CN111123740B - Hardware-in-loop test method and device - Google Patents
Hardware-in-loop test method and device Download PDFInfo
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- CN111123740B CN111123740B CN201911319738.3A CN201911319738A CN111123740B CN 111123740 B CN111123740 B CN 111123740B CN 201911319738 A CN201911319738 A CN 201911319738A CN 111123740 B CN111123740 B CN 111123740B
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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 a hardware-in-loop test method and a device, wherein the method comprises the following steps: receiving a vehicle position signal; determining a virtual map signal required by a test according to a preset vehicle driving look-ahead distance and a vehicle position signal; transmitting the virtual map signal and the vehicle simulation signal required by the test to a lower computer so that the lower computer tests the to-be-tested piece; the function module running in the upper computer comprises a map signal simulation module, wherein the map signal simulation module is preconfigured; the virtual map signal required for the test is recorded in the map signal simulation module. According to the technical scheme, the map box is not relied on at least, and a real vehicle is not required to be tested on a real road, so that the cost is reduced.
Description
Technical Field
The invention relates to the technical field of intelligent driving simulation test, in particular to a hardware-in-loop test method and device.
Background
In the existing high-precision map HIL (Hardware-in-the-Loop) test, a map box or message playback is generally used to provide a high-precision map signal, so as to test the response of a device to be tested.
However, the existing test methods have the following problems:
first, the method of providing a high-precision map signal using a map box is strongly dependent on the normal operation of the map box, map provider and GPS (Global Positioning System ), and requires a real vehicle to travel on a real road to provide a high-precision map signal, so that the test cost is high and the efficiency is low. Second, map boxes can only provide real, existing road information, but cannot provide custom road map information, for example, a road for which a specific custom condition is to be tested, and it is difficult to find the road in the real map. And when the map box is in a reproduction working condition, the same scene is difficult to repeatedly test due to different driving environments, for example, the scene of the leftmost lane is difficult to repeatedly drive, and the leftmost lane is difficult to repeatedly drive and is unfavorable for driving safety. In addition, in the existing method, the high-precision map signal providing mode capable of reproducing the working condition is a message playback mode, but the message playback mode can only play the message simply, and in the driving system test process, the content of the message cannot be changed along with the motion condition of the controller or the vehicle model, for example, the content of the map message cannot be updated according to the new position of the vehicle lane change running, so that the real-vehicle response effect of the driving system cannot be tested in a closed loop mode, and therefore, the method is not suitable for complex real-time vehicle control HIL test.
Disclosure of Invention
Aiming at the problems in the related art, the invention provides a hardware-in-loop test method and a device, which can be used for testing without depending on a map box and without the need of running a real vehicle on a real road, thereby reducing the cost.
The technical scheme of the invention is realized as follows:
according to one aspect of the present invention, there is provided a hardware-in-loop testing method applied to an upper computer in a testing device, the testing device further including a lower computer, the hardware-in-loop testing method including:
receiving a vehicle position signal;
determining a virtual map signal required by a test according to a preset vehicle driving look-ahead distance and a vehicle position signal;
transmitting the virtual map signal and the vehicle simulation signal required by the test to a lower computer so that the lower computer tests the to-be-tested piece;
the function module running in the upper computer comprises a map signal simulation module which is preconfigured; the virtual map signal required for the test is recorded in the map signal simulation module.
According to an embodiment of the present invention, the virtual map signal includes lane lines, tollgates, overpasses, and traffic lights; the configuration process of the map signal simulation module comprises the following steps: performing signal matching on the virtual map signal so that the virtual map signal accords with a high-precision map protocol and a signal transmission mode specified by a map box; adding a map signal simulation module into a programmable interface of a hardware-in-the-loop system; and creating a map signal IO configuration module, wherein the map signal IO configuration module is used for providing a configuration interface for transmitting virtual map signals between the upper computer and the lower computer.
According to an embodiment of the present invention, the configuration process of the map signal simulation module further includes: setting configuration parameters; the configuration parameters include a vehicle driving look-ahead distance, virtual map signal accuracy, and virtual map signal transmission period.
