CN110134109A - A kind of wifi communication it is real-time in ring vehicle control device test control method - Google Patents
A kind of wifi communication it is real-time in ring vehicle control device test control method Download PDFInfo
- Publication number
- CN110134109A CN110134109A CN201910400114.8A CN201910400114A CN110134109A CN 110134109 A CN110134109 A CN 110134109A CN 201910400114 A CN201910400114 A CN 201910400114A CN 110134109 A CN110134109 A CN 110134109A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- wifi
- information
- real
- data acquisition
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The invention discloses a kind of the real-time in ring vehicle control device test control method of wifi communication, controlled vehicle including being located under test environment and having execution unit and data acquisition device, on vehicle and have Wifi R-T unit Ecu controller, turn the PC host computer of USB device equipped with simulink-external RT environment and with Wifi, it is further comprising the steps of: the image information of the vehicle front of controlled vehicle S1: is acquired by data acquisition device, the speed of vehicle driving, the vehicle wheel rotational speed of vehicle, X, Y, Z 3-axis acceleration, X, Y, tri- axis angular rate of Z, the traffic information of the road of vehicle current driving and route guidance message to destination, the environmental information of vehicle periphery and the status information of vehicle.The present invention has the advantage that structure is simple, easy to use, solves the problem of control system can only be controlled based on model emulation or static system, can not be applied to vehicle road traveling in the prior art.
Description
Technical field
The present invention relates to vehicle control device control the field of test technology, specially a kind of wifi communication it is real-time in ring vehicle
Controller test control method.
Background technique
Control system can only be controlled based on model emulation or static system in the prior art, but vehicle control system is most
It still needs for vehicle road traveling eventually.In consideration of it, the present invention is intended to provide a kind of method, the method can be to vehicle controls
Algorithm processed carries out real-time control and is monitored, and does not need driver and drive vehicle, tested under secure conditions,
Code is directly generated after the completion of detection carries out control strategy application.
Summary of the invention
The purpose of the present invention is to provide a kind of the real-time in ring vehicle control device test control method of wifi communication, have
Simple, the easy to use advantage of structure, model emulation or static system can only be based on by solving control system in the prior art
The problem of controlling, vehicle road traveling can not be applied to.
To achieve the above object, the invention provides the following technical scheme: a kind of wifi communication it is real-time in ring vehicle control
Device test control method, including being located under test environment and having the controlled vehicle of execution unit and data acquisition device, be located at
On vehicle and has the Ecu controller of Wifi R-T unit, turns equipped with simulink-external RT environment and with Wifi
The PC host computer of USB device, further comprising the steps of:
S1: image information, the speed of vehicle driving, vehicle of the vehicle front of controlled vehicle are acquired by data acquisition device
Vehicle wheel rotational speed, X, Y, Z 3-axis acceleration, X, tri- axis angular rate of Y, Z, vehicle current driving road traffic information and arrive
The status information of the route guidance message of destination, the environmental information of vehicle periphery and vehicle；
S2: the data for being collected data acquisition device by the Ecu controller with Wifi R-T unit are through Wifi
R-T unit radios to the PC host computer for turning USB device equipped with simulink-external RT environment and with Wifi；
S3: USB device is turned by Wifi, Wifi signal is converted into Ecu controller and the communication of simulink real-time platform
Serial port protocol form, and then signals of vehicles is collected by PC host computer；
S4: motor/steering/brake operating to controlled vehicle is realized by PC PC control execution unit.
Preferably, the data acquisition device includes camera and velocity sensor, the image information of the vehicle front
It is measured by camera, the speed of the vehicle driving is measured by velocity sensor.
Preferably, the velocity sensor is linear velocity trans or angular-rate sensor or combinations thereof.
Preferably, the data acquisition device further includes wheel speed sensors and three axis accelerometer, the wheel of the vehicle
Revolving speed is measured by wheel speed sensors, and the X, Y, Z 3-axis acceleration are measured by three axis accelerometer.
Preferably, the data acquisition device further includes three axis angular rate meters and radar unit, the X, Y, tri- axis of Z
Angular speed is measured by three axis angular rates, and the traffic information of the road of the vehicle current driving and the route to destination draw
Information is led to measure by radar unit.
