CN111856966B - HIL simulation test system and method for 5G parallel driving system - Google Patents
HIL simulation test system and method for 5G parallel driving system Download PDFInfo
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- CN111856966B CN111856966B CN202010675406.5A CN202010675406A CN111856966B CN 111856966 B CN111856966 B CN 111856966B CN 202010675406 A CN202010675406 A CN 202010675406A CN 111856966 B CN111856966 B CN 111856966B
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- 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
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- 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
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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Abstract
The invention discloses an HIL simulation test system and method for a 5G parallel driving system. The parallel driving vehicle control system comprises a parallel driving vehicle rack, a parallel driving control rack and a parallel driving vehicle control rack, wherein the parallel driving vehicle rack is used for acquiring environmental video data of a vehicle model and transmitting the environmental video data to the parallel driving control rack, controlling the vehicle model to perform related simulation operation according to received control data, and acquiring vehicle information of the vehicle model and transmitting the vehicle information to the parallel driving control rack; and selecting and switching the vehicle model according to the received command. And the parallel driving control platform is used for processing and displaying the received environment video data, outputting control data of driving simulation to the parallel driving vehicle platform, and outputting a selection and switching instruction of a vehicle model to the parallel driving vehicle platform. The invention improves the stability and reliability of software and hardware work of the parallel driving system, reduces the parallel driving cost to the maximum extent and can also effectively avoid the safety problem of real vehicle field test.
Description
Technical Field
The invention belongs to the technical field of automobile intelligent networking test, and particularly relates to an HIL simulation test system and method for a 5G parallel driving system.
Background
At present, the system scheme about 5G parallel driving (remote driving) is few, basically in a concept or DEMO stage, product landing is not achieved, and a Hardware-in-Loop (HIL) simulation test system for 5G parallel driving is not available.
The parallel driving system needs a large amount of tests in a product stage, so that the software and hardware performance of the system is stable and reliable, and the real vehicle test needs certain field and vehicle conditions, so that the test cost is high, and the safety problem is easily caused at the initial stage of the development stage. Therefore, it is desirable to develop a hardware-in-the-loop simulation test system and method to avoid the above problems.
Disclosure of Invention
The invention aims to solve the defects of the background technology and provide an HIL simulation test system and method for a 5G parallel driving system.
The technical scheme adopted by the invention is as follows: a HIL simulation test system for a 5G parallel driving system is characterized in that: comprises that
The parallel driving vehicle rack is used for acquiring environmental video data of the vehicle model, transmitting the environmental video data to the parallel driving control rack, controlling the vehicle model to perform relevant simulation actions according to the received control data, and acquiring vehicle information of the vehicle model and transmitting the vehicle information to the parallel driving control rack; selecting and switching the vehicle model according to the received instruction;
and the parallel driving control platform is used for processing and displaying the received environment video data, outputting control data of driving simulation to the parallel driving vehicle platform and outputting a selection and switching instruction of a vehicle model to the parallel driving vehicle platform.
Further, the parallel-drive vehicle stand comprises
The video acquisition module is used for acquiring environmental video data of the vehicle model and transmitting the environmental video data to the parallel driving controller;
the parallel driving controller is used for converting and storing the received environment video data, uploading the stored environment video data to the video controller, acquiring vehicle information of the vehicle model, sending the vehicle information to the parallel driving control stand, and selecting and switching the vehicle model according to the received instruction;
and the vehicle model is an operation model of a simulation test.
Furthermore, the vehicle model is a micro vehicle chassis with a suspended frame.
Further, the parallel driving control stand comprises
The driving simulator is used for providing control data for simulating driving to the driving server;
the driving server is used for transmitting control data of simulator driving to the parallel driving controller; the parallel driving controller is used for outputting a selection and switching instruction of the vehicle model to the parallel driving controller;
the video controller is used for decoding the received video data and outputting the decoded video data to the display screen;
and the display screen is used for displaying the video image decoded by the video controller.
Further, the parallel driving controller is communicated with the video controller in a UDP mode, the parallel driving controller is used as a UDP Client to achieve environment video data uploading service, and the video controller is used as a UDP Server to achieve environment video data receiving service.
