CN113419518B - VIL test platform based on VTS - Google Patents
VIL test platform based on VTS Download PDFInfo
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- CN113419518B CN113419518B CN202110786302.6A CN202110786302A CN113419518B CN 113419518 B CN113419518 B CN 113419518B CN 202110786302 A CN202110786302 A CN 202110786302A CN 113419518 B CN113419518 B CN 113419518B
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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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- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Abstract
The invention discloses a VTS-based VIL test platform, which comprises a real vehicle, a real-time simulation system and a virtual scene simulation platform, wherein the real vehicle is connected with the virtual scene simulation platform through a network; firstly, a functional scene realized by a tested controller is built in a virtual scene simulation platform, then a corresponding sensor model is built in the virtual scene simulation platform according to an input signal required by a tested object, and information is sent to a real-time simulation system. The real-time simulation system positions real vehicles integrated by the monitored controller and virtual vehicles projected in a virtual simulation scene of the virtual scene simulation platform in real time, and the monitored control algorithm feeds back output signals to control the actions of the real vehicles, so that the controller with the automatic driving algorithm is verified. The invention realizes the control and monitoring of each signal, and can expand the IO resources required by the tested node. The control of the automatic driving simulation test is realized more efficiently, and the function of the automatic driving algorithm is verified more comprehensively.
Description
Technical Field
The invention relates to the technical field of test platforms, in particular to a VIL test platform based on VTS.
Background
The VT System is a product of the german Vector automotive electronics company, and the VT System (hereinafter referred to as "VTs") is a real-time simulation System, which is a modularized hardware System and is a part of the execution hardware of the System. The method can realize the control and monitoring of power signals, network fault injection, expandable IO (input/output) resources required by the tested nodes and the like. The module design can be flexibly configured, and can be used in a plug-and-play manner, and the module design also combines the function tests of an ECU (Electronic Control Unit) and a vehicle network system, so that the module design is flexible, and the real-time performance and the editability are ensured.
Currently, autopilot is beginning to move to true commercial applications, but this has previously required extensive and repeated testing to meet commercial requirements. The traditional drive test is used for carrying out automatic drive algorithm optimization, cost, time and manpower consumption cannot be imagined, and some extreme scenes with potential safety hazards cannot be realized, so that the simulation test based on a scene library is a main route for solving the challenge of automatic drive research and development test.
Disclosure of Invention
The invention aims to provide a VTS-based VIL test platform which has the advantages of simple circuit structure, safety, stability, low manufacturing cost and good universality, randomly changes the value of a sampling resistor, namely a sixth resistor to change the output current value of a constant current circuit, and can simply and easily realize the purpose of adjusting the output current of a constant current source.
In order to achieve the purpose, the invention provides the following technical scheme: a VIL test platform based on VTS comprises a real vehicle, a real-time simulation system and a virtual scene simulation platform;
a satellite-inertial navigation combined positioning system, an electronic control unit and a power supply are arranged in the real vehicle;
the satellite-inertial navigation combined positioning system comprises a satellite positioning system and an inertial directional positioning navigation system;
the satellite positioning system is used for synchronizing real-time positioning of a real vehicle in a virtual scene, the inertial directional positioning navigation system is used for acquiring current inertial information of the real vehicle in real time, synchronizing projection poses of the real vehicle and the virtual traffic scene, correcting inertial deviation by satellite positioning, acquiring the current accurate pose of the vehicle, and determining the pose in the virtual scene through coordinate system conversion;
the electronic control unit is internally integrated with a measured controller of an automatic driving algorithm and other electronic control units of the vehicle and is used for providing input required by the algorithm;
the power supply is used for supplying power to all equipment;
the real-time simulation system is used for bearing a real-time hardware system of the whole simulation platform, all modules of the whole closed loop are connected through hardware interfaces through a processing system and a modularized board card of the real-time simulation system, so that real-time communication is realized, and data of each module are processed, analyzed and simulated through configuration and programming on an upper computer of the real-time simulation system, so that the real-time simulation system is a communication junction of the whole simulation system; the method comprises the steps that communication data of a real vehicle, including positioning data provided by a satellite-inertial navigation combined positioning system, are directly obtained through a hardware interface, the data are converted into positioning signals in a control virtual scene, the real vehicle runs in a virtual environment, similarly, a real-time simulation system also obtains environment information around the vehicle in the virtual environment, the environment information is converted into input signals corresponding to a tested controller algorithm and is input to the tested control algorithm, the tested control algorithm feeds back output signals to control the action of the real vehicle, and therefore the controller with the automatic driving algorithm is verified;
the virtual scene simulation platform is used for building a corresponding simulation test traffic scene in scene simulation software; and inputting the generated scene information into the tested algorithm in a video dark box or video injection mode, and performing algorithm verification through the functional scenes.
