JP2021148752A - Vehicle inspection system and method for inspecting vehicle - Google Patents

Abstract

To provide a vehicle inspection system and a method for inspecting a vehicle that can inspect operations of a vehicle based on driving state information while the vehicle is being placed on an on-board testing machine, while suppressing increase of cost for inspecting the vehicle.SOLUTION: A vehicle inspection system 10 includes an operation information detection sensor 33, a simulator 22, and an information output device 24. The simulator 22 includes: a first simulation unit 56 for operating control information corresponding to virtual outside world information; a simulation unit 58 for operating virtual driving information; and a simulator management unit 60. The simulator 22 outputs control information to the information output device 24 and also outputs the virtual driving state information to a vehicle controller 216.SELECTED DRAWING: Figure 2

Description

The present invention relates to a vehicle inspection system and a vehicle inspection method.

For example, Patent Document 1 describes a vehicle inspection system in which a vehicle that controls traveling of a vehicle based on external environmental information detected by a plurality of external world sensors is placed on a tabletop tester and the operation of the vehicle is inspected. It is disclosed. In this vehicle inspection system, the reflection time and the amount of reflection of radio waves radiated from the radar of the vehicle to the moving target are freely controlled by a delay circuit.

JP-A-2018-96958

By the way, in automatic driving, the vehicle control device controls the driving of the vehicle based on the external environment information detected by a plurality of external world sensors and the driving state information detected by the driving state detection sensor (for example, a gyro sensor). conduct. However, in the above-mentioned prior art, such driving state information is not taken into consideration in the vehicle inspection.

In addition, the driving state detection sensor cannot reproduce the function unless the vehicle undergoes physical movement (for example, turning motion of the vehicle). Therefore, in order for the operating state detection sensor to detect the operating state information, the bench tester must be rotated. In this case, since it is necessary to provide a turning device or the like on the bench tester, there is a problem that the cost of the vehicle inspection system increases.

The present invention has been made in consideration of such a problem, and the operation of the vehicle in consideration of the driving state information in the state where the vehicle is mounted on the bench tester while suppressing the increase in the cost of vehicle inspection. It is an object of the present invention to provide a vehicle inspection system and a vehicle inspection method capable of inspecting.

One aspect of the present invention is based on the vehicle provided with a vehicle control device that controls traveling of the vehicle based on external environment information detected by a plurality of external world sensors and driving state information detected by driving state detection sensors. A vehicle inspection system that inspects the operation of the vehicle by placing it on the upper tester, and has an operation information detection sensor that detects the operation information of the vehicle on the bench tester and a virtual that imitates the external environment. A simulator device that reproduces the external environment and reproduces the virtual traveling position of the vehicle in the virtual external environment based on the operation information of the vehicle detected by the operation information detection sensor, and a simulator device for each of the plurality of external world sensors are provided. A plurality of information output devices for outputting virtual outside world information detected by the plurality of outside world sensors at the virtual traveling position of the vehicle in the virtual external environment, and the simulator device corresponds to the virtual outside world information. A first simulator unit that calculates control information, a second simulator unit that calculates virtual driving state information detected by the driving state detection sensor at the virtual traveling position of the vehicle in the virtual external environment, and the first simulator unit. The first simulator unit and the second simulator unit are set so that the virtual external environment and the virtual traveling position reproduced in the above are the same as the virtual external environment and the virtual traveling position reproduced by the second simulator unit. The simulator management unit includes a simulator management unit for cooperative control, and the simulator device outputs the control information calculated by the first simulator unit to the plurality of information output devices and is calculated by the second simulator unit. This is a vehicle inspection system that outputs virtual driving state information to the vehicle control device.

