitching；
The sound subsystem receives engine speed, the accelerator open degree, shift signal that vehicle power storage subsystem is sent, according to
The operating status of engine generates the engine sound in real time, provides acoustic environments to driver.
3. a kind of traffic congestion auxiliary system virtual test system as claimed in claim 2, which is characterized in that the complicated friendship
Logical scene simulation software VTD carries out vehicles in complex traffic scene modeling, and traffic scene model includes 3D virtual environment information, road letter
Breath, special bus information, traffic event information, Weather information, traffic light information, traffic sign information；
Vehicles in complex traffic scene simulation software VTD receives vehicle location, the speed, acceleration letter that vehicle power storage subsystem transmits
Main vehicle traveling pavement state information with virtual scene seen in this information real-time update driver, and is sent to vehicle and moved by breath
Mechanics subsystem；
Vehicles in complex traffic scene simulation software VTD provides Traffic Flow Simulation, sets traffic flow parameter, guide car parameter according to user,
Traffic current and guide car are generated around main vehicle；
Vehicles in complex traffic scene simulation software VTD provides virtual sensor process model, is joined by sensors configured type, quantity and performance
Number provides and the consistent transducing signal of actual sensor to tested traffic congestion auxiliary system；
The projection device includes the screen of projector, image co-registration device and 40 ° of verticals angle of view and 160 ° of horizontal view angles.
4. a kind of traffic congestion auxiliary system virtual test system as described in claim 1, which is characterized in that the signal produces
It is raw to be based on dSPACE Mid-Size Simulator, dSPACE Mid-Size Simulator with converting system hardware and drive
Simulation system carries out ethernet communication by UDP/IP agreement, receives driver's setup parameter, the vehicle of driving analog system
State parameter and sensor output data, by the RTI module of dSPACE by UDP signal be converted into CAN signal be sent to by
Survey traffic congestion auxiliary system；The longitudinal acceleration and steering wheel angle that tested traffic congestion auxiliary system decision goes out are received simultaneously
CAN signal, and it is converted into UDP signal, driving simulator system is sent to by ethernet communication.
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| CN110987464A (en) * | 2019-11-08 | 2020-04-10 | 同济大学 | Sensor testing environment cabin for vehicle in-loop testing and testing method |
| CN111026099A (en) * | 2019-12-30 | 2020-04-17 | 中国重汽集团济南动力有限公司 | Intelligent networking automobile function simulation test system and test method |
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| CN113219955A (en) * | 2021-05-13 | 2021-08-06 | 吉林大学 | Multi-driver in-the-loop driving test platform |
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| CN114327076A (en) * | 2022-01-04 | 2022-04-12 | 上海三一重机股份有限公司 | Virtual interaction method, device and system for working machine and working environment |
| WO2022236754A1 (en) * | 2021-05-13 | 2022-11-17 | 吉林大学 | Mutli-driver-in-the-loop driving test platform |
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