CN112947112B - Unmanned vehicle simulation method based on SysML - Google Patents
Unmanned vehicle simulation method based on SysML Download PDFInfo
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Abstract
The application discloses an unmanned vehicle simulation method based on SysML, which comprises the following steps: constructing a plurality of mathematical models in a combined simulation system according to preset unmanned vehicle information, wherein the mathematical models comprise an unmanned vehicle model, a driving scene model and a motion control model; the joint simulation system comprises a plurality of simulation tools; describing the multiple mathematical models through a SysML modeling language to obtain a SysML model, and converting the SysML model into an XMI text format; and converting the SysML model described by the XMI text format into a Python object through a Python language, generating a driving script according to the Python object, and driving the joint simulation of the plurality of simulation tools according to the driving script. The method and the device solve the technical problems that in the prior art, the simulation efficiency of a motion control system is low, and the integrity and consistency of information are poor.
Description
Technical Field
The application relates to the technical field of unmanned vehicle simulation, in particular to an unmanned vehicle simulation method based on SysML.
Background
With the development of the unmanned vehicle technology, the unmanned vehicle technology is widely applied to a plurality of fields, such as public transportation, express delivery, military and the like. The simulation technology is an indispensable means for researching various complex systems, and the research and development work of unmanned vehicles does not leave the vehicle simulation technology. The unmanned vehicle comprises a motion control system, a data system, a communication system, a power supply system and the like, and in order to ensure the normal operation of the unmanned vehicle, various systems need to be simulated in the research and development process of the unmanned vehicle, wherein the simulation of the motion control system comprises the contents of environment simulation, mathematical modeling of vehicle dynamics and kinematics, environment detection based on a sensor, decision making, a controller and the like.
In the simulation research process of the motion control system of the unmanned vehicle, various simulation tools need to be introduced, for example, the simulation tools include Carsim, MATLAB, Carmaker, Prescan, Vissim, and the like, and each simulation tool is generally used for simulating one aspect of the motion control system simulation. Therefore, in order to realize the simulation of the motion control system of the unmanned vehicle, various simulation tools are generally combined in a joint simulation mode. At present, the process of joint simulation is: information interaction interfaces are compiled according to different scene information, and a plurality of simulation tools are operated through information interaction to realize joint simulation, however, simulation of a plurality of scenes can be involved in the simulation process of the motion control system of the unmanned vehicle, when the scenes are changed, on one hand, the information interaction interfaces need to be rewritten, so that the time consumption of the simulation process of the motion control system is long, and further the simulation efficiency of the motion control system is low, on the other hand, parameters need to be changed in each simulation software, and the integrity and consistency of information are poor due to the fact that some parameters are easily forgotten to be changed in the changing process.
Disclosure of Invention
The technical problem that this application was solved is: in the scheme provided by the embodiment of the application, a SysML model is obtained by describing a plurality of mathematical models in a joint simulation system through a SysML modeling language, the SysML model is converted into an XMI text format, then the SysML model described in the XMI text format is converted into a Python object through a Python language, a driving script is generated according to the Python object, and a plurality of simulation tools are driven to perform joint simulation according to the driving script. Therefore, in the scheme provided by the embodiment of the application, due to the characteristics of the SysML modeling language, the described SysML model has a specific structure, the SysML model is converted into a Python object through the Python language, and then the driving script generated according to the Python object has a general format, so that the driving interface and the script are not only prevented from being rewritten when a scene is converted, the time consumption of a simulation process is reduced, and the simulation efficiency of a motion control system is improved; parameters do not need to be changed in each simulation software, and the integrity and consistency of the simulation software information are ensured.
In a first aspect, an embodiment of the present application provides an unmanned vehicle simulation method based on SysML, including:
constructing a plurality of mathematical models in a combined simulation system according to preset unmanned vehicle information, wherein the mathematical models comprise an unmanned vehicle model, a driving scene model and a motion control model; the joint simulation system comprises a plurality of simulation tools;
describing the multiple mathematical models through a SysML modeling language to obtain a SysML model, and converting the SysML model into an XMI text format;
and converting the SysML model described by the XMI text format into a Python object through a Python language, generating a driving script according to the Python object, and driving the joint simulation of the plurality of simulation tools according to the driving script.