According to the embodiment of the invention, the virtual map signals are divided into complex road signals and simple road signals according to the signal quantity of various map signals required by the test; the virtual map signal required by the test is recorded in a map signal simulation module, which comprises the following steps: aiming at complex road signals, a mode of automatic calculation and generation of configuration parameters is adopted to record the complex road signals in a map signal simulation module; for simple road signals, specific signals are directly recorded and positioned in the map signal simulation module.
According to an embodiment of the present invention, transmitting a virtual map signal required for a test to a lower computer includes: judging whether a preset sending period is reached or a corresponding trigger signal is received according to each virtual map signal; if yes, sending the independent small data packet section which is packaged in advance to a lower computer; the sending sequence and the packing sequence of the small data packet sections are in accordance with the sequence specified by the map box.
According to an embodiment of the present invention, the functional module running in the upper computer further includes: the system comprises a vehicle dynamics module and a first IO configuration module; the vehicle dynamics module, the map signal simulation module and the first IO configuration module are operated in a first process; the map signal IO configuration module operates in a second process.
According to another aspect of the present invention, there is provided a hardware-in-the-loop testing device based on a high-precision map, including an upper computer and a lower computer connected in sequence, wherein a functional module running in the upper computer includes:
the map signal simulation module is used for determining virtual map signals required by the test according to the preset vehicle driving look-ahead distance and the vehicle position signals and sending the virtual map signals required by the test to the lower computer;
vehicle dynamics module: the system is used for simulating a vehicle simulation signal and transmitting the vehicle simulation signal to the lower computer;
IO configuration module: the configuration interface is used for providing a configuration interface for signal transmission between the upper computer and the lower computer;
the map signal simulation module is preconfigured, and the virtual map signals required by the test are recorded in the map signal simulation module.
According to the embodiment of the invention, the IO configuration module comprises a map signal IO configuration module and a first IO configuration module; the vehicle dynamics module, the map signal simulation module and the first IO configuration module are operated in a first process; the map signal IO configuration module operates in a second process.
According to an embodiment of the present invention, a functional module running in a lower computer includes: the vehicle simulation signal calculation module: for processing the received vehicle simulation signals; a map signal calculation module: for processing the received virtual map signal; map signal IO interaction module: the virtual map signal processing module is used for providing a configuration interface for the virtual map signal after transmission processing between the lower computer and the to-be-detected piece; a second IO configuration module: the vehicle simulation system is used for providing a configuration interface for transmitting the processed vehicle simulation signals between the lower computer and the to-be-tested piece.
Compared with the existing high-precision map test scheme for providing map signals by using a map box, the hardware-in-loop test method provided by the invention has the advantages that virtual map signals required by the test are determined through the preset vehicle driving look-ahead distance and the vehicle position signals, the to-be-tested piece can be tested without depending on the map box, and the real vehicle is not required to be tested on a real road, so that the cost is reduced. Meanwhile, different roads can be independently created according to the test content to test, and compared with the prior art that a real vehicle is required to find a certain fixed working condition, the test is more flexible. In addition, the method is more beneficial to reproducing the scene, and the created map data packet can provide convenience for repeated test in a specific scene. In addition, the map simulation test scheme of the invention adds independent map signal simulation and IO configuration flow on the traditional hardware in the loop test, the map signal content can be used for complex vehicle control, and the self-vehicle reaction after the vehicle control can also influence the updating and sending of the map signal, thereby realizing the complete map signal hardware in-loop control.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are 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 other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a hardware-in-the-loop test apparatus according to an embodiment of the invention;
FIG. 2 is a flow chart of a hardware-in-loop test method according to an embodiment of the invention;
FIG. 3 is a flow chart of virtual map signal simulation according to an embodiment of the present invention;
fig. 4 is a flowchart of IO configuration and transmission of a virtual map signal according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention 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 invention, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.
Fig. 1 is a schematic diagram of a hardware-in-the-loop testing device based on a high-precision map according to an embodiment of the present invention. As shown in fig. 1, the upper computer 210 is responsible for programming control. In the programming control part, the functional modules of the general hardware-in-loop test system can comprise a vehicle dynamics module 211 and a first IO configuration module 213, and can further comprise a road definition and rendering module, and the functional modules form the hardware-in-loop vehicle test system. The content of the programming control is compiled into an executable file and downloaded to the lower computer 220, the lower computer 220 operates the executable file as a real-time system, processes the received signal, and sends the processed signal to the to-be-tested piece.