Another aspect of the present invention is the operation of a vehicle including a vehicle control device that controls the traveling of the vehicle based on the external environment information detected by a plurality of external world sensors and the driving state information detected by the driving state detection sensors. This is a vehicle inspection method for inspecting a vehicle, including a vehicle operation inspection step of inspecting the operation of the vehicle while the vehicle is placed on a bench tester, and the vehicle operation inspection process includes a plurality of information output devices. An arrangement process in which each of the above is arranged so as to face each of the plurality of external world sensors, an operation information detection process for detecting the operation information of the vehicle on the bench tester, and a virtual outside imitating an external environment. The simulation step includes a simulation step of reproducing the environment and reproducing the virtual traveling position of the vehicle in the virtual external environment based on the motion information of the vehicle detected in the motion information detection step. In the first calculation step of calculating the control information corresponding to the virtual outside world information detected by the plurality of outside world sensors at the virtual traveling position of the vehicle in the virtual external environment, and the control information calculated in the first calculation step. Based on this, the first output step of outputting the virtual outside world information from each of the plurality of information output devices and the virtual driving state information detected by the driving state detection sensor at the virtual traveling position of the vehicle in the virtual external environment. The virtual operation that includes a second calculation process for calculation and a second output step for outputting the virtual driving state information calculated in the second calculation process to the vehicle control device, and is reproduced in the first calculation process. The external environment and the virtual traveling position are the same as the virtual external environment and the virtual traveling position reproduced in the second calculation process, which is a vehicle inspection method.

According to the present invention, virtual driving state information detected by a plurality of driving state detection sensors is calculated at a virtual driving position of a vehicle in a virtual external environment. Therefore, since it is not necessary to provide a turning device or the like on the bench tester, it is possible to suppress an increase in the cost of vehicle inspection. Further, since the virtual driving state information is output to the vehicle control device, it is possible to inspect the operation of the vehicle in consideration of the driving state information while the vehicle is placed on the bench tester.

It is a schematic block diagram of the vehicle to be inspected in one Embodiment of this invention. It is a system block diagram of the vehicle inspection system which concerns on one Embodiment of this invention. It is a functional block diagram of a simulator device. It is a 1st flowchart which shows the vehicle inspection method which concerns on one Embodiment of this invention. It is a 2nd flowchart which shows the said vehicle inspection method. It is a 3rd flowchart which shows the said vehicle inspection method.

Hereinafter, a vehicle inspection system and a vehicle inspection method according to the present invention will be described with reference to the accompanying drawings with reference to suitable embodiments.

First, the vehicle 200 to be inspected by the vehicle inspection system 10 will be described. Here, as the vehicle 200, an autonomous driving vehicle (including a fully autonomous driving vehicle) capable of automatically controlling acceleration / deceleration, braking, and steering is assumed, but at least one control of acceleration / deceleration, braking, and steering is performed. It may be a driving support vehicle that can be automatically performed.

As shown in FIG. 1, the vehicle 200 includes a plurality of external world sensors 202, a driving state detection sensor 204, a vehicle control device 216, a drive device 218, a steering device 220, a braking device 222, and a plurality of (for example, four) wheels 224. To be equipped. The vehicle 200 includes one or more cameras 202a, one or more radar 202b, and one or more LiDAR 202c as a plurality of external world sensors 202. The camera 202a images the external environment in front of the vehicle 200. The radar 202b irradiates a radio wave in front of the vehicle 200 and detects a reflected wave reflected in the external environment. The LiDAR202c irradiates the front of the vehicle 200 with a laser beam and detects scattered light scattered in the external environment. The description of the outside world sensor 202 that detects external environment information other than the front of the vehicle 200 will be omitted.

The driving state detection sensor 204 is a sensor for detecting the driving state of the vehicle 200. The operating state detection sensor 204 includes one or more gyro sensors 204a (gyroscope). The gyro sensor 204a detects turning information (angular velocity, angular acceleration, etc.) acting on the vehicle 200 when the vehicle 200 is turning. The operating state detection sensor 204 may include an acceleration sensor or the like other than the gyro sensor 204a.

The vehicle control device 216 is composed of a vehicle control ECU. The vehicle control device 216 controls the traveling of the vehicle 200 based on the external environment information detected by the plurality of external world sensors 202 and the driving state information detected by the driving state detection sensor 204. Specifically, the vehicle control device 216 calculates the optimum acceleration / deceleration, braking amount, and steering angle in the scene based on the external environment information and the driving state information, and outputs operation instructions to various control target devices.

