CN110687828A - Intelligent networking automobile simulation test system based on whole automobile hardware-in-loop - Google Patents
Intelligent networking automobile simulation test system based on whole automobile hardware-in-loop Download PDFInfo
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- CN110687828A CN110687828A CN201911027768.7A CN201911027768A CN110687828A CN 110687828 A CN110687828 A CN 110687828A CN 201911027768 A CN201911027768 A CN 201911027768A CN 110687828 A CN110687828 A CN 110687828A
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- G—PHYSICS
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- 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
Abstract
The invention discloses an intelligent networking automobile simulation test system based on a whole automobile hardware-in-loop, which relates to the technical field of intelligent automobile automatic driving and comprises a hub dynamometer, a vehicle dynamics simulation module and a road surface load simulation module, wherein the hub dynamometer is independently installed on a wheel of a tested whole automobile; the wheel hub dynamometer control module is used for receiving parameters from the vehicle dynamics simulation module; the sensor simulation module is used for simulating the environment around the detected vehicle; the visual simulation system is connected with the output signal of the sensor simulation module and is used for simulating the visual angle of a driver; and the positioning simulation module is used for simulating the position of the vehicle in the high-precision map. The invention can simulate a large number of different environmental conditions without being restricted by external conditions, can save a large amount of time, manpower and financial resources compared with the actual road experiment, has higher safety than the road experiment, and greatly improves the test performance.
Description
Technical Field
The invention relates to the technical field of automatic driving of intelligent vehicles, in particular to an intelligent networking automobile simulation test system based on a whole vehicle hardware-in-loop.
Background
There are two major technological trends in the global automotive industry at present: electrification and intellectualization. The intelligent networked automobile attracts a great deal of investment and research and development force. Not only the traditional automobile manufacturers take the automobile manufacturers as the key research and development direction, but also a large number of internet and communication companies join in the intelligent network automobile research and development competition. The China automobile industry Association defines an intelligent networked automobile as a new generation automobile which carries advanced vehicle-mounted sensors, controllers, actuators and other devices, integrates modern communication and network technologies, realizes the exchange and sharing of intelligent information of the automobile and X (people, vehicles, roads, backstage and the like), has the functions of complex environment perception, intelligent decision, cooperative control, execution and the like, can realize safe, comfortable, energy-saving and efficient driving, and can finally replace people to operate.
According to the statistics of traffic data of all countries in the world, the artificial factors account for more than 90% in various road traffic accidents. One of the purposes of the intelligent internet automobile is to release a driver from part or all of driving tasks, so that traffic accidents caused by fatigue or misjudgment of the driver are avoided, and driving safety and riding experience of the driver are improved. In addition, the intelligent networked automobile has great advantages in the aspects of improving traffic jam, improving the running efficiency of the automobile and the like. The ultimate goal of the intelligent networked automobile is to completely release human beings from boring driving tasks and realize zero traffic accident rate.
Compared with the traditional automobile, the intelligent networking automobile system has greatly increased complexity. Besides a large number of sensors, such as millimeter wave radar, laser radar, ultrasonic radar, camera, V2X, etc., are mounted for sensing the surrounding environment, complicated schemes such as deep learning are also used in the algorithm, so the test verification of the intelligent internet automobile is a very challenging task in the industry at present. The traditional method based on the road experiment is time-consuming and labor-consuming, and is difficult to ensure that all test conditions, especially environmental factors such as weather and traffic are met, and the verification of some dangerous working conditions and failure modes cannot be met. Computer simulation based on virtual environment can improve efficiency, but because of lack of actual hardware, the precision and credibility of test are not enough to guarantee the reliability and safety of the final system before the road. Some hardware-in-loop simulation systems based on parts or subsystems integrate part of hardware, and other parts of the vehicle are simulated by a computer, so that the problems of testing efficiency and precision are partially solved, but the response of the whole vehicle system under different conditions cannot be accurately reproduced, so that certain limitation is still realized.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an intelligent networking automobile simulation test system based on a whole automobile hardware-in-loop, the whole automobile comprises a sensor as a tested object, the test precision and the reliability of the system are greatly improved, the test efficiency can be improved, and the intelligent networking automobile simulation test system is an effective test tool for accelerating the landing of intelligent networking automobile products.
(II) technical scheme
In order to realize the advantages of good cooling effect, classified storage and simple operation, the invention adopts the following specific technical scheme:
an intelligent network automobile simulation test system based on a whole automobile hardware-in-loop comprises a hub dynamometer which is independently arranged on a wheel of a tested whole automobile,
the vehicle dynamics simulation module mainly comprises an inertial navigation simulation module and a road surface load simulation module;
the wheel hub dynamometer control module is used for receiving parameters from the vehicle dynamics simulation module;
the sensor simulation module is used for simulating the environment around the detected vehicle;
the visual simulation system is connected with the output signal of the sensor simulation module and is used for simulating the visual angle of a driver;
the positioning simulation module is used for simulating the position of the vehicle in the high-precision map;
the V2X simulation module is used for simulating different communication modes;
the intelligent driving controller is in signal connection with the vehicle dynamics simulation module, the sensor simulation module, the positioning simulation module and the V2X simulation module;
and the central data interface module is used for converting the data output of each simulation model into a proper physical signal.
