CN201812204U - Real-time simulation equipment for vehicle - Google Patents
Real-time simulation equipment for vehicle Download PDFInfo
- Publication number
- CN201812204U CN201812204U CN 201020226919 CN201020226919U CN201812204U CN 201812204 U CN201812204 U CN 201812204U CN 201020226919 CN201020226919 CN 201020226919 CN 201020226919 U CN201020226919 U CN 201020226919U CN 201812204 U CN201812204 U CN 201812204U
- Authority
- CN
- China
- Prior art keywords
- simulation
- real
- vehicle
- time
- processing unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 90
- 238000012545 processing Methods 0.000 claims abstract description 40
- 238000012360 testing method Methods 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 description 26
- 230000010354 integration Effects 0.000 description 21
- 238000004364 calculation method Methods 0.000 description 18
- 238000011161 development Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 239000000243 solution Substances 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000012821 model calculation Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000012085 test solution Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013499 data model Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000013213 extrapolation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000012086 standard solution Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Landscapes
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Debugging And Monitoring (AREA)
Abstract
The utility model provides real-time simulation equipment for a vehicle. The real-time simulation equipment is connected with a vehicle electronic control system to be tested by an input/output (I/O) interface and at least one man-machine interface equipment by a communication interface. The real-time simulation equipment comprises at least one first central processing unit (CPU) for executing simple simulation schemes, a second CPU for executing complex simulation schemes, at least one memorizer for memorizing different simulation schemes, and a timer for setting a task period, wherein the second CPU memorizes the complex simulation schemes, and the first CPU memorizes the simple simulation schemes. The real-time simulation equipment for the vehicle can perform a real-time simulation test on the vehicle electronic control system of the vehicle to tested with a relatively simple structure, is exact in a testing result, and can guarantee certain instantaneity.
Description
Technical Field
The utility model relates to a real-time simulation equipment for vehicle, this simulation equipment can carry out real-time simulation test to the electronic control system such as engine controller, ABS or ESP of vehicle.
Background
A typical electronic control system for a vehicle, such as an Electronic Control Unit (ECU) for the vehicle, is an electronic control device widely used in the field of vehicles, which adjusts and calibrates the vehicle by measuring the operating state of each component of the vehicle.
When an Electronic Control Unit (ECU) of an automobile is developed and developed, the following development procedures and/or development methods are widely adopted: in the functional design and development stage, a mathematical model of an automobile electronic controller and a control object thereof is abstracted by means of a mathematical modeling tool (Matlab/Simulink), and the design is verified in a simulation mode.
In the Rapid Control Prototyping (RCP) phase, the model of the electronic control unit of the motor vehicle, which was abstracted out in the preceding phase, is then converted by means of a code generator into an executable program which runs on a hardware platform which can interact with the actual control object via a corresponding I/O interface. And if the control effect is satisfactory, generating the executable code of the batch electronic controller hardware by the automobile electronic controller model abstracted by the code generator. Detailed testing, typically Hardware-In-The-Loop (HIL testing), is required before a batch of automotive electronic controllers can be used with The actual control objects.
In the HIL test, batch automobile electronic controller is connected with testing arrangement, simulates the function of the electronic controller to be tested on the testing arrangement with the help of the automobile model, and the state of the automobile model is transmitted to the electronic controller through the sensor simulation, and simultaneously, the output of the electronic controller is acquired, thereby realizing the interactive relation between the electronic controller and the testing arrangement.
However, the above conventional simulation apparatus for a vehicle is difficult to achieve the effect of real-time simulation because the conventional vehicle peripheral apparatus is extremely large, the data model is very complex, and the real-time performance of the simulation result is difficult to achieve.
Disclosure of Invention
The to-be-solved technical problem of the present invention is to provide a real-time simulation device for a vehicle to reduce or avoid the aforementioned problems.
In order to solve the technical problem, the utility model provides a real-time simulation equipment for vehicle, real-time simulation equipment is connected with the vehicle electronic control system that awaits measuring through the IO interface to be connected with at least one man-machine interface equipment through communication interface, this real-time simulation equipment includes: the system comprises at least one first CPU processing unit for executing a simple simulation scheme, at least one second CPU processing unit for executing a complex simulation scheme, at least one memory for storing different simulation schemes and a timer for setting a task period; the second CPU processing unit stores a complex simulation scheme, and the first CPU processing unit stores a simplified simulation scheme.