The drive device 218 has a drive ECU and a drive source such as an engine and a drive motor. The drive device 218 generates a driving force on the wheels 224 in response to an operation of the accelerator pedal performed by the occupant or an operation instruction output from the vehicle control device 216. The steering device 220 includes an electric power steering system (EPS) ECU and an EPS actuator. The steering device 220 changes the steering angle of the wheels 224 (front wheels 224f) according to the operation of the steering wheel performed by the occupant or the operation instruction output from the vehicle control device 216. The braking device 222 includes a brake ECU and a brake actuator. The braking device 222 generates a braking force on the wheels 224 in response to an operation of the brake pedal performed by the occupant or an operation instruction output from the vehicle control device 216.

As shown in FIG. 2, the vehicle inspection system 10 includes a bench tester 20, a simulator device 22, a plurality of information output devices 24, and an analysis device 26. The bench tester 20 includes an inspection table 30, a receiving device 32, an operation information detection sensor 33, and a motor control device 40. The inspection table 30 is installed on the work floor.

The receiving device 32 is provided at the wheel 224 (front wheel 224f, rear wheel 224r) position of the vehicle 200 mounted on the inspection table 30, and is a mechanism for mounting the wheel 224 and receiving the operation of the wheel 224. The receiving device 32f provided on the front wheel 224f side, which is the steering wheel, has two rollers 42, a support base 44, and a support base motor 46.

The two rollers 42 support the front wheels 224f from below and are rotatable around an axis parallel to the vehicle width direction as the front wheels 224f rotate. The support base 44 supports the roller 42 and is rotatable about an axis parallel to the vertical direction of the vehicle 200. The support base motor 46 rotates the support base 44 in the forward direction or the reverse direction.

On the other hand, the receiving device 32r provided on the rear wheel 224r side has two rollers 42 and a support base 44. The two rollers 42 support the rear wheels 224r from below and are rotatable around an axis parallel to the vehicle width direction as the rear wheels 224r rotate. At least one of the receiving device 32f and the receiving device 32r can move in the front-rear direction according to the wheelbase of the vehicle 200.

The motion information detection sensor 33 detects the motion information of the vehicle 200 on the bench tester 20. The operation information detection sensor 33 includes a vehicle speed sensor 34, a wheel position sensor 36, and a vehicle position sensor 38. The vehicle speed sensor 34 is composed of, for example, a rotary encoder or a resolver. The vehicle speed sensor 34 detects the rotation speed r of the roller 42 in contact with the drive wheels of the vehicle 200. The rotation speed r corresponds to the vehicle speed V. The vehicle speed sensor 34 outputs the rotation speed r (vehicle speed V) to the simulator device 22 and the motor control device 40.

The wheel position sensor 36 is provided on the front wheel 224f side, which is the steering wheel, and is composed of a laser ranging device or the like. The wheel position sensor 36 detects the displacement amount d1 of the front wheel 224f from the initial position due to steering. The displacement amount d1 corresponds to the steering angle θs of the vehicle 200. The wheel position sensor 36 outputs the displacement amount d1 (steering angle θs) to the simulator device 22 and the motor control device 40.

The vehicle position sensor 38 is provided at a position where a predetermined portion (rear wheel 224r or the like) can be detected, and is composed of a laser ranging device or the like. The vehicle position sensor 38 detects the amount of misalignment d2 of a predetermined portion (rear wheel 224r, etc.) due to the misalignment in the vehicle width direction. The vehicle position sensor 38 outputs the misalignment amount d2 to the simulator device 22 and the motor control device 40.

The motor control device 40 is composed of a computer and controls a support motor 46 provided in the receiving device 32f. Specifically, the motor control device 40 calculates the rotation angle θm of the receiving device 32f according to the displacement amount d1 (steering angle θs). The displacement amount d1 is affected by the displacement of the vehicle 200 in the vehicle width direction. Therefore, the motor control device 40 corrects the displacement amount d1 according to the misalignment amount d2 of the vehicle 200. As a result, even when the direction of the front wheels 224f is changed due to steering, the axis of the roller 42 of the receiving device 32f can be maintained substantially parallel to the axis of the front wheels 224f.