Preferably, the data acquisition device further includes ambient condition information detector and vehicle-state detection sensor,
The environmental information of the vehicle periphery is measured by ambient condition information detector, and the status information of the vehicle passes through vehicle shape
State detection sensor measures.
Preferably, the environmental information of the vehicle periphery includes traffic mark information and obstacle information.
Compared with prior art, beneficial effects of the present invention are as follows: the present invention passes through setting execution unit, data acquisition dress
It sets, camera, velocity sensor, wheel speed sensors, three axis accelerometer, three axis angular rate meters, radar unit, surrounding ring
Border information detector, vehicle-state detection sensor, vehicle, Wifi R-T unit, Ecu controller, Wifi turn USB device and PC
Host computer can be realized and carry out real-time control to full-vehicle control algorithm and be monitored, and does not need driver and drive vehicle,
Tested under secure conditions, detect after the completion of directly generate code carry out control strategy application.
Detailed description of the invention
Fig. 1 is principle of the invention figure；
Fig. 2 is schematic diagram of the present invention；
Fig. 3 is flow chart of the present invention.
In figure: 1- execution unit, 2- data acquisition device, 201- camera, 202- velocity sensor, 203- wheel speed sensing
Device, 204- three axis accelerometer, tri- axis angular rate meter of 205-, 206- radar unit, 207- ambient condition information detector,
208- vehicle-state detection sensor, 3- vehicle, 4-Wifi R-T unit, 5-Ecu controller, 6-Wifi turn USB device, 7-PC
Host computer.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig.1 to Fig.3, the present invention provides a kind of technical solution: a kind of wifi communication it is real-time in ring vehicle control
Device test control method, including being located under test environment and having execution unit 1 and the controlled vehicle 3 of data acquisition device 2, position
In on vehicle 3 and the Ecu controller 5 with Wifi R-T unit 4, equipped with simulink-external RT environment and having
Wifi turns the PC host computer 7 of USB device 6, further comprising the steps of:
S1: pass through the vehicle that data acquisition device 2 acquires the image information in 3 front of vehicle of controlled vehicle 3, vehicle 3 travels
Speed, the vehicle wheel rotational speed of vehicle 3, X, Y, Z 3-axis acceleration, X, tri- axis angular rate of Y, Z, 3 current driving of vehicle road traffic
Information and status information to environmental information and vehicle 3 around the route guidance message, vehicle 3 of destination；
S2: it is passed through by the data that the Ecu controller 5 with Wifi R-T unit 4 collects data acquisition device 2
Wifi R-T unit 4 radios to equipped with simulink-external RT environment and turns on the PC of USB device 6 with Wifi
Position machine 7；
S3: USB device 6 is turned by Wifi, Wifi signal is converted into Ecu controller 5 and the communication of simulink real-time platform
Serial port protocol form, and then 3 signal of vehicle is collected by PC host computer 7；
S4: motor/steering/brake operating to controlled vehicle 3 is realized by 7 control execution unit 1 of PC host computer.
The effect of execution unit 1 is to receive the control command of PC host computer 7, and realize to the motor of controlled vehicle 3/turn
To/brake operating.
