CN110197018B - Real-time simulation system of whole vehicle - Google Patents
Real-time simulation system of whole vehicle Download PDFInfo
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- CN110197018B CN110197018B CN201910416823.5A CN201910416823A CN110197018B CN 110197018 B CN110197018 B CN 110197018B CN 201910416823 A CN201910416823 A CN 201910416823A CN 110197018 B CN110197018 B CN 110197018B
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Abstract
The application discloses a real-time simulation system of a whole vehicle, which is characterized by comprising an environment model, an engine model and a whole vehicle model, wherein: the environment model provides virtual driving environment parameters required by simulation for the whole vehicle model; the engine model provides torque signals required by simulation for the whole vehicle model; the whole vehicle model simulates vehicle running based on the virtual running environment parameters provided by the environment model and the torque signals provided by the engine model, and feeds back the simulated rotating speed signals and accelerator signals of the vehicle to the engine model. Compared with the simulation system in the prior art, the system has the advantages that the input parameters of the whole vehicle are greatly reduced, so that the system complexity and the construction cost of the simulation model of the whole vehicle are simplified, and the whole system is simpler and easier to use.
Description
Technical Field
The application belongs to the field of automobile manufacturing, and particularly relates to a real-time simulation system of a whole automobile.
Background
With the development of automobile testing technology, virtual testing or paravirtual testing is more and more emphasized, and the testing method can reduce time cost, material resource cost input of early-stage research and development and greatly improve working efficiency.
At present, many researches on real-time simulation system models exist, but most of the researches are conducted on a certain part in the whole vehicle, and based on the theoretical researches, the superiority of a certain algorithm is verified, but the researches on the real-time simulation system models of the whole vehicle are not much, and most of the researches stay on the theoretical researches and are not conducted from the application level, so that many defects still exist in the practical application process.
In addition, in the prior art, a plurality of redundant parts exist in both a whole vehicle system model and a part model, and modeling is not combined with actual production application, a large number of parameters are required to be input into the model, however, in actual application, it is found that it is difficult for a whole vehicle parameter provider to provide detailed parameters of each part, and if a plurality of related experiments are required to provide the parameters, huge cost is required. Moreover, the management of the model is very inconvenient, and a professional with a strong knowledge background is often required to maintain the model according to different requirements, so that great inconvenience is caused to an application party.
The application aims to provide a real-time simulation system of a whole vehicle, which uses as few whole vehicle parameters as possible on the basis of ensuring the running precision of a model, thereby simplifying the whole vehicle model.
Disclosure of Invention
In order to achieve the technical aim, the application provides a real-time simulation system of a whole vehicle, which has the following specific technical scheme:
the real-time simulation system of the whole vehicle comprises an environment model, an engine model and a whole vehicle model, wherein: the environment model provides virtual driving environment parameters required by simulation for the whole vehicle model; the engine model provides torque signals required by simulation for the whole vehicle model; the whole vehicle model simulates vehicle running based on the virtual running environment parameters provided by the environment model and the torque signals provided by the engine model, and feeds back the simulated rotating speed signals and accelerator signals of the vehicle to the engine model.
The environment model, the engine model and the whole vehicle model form a closed-loop whole vehicle simulation environment, and the real-time updating of signals can be realized through the internal circulation after the system is started so as to realize the real-time simulation of the whole vehicle system.
Compared with the simulation system in the prior art, the simulation system has the advantages that the input parameters of the whole vehicle are greatly reduced, so that the system complexity and the construction cost of the whole vehicle model are simplified, and the whole system is simpler and easier to use.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures.
Fig. 1 shows a system block diagram of a real-time simulation system of a whole vehicle provided by the application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
FIG. 1 is a system block diagram of a preferred embodiment of the complete vehicle real-time simulation system of the present application. Referring to fig. 1, the simulation system of the present embodiment mainly includes three models: environmental model, engine model and whole car model. Wherein: the environment model provides virtual running environment parameters required by simulation, such as road gradient, target vehicle speed and the like, for the whole vehicle model. The engine model provides torque signals required for simulation for the whole vehicle model. The whole vehicle model simulates the running of the vehicle based on the virtual running environment parameters provided by the environment model and the torque signals provided by the engine model.
When the simulation starts, the engine model autonomously generates a preset initial torque signal and sends the initial torque signal to the whole vehicle model, and meanwhile, the environment model sends the virtual running environment parameters to the whole vehicle model.
The vehicle model starts to simulate the vehicle running based on the received initial torque signal and the virtual running environment parameter. In the simulation process, the whole vehicle model feeds back the current rotating speed signal and the accelerator signal of the vehicle to the engine model. The engine model corrects torque according to the received rotating speed signal and the accelerator signal, and sends the corrected torque signal to the whole vehicle model.
The whole vehicle model updates the simulation state based on the received latest virtual running environment parameters and the corrected torque signals so as to realize real-time simulation.
Therefore, the real-time simulation system of the whole vehicle in the embodiment forms a closed-loop whole vehicle simulation environment by the environment model, the engine model and the whole vehicle model, and the simulation system can realize real-time update of signals through internal circulation once being started, thereby realizing real-time simulation of the whole vehicle system.