The invention provides a hardware-in-loop test method, which is applied to an upper computer 210 in a test device, and a pre-configured map signal simulation module 212 is added in the upper computer 210. The function of each functional module will be described in detail below in connection with the hardware-in-the-loop test method of the present invention.
FIG. 2 is a flow chart of a hardware-in-loop test method according to an embodiment of the invention. Referring to fig. 1 and 2, the hardware-in-the-loop test method of the present invention is applied to an upper computer, and includes the following steps:
step S11, a vehicle position signal is received.
The vehicle position signal may include a global coordinate position (or GPS coordinates) of the host vehicle on the road, a position of the host vehicle based on the road, etc., and is used to describe the location of the host vehicle in the road during real-time operation. In general, the vehicle position signal may be provided by a vehicle dynamics module in relation to the road.
Step S12, determining a virtual map signal required for testing according to a preset vehicle driving look-ahead distance and a vehicle position signal.
In step S13, the virtual map signal and the vehicle simulation signal required for the test are sent to the lower computer 220, so that the lower computer 220 tests the to-be-tested piece 230.
In the above method, the functional modules running in the upper computer include a pre-configured map signal simulation module 212, virtual map signals required for testing are recorded in the map signal simulation module 212, and the map signal simulation module 212 determines virtual map signals required for testing according to a preset vehicle driving look-ahead distance and a preset vehicle position signal, wherein the virtual map signals include, but are not limited to, lane lines, toll booths, overpasses and traffic lights.
As shown in fig. 3, the configuration method of the map signal simulation module 212 includes:
s21: configuring a map data packet;
the map data packet comprises all required map contents within the measurable range of the road to be measured, and specifically comprises lane lines, lane layout, toll stations, overpasses and traffic lights.
The virtual map signal can be divided into a complex road signal and a simple road signal according to the signal quantity of various map signals required for the test. The virtual map signal required for the test may thus be pre-recorded in the map signal simulation module 212 by one of the following ways:
1, aiming at complex road signals with large data volume and difficult to directly fill in records, the complex road signals are recorded in the map signal simulation module 212 in a mode of automatic calculation and generation of configuration parameters. Specifically, configuring calculation parameters related to map content in a range to be detected and obtaining the map content in the range to be detected through calculation; for example, the points of all lanes and lane lines of the road are recorded, a large number of lane line points can be calculated by configuring parameters such as length, curvature and the like, and the points are stored in the map signal simulation module 212.
2, for a single simple road signal, a direct recording mode may be selected, and a specific signal position is directly recorded in the map signal analog module 212. Such as a gas station toll gate, the specific location on the link to which the toll gate is located can be recorded directly in the map signal simulation module 212. In addition, in other embodiments, the map signal simulation module 212 may also use other ways of recording map data.
S22: performing signal matching on the virtual map signal so that the virtual map signal accords with a high-precision map protocol and a signal transmission mode specified by a map box;
various virtual map signals required by the test process are updated and transmitted in a triggering manner according to different types. The logic of the various types of virtual map signals and trigger signals may be defined by the map box specification and associated with the transmission of the virtual map signals. In one embodiment, if the signal is the position of the track line point on the map, the configuration parameters set how far the look-ahead distance of the map is, and the number of the track line point signal and the track line point transmission of the map need to be updated every more meters or more seconds; the map signal simulation module 212 records all lane line points of the lane; the signal matching part queries the map signal simulation module 212 according to the position of the vehicle on the road, takes out the points of the road line position within the vehicle driving look-ahead distance from the map signal simulation module 212 according to the set vehicle driving look-ahead distance, generates and outputs a virtual map signal of the road line points, and sends the virtual map signal to the lower computer. Further, the virtual map signal may be updated by setting an update condition, and the trigger signal may be updated if the update condition is satisfied (for example, lane line position is transmitted every 200 meters) while the virtual map signal is generated. Each time the trigger signal changes, for example, each rising edge, the corresponding IO interface is triggered to send the virtual map signal.
In some embodiments, the virtual map signal may include map information related to a high-precision map protocol and may encompass desired high-precision map content. In other embodiments, the virtual map signal may include map content associated with other protocols.