Further, the parallel driving controller is in communication with a driving Server in a TCP mode, the parallel driving controller is used as a TCP Client for acquiring control data for driving simulation and selecting and switching operation for a vehicle model, and the driving Server is used as a TCP Server for transmitting the control data for driving simulation and selecting and switching control for the vehicle model.
A test method based on the HIL simulation test system for the 5G parallel driving system comprises a system power-on test, and the test process comprises the following steps: after the parallel driving controller is started, reporting the on-line information of the current vehicle model, reporting the current vehicle information at certain time intervals, and defaulting to not report the environmental video data for triggering; after receiving the online information, the driving server records the current effective vehicle information at intervals of a certain time; and after the video controller is electrified, the video is not decoded and displayed before the reported data is not received.
Further, the method also comprises a test for starting the parallel driving mode, and the test process comprises the following steps: after the system is powered on, the driving server sends a request for starting a parallel driving mode of a selected vehicle model; the parallel driving controller responds to the request and switches the vehicle model from the no-work mode to the parallel driving mode; the driving server starts to send control data for simulating driving, and the parallel driving controller starts to receive the control data for simulating driving and report environment video data.
Further, the method also comprises a test for running the parallel driving mode, and the test process comprises the following steps: under a parallel driving mode of the vehicle model, a driving server issues control data of current simulated driving at intervals of a certain time; the parallel driving controller updates control data of the simulated driving once at intervals of a certain time, converts the control data into CAN signals, forwards the CAN signals to a CAN bus, and reports environmental video data to the video controller in real time; the video controller decodes the environmental video data and outputs the environmental video data to the display screen for display.
Further, the method also comprises the step of stopping the test of the parallel driving mode, and the test process is as follows: the method comprises the steps that when a vehicle model is in a parallel driving mode, a driving server sends a request for selecting the vehicle model to stop the parallel driving mode, and a parallel driving controller responds to the request to switch the vehicle model from the parallel driving mode to a no-work mode; and simultaneously stopping receiving the control data of the simulated driving and stopping reporting the environmental video data by the parallel driving controller.
Further, the following electric test of the system is included, and the test process is as follows: when the system is powered off, the parallel driving controller reports that the current vehicle model is disconnected, and the driving server updates the vehicle information.
The in-loop simulation test system and the method designed by the invention improve the stability and reliability of software and hardware work of the parallel driving system, are carried out in a laboratory, do not need to be directly carried out in a real vehicle test field, reduce the parallel driving cost to the maximum extent, and also can effectively avoid the safety problem of the real vehicle field test.
Drawings
FIG. 1 is a schematic diagram of a test system according to the present invention.
FIG. 2 is a logic diagram of power-up/power-down control of the test system according to the present invention.
FIG. 3 is a control logic diagram for the test system to initiate the parallel driving mode of the present invention.
FIG. 4 is a control logic diagram for the parallel driving mode of the test system of the present invention.
FIG. 5 is a control logic diagram of the test system for stopping the parallel driving mode of the present invention.
In the figure: 1-parallel driving vehicle rack; 2-a video acquisition module; 3-a parallel steering controller; 4-vehicle model; 5-parallel driving control stand; 6-driving simulator; 7-a video controller; 8-a driving server; 9-display screen.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in figure 1, the invention provides an HIL simulation test system for a 5G parallel driving system, which consists of a parallel driving vehicle end rack and a parallel driving control rack.
The parallel driving vehicle end rack comprises a video acquisition module, a parallel driving controller (Linux system) and a vehicle model.
Wherein the parallel driving control stand comprises: the driving simulator comprises a driving simulator, a driving server (windows system), a video controller (Linux system) and a display screen.
The functions of each module and equipment are as follows:
the video acquisition module is a camera sensor and is used for acquiring environmental video data of the vehicle model and transmitting the environmental video data to the parallel driving controller for data conversion and storage;
the parallel driving controller is communicated with the video controller in a UDP mode, and the parallel driving controller is used as a UDP Client to achieve video data uploading service.
In addition, the parallel driving controller establishes TCP long connection with a driving server, and is used as a TCP Client of the rack driving service to acquire control data (a steering wheel, an accelerator, a brake, a gear and the like) of the driving simulator; and the TCP Client is used as a rack/vehicle switching service at the same time for rack/vehicle selection and switching.
The vehicle model is an operation model of simulation test, and the vehicle model in the invention is a micro vehicle chassis with a suspended frame (each actuator has complete ECU).
