CN116242636A - Hardware-in-loop system for intelligent automobile chassis simulation test - Google Patents
Hardware-in-loop system for intelligent automobile chassis simulation test Download PDFInfo
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Abstract
The invention provides a hardware-in-the-loop system for intelligent automobile chassis simulation test, which comprises a data acquisition terminal, a simulation test terminal, an assessment terminal and a feedback control terminal, wherein the data acquisition terminal is connected with the simulation test terminal; the data acquisition terminal is used for acquiring real-time data of the automobile air suspension and the shock absorber and generating air suspension information and shock absorber information; the simulation test terminal is used for carrying out running simulation on the virtual automobile object based on different road conditions and driving control habits of different drivers by combining suspension information and shock absorber information from automobile hardware to generate simulation test result information; the evaluation terminal is used for carrying out technical evaluation on the simulation test result information of each simulation to generate evaluation result information; the feedback control terminal is used for generating a corresponding feedback control instruction according to the assessment result information and the current road condition of the automobile; the feedback control command is used to adjust the operating conditions of the air suspension and the shock absorber of the automobile. The invention has the effect of improving the accuracy and efficiency of the system on the control of the automobile chassis.
Description
Technical Field
The invention relates to the technical field of vehicle hardware-in-loop simulation test, in particular to a hardware-in-loop system for intelligent vehicle chassis simulation test.
Background
Hardware-in-loop testing is a key link for developing hybrid power controllers and component controllers, and can verify the functions of the controllers before bench test and road test, so that the development period of the controllers is shortened. And building a hybrid power hardware-in-loop test system, and carrying out hardware-in-loop test on the whole vehicle controller and the component controller. The test system is formed by combining hardware data with virtual software, so that the control of the intelligent automobile chassis by the system is optimized.
Many hardware-in-the-loop systems for automobiles have been developed, and through extensive searching and reference, the hardware-in-the-loop systems of the prior art are found to be as disclosed in publication numbers CN104794258A, CN104865946B, CN102880171B, EP3082000A1, US20190244444A1, JP2016207211a, and generally comprise: the development of two general software platforms, namely LabVIEW and Veristan based on NI is divided into an upper computer and a lower computer on the whole, wherein the lower computer specifically comprises hardware of various hardware resources required by testing, a driving program thereof and an important engine model, and is used for simulating the working state of an engine; the lower computer program related to Veristan can be used as a bridge between an interface of an engine model and corresponding hardware resources to enable the interfaces to be communicated and connected with each other, and is used as an interface communicated with an upper computer to transmit related information of the engine model and other hardware to the upper computer; the upper computer comprises a human-computer interface and a hardware resource output port, and the human-computer interface of the upper computer is compiled by LabVIEW, so that the upper computer has good openness, universality and portability, and facilitates the development of subsequent projects. The system is unfavorable for being directly applied to the real-time control of the automobile, is only suitable for the driving stage, and causes the defects of accuracy and efficiency reduction of the real-time control of the automobile by utilizing hardware in a loop test system when the automobile is used.
Disclosure of Invention
The invention aims to provide a hardware-in-loop system for intelligent automobile chassis simulation test, aiming at the defects of the hardware-in-loop system of the automobile.
The invention adopts the following technical scheme:
the hardware-in-loop system for intelligent automobile chassis simulation test comprises a data acquisition terminal, a simulation test terminal, an evaluation terminal and a feedback control terminal;
the data acquisition terminal is used for acquiring real-time data of the automobile air suspension and the shock absorber and generating air suspension information and shock absorber information; the simulation test terminal is used for carrying out running simulation on a virtual automobile object based on different road conditions and driving control habits of different drivers by combining suspension information and shock absorber information from automobile hardware to generate simulation test result information; the evaluation terminal is used for carrying out technical evaluation on the simulation test result information of each simulation to generate evaluation result information;
the feedback control terminal is used for generating a corresponding feedback control instruction according to the assessment result information and the current road condition of the automobile; the feedback control command is used for adjusting the working conditions of the automobile air suspension and the shock absorber.