The effect of data acquisition device 2 is to acquire the related data information of vehicle 3 comprising camera 201 and speed pass
The image information of sensor 202,3 front of vehicle is measured by camera 201, and the quantity of camera 201 is not only one, may be used also
Think multiple, then shoots with video-corder the image information in different directions different angle, the speed that vehicle 3 travels passes through velocity sensor
202 measure, and velocity sensor 202 is a kind of motion sensor for capableing of the increment of unit of account time intrinsic displacement, due to speed
Including linear velocity and angular speed, in the present embodiment, velocity sensor 202 can be linear velocity trans or angular-rate sensor
Or both combination；
Data acquisition device 2 further includes wheel speed sensors 203 and three axis accelerometer 204, and the vehicle wheel rotational speed of vehicle 3 passes through
Wheel speed sensors 203 measure, X, Y, and Z 3-axis acceleration is measured by three axis accelerometer 204, and three axis accelerometer 204 is energy
A kind of motion sensor of component of acceleration on enough independent measurement three, space directions, in the present embodiment, three axis accelerometer
The 3-axis acceleration signal of 204 detections is X-axis acceleration, Y-axis acceleration and the Z axis acceleration of test measurement respectively；
Data acquisition device 2 further includes three axis angular rate meters 205 and radar unit 206, X, and tri- axis angular rate of Y, Z is logical
It crosses three axis angular rate meters 205 to measure, three axis angular rate meters 205 can independently measure angular velocity component on the direction of three, space
A kind of motion sensor, in the present embodiment, three axis angular rate signals of three axis angular rate meters 205 detection are test measurement respectively
X-axis angular speed, Y-axis angular speed and Z axis angular speed, the traffic information of the road of 3 current driving of vehicle and the road to destination
Line guidance information is measured by radar unit 206, and radar unit 206 is radionavigational one kind, utilizes radar
Navigation device 206 carries out navigator fix, but this navigation device is not easy in the present embodiment, can also can also be reached using other
The device of this purpose；
Data acquisition device 2 further includes ambient condition information detector 207 and vehicle-state detection sensor 208, vehicle 3
The environmental information of surrounding is measured by ambient condition information detector 207, and ambient condition information detector 207 can be configured as
Ambient condition information is detected using imaging device, range sensor and position sensor, wherein the environment letter around vehicle 3
Breath includes traffic mark information and obstacle information, and specifically, traffic mark information includes lane line information, guiding arrow letter
Breath, stop line information, zebra stripes information, traffic light status information, speed limitation board information etc., obstacle information includes the position of barrier
Set with size information etc., the status information of vehicle 3 is measured by vehicle-state detection sensor 208, vehicle-state detection sensing
Device 208 include CAN bus based vehicle working condition detector, pulse signal detector, 3 battery voltage detection sensor of vehicle,
Tire pressure monitor and power state detection circuit.Wherein, CAN bus based vehicle working condition detector operating condition number detected
According to including motor speed, coolant temperature, steering state, on-position, travel speed and mileage travelled；
The effect of vehicle 3 has the function of the related sensors such as vehicle driving and acceleration and other devices installation carrier
Function.
The effect of Wifi R-T unit 4 is to send and receive the data information collected.
The effect of Ecu controller 5 is handled received data information, specifically, is believed the data collected
Breath carries out storage encryption, and storage encryption can be operated by its included storage encryption equipment.
The effect that Wifi turns USB device 6 is that wifi protocol conversion is transmitted mould at the rs 232 serial interface signal agreement based on usb interaction
Formula guarantees the usual property of controller ECU and host computer transmission signal.
The effect of PC host computer 7 is the real-time communication established by wherein s-function with controlled 3 platform of vehicle, thus
3 signal of vehicle is acquired, tested controller strategy is established by the simulink-externalRT environment of host computer 7, is being passed through
Wi-Fi transmits controlled affector, that is, execution unit 1 on signal control 3 platform of vehicle, since PC host computer 7 is not at vehicle
On 3, therefore after PC host computer 7 collects 3 signal of vehicle, it can be realized to execution unit 1 to controlled vehicle 3 with remote transmission
Motor/steering/brake operating.