S23: adding the map signal simulation module 212 to a programmable interface of a hardware-in-the-loop system;
in the embodiment of the present invention, as shown in fig. 1, the calculation of the real-time hardware in-loop real-time simulation system is regarded as a complete running program, and most hardware in-loop real-time simulation systems provide a programmable interface, such as a Simulink simulation tool, a C language or other programming mode interface. Therefore, in order to enable the calculation process of the map signal simulation to call the parameters of the original hardware-in-loop real-time simulation system in the process, such as the speed of the host vehicle, the position of the host vehicle on the road, and the like, and in order to improve the operability of the map signal simulation algorithm fused into the original hardware-in-loop real-time simulation system, the map signal simulation module 212 can be added into the provided programmable interface. For stable acquisition of vehicle dynamics-related parameters (e.g., vehicle speed, etc.), the calculation period of the map signal simulation module 212 may be kept consistent with the calculation period of the vehicle dynamics module or other control algorithm.
S24: the map signal IO configuration module 214 is created to use the map signal IO configuration module 214 as a configuration interface for transmitting virtual map signals between the host computer and the lower computer.
Independent of the IO configuration of the hardware-in-the-loop real-time simulation system, a new map signal IO configuration module 214 is created for providing a configuration interface for transmitting virtual map signals between the host computer and the lower computer, and can transmit the virtual map signals based on preset limited, fixed transmission periods, such as trigger limits and/or period limits. As shown in fig. 1, in order to make the IO communication of the virtual map signal and other IO communication not interfere with each other and not affect the real-time performance of the original hardware simulation system, the first IO configuration module 213 is configured to provide a configuration interface for transmitting signals other than the virtual map signal between the upper computer and the lower computer, such as vehicle simulation signals.
The map signal IO configuration module 214 is independent of the first IO configuration module 213 of the existing hardware-in-loop system and serves as a new running process (second process). The present process may configure the transceiving process of the virtual map signal according to the high-precision map protocol or the specification of the map box, such as cycle limit, trigger limit, etc. For example, the lane information may be transmitted once every 500 milliseconds, and the travel route may be transmitted once every 5 seconds as a cycle limit; each time a look-ahead distance of 1 km will enter a toll station, the information of the toll station is sent once as a trigger limit.
The configuration process of the map signal simulation module 212 further includes:
s25: setting configuration parameters to simulate input parameters;
the configuration parameters are parameters related to map performance and protocols, and the configuration parameters may be fixed values. The configuration parameters may include a vehicle travel look-ahead distance, virtual map signal accuracy (e.g., a per-lane-point separation distance, a set number of location points describing a lane or location, etc.), virtual map signal transmission period, etc.
Fig. 4 is a flowchart of transmitting a virtual map signal according to an embodiment of the present invention. As shown in fig. 4, the communication method and port of the upper computer and the lower computer are configured in advance according to the communication method specified by the map box, and a general communication method such as TCP/UDP and CAN may be used. Then, in the process of program running, a cycle (generally, a transmission cycle is subjected to a fixed time period and is recorded as a delay time) for transmitting the virtual map signals is entered, in which all kinds of virtual map signals are traversed, whether each virtual map signal reaches a transmission condition is judged, if so, data is transmitted, and if not, whether the next virtual map signal reaches the transmission condition is judged. When the time required by the traversal is smaller than the delay time after the traversal of all the virtual map signals is finished, waiting for the end of the delay time, and entering the next cycle.
Each virtual map signal is independent of each other, corresponds to each small data packet segment, and judges whether transmission is needed according to two modes of a respective trigger mechanism and/or a period timing mechanism.
Specifically, the virtual map signal required for the test can be sent to the lower computer by the following steps: judging whether a preset sending period is reached or a corresponding trigger signal is received according to each virtual map signal; and when the trigger signal or the preset sending period limit is met, sending the independent small data packet section which is packaged in advance to a lower computer. The small data packet segments are formed in advance according to the sequence specified by the map box, and the sending sequence of the small data packet segments also accords with the sequence specified by the map box. In one example, a series of data corresponding to a toll station is packed into a plurality of small data packet segments in a prescribed order in advance, and if a rising edge of a trigger signal corresponding to the toll station or a trigger signal set 1 is detected, the small data packet segments are transmitted. Otherwise, if the trigger limit or the period limit is not met, the next virtual map signal is continuously traversed, and whether the trigger mechanism or the period timing mechanism is met is judged. And calculating the residual time of the delay required for reaching the transmission period according to the fixed transmission period requirement until the required virtual map signal is traversed, and entering the next transmission main cycle when the delay is ended (namely, the fixed transmission period is reached). Thus, the same transmission period can be ensured each time by the delay. In order to ensure that the system performance is not excessively occupied and each update of the trigger signal is not missed, the running period time of each cycle can be kept equal to or smaller than the period calculated in real time by the original simulation test and is fixed.