Optionally, the simulation test terminal comprises a virtual road condition information calling module, a virtual driver type calling module, an information acquisition module and a simulation module; the virtual road condition information calling module is used for calling various preset virtual road condition information in the database; the virtual driver type calling module is used for calling various preset virtual driver types in the database; the information acquisition module is used for acquiring real-time air suspension information and shock absorber information; the simulation module is used for simulating in different virtual road condition information and virtual driver type combinations by utilizing real-time air suspension information and shock absorber information, and recording the dynamic torque of the engine, the yaw angle of the automobile and the vibration of the automobile body obtained through simulation as simulation test result information.
Optionally, the simulation module comprises an engine dynamic torque calculation sub-module, an automobile yaw angle calculation sub-module, a vehicle body shaking simulation sub-module and a simulation result output sub-module; the engine dynamic torque calculation sub-module is used for calculating corresponding engine dynamic torque according to the simulation process of the combination of various virtual road condition information and virtual driver types; the automobile yaw angle calculation sub-module is used for calculating a corresponding automobile yaw angle according to a simulation process of the combination of various virtual road condition information and virtual driver types; the vehicle body shake simulation sub-module is used for calculating corresponding vehicle body shake according to the simulation process of the combination of various virtual road condition information and virtual driver types; and the simulation result output submodule is used for recording dynamic torque of the engine, yaw angle of the automobile and vibration of the automobile body as simulation test result information.
Optionally, the evaluation terminal comprises a simulation parameter evaluation module, a virtual driver comfort evaluation module, a simulation correction information generation module and an evaluation result information generation module; the simulation parameter evaluation module is used for generating a corresponding simulation parameter evaluation result according to the simulation test result information of each simulation; the virtual driver comfort level assessment module is used for generating a corresponding comfort level assessment result according to the simulation test result information of each simulation; the simulation correction information generation module is used for carrying out secondary simulation according to the target simulation parameter assessment result and the target comfort assessment result corresponding to the virtual driver type and the virtual road condition information during each simulation, and extracting the air suspension parameter and the damper parameter corresponding to the secondary simulation as simulation correction information; the evaluation result information generation module is used for packaging the simulation parameter evaluation result, the comfort evaluation result and the simulation correction information of each group of simulation into evaluation result information;
when the simulation parameter evaluation module evaluates, the following formula is satisfied:
wherein P is 1 Representing a simulation parameter assessment index; n (N) max Representing the maximum engine dynamic torque of the automobile in the process segment samples of the simulation process;
representing the average engine dynamic torque of the vehicle in the process segment samples of the simulation process; n (N) min Representing the minimum engine dynamic torque of the automobile in the process segment samples of the simulation process; k (k) 1 Representing a first weight coefficient, and setting by a programmer according to actual conditions; f (f) 1 (θ max ) Represents a weight selection function, θ max Representing the maximum automobile yaw angle of the automobile in the process segment sampling of the simulation process; t is t a Representing duration of maximum automobile yaw angle appearing for the a-th time in process segment sampling of the simulation process; a represents the number of times that the maximum automobile yaw angle occurs in the process segment sampling of the simulation process; />
Representing the body jitter frequency of the automobile in the process segment sampling of the simulation process; k (k) 2 Representing a second weight coefficient, which is set by a programmer according to actual conditions; c represents a selection threshold value, which is empirically set by a programmer; q represents the number of vehicle body jitters in the process segment sampling of the simulation process; t represents the total duration of the process fragment sampling of the simulation process; the simulation parameter evaluation module is used for evaluating the simulation parameters according to P 1 Different simulation parameter assessment results are generated according to different simulation parameters;
when the virtual driver comfort assessment module assesses, the following equation is satisfied:
wherein P is 2 Representing a comfort assessment index; θ min Representing the minimum automobile yaw angle of the automobile in the process segment sampling of the simulation process; k (k) 3 And k 4 Respectively represent the third weight coefficient and the third weight coefficientThe four weight coefficients are all set by a programmer according to experience; the virtual driver comfort level evaluation module is used for evaluating the comfort level of the virtual driver according to P 2 Different comfort assessment results are generated.
Optionally, the feedback control terminal comprises a real-time road condition type recognition module, a driver type recognition module, a feedback control instruction generation module and a feedback execution module; the feedback control instruction generation module is used for generating a feedback control instruction according to the corresponding assessment result information; the driver type recognition module is used for recognizing the driver type of the driver in the automobile; the real-time road condition type identification module is used for identifying the road condition type of the automobile driving road section; the feedback execution module is used for selecting a corresponding feedback control instruction according to the type of a driver in the automobile and the type of the real-time road condition.