In the scheme provided by the embodiment of the application, a plurality of mathematical models in a joint simulation system are described through a SysML modeling language to obtain a SysML model, the SysML model is converted into an XMI text format, then the SysML model described in the XMI text format is converted into a Python object through a Python language, a driving script is generated according to the Python object, and a plurality of simulation tool joint simulations are driven according to the driving script. Therefore, in the scheme provided by the embodiment of the application, the SysML model has a specific structure due to the characteristics of the SysML modeling language, the SysML model is converted into a Python object through the Python language, and then the driving script generated according to the Python object has a universal format, so that the driving interface and the script are prevented from being rewritten when a scene is changed, the time consumption of the simulation process is reduced, and the simulation efficiency of the motion control system is improved; parameters do not need to be changed in each simulation software, and the integrity and consistency of the simulation software information are ensured.
Optionally, a plurality of mathematical models are constructed in the joint simulation system according to preset unmanned vehicle information, including:
and constructing an unmanned vehicle model and a driving scene model in Carsim simulation software according to preset unmanned vehicle information, and constructing an unmanned vehicle motion control model in MATLAB simulation software.
Optionally, the driver script is a driver script of the MATLAB simulation software, and the driver script includes a driver package of the Carsim simulation software, where the driver package includes an init function, a step function, and a terminate function, and the init function, the step function, and the terminate function are used to implement initialization, simulation operation, and end operation of the Carsim simulation software.
Optionally, driving, according to the driving script, joint simulation of the plurality of simulation tools includes:
running a driving script of the MATLAB simulation software to drive the starting, parameter configuration and running of the MATLAB simulation software;
and driving the start, parameter configuration and operation of the Carsim simulation software according to the drive package.
Optionally, the method further comprises: storing data corresponding to the plurality of mathematical models in a preset database, and directly calling the data corresponding to any mathematical model from the database when any mathematical model needs to be reconstructed; and constructing a SysML model corresponding to any one mathematical model through a SysML modeling language and data corresponding to the any one mathematical model.
In the scheme provided by the embodiment of the application, when any mathematical model needs to be reconstructed, data corresponding to any mathematical model is directly called from the database; and constructing the SysML model corresponding to any mathematical model through the SysML modeling language and the data corresponding to any mathematical model, thereby improving the reusability of the mathematical model.
Optionally, the method further comprises: when a new simulation tool needs to be added into the combined simulation system, determining parameter information of the new simulation tool, and adding the parameter information into the SysML model through a SysML modeling language to obtain a new SysML model; and obtaining a new driving file according to the new SysML model, and driving the new simulation tool and the multiple simulation tools in the combined simulation system to perform combined simulation according to the new driving file.
In the scheme provided by the embodiment of the application, when a new simulation tool is expanded into the joint simulation system, the parameter information of the new simulation tool is added into the SysML model through the SysML modeling language to obtain the new SysML model, then a new driving file is obtained according to the new SysML model, the new simulation tool and a plurality of simulation tools in the joint simulation system are driven to perform joint simulation according to the new driving file, and the expansibility of the system is further improved.
Drawings
Fig. 1 is a schematic flow chart of an unmanned vehicle simulation method based on SysML provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a vehicle model provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a joint simulation system according to an embodiment of the present application;
fig. 4 is a description diagram of modules in a mathematical model of a SysML modeling language provided in an embodiment of the present application.
Detailed Description
In the solutions provided in the embodiments of the present application, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The method for simulating the unmanned vehicle based on the SysML provided by the embodiment of the present application is further described in detail with reference to the drawings in the specification, and a specific implementation manner of the method may include the following steps (a method flow is shown in fig. 1):
step 101, constructing various mathematical models in a combined simulation system according to preset unmanned vehicle information, wherein the combined simulation system comprises various simulation tools.
In the scheme provided by the embodiment of the application, the preset unmanned vehicle information comprises vehicle type information of the unmanned vehicle, simulation parameters of the unmanned vehicle and the like. Specifically, there are various ways to construct various mathematical models in the combined simulation system according to preset unmanned vehicle information, and one of the ways is described below as an example.
In one possible implementation manner, a plurality of mathematical models are constructed in the joint simulation system according to preset unmanned vehicle information, and the mathematical models comprise: and constructing an unmanned vehicle model and a driving scene model in Carsim simulation software according to preset unmanned vehicle information, and constructing an unmanned vehicle motion control model in MATLAB simulation software.
Specifically, in the solution provided in the embodiment of the present application, the vehicle model includes a suspension system module, a powertrain system module, a brake system module, a steering system module, a sensor module, and the like, and refer to fig. 2, which is a schematic structural diagram of a vehicle model provided in the embodiment of the present application; the scene model comprises a road model and other target objects, wherein the other target objects comprise traffic moving objects which are parallel to the road and can simulate traffic vehicles, parked vehicles or roadside objects such as trees, curbs and the like, and the scene model also comprises a sensor target object which can move transversely relative to the road and can simulate traffic vehicles at an intersection or pedestrians passing by.