Preferably, the current inertial information of the vehicle includes at least acceleration, speed, yaw.
Preferably, the environmental information around the host vehicle in the virtual environment at least includes surrounding vehicles, traffic scenes, traffic signs, and roads.
Preferably, the simulation test traffic scene at least comprises adaptive cruise, automatic emergency braking, front collision early warning and lane departure warning.
Preferably, a functional scene realized by the tested controller is firstly built in the virtual scene simulation platform, then a corresponding sensor model is built in the virtual scene simulation platform according to an input signal required by the tested object, and information is sent to the real-time simulation system.
Preferably, the real-time simulation system converts the signal of the virtual scene simulation platform into an input signal required by the measured controller and inputs the input signal to the measured controller, that is, a specific virtual simulation environment is set up for the input of different measured controllers, and then real vehicles integrated by the measured controller and virtual vehicles projected in the virtual simulation scene of the virtual scene simulation platform are positioned in real time.
Preferably, the satellite-inertial navigation combined positioning system inputs the pose information of the real vehicle acquired from the real vehicle to the real-time simulation system, and the real-time simulation system performs coordinate conversion and data processing to convert the pose information into a signal capable of controlling the pose of the vehicle in the virtual scene simulation platform.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the real vehicle is used for replacing a simulation vehicle model in the HIL, so that the accuracy of the simulation system is improved. And the limitation of the traditional real vehicle test is avoided by the VIL. Real vehicles only need run in an open field, and the real vehicles are embedded into a virtual traffic scene through the VIL, so that dangerous traffic road conditions can be easily emerged for testing, and manpower, resources and danger coefficients are greatly reduced. The bottleneck of the current automatic driving test is solved.
2. The invention realizes the control and monitoring of each signal, network fault injection, editable test case items, and can expand and provide IO resources required by the tested node. The control of the automatic driving simulation test is realized more efficiently, and the function of the automatic driving algorithm is verified more comprehensively.
3. The invention can reduce the test workload in the same time when carrying out complex function test and verification work, and flexibly realizes the establishment of simulation test on different automatic driving algorithms.
4. The invention adopts a real vehicle to access the test, thereby replacing the vehicle dynamic model in the HIL to achieve more accurate functional verification on the controller and realizing the scene test with potential safety hazard which can not be realized by the traditional drive test.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic block diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, removably connected, or integrally connected; is mechanically connected and is also electrically connected; are directly connected or indirectly connected through an intermediate medium, and are communicated with the inside of two elements. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention are understood according to specific situations.
VIL is a test method between HIL and real-time testing. VIL has the advantage of virtual driving, and simultaneously integrates the advantage of simulation technology by integrating a real automobile in a virtual traffic environment. And the real vehicle is used for replacing a simulation vehicle model in the HIL, so that the accuracy of the simulation system is improved.
VIL overcomes the limitation of the known traditional real vehicle road test, namely, the VIL is realized by integrating a virtual simulation technology and a conventional road test method. For this reason, a real vehicle will be "embedded" into a virtual traffic environment (including traffic scenes, traffic signs, roads, etc.) and can be tested in an open outdoor field, the VIL platform utilizes VTS equipment to achieve real-time synchronization of real vehicles with the virtual simulated world of the VTD, and utilizes the programmability and high real-time of the VTS.
Referring to fig. 1, the present invention provides a technical solution: a VIL test platform based on VTS can carry out complex function test and verify the novel simulation test technique of during operation, reduce test work load in the same time, the nimble realization carries out the construction of simulation test to different autopilot algorithm. The VTS-based VIL test platform comprises a real vehicle, a real-time simulation system and a virtual scene simulation platform.
A satellite-inertial navigation combined positioning system, an electronic control unit and a power supply are arranged in the real vehicle.