The hardware-in-loop method for intelligent automobile chassis simulation test is applied to the hardware-in-loop system for intelligent automobile chassis simulation test, and comprises the following steps:
s1, acquiring real-time data of an automobile air suspension and a shock absorber, and generating air suspension information and shock absorber information;
s2, carrying out driving simulation on the virtual automobile object by combining suspension information and shock absorber information from automobile hardware based on different road conditions and driving control habits of different drivers, and generating simulation test result information;
s3, carrying out technical evaluation on simulation test result information of each simulation to generate evaluation result information;
and S4, generating a corresponding feedback control instruction according to the assessment result information and the current road condition of the automobile.
The beneficial effects obtained by the invention are as follows:
1. the data acquisition terminal, the simulation test terminal, the evaluation terminal and the feedback control terminal are arranged to be beneficial to real-time hardware-in-loop test by combining chassis hardware of an automobile with the simulation test terminal, and then simulation evaluation and feedback control are realized by using the evaluation terminal and the feedback control terminal, so that accuracy and efficiency of controlling the chassis of the automobile are improved;
2. the virtual road condition information calling module, the virtual driver type calling module, the information acquisition module and the simulation module are arranged to be beneficial to optimizing simulation conditions, simulation dimensions, simulation speed and simulation accuracy; further improving the accuracy of the simulation test result information;
3. the dynamic torque calculation sub-module of the engine, the yaw angle calculation sub-module of the automobile, the automobile body shaking simulation sub-module and the simulation result output sub-module are arranged, so that the accuracy of the dynamic torque of the engine, the yaw angle of the automobile and the automobile body shaking obtained through simulation is improved, and the accuracy of simulation test result information is further improved;
4. the simulation parameter evaluation module, the virtual driver comfort evaluation module, the simulation correction information generation module and the evaluation result information generation module are arranged in combination with a simulation parameter evaluation index calculation algorithm and a comfort evaluation index calculation algorithm, so that the accuracy and the efficiency of calculating the simulation parameter evaluation result are improved, and the accuracy and the efficiency of calculating the comfort evaluation result are improved;
5. the real-time road condition type recognition module, the driver type recognition module, the feedback control instruction generation module and the feedback execution module are arranged to be beneficial to improving the generation efficiency and accuracy of the feedback control instruction;
6. the face recognition module, the safety belt pressure sensing module and the reset judgment module in the automobile are set to cooperate with the reset index calculation algorithm, so that the automobile shock absorber and the air suspension reenter the initial state according to actual conditions, a driver is protected, and accuracy and efficiency of controlling the automobile chassis are improved.
For a further understanding of the nature and the technical aspects of the present invention, reference should be made to the following detailed description of the invention and the accompanying drawings, which are provided for purposes of reference only and are not intended to limit the invention.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the application effect of a hardware-in-the-loop system for intelligent vehicle chassis simulation test according to the present invention;
FIG. 3 is a flow chart of a hardware-in-the-loop method for intelligent vehicle chassis simulation test according to the present invention;
FIG. 4 is a schematic view of another overall structure of the present invention;
reference numerals illustrate:
1. a data acquisition terminal; 2. simulating a test terminal; 3. an assessment terminal; 4. and feeding back the control terminal.
Detailed Description
The following embodiments of the present invention are described in terms of specific examples, and those skilled in the art will appreciate the advantages and effects of the present invention from the disclosure herein. The invention is capable of other and different embodiments and its several details are capable of modification and variation in various respects, all without departing from the spirit of the present invention. The drawings of the present invention are merely schematic illustrations, and are not drawn to actual dimensions, and are stated in advance. The following embodiments will further illustrate the related art of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
Embodiment one.