Further, the system also comprises a data acquisition module which is used for acquiring and storing data of the whole system and is connected with the cloud end signal.
Further, the vehicle dynamics simulation module comprises a body dynamics model, an engine suspension model, a steering system model, a suspension system model, a braking system model, a power transmission system model and an aerodynamic model.
Further, the steering system model is used to decouple the wheels from the steering wheel.
Further, the visual simulation system is composed of a plurality of high definition projectors.
Further, the sensor simulation module comprises a road, a traffic sign, a target vehicle, a target pedestrian and a sensor.
Further, the sensor includes a camera sensor, a lidar sensor, and an ultrasonic sensor.
Further, the output data of the sensor is transmitted to the vehicle-mounted intelligent network domain controller through a corresponding data interface of the central data interface module.
Further, the V2X simulation module may simulate information of a target according to an input of the sensor simulation module, and is configured to convert the target parameter into a radio frequency signal and output the radio frequency signal to a receiving device on the vehicle under test.
Advantageous effects
Compared with the prior art, the invention provides an intelligent networking automobile simulation test system based on a whole automobile hardware-in-loop, which has the following beneficial effects:
calculating a vehicle dynamics simulation module, and outputting a vehicle motion state according to a hub dynamometer; the data parameters of the hub dynamometer are transmitted to a hub dynamometer control module through a central data interface module, the torque and the rotating speed of each wheel are accurately controlled, the environmental conditions can be accurately controlled, the repeatability is good, the environmental model is subjected to motion change according to the motion state of the vehicle, and a simulation picture and simulation target information are output; the simulation picture and the vehicle motion state are obtained, the motion performance condition of a real vehicle is simulated according to the vehicle motion state, a large number of different environment conditions can be simulated through a camera sensor, a laser radar sensor and an ultrasonic sensor in the environment simulation device, the constraint of external conditions is avoided, the test performance is improved, compared with an actual road experiment, a large amount of time can be saved, manpower and financial resources are saved, and the safety is higher than that of the road experiment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a system block diagram of an intelligent networked automobile simulation test system based on a complete automobile hardware-in-loop according to an embodiment of the present invention.
In the figure:
1. a hub dynamometer; 2. a vehicle dynamics simulation module; 3. a hub dynamometer control module; 4. a sensor simulation module; 5. a vision simulation system; 6. positioning a simulation module; 7. a V2X simulation module; 8. a central data interface module; 9. a data acquisition module; 10. a camera sensor; 11. a laser radar sensor; 12. an ultrasonic sensor; 13. a millimeter wave sensor; 14. an inertial navigation simulation module; 15. a road surface load simulation module; 16. intelligent driving controller.
Detailed Description
For further explanation of the various embodiments, the drawings which form a part of the disclosure and which are incorporated in and constitute a part of this specification, illustrate embodiments and, together with the description, serve to explain the principles of operation of the embodiments, and to enable others of ordinary skill in the art to understand the various embodiments and advantages of the invention, and, by reference to these figures, reference is made to the accompanying drawings, which are not to scale and wherein like reference numerals generally refer to like elements.
Referring to the drawings and the detailed description, the invention will be further explained, as shown in fig. 1, an intelligent networking automobile simulation test system based on a whole automobile hardware-in-loop according to an embodiment of the invention includes
The hub dynamometer 1 is independently arranged on the wheel of the whole vehicle to be tested,
the vehicle dynamics simulation module 2 mainly comprises an inertial navigation simulation module 14 and a road surface load simulation module 15;
the hub dynamometer control module 3 is used for receiving parameters from the vehicle dynamics simulation module 2;
the sensor simulation module 4 is used for simulating the environment around the detected vehicle;
the visual simulation system 5 is connected with the output signal of the sensor simulation module 4 and is used for simulating the visual angle of a driver;
the positioning simulation module 6 is used for simulating the position of the vehicle in the high-precision map;
the V2X simulation module 7 is used for simulating different communication modes;
the intelligent driving controller 16 is in signal connection with the vehicle dynamics simulation module 2, the sensor simulation module 4, the positioning simulation module 6 and the V2X simulation module 7;
the central data interface module 8 is used for converting the data output of each simulation model into a proper physical signal;
the vehicle dynamic simulation system comprises a sensor simulation module 2, a vehicle dynamic simulation module 9 and a data acquisition module 9, wherein the sensor simulation module 4 comprises roads, traffic signs, target vehicles, target pedestrians and sensors, the sensors comprise a camera sensor 10, a laser radar sensor 11 and an ultrasonic sensor 12, output data of the sensors are transmitted to a vehicle-mounted intelligent network domain controller through a corresponding data interface of a central data interface module 8, the sensor simulation module 4 simulates the surrounding environment condition of a tested vehicle through software such as SCANer, or PresCAN, or VTD, and the like, the vehicle dynamic simulation module 2 comprises a body dynamic model, an engine suspension model, a steering system model, a suspension system model, a braking system model, a power transmission system model and an aerodynamic model, the embodiment is different from the traditional vehicle dynamic assembly test, in the system, four wheels of a vehicle are connected to a hub dynamometer 1, a steering system on a vehicle dynamics simulation module 2 can decouple the wheels from a steering wheel, a visual simulation system 5 consists of a plurality of high-definition projectors, an arbitrary angle and 360-degree all-around vision system can be made according to space and requirements, rendering, deformation and splicing optimization algorithms are adopted to ensure that the projection splicing position has no visual influence, visual optimization is carried out according to the visual angle of a driver, and the vertigo in long-term use is reduced; the tested vehicle can be a traditional fuel vehicle or a new energy vehicle.