The simulator device 22 is composed of a computer, and has a simulator arithmetic unit 50, a simulator storage device 52, and an input / output device 54 as shown in FIG.

The simulator arithmetic unit 50 is composed of a processor such as a CPU. The simulator arithmetic unit 50 realizes various functions by executing a program stored in the simulator storage device 52. Here, the simulator arithmetic unit 50 reproduces a virtual external environment that imitates the external environment based on the virtual external environment information 55 stored in the simulator storage device 52. Further, the simulator arithmetic unit 50 determines the virtual traveling position of the vehicle 200 in the virtual external environment based on the operation information of the vehicle 200 output from the operation information detection sensor 33 of the bench tester 20 when the virtual external environment is reproduced. Calculate.

The simulator arithmetic unit 50 includes a first simulator unit 56, a second simulator unit 58, and a simulator management unit 60. The first simulator unit 56 calculates control information for controlling the operation of the plurality of information output devices 24 by using the virtual outside world information detected by the plurality of outside world sensors 202 at the virtual traveling position of the vehicle 200 in the virtual external environment. .. Specifically, the first simulator unit 56 includes a camera simulator 62, a radar simulator 64, and a LiDAR simulator 66.

The camera simulator 62 calculates the first control information corresponding to the virtual image (virtual outside world information) detected by the camera 202a at the virtual traveling position of the vehicle 200 in the virtual external environment. The camera simulator 62 outputs the calculated first control information to the monitor 24a.

The radar simulator 64 calculates the second control information corresponding to the virtual reflected wave (virtual outside world information) detected by the radar 202b at the virtual traveling position of the vehicle 200 in the virtual external environment. Specifically, the radar simulator 64 has a delay time until the radio wave emitted from the radar 202b of the vehicle 200 is reflected by the target in the virtual external space and the reflected wave is detected by the radar 202b, and is detected by the radar 202b. Calculate the intensity of the reflected wave. The radar simulator 64 outputs the calculated second control information to the radar transmitter / receiver 24b.

The LiDAR simulator 66 calculates the third control information corresponding to the virtual scattered light (virtual outside world information) detected by the LiDAR202c at the virtual traveling position of the vehicle 200 in the virtual external environment. Specifically, the LiDAR simulator 66 has a delay time until the scattered light of the laser light radiated from the LiDAR202c of the vehicle 200 to the target in the virtual external space is detected by the LiDAR202c, and the scattered light detected by the LiDAR202c. Calculate the strength. The LiDAR simulator 66 outputs the calculated third control information to the LiDAR transmitter / receiver 24c.

The second simulator unit 58 calculates the virtual driving information detected by the driving state detection sensor 204 at the virtual traveling position of the vehicle 200 in the virtual external environment. The second simulator unit 58 includes a gyro simulator 68.

The gyro simulator 68 calculates virtual turning information (angular velocity, angular acceleration, etc.) detected by the gyro sensor 204a at the virtual traveling position of the vehicle 200 in the virtual external environment. Specifically, the gyro simulator 68 calculates virtual turning information based on the virtual traveling position of the vehicle 200 in the virtual external environment. However, the gyro simulator 68 may calculate virtual turning information based on the operation information (vehicle speed V and steering angle θs) detected by the operation information detection sensor 33 of the bench tester 20. Further, the gyro simulator 68 may calculate virtual turning information based on the virtual traveling position of the vehicle 200 in the virtual external environment and the operation information detected by the operation information detection sensor 33. The gyro simulator 68 outputs virtual turning information as virtual driving state information to the vehicle control device 216.

In the present embodiment, the gyro simulator 68 does not output virtual turning information to the gyro sensor 204a. That is, the vehicle inspection system 10 does not inspect the operation of the gyro sensor 204a. This is because the gyro sensor 204a of the vehicle 200 detects the movement (angular velocity, angular acceleration) in the turning direction that actually occurs in the vehicle 200, and the inspection cannot be performed on the inspection table 30. The operation of the gyro sensor 204a is individually inspected.