According to the technical scheme, in the hardware-in-loop test real-time calculation, the virtual map signals required by the test are determined through the added map signal simulation calculation process, and other hardware is not required to be added. Meanwhile, the IO configuration of the map signals related to the virtual map signals is carried out independently of the IO configuration (input-output configuration) of the original hardware in-loop test. Meanwhile, the signal calculated by the lower computer is sent to the to-be-measured device (for example, to-be-measured controller) 230 through a communication channel, and the to-be-measured device 230 will feed back part of other signals.
In summary, compared with the existing high-precision map test scheme for providing virtual map signals by using map boxes, the hardware-in-the-loop test method provided by the invention can eliminate map boxes without depending on the map boxes by performing virtual map signal simulation, and does not need a real vehicle to test on a real road, thereby reducing the cost. Meanwhile, different working conditions can be independently established according to the test content to test, and compared with the prior art that a real vehicle is required to find a certain fixed working condition, the test is more flexible. In addition, the method is more beneficial to reproducing the scene, and the virtual map signal can provide convenience for repeated testing in a specific scene. In addition, the map simulation test scheme of the invention adds independent map signal simulation and IO configuration flow on the traditional hardware in the loop test, the virtual map signal content can be used for complex vehicle control, and the self-vehicle reaction after the vehicle control can also influence the update and transmission of the virtual map signal, thereby realizing the complete map signal hardware in-loop control.
Referring again to fig. 1, according to an embodiment of the present invention, there is further provided a hardware-in-loop testing apparatus based on a high-precision map, where the hardware-in-loop testing apparatus includes an upper computer 210 and a lower computer 220 sequentially connected. The functional modules running in the upper computer 210 include: a map signal simulation module 212, a vehicle dynamics module 211, and an IO configuration module.
The map signal simulation module 212 is configured to determine a virtual map signal required for a test according to a preset vehicle driving look-ahead distance and a vehicle position signal, and send the virtual map signal required for the test to a lower computer. The vehicle dynamics module 211 is used to simulate the vehicle simulation signal and send it to the lower computer. The IO configuration module is used for providing a configuration interface for signal transmission between the upper computer and the lower computer. The map signal simulation module 212 is preconfigured, and virtual map signals required for testing are recorded in the map signal simulation module 212.
According to an embodiment of the present invention, the IO configuration module includes a map signal IO configuration module 214 and a first IO configuration module 213. The vehicle dynamics module 211, the map signal simulation module 212, and the first IO configuration module 213 are running in a first process. The map signal IO configuration module 214 operates in a second process.
According to an embodiment of the present invention, the functional modules running in the lower computer 220 include: the vehicle simulation signal calculation module 221, the map signal calculation module 222, the map signal IO interaction module 224, and the second IO configuration module 223.
The vehicle simulation signal calculation module 221: for processing the received vehicle simulation signals; map signal calculation module 222: for processing the received virtual map signal; map signal IO interaction module 224: the virtual map signal processing module is used for providing a configuration interface for the virtual map signal after transmission processing between the lower computer and the to-be-detected piece; the second IO configuration module 223: the vehicle simulation system is used for providing a configuration interface for transmitting the processed vehicle simulation signals between the lower computer and the to-be-tested piece.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (9)
1. The hardware-in-loop test method is characterized by being applied to an upper computer in a test device, wherein the test device also comprises a lower computer, and the hardware-in-loop test method comprises the following steps:
receiving a vehicle position signal;
determining a virtual map signal required by a test according to a preset vehicle driving look-ahead distance and the vehicle position signal;
transmitting the virtual map signal and the vehicle simulation signal required by the test to a lower computer so as to enable the lower computer to test the to-be-tested piece;
the function module running in the upper computer comprises a map signal simulation module which is configured in advance; the virtual map signals required for the test are recorded in the map signal simulation module,
the virtual map signal is divided into a complex road signal and a simple road signal according to the signal quantity of various signals required by the test;
for the complex road signal, the configuration parameters are automatically calculated and generated and recorded in the map signal simulation module,
the pre-configuration comprises the step of adding the map signal simulation module into a programmable interface of a hardware-in-the-loop system so as to enable parameters of an original hardware-in-the-loop real-time simulation system in a calculation process calling process of map signal simulation.