The embodiment provides a hardware-in-the-loop system for intelligent automobile chassis simulation test. Referring to fig. 1 and 2, a hardware-in-the-loop system for intelligent automobile chassis simulation test comprises a data acquisition terminal 1, a simulation test terminal 2, an assessment terminal 3 and a feedback control terminal 4;
the data acquisition terminal 1 is used for acquiring real-time data of the automobile air suspension and the shock absorber and generating air suspension information and shock absorber information; the simulation test terminal 2 is used for carrying out running simulation on a virtual automobile object based on different road conditions and driving control habits of different drivers by combining suspension information and shock absorber information from automobile hardware to generate simulation test result information; the evaluation terminal 3 is used for performing technical evaluation on simulation test result information of each simulation to generate evaluation result information;
the feedback control terminal 4 is used for generating a corresponding feedback control instruction according to the assessment result information and combining the current road condition of the automobile; the feedback control command is used for adjusting the working conditions of the automobile air suspension and the shock absorber.
The hardware-in-loop system for intelligent automobile chassis simulation test is installed in an intelligent automobile, virtual automobile objects are firstly subjected to driving simulation by combining real air suspension information and shock absorber information with virtual different road conditions and driving control habits of different drivers, simulation test result information is generated, each group of virtual road conditions and virtual driver combinations are respectively corresponding to unique simulation test result information, secondary simulation is performed to obtain feedback control instructions corresponding to the combination simulation, meanwhile, the current driver type in the intelligent automobile and the road condition type of the current driving road section are identified, and finally, corresponding feedback control instructions are selected according to the actual driver type and road condition type of the intelligent automobile to perform feedback adjustment on the automobile chassis.
Optionally, the simulation test terminal comprises a virtual road condition information calling module, a virtual driver type calling module, an information acquisition module and a simulation module; the virtual road condition information calling module is used for calling various preset virtual road condition information in the database; the virtual driver type calling module is used for calling various preset virtual driver types in the database; the information acquisition module is used for acquiring real-time air suspension information and shock absorber information; the simulation module is used for simulating in different virtual road condition information and virtual driver type combinations by utilizing real-time air suspension information and shock absorber information, and recording the dynamic torque of the engine, the yaw angle of the automobile and the vibration of the automobile body obtained through simulation as simulation test result information.
Optionally, the simulation module comprises an engine dynamic torque calculation sub-module, an automobile yaw angle calculation sub-module, a vehicle body shaking simulation sub-module and a simulation result output sub-module; the engine dynamic torque calculation sub-module is used for calculating corresponding engine dynamic torque according to the simulation process of the combination of various virtual road condition information and virtual driver types; the automobile yaw angle calculation sub-module is used for calculating a corresponding automobile yaw angle according to a simulation process of the combination of various virtual road condition information and virtual driver types; the vehicle body shake simulation sub-module is used for calculating corresponding vehicle body shake according to the simulation process of the combination of various virtual road condition information and virtual driver types; and the simulation result output submodule is used for recording dynamic torque of the engine, yaw angle of the automobile and vibration of the automobile body as simulation test result information.
Optionally, the evaluation terminal comprises a simulation parameter evaluation module, a virtual driver comfort evaluation module, a simulation correction information generation module and an evaluation result information generation module; the simulation parameter evaluation module is used for generating a corresponding simulation parameter evaluation result according to the simulation test result information of each simulation; the virtual driver comfort level assessment module is used for generating a corresponding comfort level assessment result according to the simulation test result information of each simulation; the simulation correction information generation module is used for carrying out secondary simulation according to the target simulation parameter assessment result and the target comfort assessment result corresponding to the virtual driver type and the virtual road condition information during each simulation, and extracting the air suspension parameter and the damper parameter corresponding to the secondary simulation as simulation correction information; the evaluation result information generation module is used for packaging the simulation parameter evaluation result, the comfort evaluation result and the simulation correction information of each group of simulation into evaluation result information;
when the simulation parameter evaluation module evaluates, the following formula is satisfied:
wherein P is 1 Representing a simulation parameter assessment index; n (N) max Representing the maximum engine dynamic torque of the automobile in the process segment samples of the simulation process;