Working principle: the wifi communication it is real-time in ring vehicle control device test control method in use, according to following steps
It is rapid to carry out:
S1: pass through the vehicle that data acquisition device 2 acquires the image information in 3 front of vehicle of controlled vehicle 3, vehicle 3 travels
Speed, the vehicle wheel rotational speed of vehicle 3, X, Y, Z 3-axis acceleration, X, tri- axis angular rate of Y, Z, 3 current driving of vehicle road traffic
Information and status information to environmental information and vehicle 3 around the route guidance message, vehicle 3 of destination；
S2: it is passed through by the data that the Ecu controller 5 with Wifi R-T unit 4 collects data acquisition device 2
Wifi R-T unit 4 radios to equipped with simulink-external RT environment and turns on the PC of USB device 6 with Wifi
Position machine 7；
S3: USB device 6 is turned by Wifi, Wifi signal is converted into Ecu controller 5 and the communication of simulink real-time platform
Serial port protocol form, and then 3 signal of vehicle is collected by PC host computer 7；
S4: motor/steering/brake operating to controlled vehicle 3 is realized by 7 control execution unit 1 of PC host computer.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of wifi communication is real-time in ring vehicle control device test control method, it is characterised in that: including being located at test wrapper
Under border and the controlled vehicle (3) of execution unit (1) and data acquisition device (2) is had, is located on vehicle (3) and is received with Wifi
The Ecu controller (5) of transmitting apparatus (4) turns USB device (6) equipped with simulink-external RT environment and with Wifi
PC host computer (7), further comprising the steps of:
S1: the image information in front of the vehicle (3) of controlled vehicle (3) is acquired by data acquisition device (2), vehicle (3) travels
Speed, vehicle (3) vehicle wheel rotational speed, X, Y, Z 3-axis acceleration, X, tri- axis angular rate of Y, Z, vehicle (3) current driving road
The traffic information on road and the route guidance message to destination, the environmental information of vehicle (3) surrounding and the state letter of vehicle (3)
Breath；
S2: it is passed through by the data that the Ecu controller (5) with Wifi R-T unit (4) collects data acquisition device (2)
Wifi R-T unit (4) radios to equipped with simulink-external RT environment and turns USB device (6) with Wifi
PC host computer (7)；
S3: USB device (6) is turned by Wifi, Wifi signal is converted into Ecu controller (5) and the communication of simulink real-time platform
Serial port protocol form, and then collect vehicle (3) signal by PC host computer (7)；
S4: motor/steering/brake operating to controlled vehicle (3) is realized by PC host computer (7) control execution unit (1).
2. a kind of wifi communication according to claim 1 is real-time in ring vehicle control device test control method, feature
Be: the data acquisition device (2) includes camera (201) and velocity sensor (202), the figure in front of the vehicle (3)
It is measured as information passes through camera (201), the speed of vehicle (3) traveling is measured by velocity sensor (202).
3. a kind of wifi communication according to claim 2 is real-time in ring vehicle control device test control method, feature
Be: the velocity sensor (202) is linear velocity trans or angular-rate sensor or combinations thereof.
4. a kind of wifi communication according to claim 1 is real-time in ring vehicle control device test control method, feature
Be: the data acquisition device (2) further includes wheel speed sensors (203) and three axis accelerometer (204), the vehicle (3)
Vehicle wheel rotational speed measured by wheel speed sensors (203), the X, Y, Z 3-axis acceleration pass through three axis accelerometer (204) survey
?.
5. a kind of wifi communication according to claim 1 is real-time in ring vehicle control device test control method, feature
Be: the data acquisition device (2) further includes three axis angular rate meters (205) and radar unit (206), the X, Y, Z
Three axis angular rates are measured by three axis angular rate meters (205), the traffic information of the road of vehicle (3) current driving and arrive mesh
The route guidance message on ground measured by radar unit (206).
6. a kind of wifi communication according to claim 1 is real-time in ring vehicle control device test control method, feature
Be: the data acquisition device (2) further includes ambient condition information detector (207) and vehicle-state detection sensor
(208), the environmental information around the vehicle (3) is measured by ambient condition information detector (207), the vehicle (3)
Status information is measured by vehicle-state detection sensor (208).