In this embodiment, the whole vehicle model includes a driver model and a whole vehicle physical model, where:
the driver model is used for simulating the operation behavior of a driver to generate vehicle control signals required by the whole vehicle physical model, the driver model comprises an accelerator controller module, a clutch controller module, a transmission controller module and a brake controller module, and the vehicle control signals generated by the driver model comprise clutch pedal position signals, gear signals and brake pedal position signals.
The whole vehicle physical model is used for simulating the dynamic behavior of a vehicle and comprises an engine rotational inertia module, a clutch module, a transmission module, an axle module, a brake module, a wheel module and a vehicle body module. The vehicle physical model feeds back the simulated vehicle speed signal and clutch state of the vehicle to the driver model.
When the simulation is started, the driver model generates an initial vehicle control signal (comprising a clutch pedal position signal, a gear signal and a brake pedal position signal) based on the received virtual running environment parameters and sends the initial vehicle control signal to the whole vehicle physical model.
The vehicle physical model simulates the power behavior of the vehicle based on the initial vehicle control signal and the torque signal provided by the engine model, and feeds back the simulated vehicle speed signal and clutch state signal to the driver model.
The driver model generates a new vehicle control signal, a new rotating speed signal and a new accelerator signal based on a vehicle speed signal and a clutch state signal of the vehicle fed back by the whole vehicle physical model, and sends the new vehicle control signal, the new rotating speed signal and the new accelerator signal to the whole vehicle physical model and the engine model respectively, so that closed loop transmission of the signals is formed.
Therefore, in the real-time simulation system of the whole vehicle in the embodiment, a signal feedback mechanism is also formed between the driver model and the physical model of the whole vehicle, so that the driver model can send out corresponding vehicle control signals according to the current power condition of the physical model of the whole vehicle.
Specifically, please continue to refer to fig. 1, in this embodiment, the working process of each functional module in the driver model is as follows:
the transmission controller module judges the gear shifting condition according to a vehicle speed signal from a whole vehicle physical model and combining with a self gear shifting strategy, generates a gear shifting signal, a clutch state signal, a transmission state signal and a gear signal after the received signal is subjected to state conversion in a state machine, then sends the generated gear shifting signal to the accelerator controller module, the clutch controller module and the brake controller module, sends the generated clutch state signal to the clutch controller module, sends the generated transmission state signal to the brake controller module and the accelerator controller module, and sends the generated gear signal to the transmission module for execution.
The throttle controller module controls the size of a throttle according to a vehicle speed signal from the whole vehicle physical model, a gear shifting signal from the transmission controller module and a transmission state signal, and sends the generated throttle signal and the generated rotating speed signal to the engine model.
The clutch controller module generates a clutch pedal position signal according to a vehicle speed signal and a clutch state signal from the whole vehicle physical model, a gear shifting signal and a clutch state signal from the transmission controller module, and sends the clutch pedal position signal to the clutch module for execution.
The brake controller module generates a brake pedal position signal based on a vehicle speed signal from the vehicle physical model, a shift signal from the transmission controller module, and a transmission status signal, and transmits the brake pedal position signal to the brake module for execution.
Specifically, please continue to refer to fig. 1, in this embodiment, the working process of each functional module in the whole vehicle physical model is as follows:
the engine inertia module receives the torque signal from the engine model, the torque signal from the clutch module, and calculates an engine output speed signal required by the clutch module.
The clutch module receives an engine speed signal from the engine inertia module, a clutch pedal position signal from the clutch controller module, a speed signal from the transmission module, calculates torque signals required by the transmission module and the engine inertia module, determines a state of the clutch according to different speeds of the engine and the clutch, and sends a clutch state signal to the clutch controller module.
The transmission module receives a torque signal from the clutch module, a rotational speed signal from the axle module, and a gear signal from the transmission controller module, and calculates a torque signal required by the axle module and a rotational speed signal required by the clutch module.
The axle module receives the torque signal from the transmission module and the rotational speed signal from the brake module, and calculates a torque signal required by the brake module and a rotational speed signal required by the transmission module.
The brake module receives the torque signal from the axle module, the rotational speed signal from the wheel module, and the brake pedal position signal from the brake controller module, and calculates a torque signal required by the wheel module and a rotational speed signal required by the axle module.
The wheel module receives the torque signal from the brake module and the vehicle speed signal from the vehicle body module, and calculates a force signal required by the vehicle body module and a rotating speed signal required by the brake module.
The vehicle body module receives the force signals from the wheel module, calculates a vehicle speed signal as an output signal of the whole vehicle physical model, and sends the calculated vehicle speed signal to the driver model.
The above is only a preferred embodiment of the present application, and the present application is not limited in any way, and any simple modification, equivalent variation and modification made to the above embodiment according to the technical substance of the present application still falls within the scope of the technical solution of the present application.