representing the average engine dynamic torque of the vehicle in the process segment samples of the simulation process; n (N) min Representing the minimum engine dynamic torque of the automobile in the process segment samples of the simulation process; k (k) 1 Representing a first weight coefficient, which is set by a programmer according to actual conditions, and k is equal to or less than 5s 1 0.8, k when T > 5s 1 1.5; f (f) 1 (θ max ) Represents a weight selection function, θ max Representing the maximum automobile yaw angle of the automobile in the process segment sampling of the simulation process; t is t a Representing duration of maximum automobile yaw angle appearing for the a-th time in process segment sampling of the simulation process; a represents the number of times that the maximum automobile yaw angle occurs in the process segment sampling of the simulation process; />
Representing the body jitter frequency of the automobile in the process segment sampling of the simulation process; k (k) 2 Representing a second weight coefficient, which is set by a programmer according to actual conditions, and k is equal to or less than 5s 2 0.2, k when T > 5s 2 0.5; the method comprises the steps of carrying out a first treatment on the surface of the C represents a selection threshold value, which is empirically set by a programmer; q represents the number of vehicle body jitters in the process segment sampling of the simulation process; t represents the total duration of the process fragment sampling of the simulation process; the simulation parameter evaluation module is used for evaluating the simulation parameters according to P 1 Different simulation parameter assessment results are generated according to different simulation parameters;
when P 1 ≤μ 1 The simulation parameter evaluation module generates a simulation parameter evaluation result used for representing 'excellent simulation parameters'; when mu 1 ＜P 1 ≤μ 2 The simulation parameter evaluation module generates a simulation parameter evaluation result for representing that the simulation parameter meets the standard; when P 1 ＞μ 2 The simulation parameter assessment module generates a model for the representation'Simulation parameter assessment results of the simulation parameters which are not up to standard; mu (mu) 1 Sum mu 2 The evaluation result threshold is expressed and set empirically by a programmer.
When the virtual driver comfort assessment module assesses, the following equation is satisfied:
wherein P is 2 Representing a comfort assessment index; θ min Representing the minimum automobile yaw angle of the automobile in the process segment sampling of the simulation process; k (k) 3 And k 4 Respectively representing a third weight coefficient and a fourth weight coefficient, which are set by a programmer according to experience; the virtual driver comfort level evaluation module is used for evaluating the comfort level of the virtual driver according to P 2 Different comfort assessment results are generated. When P 2 ≤δ 1 The virtual driver comfort level evaluation module generates a comfort level evaluation result for representing that the comfort level reaches the standard; when P 2 ＞δ 1 The virtual driver comfort level assessment module generates a comfort level assessment result for representing that the comfort level is not up to standard; delta 1 The comfort result dividing threshold is expressed and set empirically by a programmer.
Optionally, the feedback control terminal comprises a real-time road condition type recognition module, a driver type recognition module, a feedback control instruction generation module and a feedback execution module; the feedback control instruction generation module is used for generating a feedback control instruction according to the corresponding assessment result information; the driver type recognition module is used for recognizing the driver type of the driver in the automobile; the real-time road condition type identification module is used for identifying the road condition type of the automobile driving road section; the feedback execution module is used for selecting a corresponding feedback control instruction according to the type of a driver in the automobile and the type of the real-time road condition. The feedback control command is used to adjust the vehicle shock absorber and air suspension.
The hardware-in-loop method for intelligent automobile chassis simulation test is applied to the hardware-in-loop system for intelligent automobile chassis simulation test, and is shown in combination with fig. 3, and the hardware-in-loop method for intelligent automobile chassis simulation test comprises the following steps:
s1, acquiring real-time data of an automobile air suspension and a shock absorber, and generating air suspension information and shock absorber information;
s2, carrying out driving simulation on the virtual automobile object by combining suspension information and shock absorber information from automobile hardware based on different road conditions and driving control habits of different drivers, and generating simulation test result information;
s3, carrying out technical evaluation on simulation test result information of each simulation to generate evaluation result information;
and S4, generating a corresponding feedback control instruction according to the assessment result information and the current road condition of the automobile.
Embodiment two.
The embodiment includes the whole content of the first embodiment, and provides a hardware-in-loop system for intelligent automobile chassis simulation test, and referring to fig. 4, the hardware-in-loop system for intelligent automobile chassis simulation test further includes a feedback reset terminal, where the feedback reset terminal is used to reset the automobile shock absorber and the air suspension after being regulated by the feedback control instruction, so that the automobile shock absorber and the air suspension reenter an initial state; the initial state refers to a standard state of corresponding hardware set by a programmer, and is set empirically. The feedback reset terminal comprises an in-vehicle face recognition module, a safety belt pressure sensing module and a reset judging module; the in-vehicle face recognition module is used for recognizing the facial expression of the driver in real time; the safety belt pressure sensing module is used for identifying the force change condition of the safety belt of the driver, which is pressed by the body of the driver, in real time; the reset judging module is used for generating reset judging information according to the facial expression of a driver and the pressure condition of the safety belt in the process of adjusting the hardware of the automobile chassis by the feedback control instruction.