The simulator management unit 60 has a function of managing the inspection process of the vehicle 200. For example, the simulator management unit 60 synchronizes the virtual external environment with the camera simulator 62, the radar simulator 64, the LiDAR simulator 66, and the gyro simulator 68 based on the virtual external environment information 55 stored in the simulator storage device 52. .. That is, the simulator management unit 60 is the first simulator so that the virtual external environment and the virtual running position reproduced by the first simulator unit 56 are the same as the virtual external environment and the virtual running position reproduced by the second simulator unit 58. The unit 56 and the second simulator unit 58 are coordinatedly controlled.

The simulator storage device 52 is composed of a hard disk, a ROM, a RAM, and the like. The simulator storage device 52 stores the program executed by the simulator arithmetic unit 50 and the virtual external environment information 55 that imitates the external environment information. The virtual external environment information 55 is information for reproducing a series of virtual external environments, such as the initial position of the vehicle 200 in the virtual external environment, the position of each target in the virtual external environment, and the behavior of the moving target. Is preset.

The input / output device 54 includes an A / D conversion circuit, a communication interface, a driver, and the like.

In FIG. 2, a plurality of information output devices 24 are provided for each of the plurality of external world sensors 202. The plurality of information output devices 24 output virtual outside world information detected by the plurality of outside world sensors 202 at the virtual traveling position of the vehicle 200 in the virtual external environment. The vehicle inspection system 10 includes a monitor 24a, a radar transmitter / receiver 24b, and a LiDAR transmitter / receiver 24c as a plurality of information output devices 24.

The monitor 24a is arranged so as to face the lens of the camera 202a. The monitor 24a displays a virtual image as virtual outside world information based on the first control information output from the camera simulator 62.

The radar transceiver 24b has a transmission / reception circuit and a directional antenna, and is arranged so as to face the transmission / reception antenna of the radar 202b. The radar transceiver 24b detects radio waves emitted from the transmission / reception antenna of the radar 202b and outputs the detection signal to the radar simulator 64. Then, the radar transmitter / receiver 24b irradiates the radar 202b with a virtual reflected wave as virtual outside world information based on the second control information output from the radar simulator 64. In order to prevent the radio waves emitted from the radar 202b from being reflected by the radar transmitter / receiver 24b or an object in the vicinity thereof, a radio wave absorbing material is arranged in the radio wave irradiation range of the radar 202b.

The LiDAR transceiver 24c has a transmission unit (oscillation circuit) and a light receiving unit (light receiving circuit), and is arranged so as to face the transmission / reception unit of the LiDAR 202c. The LiDAR transmitter / receiver 24c detects the laser beam emitted from the transmission / reception unit of the LiDAR202c and outputs the detection signal to the LiDAR simulator 66. Then, the LiDAR transmitter / receiver 24c irradiates the LiDAR 202c with virtual scattered light as virtual outside world information based on the third control information output from the LiDAR simulator 66. In order to prevent the laser light emitted from the LiDAR202c from being reflected by the LiDAR transmitter / receiver 24c or an object around it, a light absorber is arranged in the laser light irradiation range of the LiDAR202c.

The analysis device 26 is composed of a computer including a processor, a storage device, and an input / output device 54. The analysis device 26 acquires the log data of the vehicle speed V and the steering angle θs detected by the operation information detection sensor 33 of the bench tester 20 via the simulator device 22 and compares them with the model data. Make an abnormal diagnosis of.

Next, a vehicle motion inspection method for inspecting the motion of the vehicle 200 described above will be described. The vehicle inspection method includes a sensor inspection step and a vehicle motion inspection step.

In FIG. 4, in the sensor inspection step (step S1), the operation of the operating state detection sensor 204 (gyro sensor 204a) is individually inspected. As a result, the operation of the operating state detection sensor 204 is guaranteed.

Further, in the vehicle motion inspection step (step S2), the motion of the vehicle 200 is inspected with the vehicle 200 mounted on the bench tester 20. Specifically, as shown in FIG. 5, in the vehicle motion inspection step, first, the mounting step (step S3) is performed. In the mounting process, the vehicle 200 is mounted on the inspection table 30. At this time, the individual wheels 224 are mounted on the individual receiving devices 32. Then, the arrangement step (step S4) is performed. In the arrangement step, each information output device 24 is arranged so as to face each outside world sensor 202 of the vehicle 200. Specifically, the monitor 24a is arranged so as to face the camera 202a, the radar transmitter / receiver 24b is arranged so as to face the radar 202b, and the LiDAR transmitter / receiver 24c is arranged so as to face the LiDAR 202c.