Claims (4)
1. The real-time simulation system of the whole vehicle is characterized by comprising an environment model, an engine model and a whole vehicle model, wherein:
the environment model provides virtual driving environment parameters required by simulation for the whole vehicle model;
the engine model provides torque signals required by simulation for the whole vehicle model;
the whole vehicle model simulates vehicle running based on the virtual running environment parameters provided by the environment model and the torque signals provided by the engine model, and feeds back the simulated rotating speed signals and throttle signals of the vehicle to the engine model;
the whole vehicle model comprises a driver model and a whole vehicle physical model, wherein the driver model simulates the operation behavior of a driver to generate a vehicle control signal required by the whole vehicle physical model, and the whole vehicle physical model simulates the power behavior of a vehicle;
the driver model comprises an accelerator controller module, a clutch controller module, a transmission controller module and a brake controller module, and the vehicle control signals generated by the driver model comprise clutch pedal position signals, gear signals and brake pedal position signals;
the whole vehicle physical model comprises an engine rotational inertia module, a clutch module, a transmission module, an axle module, a brake module, a wheel module and a vehicle body module;
the driver model simulates the operation behavior of a driver based on the virtual running environment parameters provided by the environment model and the vehicle speed signal and the clutch state signal fed back by the whole vehicle physical model so as to generate the vehicle control signal;
the engine model generates the torque signal based on a rotational speed signal and a throttle signal fed back by the driver model;
the simulation process of the whole vehicle real-time simulation system comprises the following steps:
the driver model generates an initial vehicle control signal based on the received virtual running environment parameters provided by the environment model, and sends the generated initial vehicle control signal to the whole vehicle physical model;
the whole vehicle physical model simulates the power behavior of a vehicle based on the initial vehicle control signal and the torque signal provided by the engine model, and feeds back a vehicle speed signal and a clutch state signal in the simulated power behavior to the driver model;
and the driver model generates a new vehicle control signal, a new rotating speed signal and a new accelerator signal based on the vehicle speed signal and the clutch state signal fed back by the whole vehicle physical model, and sends the generated new vehicle control signal, the new rotating speed signal and the new accelerator signal to the whole vehicle physical model and the engine model.
2. The vehicle real-time simulation system according to claim 1, wherein in the driver model:
the transmission controller module judges the gear shifting condition according to the vehicle speed signal from the whole vehicle physical model and combines with a self gear shifting strategy, generates a gear shifting signal, a clutch state signal, a transmission state signal and a gear signal after carrying out state transition on the received signal in a state machine, then sends the generated gear shifting signal to the accelerator controller module, the clutch controller module and the brake controller module, sends the generated clutch state signal to the clutch controller module, sends the generated transmission state signal to the brake controller module and the accelerator controller module, and sends the generated gear signal to the transmission module for execution;
the accelerator controller module controls the size of an accelerator according to a vehicle speed signal from the whole vehicle physical model, a gear shifting signal from the transmission controller module and a transmission state signal, and sends the generated accelerator signal and a rotating speed signal to the engine model;
the clutch controller module generates a clutch pedal position signal according to a vehicle speed signal and a clutch state signal from the whole vehicle physical model, a gear shifting signal and a clutch state signal from the transmission controller module, and sends the clutch pedal position signal to the clutch module for execution;
the brake controller module generates a brake pedal position signal according to a vehicle speed signal from the whole vehicle physical model, a gear shifting signal from the transmission controller module and a transmission state signal, and sends the brake pedal position signal to the brake module for execution.
3. The vehicle real-time simulation system according to claim 1, wherein in the vehicle physical model:
the engine rotational inertia module receives a torque signal from the engine model and a torque signal from the clutch module, and calculates an engine output rotational speed signal required by the clutch module;
the clutch module receives an engine rotating speed signal from the engine rotating inertia module, a clutch pedal position signal from the clutch controller module and a rotating speed signal from the transmission module, calculates torque signals required by the transmission module and the engine rotating inertia module, judges the state of a clutch according to different rotating speeds of the engine and the clutch, and sends a clutch state signal to the clutch controller module;
the transmission module receives a torque signal from the clutch module, a rotational speed signal from the axle module and a gear signal from the transmission controller module, and calculates a torque signal required by the axle module and a rotational speed signal required by the clutch module;
the axle module receives a torque signal from the transmission module and a rotation speed signal from the brake module, and calculates a torque signal required by the brake module and a rotation speed signal required by the transmission module;
the brake module receives a torque signal from the axle module, a rotational speed signal from the wheel module and a brake pedal position signal from the brake controller module, and calculates a torque signal required by the wheel module and a rotational speed signal required by the axle module;
the wheel module receives a torque signal from the brake module and a vehicle speed signal from the vehicle body module, and calculates a force signal required by the vehicle body module and a rotating speed signal required by the brake module;
and the vehicle body module receives the force signals from the wheel module, calculates a vehicle speed signal as an output signal of the whole vehicle physical model and sends the signal to the driver model.
4. The vehicle real-time simulation system according to claim 1, wherein the virtual running environment parameters include a road gradient and a target vehicle speed.
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| CN201910416823.5A CN110197018B (en) | 2019-05-20 | 2019-05-20 | Real-time simulation system of whole vehicle |
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| CN201910416823.5A CN110197018B (en) | 2019-05-20 | 2019-05-20 | Real-time simulation system of whole vehicle |
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| CN110197018B true CN110197018B (en) | 2023-09-01 |
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