The satellite-inertial navigation combined positioning system comprises a satellite positioning system (namely a GPS (global positioning system)/a Beidou satellite navigation system/a GNSS (global navigation satellite system)), and an inertial directional positioning navigation system (INS); the system comprises a satellite positioning system, an inertial directional positioning navigation system, a GNSS positioning system and a virtual scene, wherein the satellite positioning system is used for synchronizing real-time positioning of a real vehicle in the virtual scene, the inertial directional positioning navigation system is used for acquiring current inertial information of the real vehicle in real time, such as acceleration, speed, yaw and the like, synchronizing projection positions of the real vehicle and the virtual traffic scene, acquiring satellite positioning information by utilizing the GNSS to correct inertial deviation, thereby acquiring the accurate position of the vehicle in the current running process, and determining the position in the virtual scene through coordinate system conversion.
The Electronic Control Unit (ECU) is also called as a traveling computer, a vehicle-mounted computer and the like, and a measured controller of an automatic driving algorithm and other electronic control units of the vehicle body are integrated in the Electronic Control Unit (ECU) and used for providing input required by the algorithm.
The power supply is used for supplying power to all the devices.
The real-time simulation system is used for bearing a real-time hardware system of the whole simulation platform, all modules of the whole closed loop are connected through hardware interfaces (such as Ethernet, CAN, I/O and the like) through a processing system and a modularized board card of the real-time simulation system, so that real-time communication is realized, positioning information of inertial navigation and communication data in a VTD simulation environment are processed, analyzed and simulated through configuration and programming on an upper computer of the real-time simulation system, and the real-time simulation system is a communication junction of the whole simulation system; the real vehicle communication data is directly acquired through a hardware interface, the real vehicle communication data comprises positioning data provided by a satellite-inertial navigation combined positioning system, the longitude and latitude are converted into coordinates by UTM, the coordinates are converted into a coordinate system of a virtual environment through the coordinate system, so that a positioning signal in the virtual scene is controlled, the real vehicle runs in the virtual environment, similarly, a real-time simulation system also acquires environmental information (such as surrounding vehicles, traffic scenes, traffic signs, roads and the like) around the vehicle in the virtual environment, then a corresponding sensor model is built in a VTD simulation environment through a sensor signal required to be received by a controller and is transmitted to a VTS, data processing is carried out in the VTS, the data output by the sensor model is converted into a signal of a real sensor, the signal is input to a tested control algorithm, and an output signal is fed back by the tested control algorithm to control the action of the real vehicle, so that the controller with an automatic driving algorithm is verified.
The virtual scene simulation platform is software capable of realizing complex traffic environment scene modeling and simulation, and is mainly used for building a corresponding simulation test traffic scene in scene simulation software. Such as adaptive cruise, automatic emergency braking, front collision early warning, lane departure warning and the like; and inputting the generated scene information into the tested algorithm in a video dark box or video injection mode, and performing algorithm verification through the functional scenes.
The work flow of the whole platform is as follows: firstly, a functional scene realized by a tested controller is built in a virtual scene simulation platform, then a corresponding sensor model is built in the virtual scene simulation platform according to an input signal required by a tested object, and information is sent to a real-time simulation system.
The real-time simulation system converts signals of the virtual scene simulation platform into input signals required by the measured controller and inputs the input signals to the measured controller, namely specific virtual simulation environments are set up aiming at the input of different measured controllers, and then real vehicles integrated by the measured controller and virtual vehicles projected in the virtual simulation scene of the virtual scene simulation platform are positioned in real time.
The satellite-inertial navigation combined positioning system inputs the pose information (such as coordinates, course angles and the like) of the real vehicle, which is acquired from the upper surface of the real vehicle, into the real-time simulation system, and the real-time simulation system performs coordinate conversion and data processing to convert the pose information into a signal capable of controlling the pose of the vehicle in the virtual scene simulation platform. Therefore, real-time synchronization of the real vehicle and the virtual vehicle pose in the virtual scene can be realized. The entire closed loop is realized.
The invention adopts real vehicles to replace the vehicle model of the traditional simulation test platform, improves the accuracy of the verification functional algorithm, replaces the environment of the traditional drive test with virtual scenes, reduces the risk factor, time, cost and the like, has more high efficiency and more flexible verification of the automatic algorithm based on the VTS real-time system, and solves a series of problems encountered in the current automatic driving algorithm test.