The utility model provides an above-mentioned real-time simulation equipment for vehicle can realize carrying out real-time simulation test to the automotive electronics control system of the vehicle that awaits measuring through simple structure relatively, and its result is accurate, can ensure certain real-time.
Drawings
The drawings are only intended to illustrate and explain the present invention and do not limit the scope of the invention. Wherein,
fig. 1 is a schematic structural view showing a real-time simulation apparatus for a vehicle according to a preferred embodiment of the present invention;
fig. 2 shows an exemplary schematic diagram of possible calculation times when the first CPU processing unit and the second CPU processing unit perform explicit integration and implicit integration calculation, respectively, and selection of the calculated state quantities;
fig. 3 shows another exemplary diagram of possible calculation times when the first CPU processing unit and the second CPU processing unit perform explicit integration and implicit integration calculation, respectively, and selection of the calculated state quantities;
fig. 4 shows a schematic diagram for calculating future state quantities of the physical process by extrapolation.
Detailed Description
In order to clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will be described with reference to the accompanying drawings. Wherein like parts are given like reference numerals.
The utility model relates to a real-time simulation equipment for vehicle, this simulation equipment can carry out real-time simulation test to the electronic control system such as engine controller, ABS or ESP of vehicle. The electronic control system of the vehicle to be tested is connected with the real-time simulation equipment through an I/O interface, a model for simulating the running state of a certain part of the vehicle or the whole vehicle runs in the simulation equipment in real time, and the simulation equipment can simulate various vehicle sensor signals so as to transfer the running state of the vehicle to the electronic control system; meanwhile, the output of the electronic control system is measured, the running state is modified according to the running principle of the automobile, and various functions of the electronic control system are tested through the interaction of the electronic controller and the testing equipment.
Fig. 1 shows a schematic structural diagram of a real-time simulation apparatus for a vehicle according to a preferred embodiment of the present invention, wherein the real-time simulation apparatus 1 includes at least a first CPU processing unit 2, a second CPU processing unit 3, and a corresponding I/O interface 4.
The real-time simulation device 1 may be configured to run a real-time model, simulate various sensor signals of the vehicle electronic control system 5 to be tested, and receive an actuator signal output by the vehicle electronic control system 5 to be tested. The real-time simulation device may be an industrial personal computer or a general-purpose computer (as long as the computer having the function of running the object model in real time is available), and the real-time simulation device has components that are usually provided by the computer, such as a processor, a motherboard, a processor board card, and various I/O interface boards, etc., where the processor board and the I/O interface boards are connected via a bus, and a communication card is inserted into the motherboard and used for communicating with the human-computer interface device 6.
As mentioned above, the real-time simulation device 1 has various I/O interface boards, and thus has a plurality of I/O interfaces for receiving/outputting data signals, and according to the present invention, other components of the real-time simulation device can be connected with the real-time simulation device 1 through these I/O interfaces, for exchanging data with the real-time simulation device 1.
As shown in FIG. 1, according to the utility model discloses a vehicle real-time simulation equipment 1 gathers the more than one state quantity X of the vehicle electronic control system 5 that awaits measuring through I/O interface 4pAnd then outputs at least one control quantity y to the vehicle electronic control system 5 under test to influence the actuator of the vehicle electronic control system 5 under test.
There are different types of simulation methods based on the different complexity of the components of the vehicle electronic control system 5 to be tested that need to be testedA method for preparing a medical liquid. For example, for ABS, the state quantity X that needs to be takenpSignals and data, etc. may include brake pressure and rotational speed of the wheels, speed of depression and/or release of the brake pedal, road surface, wheel alignment, etc. Therefore, in order to obtain real-time simulation results within a tolerable time, in the present embodiment, for the same simulation process, two different simulation schemes are provided for simultaneously simulating the two simulation schemes to obtain at least one usable real-time simulation result within a set task period. Wherein at least one simulation scheme belongs to a simplified scheme, which provides a rough calculation result; another simulation scheme is a complex scheme that provides more accurate computational results than the first scheme.
That is, in the vehicle real-time simulation apparatus 1 of the present invention, at least one memory 7 storing different test scenarios may be further included. When a plurality of different simulation tests are required for the vehicle electronic control system 5 under test, these test solutions may be sequentially stored in the memory 7.
For these test tasks, the length of the simulation test time of each test solution can be estimated by comparing with the standard solutions stored in the memory 7, so that it can be determined that the simulation solution with a longer test time belongs to a complicated solution, and the simulation solution with a shorter test time belongs to a simplified solution.