The V2X simulation module 7 can simulate information of a target according to input of the sensor simulation module 4, and is used for converting target parameters into radio frequency signals and then outputting the radio frequency signals to a receiving device on a detected vehicle, the networking function is an indispensable part of an intelligent networking automobile, the V2X simulation module 7 can simulate different communication modes, and the V2X simulation module 7 can simulate information of other vehicles or a cloud according to input of the sensor simulation module 4 and sends the information to the receiving device on the detected vehicle through a specified protocol.
The working principle is as follows:
calculating the vehicle dynamics simulation module 2, and outputting a vehicle motion state according to the hub dynamometer 1; the data parameters of the hub dynamometer 1 are transmitted to the hub dynamometer control module 3 through the central data interface module 8, the torque and the rotating speed of each wheel are accurately controlled, the environmental conditions can be accurately controlled, the repeatability is good, the environmental model is subjected to motion change according to the motion state of the vehicle, and a simulation picture and simulation target information are output; the simulation image and the vehicle motion state are obtained, the motion performance condition of a real vehicle is simulated according to the vehicle motion state, a large number of different environment conditions can be simulated through the camera sensor 10, the laser radar sensor 11 and the ultrasonic sensor 12 in the environment simulation device, the environment simulation device is not restricted by external conditions, the test performance is improved, compared with an actual road experiment, a large amount of time can be saved, manpower and financial resources are saved, and the safety is higher than that of the road experiment.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. An intelligent networking automobile simulation test system based on a whole automobile hardware-in-loop is characterized by comprising
The hub dynamometer (1) is independently arranged on the wheel of the whole vehicle to be tested,
the vehicle dynamics simulation module (2) mainly comprises an inertial navigation simulation module (14) and a road load simulation module (15);
the wheel hub dynamometer control module (3) is used for receiving parameters from the vehicle dynamics simulation module (2);
the sensor simulation module (4) is used for simulating the environment around the detected vehicle;
the visual simulation system (5) is connected with the output signal of the sensor simulation module (4) and is used for simulating the visual angle of a driver;
the positioning simulation module (6) is used for simulating the position of the vehicle in the high-precision map;
the V2X simulation module (7) is used for simulating different communication modes;
the intelligent driving controller (16) is in signal connection with the vehicle dynamics simulation module (2), the sensor simulation module (4), the positioning simulation module (6) and the V2X simulation module (7);
and the central data interface module (8) is used for converting the data output of each simulation model into a proper physical signal.
2. The intelligent networked automobile simulation test system based on the complete automobile hardware-in-loop as claimed in claim 1, further comprising a data acquisition module (9) for acquiring and storing data of the whole system and being in signal connection with a cloud.
3. The intelligent networked automobile simulation test system based on the whole automobile hardware-in-loop according to claim 2, wherein the automobile dynamics simulation module (2) comprises a body dynamics model, an engine suspension model, a steering system model, a suspension system model, a braking system model, a power transmission system model and an aerodynamic model.
4. The intelligent networked automobile simulation test system based on complete automobile hardware-in-the-loop of claim 3, wherein the steering system model is used to decouple wheels from a steering wheel.
5. The intelligent networked automobile simulation test system based on complete automobile hardware-in-loop according to claim 4, wherein the vision simulation system (5) is composed of a plurality of high definition projectors.
6. The intelligent networked automobile simulation test system based on complete automobile hardware-in-loop according to claim 1, wherein the sensor simulation module (4) comprises roads, traffic signs, target vehicles, target pedestrians and sensors.
7. The intelligent networked automobile simulation test system based on complete automobile hardware-in-loop according to claim 6, wherein the sensors comprise a camera sensor (10), a laser radar sensor (11), an ultrasonic sensor (12) and a millimeter wave sensor (13).
8. The intelligent networked automobile simulation test system based on complete automobile hardware-in-loop according to claim 6 or 7, wherein the output data of the sensor is transmitted to the vehicle-mounted intelligent networked domain controller through a corresponding data interface of the central data interface module (8).
9. The intelligent networked automobile simulation test system based on complete automobile hardware-in-loop according to any one of claims 1 to 5, characterized in that the V2X simulation module (7) can simulate information of a target according to the input of the sensor simulation module (4), and is used for converting the target parameter into a radio frequency signal and outputting the radio frequency signal to a receiving device on a tested automobile.
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| DE102020210600A1 (en) | 2020-08-20 | 2022-02-24 | Ford Global Technologies, Llc | System for performing a XiL-based simulation |
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