In the description of the present invention, it is to be understood that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings and are only for convenience in describing the present invention and simplifying the description, but are not intended to indicate or imply that the indicated devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described are combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A VIL test platform based on VTS, includes real vehicle, its characterized in that: the system also comprises a real-time simulation system and a virtual scene simulation platform;
a satellite-inertial navigation combined positioning system, an electronic control unit and a power supply are arranged in the real vehicle;
the satellite-inertial navigation combined positioning system comprises a satellite positioning system and an inertial directional positioning navigation system; the satellite positioning system is used for synchronizing real-time positioning of a real vehicle in a virtual scene, the inertial directional positioning navigation system is used for acquiring current inertial information of the real vehicle in real time, synchronizing projection poses of the real vehicle and the virtual traffic scene, correcting inertial deviation by satellite positioning, acquiring the current accurate pose of the vehicle, and determining the pose in the virtual scene through coordinate system conversion;
the electronic control unit is internally integrated with a measured controller of an automatic driving algorithm and other electronic control units of the vehicle and is used for providing input required by the algorithm;
the power supply is used for supplying power to all equipment;
the real-time simulation system is used for bearing a real-time hardware system of the whole simulation platform, all modules of the whole closed loop are connected through hardware interfaces through a processing system and a modularized board card of the real-time simulation system, so that real-time communication is realized, and data of each module are processed, analyzed and simulated through configuration and programming on an upper computer of the real-time simulation system, so that the real-time simulation system is a communication junction of the whole simulation system; the communication data of a real vehicle is directly acquired through a hardware interface, the communication data comprises positioning data provided by a satellite-inertial navigation combined positioning system, the data are converted into positioning signals in a control virtual scene, the real vehicle runs in a virtual environment, similarly, a real-time simulation system also acquires environmental information around the vehicle in the virtual environment, the environmental information is converted into input signals corresponding to the algorithm of a tested controller and is input into the tested control algorithm, the tested control algorithm feeds back output signals to control the action of the real vehicle, and therefore the controller with the automatic driving algorithm is verified;
the virtual scene simulation platform is used for building a corresponding simulation test traffic scene in scene simulation software; inputting the generated scene information into the tested algorithm in a video dark box or video injection mode, and performing algorithm verification through the functional scenes;
firstly, a functional scene realized by a tested controller is built in a virtual scene simulation platform, then a corresponding sensor model is built in the virtual scene simulation platform according to an input signal required by a tested object, and information is sent to a real-time simulation system;
the real-time simulation system converts signals of the virtual scene simulation platform into input signals required by the measured controller and inputs the input signals to the measured controller, namely specific virtual simulation environments are set up aiming at the input of different measured controllers, and then real vehicles integrated by the measured controller and virtual vehicles projected in the virtual simulation scene of the virtual scene simulation platform are positioned in real time.
2. The VTS-based VIL test platform of claim 1, wherein: the current inertial information of the vehicle at least comprises acceleration, speed and yaw.
3. The VTS-based VIL test platform of claim 1, wherein: the environmental information around the vehicle in the virtual environment at least comprises surrounding vehicles, traffic scenes, traffic signs and roads.
4. The VTS-based VIL test platform of claim 1, wherein: the simulation test traffic scene at least comprises self-adaptive cruise, automatic emergency braking, front collision early warning and lane departure warning.
5. The VTS-based VIL test platform of claim 1, wherein: the satellite-inertial navigation combined positioning system inputs the pose information of the real vehicle acquired on the real vehicle into the real-time simulation system, the real-time simulation system performs coordinate conversion and data processing, and the pose information is converted into a signal capable of controlling the pose of the vehicle in the virtual scene simulation platform.
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| CN113867315B (en) * | 2021-09-24 | 2023-06-02 | 同济大学 | Virtual-real combined high-fidelity traffic flow intelligent vehicle test platform and test method |
| CN114167752A (en) * | 2021-12-01 | 2022-03-11 | 中汽研（天津）汽车工程研究院有限公司 | Simulation test method and system device for vehicle active safety system |
| CN114415621A (en) * | 2021-12-13 | 2022-04-29 | 山东省科学院自动化研究所 | Automatic driving real vehicle hybrid test system and method based on virtual scene |
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| CN112639793A (en) * | 2020-08-05 | 2021-04-09 | 华为技术有限公司 | Test method and device for automatically driving vehicle |
| CN112180892A (en) * | 2020-09-11 | 2021-01-05 | 苏州智行众维智能科技有限公司 | Intelligent driving vehicle testing method based on field-in-loop |
| CN112100856B (en) * | 2020-09-17 | 2022-08-19 | 上汽大众汽车有限公司 | Automatic driving joint simulation method based on multiple platforms |
| CN112417756B (en) * | 2020-11-13 | 2023-11-17 | 清华大学苏州汽车研究院（吴江） | Interactive simulation test system of automatic driving algorithm |
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