When the reset determination module makes a determination, a reset exponent is first calculated by:
wherein R represents a reset exponent; f (f) 2 (s) represents a selection window function based on the expression of the driver; s represents a special expression of the driver in the sampled video clip of the driver's expression, wherein the special expression comprises a surprise, fear or pain expression; x is X e Representing duration of the e-th non-special expression in the sampled video clip of the driver's expression; e represents the total number of non-special expressions appearing on the face of the driver in the sampled video clips of the driver's expression; lambda (lambda) m a x Representing the maximization coefficient value, empirically set by a programmer; s=1 represents the appearance of a particular expression on the face of the driver in a sample video clip of the driver's expression; s=0 indicates that no special expression appears on the face of the driver in the sampled video clip of the expression of the driver; f (f) 3 (Y max ) A select window function based on the belt compression condition; y is Y max Representing a maximum value of belt compression for the same time as the duration of the sampled video segment of the driver's expression after the feedback control command is applied; y is Y g A pressure peak representing a pressure change occurring at the g-th time of the driver seat belt in the same time as the duration of the sampled video clip of the driver's expression; g represents the total number of pressure changes that occur to the driver harness during the same time as the duration of the sampled video clip of the driver's expression; η represents a selection threshold value set empirically by a programmer.
The foregoing disclosure is only a preferred embodiment of the present invention and is not intended to limit the scope of the invention, so that all equivalent technical changes made by the application of the present invention and the accompanying drawings are included in the scope of the invention, and in addition, the elements in the invention can be updated with the technical development.
Claims (6)
1. The hardware-in-loop system for intelligent automobile chassis simulation test is characterized by comprising a data acquisition terminal, a simulation test terminal, an evaluation terminal and a feedback control terminal;
the data acquisition terminal is used for acquiring real-time data of the automobile air suspension and the shock absorber and generating air suspension information and shock absorber information; the simulation test terminal is used for carrying out running simulation on a virtual automobile object based on different road conditions and driving control habits of different drivers by combining suspension information and shock absorber information from automobile hardware to generate simulation test result information; the evaluation terminal is used for carrying out technical evaluation on the simulation test result information of each simulation to generate evaluation result information;
the feedback control terminal is used for generating a corresponding feedback control instruction according to the assessment result information and the current road condition of the automobile; the feedback control command is used for adjusting the working conditions of the automobile air suspension and the shock absorber.
2. The hardware-in-the-loop system for intelligent automobile chassis simulation test according to claim 1, wherein the simulation test terminal comprises a virtual road condition information calling module, a virtual driver type calling module, an information acquisition module and a simulation module; the virtual road condition information calling module is used for calling various preset virtual road condition information in the database; the virtual driver type calling module is used for calling various preset virtual driver types in the database; the information acquisition module is used for acquiring real-time air suspension information and shock absorber information; the simulation module is used for simulating in different virtual road condition information and virtual driver type combinations by utilizing real-time air suspension information and shock absorber information, and recording the dynamic torque of the engine, the yaw angle of the automobile and the vibration of the automobile body obtained through simulation as simulation test result information.
3. The hardware-in-the-loop system for intelligent automobile chassis simulation testing according to claim 2, wherein the simulation module comprises an engine dynamic torque calculation sub-module, an automobile yaw angle calculation sub-module, a vehicle body shake simulation sub-module and a simulation result output sub-module; the engine dynamic torque calculation sub-module is used for calculating corresponding engine dynamic torque according to the simulation process of the combination of various virtual road condition information and virtual driver types; the automobile yaw angle calculation sub-module is used for calculating a corresponding automobile yaw angle according to a simulation process of the combination of various virtual road condition information and virtual driver types; the vehicle body shake simulation sub-module is used for calculating corresponding vehicle body shake according to the simulation process of the combination of various virtual road condition information and virtual driver types; and the simulation result output submodule is used for recording dynamic torque of the engine, yaw angle of the automobile and vibration of the automobile body as simulation test result information.