Further, in the solution provided in the embodiment of the present application, the motion control model includes a speed control module, a direction control module, a traction-brake control module, a speed-path decision module, and other mobile vehicle control modules. The motion control model may be implemented by various forms of control algorithms, for example, in the form of an m-script.
Further, in the solution provided in the embodiment of the present application, the joint simulation system includes, but is not limited to, Carsim simulation software and MATLAB simulation software. Fig. 3 is a schematic structural diagram of a joint simulation system provided in the embodiment of the present application.
And 102, describing the plurality of mathematical models through a SysML modeling language to obtain a SysML model, and converting the SysML model into an XMI text format.
According to the scheme provided by the embodiment of the application, after multiple mathematical models are built in a combined simulation system according to preset unmanned vehicle information, the multiple mathematical models are described through a SysML modeling language to obtain the SysML model. Specifically, the SysML modeling language can describe various mathematical models from different angles, for example, the SysML modeling language is used to construct design interfaces of modules in a joint simulation system, then the module definition diagrams in the SysML are used to describe the structures and variables of the modules, and then the internal module diagrams in the SysML are used to describe data interaction between the modules in the system; and then obtaining a SysML model corresponding to the mathematical model according to a preset SysML model architecture. Specifically, refer to fig. 4 for a description diagram of modules in a mathematical model of a SysML modeling language provided in an embodiment of the present application.
Further, after the SysML modeling is completed, the SysML model needs to be exported to an xml (xml Metadata exchange) Metadata exchange text format, and then the XMI file is parsed, where the exported XMI file includes all information expressed by the SysML model, that is, the SysML model is converted to the XMI text format.
Step 103, converting the SysML model described by the XMI text format into a Python object through a Python language, generating a driving script according to the Python object, and driving the joint simulation of the plurality of simulation tools according to the driving script.
Specifically, in the solution provided in the embodiment of the present application, after the SysML model is converted into the XMI text format, the SysML model described in the XMI text is converted into a Python object by using Python for storage, the joint simulation system operating environment described in the SysML model is constructed, and then the driver script is generated according to the Python object.
Further, in the solution provided in the embodiment of the present application, there are various forms of driver scripts generated according to Python objects, and one of them is described as an example below.
In a possible implementation manner, the driver script is a driver script of the MATLAB simulation software, and the driver script includes a driver package of the Carsim simulation software, where the driver package includes an init function, a step function, and a terminate function, and the init function, the step function, and the terminate function are used to implement initialization, simulation operation, and end operation of the Carsim simulation software.
In one possible implementation manner, driving the joint simulation of the plurality of simulation tools according to the driving script comprises: running a drive script of the MATLAB simulation software to drive the MATLAB simulation software to start, configure parameters and run; and driving the start, parameter configuration and operation of the Carsim simulation software according to the drive package.
Specifically, an MATLAB control model is arranged in the MATLAB simulation software, and the MATLAB control model can directly call a drive script to start, configure parameters and run the MATLAB simulation software.
Further, in the solution provided in the embodiment of the present application, a driver package of the Carsim emulation software, that is, a CarModel package, is further defined in the driver script, where the CarModel package includes init, step, and terminate functions to implement initialization, emulation operation, termination, and other operations. The driving script also comprises initialization of the drivable module, setting of an initial value of a port of the drivable module and circular execution of the drivable module, and is used for packaging a driver of the Carsim model into a format similar to that of the MATLAB model in the MATLAB, so that the final driving of the joint simulation system can be completely carried out in an MATLAB environment, and meanwhile, the MATLAB and the Carsim simulation software run synchronously.
In the scheme provided by the embodiment of the application, a plurality of mathematical models in a joint simulation system are described through a SysML modeling language to obtain a SysML model, the SysML model is converted into an XMI text format, then the SysML model described in the XMI text format is converted into a Python object through a Python language, a driving script is generated according to the Python object, and a plurality of simulation tool joint simulations are driven according to the driving script. Therefore, in the scheme provided by the embodiment of the application, due to the characteristics of the SysML modeling language, the described SysML model has a specific structure, the SysML model is converted into a Python object through the Python language, and then the driving script generated according to the Python object has a general format, so that the driving interface and the script are not only prevented from being rewritten when a scene is converted, the time consumption of a simulation process is reduced, and the simulation efficiency of a motion control system is improved; parameters do not need to be changed in each simulation software, and the integrity and consistency of the simulation software information are ensured.