The driving simulator mainly provides control data (steering wheel, accelerator, brake, gear and the like) of a parallel driving vehicle rack and is driven by a driving server.
The driving Server is used as a TCP Server of the rack driving service to transmit control data (a steering wheel, an accelerator, a brake, gears and the like) of the driving simulator; and the TCP Server which is used as a platform/vehicle switching service is used for selecting and switching the platform/vehicle (namely the vehicle model).
The video controller communicates with the parallel driving controller in a UDP mode, serves as a UDP Server to achieve video data receiving service, and decodes and transmits received video to the display screen for displaying.
The display displays the video image decoded by the video controller.
In order to well test the functions of a parallel driving system (a video reporting function, a vehicle control instruction issuing function, a parking function in an abnormal mode), the HIL simulation test system mainly realizes the following 5 basic control function logics: 1) Powering on a system; 2) Starting a parallel driving mode; 3) Running a parallel driving mode (vehicle end control in the parallel driving mode); 4) Stopping the parallel driving mode; 5) And powering down the system.
As shown in fig. 2-5, the main steps of the embodiment are as follows:
1) System power-on
Step 1: the system is powered on, the parallel driving controller serves as a rack interactive service TCP Client, a vehicle model is associated in a default mode, the system is started, the current vehicle model online information is reported, and the driving Server serves as a TCP Server of the rack interactive service to record the current effective vehicle information.
Step 2: the video controller is used as a UDP Server of a video receiving service, and after being electrified, the video is displayed without decoding before the reported data is not received by default.
And step 3: the parallel driving controller is used as a UDP Client of a video reporting service, and after being electrified, the parallel driving controller defaults that the video is not reported and waits for triggering.
And 4, step 4: the parallel driving controller is used as a rack interactive service TCP Client, the current vehicle model state is reported every 1s, the driving Server is used as a rack interactive service TCP Server, and the current effective vehicle information is recorded every 1 s.
2) Initiating a parallel driving mode
And 5: after the system is started, the driving Server serves as a TCP Server of the rack interactive service and sends information that an operator can select a certain vehicle to start a parallel driving mode through a UI (user interface), and the parallel driving controller serves as a TCP Client response request of the rack interactive service and switches a vehicle model from a no-work mode to the parallel driving mode.
Step 6: the parallel driving controller obtains a service TCP Client as simulator data and starts to receive the simulation data.
And 7: and the parallel driving controller is used as a video reporting service UDP Client to start video reporting.
3) Running parallel driving mode
And 8: in a parallel driving mode of the vehicle model, a driving Server serves as a TCP Server of a rack driving service to send current simulator data (steering, accelerator, brake and the like), and a parallel driving controller serves as the simulator data to obtain a service TCP Client, receives the simulator data, converts the simulator data into a CAN signal and forwards the CAN signal to a CAN bus.
And step 9: the driving Server is used as a TCP Server of the rack driving service, current simulator data is issued at intervals of 200ms, the parallel driving controller is used as simulator data to obtain service TCP clients, CAN data is updated once every 20ms and is forwarded to the CAN bus.
Step 10: the parallel driving controller serves as a video reporting service UDP Client, and videos are reported to the video controller service in real time.
4) Stop parallel driving mode control protocol
Step 11: in the parallel driving mode, the driving Server is used as a TCP Server of the bench interactive service and sends information that an operator can select a certain vehicle to stop the parallel driving mode through a UI interface, and the parallel driving controller is used as a TCP Client response request of the bench interactive service and switches the vehicle model from the parallel driving mode to the no-work mode.
Step 12: the parallel driving controller obtains a service TCP Client as simulator data and stops receiving the simulation data.
Step 13: and the parallel driving controller is used as a video reporting service UDP Client to stop video reporting.
5) System power-off
Step 14: when the system is powered off, the parallel driving controller serves as a rack interactive service TCP Client to report that the current vehicle model is disconnected, and the driving Server serves as a TCP Server of the rack interactive service to update vehicle information.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Those not described in detail in this specification are well within the skill of the art.