2. The hardware-in-the-loop test method of claim 1, wherein the virtual map signal comprises lane lines, tollgates, overpasses, and traffic lights;
the configuration process of the map signal simulation module comprises the following steps:
performing signal matching on the virtual map signal so that the virtual map signal accords with a high-precision map protocol and a signal transmission mode specified by a map box;
adding the map signal simulation module to a programmable interface of a hardware-in-the-loop system;
and creating a map signal IO configuration module, wherein the map signal IO configuration module is used for providing a configuration interface for transmitting the virtual map signal between the upper computer and the lower computer.
3. The hardware-in-the-loop test method of claim 2, wherein the configuration process of the map signal simulation module further comprises:
setting configuration parameters; the configuration parameters comprise the vehicle driving look-ahead distance, the virtual map signal precision and the virtual map signal sending period.
4. The hardware-in-the-loop test method of claim 2, wherein the virtual map signal required for the test is recorded in the map signal simulation module, further comprising:
and aiming at the simple road signal, directly recording a specific signal position in the map signal simulation module.
5. The hardware-in-the-loop test method of claim 1, wherein the sending the virtual map signal required for the test to a lower computer comprises:
judging whether a preset sending period is reached or a corresponding trigger signal is received according to each virtual map signal;
if yes, sending the independent small data packet section which is packaged in advance to a lower computer;
the sending sequence and the packing sequence of the small data packet sections are in accordance with the sequence specified by the map box.
6. The hardware-in-the-loop test method of claim 2, wherein the functional module running in the host computer further comprises:
the system comprises a vehicle dynamics module and a first IO configuration module;
the vehicle dynamics module, the map signal simulation module and the first IO configuration module operate in a first process;
the map signal IO configuration module operates in a second process.
7. The hardware-in-loop testing device comprises an upper computer and a lower computer which are sequentially connected, and is characterized in that a functional module running in the upper computer comprises:
the map signal simulation module is used for determining virtual map signals required by the test according to the preset vehicle driving look-ahead distance and the vehicle position signals, and sending the virtual map signals required by the test to the lower computer so that the lower computer can test the to-be-tested piece;
vehicle dynamics module: the system is used for simulating a vehicle simulation signal and transmitting the vehicle simulation signal to the lower computer;
IO configuration module: the configuration interface is used for providing a configuration interface for signal transmission between the upper computer and the lower computer;
wherein the map signal simulation module is preconfigured, the virtual map signal required by the test is recorded in the map signal simulation module,
the virtual map signal is divided into a complex road signal and a simple road signal according to the signal quantity of various signals required by the test;
for the complex road signal, the configuration parameters are automatically calculated and generated and recorded in the map signal simulation module,
the pre-configuration comprises the step of adding the map signal simulation module into a programmable interface of a hardware-in-the-loop system so as to enable parameters of an original hardware-in-the-loop real-time simulation system in a calculation process calling process of map signal simulation.
8. The hardware-in-the-loop test device of claim 7, wherein the IO configuration module comprises a map signal IO configuration module and a first IO configuration module;
the vehicle dynamics module, the map signal simulation module and the first IO configuration module operate in a first process;
the map signal IO configuration module operates in a second process.
9. The hardware-in-the-loop test apparatus of claim 8, wherein the functional module running in the lower computer comprises:
the vehicle simulation signal calculation module: for processing the received vehicle simulation signals;
a map signal calculation module: for processing the received virtual map signal;
map signal IO interaction module: the virtual map signal processing module is used for providing a configuration interface for the virtual map signal after transmission processing between the lower computer and the to-be-detected piece;
a second IO configuration module: the vehicle simulation system is used for providing a configuration interface for transmitting the processed vehicle simulation signals between the lower computer and the to-be-tested piece.
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