Further, in order to improve reusability of the mathematical model, in a possible implementation manner, in step 130, the method further includes: storing data corresponding to the plurality of mathematical models in a preset database, and directly calling the data corresponding to any mathematical model from the database when any mathematical model needs to be reconstructed; and constructing a SysML model corresponding to any one mathematical model through a SysML modeling language and data corresponding to the any one mathematical model.
In the scheme provided by the embodiment of the application, when any mathematical model needs to be reconstructed, data corresponding to any mathematical model is directly called from the database; and constructing the SysML model corresponding to any mathematical model through the SysML modeling language and the data corresponding to any mathematical model, thereby improving the reusability of the mathematical model.
Further, in order to improve the expansibility of the system, the method further comprises the following steps: when a new simulation tool needs to be added into the combined simulation system, determining parameter information of the new simulation tool, and adding the parameter information into the SysML model through a SysML modeling language to obtain a new SysML model; and obtaining a new drive file according to the new SysML model, and driving the new simulation tool and the joint simulation of the multiple simulation tools in the joint simulation system according to the new drive file.
For example, the Carsim model can be extended to other automobile design software platforms, and the specific steps include firstly defining a new software module, giving parameters required for starting in the software module, designing and determining driving parameters of a sub-module, and defining a new sub-module template. Therefore, a new software platform is expanded into the combined simulation system.
In the scheme provided by the embodiment of the application, when a new simulation tool is expanded into the joint simulation system, the parameter information of the new simulation tool is added into the SysML model through the SysML modeling language to obtain the new SysML model, then a new driving file is obtained according to the new SysML model, the new simulation tool and a plurality of simulation tools in the joint simulation system are driven to perform joint simulation according to the new driving file, and the expansibility of the system is further improved.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (4)
1. An unmanned vehicle simulation method based on SysML is characterized by comprising the following steps:
constructing a plurality of mathematical models in a combined simulation system according to preset unmanned vehicle information, wherein the mathematical models comprise an unmanned vehicle model, a driving scene model and a motion control model; the joint simulation system comprises a plurality of simulation tools;
describing the multiple mathematical models through a SysML modeling language to obtain a SysML model, and converting the SysML model into an XMI text format;
converting the SysML model described by the XMI text format into a Python object through a Python language, generating a driving script according to the Python object, and driving the joint simulation of the multiple simulation tools according to the driving script;
the driver script is a driver script of MATLAB simulation software, the driver script comprises a driver package of the Carsim simulation software, the driver package comprises an init function, a step function and a terminate function, and the init function, the step function and the terminate function are used for realizing initialization, simulation operation and ending operation of the Carsim simulation software;
driving the joint simulation of the plurality of simulation tools according to the driving script, wherein the joint simulation comprises the following steps:
running a driving script of the MATLAB simulation software to drive the starting, parameter configuration and running of the MATLAB simulation software;
driving the start, parameter configuration and operation of the Carsim simulation software according to the drive package;
the describing the plurality of mathematical models by the SysML modeling language to obtain the SysML model comprises:
constructing design interfaces of modules in a joint simulation system by using a SysML modeling language, describing structures and variables of the modules by using a module definition diagram in the SysML, and describing data interaction between the modules in the system by using an internal module diagram in the SysML; and then obtaining a SysML model corresponding to the mathematical model according to a preset SysML model architecture.
2. The method of claim 1, wherein constructing a plurality of mathematical models in the co-simulation system based on the pre-set unmanned vehicle information comprises:
and constructing an unmanned vehicle model and a driving scene model in Carsim simulation software according to preset unmanned vehicle information, and constructing an unmanned vehicle motion control model in MATLAB simulation software.
3. The method of any of claims 1-2, further comprising:
storing the data corresponding to the various mathematical models in a preset database, and directly calling the data corresponding to any mathematical model from the database when any mathematical model needs to be reconstructed;
and constructing a SysML model corresponding to any one mathematical model through a SysML modeling language and data corresponding to the any one mathematical model.
4. The method of claim 3, further comprising:
when a new simulation tool needs to be added into the combined simulation system, determining parameter information of the new simulation tool, and adding the parameter information into the SysML model through a SysML modeling language to obtain a new SysML model;
and obtaining a new drive file according to the new SysML model, and driving the new simulation tool to jointly simulate with various simulation tools in the joint simulation system according to the new drive file.
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