After that, the operation of the vehicle 200 is started (step S5). Specifically, the vehicle control device 216 outputs a predetermined operation start instruction to the drive device 218 to drive the wheels 224.

Subsequently, the operation information detection step (step S6) is performed. In the operation information detection step, the operation information detection sensor 33 detects the operation information of the vehicle 200 on the bench tester 20. Specifically, the vehicle speed sensor 34 detects the rotation speed r (vehicle speed V) of the roller 42. Further, the wheel position sensor 36 detects the displacement amount d1 (steering angle θs) of the front wheels 224f from the initial position. Further, the vehicle position sensor 38 detects the amount of misalignment d2 in the vehicle width direction. The rotation speed (vehicle speed V), displacement amount d1 (steering angle θs), and misalignment amount d2 are output to the simulator device 22.

Then, a simulation step (step S7) is performed. In the simulation process, the simulator device 22 reproduces the virtual external environment imitating the external environment and calculates the virtual traveling position of the vehicle 200 in the virtual external environment based on the operation information of the vehicle 200 detected in the operation information detection process. do. At this time, the simulator management unit 60 recreates the same virtual external environment and virtual running position in each of the camera simulator 62, the radar simulator 64, the LiDAR simulator 66, and the gyro simulator 68. Coordinated control of 68.

In FIG. 6, the simulation step includes a first calculation step, a first output step, a second calculation step, and an output step. In the first calculation step (step S8), the first simulator unit 56 provides control information corresponding to the virtual outside world information detected by the plurality of outside world sensors 202 at the virtual traveling position of the vehicle 200 in the virtual external environment imitating the external environment. Calculate.

Specifically, the camera simulator 62 calculates the first control information corresponding to the virtual image as the virtual outside world information detected by the camera 202a at the virtual traveling position of the vehicle 200 in the virtual external environment. The radar simulator 64 calculates the second control information corresponding to the virtual reflected wave as the virtual outside world information detected by the radar 202b at the virtual traveling position of the vehicle 200 in the virtual external environment. The LiDAR simulator 66 calculates the third control information corresponding to the virtual scattered light as the virtual outside world information detected by the LiDAR202c at the virtual traveling position of the vehicle 200 in the virtual external environment.

Subsequently, in the first output step (step S9), the plurality of information output devices 24 output virtual outside world information based on the control information calculated in the first calculation step. That is, the monitor 24a displays a virtual image (virtual outside world information) based on the first control information output from the camera simulator 62. As a result, the camera 202a detects the virtual image.

The radar transmitter / receiver 24b irradiates the radar 202b with a virtual reflected wave (virtual outside world information) based on the second control information output from the radar simulator 64. As a result, the radar 202b detects the virtual reflected wave. The LiDAR transmitter / receiver 24c irradiates the LiDAR202c with virtual scattered light (virtual external world information) based on the third control information output from the LiDAR simulator 66. As a result, the LiDAR202c detects the virtual scattered light.

By such a first output step, the operation of the external sensor 202 (camera 202a, radar 202b, LiDAR202c) can be confirmed.

Further, in the second calculation step (step S10), the second simulator unit 58 calculates the virtual driving state information detected by the driving state detection sensor 204 at the virtual traveling position of the vehicle 200 in the virtual external environment. Specifically, the gyro simulator 68 calculates virtual turning information as virtual driving state information detected by the gyro sensor 204a at the virtual traveling position of the vehicle 200 in the virtual external environment.

After that, in the second output step (step S11), the second simulator unit 58 outputs the virtual driving information calculated in the second calculation step to the vehicle control device 216. Specifically, the gyro simulator 68 outputs virtual turning information to the vehicle control device 216. In other words, in the second output process, the gyro simulator 68 directly outputs the virtual driving information calculated in the second calculation process to the vehicle control device 216 without going through the driving state detection sensor 204. At this time, the driving state detection sensor 204 of the vehicle 200 turns off the function so that the driving state information is not output to the vehicle control device 216.