In particular, in the present invention, the first CPU processing unit 2 can simulate the complex scheme, for example, the state quantity X of the vehicle model can be calculated by using the method of explicit integration in the mathematical domainM，e. However, in calculating the state quantity of a rigid process model such as a vehicle body, the application of the explicit integration method is problematic in terms of real-time conditions because the calculation step size must be selected to be small in order to ensure a certain accuracy, and thus the calculation may not be performed in real-time conditions.
In addition, as shown in fig. 2, in the present invention, the second CPU processing unit 3The simulation can be performed for a simplified scheme, for example, the vehicle model can be calculated by using an implicit integration method in the mathematical field, and the state quantity X of the model can be calculatedM，iThis second CPU processing unit 3 performs a synchronous calculation of the vehicle model with the first CPU processing unit 2 to correct the model calculation performed by the first CPU processing unit 2, and if the calculation process is real-time, the state quantity X of the vehicle model is calculated by an explicit integration methodM，eState quantity X as modelM。
In the vehicle real-time simulation device in fig. 1, the first CPU processing unit 2 and the second CPU processing unit 3 are two cores of a multicore CPU of the vehicle simulation computer, and the two processing units may also be in a form of parallel computing performed by two separate CPUs, and the two CPU processing units perform high-speed data interaction in a memory sharing manner.
In the vehicle simulation apparatus shown in FIG. 2, the time axis is briefly divided into integration time steps denoted by k-2, k-1, k +1, and k + 2. Calculating the state quantity X of the vehicle model by adopting the first CPU processing unit 2 through an explicit integration methodM，eThe state quantity X of the vehicle model is calculated by adopting the method of the second CPU processing unit 3 to synchronously and implicitly integrateM，i. As indicated by the arrow, in order to calculate the next state quantity by the explicit integration method, it occurs only if the process of calculating the state quantity of the vehicle model by the implicit integration method by the second CPU processing unit 3 is delayed. The time period between time periods k-2 and k-1 is such that, in order to calculate the vehicle model state XM，e，k-1Calculating the state quantity X by explicit integrationM，e，k-2In principle, the display integration can certainly calculate the state quantity X of the corresponding vehicle modelM，eTherefore, the real-time performance of calculation can be guaranteed.
FIG. 3 depicts the calculation of state quantities X of a vehicle model in real timeMThe other method of (3) adopts the second CPU processing unit to synchronously calculate the variables of the vehicle simulation model, and adopts the implicit integration mode to calculate the state quantity X of the modelM，iTo correct the model calculation performed by the first CPU processing unit 2, if the calculation is real-time, the state quantity X of the vehicle model will be calculated in a manner that facilitates implicit integrationM，iState quantity X as modelM. Otherwise, the state quantity X of the vehicle model is calculated by using an explicit integration methodM，eState quantity X as modelM. Which of the two processing units provides the calculated state data for the process model here depends only on whether the implicit integration method performed on the second CPU processing unit 3 ends in time. It can be seen in fig. 3 that the state quantities X calculated by the implicit integration method are supplied by the second CPU processing unit 3 in the calculation intervals before the time points k-2, k +1 and k +2, respectivelyM，iAs the state quantity X of the vehicle modelMThe state quantity X determined by explicit integration on the first CPU processing unit is used only during the time interval preceding the time point k-1M，eAs the state quantity X of the vehicle modelM。
In the calculation method shown in fig. 2 and 3, the vehicle simulation computer performs model calculation using a fixed simulation step size. The device can also realize the calculation that the simulation step length of the implicit integration is larger than the simulation step length of the display integration, the selection principle of the step length is that the vehicle state quantity is adaptive to the time development, a smaller simulation step length is selected under the general condition, and a larger simulation step length is selected only when the state quantity is in a fine adjustment state.