Claims (8)
1. A HIL simulation test system for a 5G parallel driving system is characterized in that: comprises that
The parallel driving vehicle rack is used for acquiring environmental video data of the vehicle model, transmitting the environmental video data to the parallel driving control rack, controlling the vehicle model to perform relevant simulation actions according to the received control data, and acquiring vehicle information of the vehicle model and transmitting the vehicle information to the parallel driving control rack; selecting and switching the vehicle model according to the received instruction;
the parallel driving control stand is used for processing and displaying the received environment video data, outputting control data of driving simulation to the parallel driving vehicle stand and outputting a selection and switching instruction of a vehicle model to the parallel driving vehicle stand;
the parallel driving control stand comprises
The driving simulator is used for providing control data for simulating driving to the driving server;
the driving server is used for transmitting control data of simulator driving to the parallel driving controller; the parallel driving controller is used for outputting a selection and switching instruction of the vehicle model to the parallel driving controller;
the video controller is used for decoding the received video data and outputting the decoded video data to the display screen;
and the display screen is used for displaying the video image decoded by the video controller.
2. The HIL simulation test system for a 5G parallel driving system according to claim 1, wherein: the parallel-driving vehicle rack comprises
The video acquisition module is used for acquiring environmental video data of the vehicle model and transmitting the environmental video data to the parallel driving controller;
the parallel driving controller is used for converting and storing the received environment video data, uploading the stored environment video data to the video controller, acquiring vehicle information of the vehicle model, sending the vehicle information to the parallel driving control stand, and selecting and switching the vehicle model according to the received instruction;
and the vehicle model is an operation model of a simulation test.
3. The HIL simulation test system for a 5G parallel driving system according to claim 2, wherein: the vehicle model is a micro vehicle chassis with a suspended frame.
4. The HIL simulation test system for a 5G parallel driving system according to claim 1, wherein: the parallel driving controller is communicated with the video controller in a UDP mode, the parallel driving controller is used as a UDP Client to achieve environment video data uploading service, and the video controller is used as a UDP Server to achieve environment video data receiving service.
5. The HIL simulation test system for a 5G parallel driving system according to claim 1, wherein: the parallel driving controller is communicated with the driving Server in a TCP mode, the parallel driving controller is used as a TCP Client for acquiring control data for simulating driving and selecting and switching operation for a vehicle model, and the driving Server is used as a TCP Server for transmitting the control data for simulating driving and selecting and switching control for the vehicle model.
6. A test method of the HIL simulation test system for the 5G parallel driving system based on any one of claims 1-5 is characterized in that: the method comprises the following steps of electrifying and testing the system, wherein the test process comprises the following steps: after the parallel driving controller is started, a vehicle model is associated in a default mode, the current vehicle model online information is reported, meanwhile, the current vehicle information is reported at certain intervals, and environment video data which are not reported are defaulted to wait for triggering; after receiving the online information, the driving server records the current effective vehicle information at intervals of a certain time; after the video controller is electrified, the video is not decoded and displayed before the reported data is not received;
running a test of a parallel driving mode, wherein the test process comprises the following steps: under a parallel driving mode, a driving server issues control data of current simulated driving at intervals of a certain time; the parallel driving controller updates control data of the simulated driving once at intervals of a certain time, converts the control data into CAN signals, forwards the CAN signals to a CAN bus, and reports environmental video data to the video controller in real time; the video controller decodes the environmental video data and outputs the environmental video data to the display screen for display.
7. The test method of claim 6, wherein: the method also comprises a test for starting a parallel driving mode, and the test process comprises the following steps: after the system is powered on, the driving server sends a request for starting a parallel driving mode of a selected vehicle model; the parallel driving controller responds to the request and switches the vehicle model from the no-work mode to the parallel driving mode; the driving server starts to send control data for simulating driving, and the parallel driving controller starts to receive the control data for simulating driving and report environment video data.
8. The test method of claim 6, wherein: the method also comprises the test of stopping the parallel driving mode, and the test process is as follows: when the vehicle model is in the parallel driving mode, the driving server sends a request for selecting the vehicle model to stop the parallel driving mode, and the parallel driving controller responds to the request to switch the vehicle model from the parallel driving mode to the no-work mode; and simultaneously stopping receiving the control data of the simulated driving and stopping reporting the environmental video data by the parallel driving controller.
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| CN115016324A (en) * | 2022-06-24 | 2022-09-06 | 中国第一汽车股份有限公司 | Simulation test method, simulation test apparatus, and computer-readable storage medium |
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