4. A hardware-in-the-loop system for intelligent vehicle chassis simulation testing as claimed in claim 3, wherein said assessment terminal comprises a simulation parameter assessment module, a virtual driver comfort assessment module, a simulation correction information generation module and a assessment result information generation module; the simulation parameter evaluation module is used for generating a corresponding simulation parameter evaluation result according to the simulation test result information of each simulation; the virtual driver comfort level assessment module is used for generating a corresponding comfort level assessment result according to the simulation test result information of each simulation; the simulation correction information generation module is used for carrying out secondary simulation according to the target simulation parameter assessment result and the target comfort assessment result corresponding to the virtual driver type and the virtual road condition information during each simulation, and extracting the air suspension parameter and the damper parameter corresponding to the secondary simulation as simulation correction information; the evaluation result information generation module is used for packaging the simulation parameter evaluation result, the comfort evaluation result and the simulation correction information of each group of simulation into evaluation result information;
when the simulation parameter evaluation module evaluates, the following formula is satisfied:
wherein P is 1 Representing a simulation parameter assessment index; n (N) max Representing the maximum engine dynamic torque of the automobile in the process segment samples of the simulation process;
representing the average engine dynamic torque of the vehicle in the process segment samples of the simulation process; n (N) min Representing the minimum engine dynamic torque of the automobile in the process segment samples of the simulation process; k (k) 1 Representing a first weight coefficient, and setting by a programmer according to actual conditions; f (f) 1 (θ max ) Represents a weight selection function, θ max Representing the maximum automobile yaw angle of the automobile in the process segment sampling of the simulation process; t is t a Representing duration of maximum automobile yaw angle appearing for the a-th time in process segment sampling of the simulation process; a represents the number of times that the maximum automobile yaw angle occurs in the process segment sampling of the simulation process; />
Representing the body jitter frequency of the automobile in the process segment sampling of the simulation process; k (k) 2 Representing a second weight coefficient, which is set by a programmer according to actual conditions; c represents a selection threshold value, which is empirically set by a programmer; q represents the number of vehicle body jitters in the process segment sampling of the simulation process; t represents the total duration of the process fragment sampling of the simulation process; the imitationThe true parameter evaluation module is used for evaluating the true parameters according to P 1 Different simulation parameter assessment results are generated according to different simulation parameters;
when the virtual driver comfort assessment module assesses, the following equation is satisfied:
wherein P is 2 Representing a comfort assessment index; θ min Representing the minimum automobile yaw angle of the automobile in the process segment sampling of the simulation process; k (k) 3 And k 4 Respectively representing a third weight coefficient and a fourth weight coefficient, which are set by a programmer according to experience; the virtual driver comfort level evaluation module is used for evaluating the comfort level of the virtual driver according to P 2 Different comfort assessment results are generated.
5. The hardware-in-the-loop system for intelligent automobile chassis simulation testing according to claim 4, wherein the feedback control terminal comprises a real-time road condition type identification module, a driver type identification module, a feedback control instruction generation module and a feedback execution module; the feedback control instruction generation module is used for generating a feedback control instruction according to the corresponding assessment result information; the driver type recognition module is used for recognizing the driver type of the driver in the automobile; the real-time road condition type identification module is used for identifying the road condition type of the automobile driving road section; the feedback execution module is used for selecting a corresponding feedback control instruction according to the type of a driver in the automobile and the type of the real-time road condition.
6. A hardware-in-the-loop method for intelligent automobile chassis simulation test, applied to the hardware-in-the-loop system for intelligent automobile chassis simulation test as claimed in claim 5, characterized in that the hardware-in-the-loop method for intelligent automobile chassis simulation test comprises the following steps:
s1, acquiring real-time data of an automobile air suspension and a shock absorber, and generating air suspension information and shock absorber information;
s2, carrying out driving simulation on the virtual automobile object by combining suspension information and shock absorber information from automobile hardware based on different road conditions and driving control habits of different drivers, and generating simulation test result information;
s3, carrying out technical evaluation on simulation test result information of each simulation to generate evaluation result information;
and S4, generating a corresponding feedback control instruction according to the assessment result information and the current road condition of the automobile.
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