7. a kind of wifi communication according to claim 1 is real-time in ring vehicle control device test control method, feature
Be: the environmental information around the vehicle (3) includes traffic mark information and obstacle information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910400114.8A CN110134109A (en) | 2019-05-14 | 2019-05-14 | A kind of wifi communication it is real-time in ring vehicle control device test control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910400114.8A CN110134109A (en) | 2019-05-14 | 2019-05-14 | A kind of wifi communication it is real-time in ring vehicle control device test control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110134109A true CN110134109A (en) | 2019-08-16 |
Family
ID=67573926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910400114.8A Pending CN110134109A (en) | 2019-05-14 | 2019-05-14 | A kind of wifi communication it is real-time in ring vehicle control device test control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110134109A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130013348A1 (en) * | 1996-01-29 | 2013-01-10 | Progressive Casualty Insurance Company | Vehicle Monitoring System |
| CN106802650A (en) * | 2017-03-28 | 2017-06-06 | 吉林大学 | Electric motor coach integration control hardware is in ring test platform and method of testing |
| CN107966980A (en) * | 2018-01-12 | 2018-04-27 | 南京航空航天大学 | A kind of intelligent electric automobile collision avoidance hardware algorithm verifies system in ring |
| CN108267322A (en) * | 2017-01-03 | 2018-07-10 | 北京百度网讯科技有限公司 | The method and system tested automatic Pilot performance |
| CN108646586A (en) * | 2018-03-20 | 2018-10-12 | 重庆邮电大学 | A kind of intelligent network connection automobile assemblage on-orbit, test verification System and method for |
-
2019
- 2019-05-14 CN CN201910400114.8A patent/CN110134109A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130013348A1 (en) * | 1996-01-29 | 2013-01-10 | Progressive Casualty Insurance Company | Vehicle Monitoring System |
| CN108267322A (en) * | 2017-01-03 | 2018-07-10 | 北京百度网讯科技有限公司 | The method and system tested automatic Pilot performance |
| CN106802650A (en) * | 2017-03-28 | 2017-06-06 | 吉林大学 | Electric motor coach integration control hardware is in ring test platform and method of testing |
| CN107966980A (en) * | 2018-01-12 | 2018-04-27 | 南京航空航天大学 | A kind of intelligent electric automobile collision avoidance hardware algorithm verifies system in ring |
| CN108646586A (en) * | 2018-03-20 | 2018-10-12 | 重庆邮电大学 | A kind of intelligent network connection automobile assemblage on-orbit, test verification System and method for |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108615364B (en) | Method for monitoring vehicle running state based on vehicle-road cooperation technology | |
| CN108737955A (en) | LDW/LKA test evaluation system and methods based on virtual lane line | |
| CN108646731A (en) | Automatic driving vehicle field end control system and its control method | |
| CN104112301B (en) | Vehicle driving behavior analysis method and system based on vehicle-mounted terminal and server end | |
| CN202885834U (en) | Device for detecting motion states of vehicle | |
| CN101692308A (en) | Motor vehicle speed intelligent monitoring system based on radio frequency identification | |
| CN104865077A (en) | Vehicle driving deviation measuring method and system based on satellite real-time difference signals | |
| CN103518119A (en) | System and method for transferring vehicle operating data to external navigation system | |
| CN203366016U (en) | Mobile measurement and detection system sensor data fusion-synchronization controller | |
| CN106740906A (en) | The unmanned vehicle control syetem of mine locomotive and its control method | |
| CN104374391A (en) | Vehicle travelling track calculation system and vehicle travelling track calculation method | |
| CN208125929U (en) | A kind of positioning device in vehicle place lane | |
| CN109693667A (en) | Controller of vehicle, control method for vehicle and storage medium | |
| CN113340615A (en) | Automobile automatic driving function simulation test system and method | |
| CN106441340A (en) | Running track prompt method, vehicle and electronic equipment | |
| CN205317215U (en) | A on -vehicle integrated terminal for intelligence is driven and is examined | |
| CN102295002A (en) | Method for obtaining wheel rotation signal characteristic quantity based on tangential acceleration curve of wheel | |
| CN203332108U (en) | Dangerous driving behavior recognition device | |
| CN104111095A (en) | Fuel consumption analysis method and system based on automobile traveling state | |
| CN110264741B (en) | Road condition detection method, device, equipment and medium based on motion sensor | |
| CN206114004U (en) | Synchronous sampling and device of handling vehicle operation information and operating information | |
| CN205593760U (en) | Automobile operation stability test system | |
| CN110134109A (en) | A kind of wifi communication it is real-time in ring vehicle control device test control method | |
| CN106840471A (en) | Active force integrated measurement system and method in a kind of intact stability and tire tread | |
| CN206446447U (en) | Display device for mounting on vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190816 |