The implicit integration is characterized in that the calculation of the latest state quantity is carried out in an iterative manner, and the calculation process is not only related to the past state quantity, but also related to the derivative of the adjacent state quantity, as shown in fig. 4. Therefore, the calculation of the state quantity is related not only to the past state quantity of the vehicle model itself but also to the state of the peripheral physical quantity to which the simulation computer is connected, in order to calculate the next state quantity XM，I，k+1The next state quantity X of the peripheral physical quantity is also requiredP，k+1In the simulation system, the past state quantity X in the simulation processP，kBy means of extrapolationThe estimated values X of the peripheral physical quantities are obtainedP，k-2、XP，k-1、XP，k、XP，k+1、XP，k+2Then X is calculated by the graphical methodM，i。
In addition, at least one timer 8 may be further included in the real-time simulation apparatus 1 for setting a task period of a test task. Of course, the timer 8 can be flexibly set by the human interface device 6. When the two CPU processing units 2, 3 process different test tasks in parallel, in the same task cycle, for example, if the complex scheme of the second CPU processing unit 3 has not been processed yet, the test scheme may be suspended with the processing result of the simplified scheme of the first CPU processing unit 2 as the final simulation result. Of course, if the two CPU processing units 2 and 3 complete the testing task in the same task period, the processing result of the second CPU processing unit 3, which is relatively accurate, is used as the final simulation result, so as to implement real-time simulation, and avoid the problem that the real-time simulation effect is difficult to achieve due to long testing time.
The utility model provides an above-mentioned real-time simulation equipment for vehicle can realize carrying out real-time simulation test to the automotive electronics control system of the vehicle that awaits measuring through simple structure relatively, and its result is accurate, can ensure certain real-time.
The above description is only exemplary of the present invention, and is not intended to limit the scope of the present invention. Any equivalent changes, modifications and combinations that may be made by those skilled in the art without departing from the spirit and principles of the invention should be considered within the scope of the invention.
Claims (1)
1. A real-time simulation device for a vehicle, characterized in that the real-time simulation device (1) is connected to an electronic control system of a vehicle under test (5) via an I/O interface (4) and to at least one human machine interface device (6) via a communication interface, the real-time simulation device (1) comprising: at least one first CPU processing unit (2) for executing simple simulation schemes, a second CPU processing unit (3) for executing complex simulation schemes, at least one memory (7) for storing different simulation schemes and a timer (8) for setting task periods; the second CPU processing unit (3) stores a complex simulation scheme, and the first CPU processing unit (2) stores a simplified simulation scheme.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020226919 CN201812204U (en) | 2010-06-09 | 2010-06-09 | Real-time simulation equipment for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020226919 CN201812204U (en) | 2010-06-09 | 2010-06-09 | Real-time simulation equipment for vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201812204U true CN201812204U (en) | 2011-04-27 |
Family
ID=43895144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201020226919 Expired - Lifetime CN201812204U (en) | 2010-06-09 | 2010-06-09 | Real-time simulation equipment for vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201812204U (en) |
-
2010
- 2010-06-09 CN CN 201020226919 patent/CN201812204U/en not_active Expired - Lifetime
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104460646A (en) | Testing Device For Real-Time Testing Of A Virtual Control Unit | |
| KR20120117333A (en) | Simulation system of vehicle model for hils | |
| US20070255546A1 (en) | Simulation System and Computer-Implemented Method for Simulation and Verifying a Control System | |
| Shedeed et al. | Functional design and verification of automotive embedded software: An integrated system verification flow | |
| CN201716594U (en) | Real-time simulation equipment used for vehicles | |
| CN110794813B (en) | In-loop real-time linkage testing method and system for electromechanical parts | |
| CN201673405U (en) | Device used for testing electronic control system of automobile | |
| CN201812204U (en) | Real-time simulation equipment for vehicle | |
| CN201812197U (en) | Device for testing automobile electronic control system | |
| CN201673408U (en) | Real-time simulation device for vehicle | |
| Ishikawa et al. | CPU model-based hardware/software co-design, co-simulation and analysis technology for real-time embedded control systems | |
| CN201716595U (en) | Real-time simulation equipment for vehicles | |
| CN201812203U (en) | Real-time simulation equipment for vehicle | |
| Walter et al. | Hardware-based real-time simulation on the raspberry pi | |
| CN201812202U (en) | Simulation tester used for electronic engine control system | |
| CN201673404U (en) | Testing device of automobile electronic control system | |
| CN201673406U (en) | Simulation test equipment for electronic engine control system | |
| Lauber et al. | Virtual test method for complex and variant-rich automotive systems | |
| Isasa et al. | Hardware In the Loop for VDM-real time modeling of embedded systems | |
| CN201673051U (en) | Simulation testing equipment for automobile anti-lock brake system | |
| CN201945883U (en) | Testing device of automotive electronic control system | |
| CN201673050U (en) | Simulation test device for vehicle anti-lock braking system | |
| CN201909993U (en) | Test device of automotive electronic control system | |
| CN201673407U (en) | Simulation testing equipment for engine electronic control system | |
| CN117973076B (en) | Simulation system and method based on virtual-real coupling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20110427 |