Next, the vehicle control device 216 drives and brakes the vehicle 200 based on the external environment information detected by the external sensor 202 (camera 202a, radar 202b, LiDAR202c, etc.) and the driving state information directly input to the vehicle control device 216. , Controls steering, etc.

In such a vehicle motion inspection process, for example, a lane keeping support system that assists the steering operation so as to maintain the vicinity of the center of the lane in an external virtual environment may be reproduced. In this case, the vehicle control device 216 needs to control the operation of the vehicle 200 based on the turning information (driving state information) of the vehicle 200 detected by the gyro sensor 204a (driving state detection sensor 204). That is, if the turning information of the gyro sensor 204a is not taken into consideration when reproducing the lane keeping support system in the vehicle motion inspection process, the traveling of the vehicle 200 will overshoot and the vehicle 200 will protrude from the lane.

When inspecting the operation of the vehicle 200 with the vehicle 200 mounted on the bench tester 20, even if the vehicle 200 turns in the virtual external environment, the actual vehicle 200 on the bench tester 20 does not turn. .. Therefore, the angular velocity (angular acceleration) in the turning direction does not occur in the driving state detection sensor 204 of the vehicle 200. However, in the present embodiment, the gyro simulator 68 calculates the virtual turning information detected by the gyro sensor 204a at the virtual traveling position of the vehicle 200 in the virtual external environment, and outputs the virtual turning information to the vehicle control device 216. Therefore, the simulator device 22 can suitably reproduce the lane keeping support system in the virtual external environment.

The vehicle inspection system 10 and the vehicle inspection method according to the present embodiment have the following effects.

The simulator device 22 has a first simulator unit 56, a second simulator unit 58, and a simulator management unit 60. The first simulator unit 56 calculates the control information corresponding to the virtual outside world information detected by the plurality of outside world sensors 202 at the virtual traveling position of the vehicle 200 in the virtual external environment. The second simulator unit 58 calculates the virtual driving state information detected by the driving state detection sensor 204 at the virtual traveling position of the vehicle 200 in the virtual external environment. The simulator management unit 60 is the first simulator unit 56 so that the virtual external environment and the virtual traveling position reproduced by the first simulator unit 56 are the same as the virtual external environment and the virtual traveling position reproduced by the second simulator unit 58. And the second simulator unit 58 are coordinatedly controlled. The simulator device 22 outputs the control information calculated by the first simulator unit 56 to the plurality of information output devices 24, and outputs the virtual driving state information calculated by the second simulator unit 58 to the vehicle control device 216.

In the vehicle inspection method, the simulation step of the vehicle motion inspection process includes a first calculation step, a first output step, a second calculation step, and a second output step. In the first calculation step, the control information corresponding to the virtual outside world information detected by the plurality of outside world sensors 202 at the virtual traveling position of the vehicle 200 in the virtual external environment is calculated. In the first output step, virtual outside world information is output from each of the plurality of information output devices 24 based on the control information calculated in the first calculation step. In the second calculation step, the virtual driving state information detected by the driving state detection sensor 204 at the virtual traveling position of the vehicle 200 in the virtual external environment is calculated. In the second output process, the virtual driving information calculated in the second calculation process is output to the vehicle control device 216. The virtual external environment and virtual traveling position reproduced in the first calculation process are the same as the virtual external environment and virtual traveling position reproduced in the second calculation process.

According to such a configuration and method, the virtual driving state information detected by the driving state detection sensor 204 at the virtual traveling position of the vehicle 200 in the virtual external environment is calculated. Therefore, it is not necessary to provide the tabletop tester 20 with a swivel device or the like, so that an increase in vehicle inspection cost can be suppressed. Further, since the virtual driving state information is output to the vehicle control device 216, it is possible to inspect the operation of the vehicle 200 in consideration of the driving state information with the vehicle 200 mounted on the bench tester 20.

The second simulator unit 58 calculates virtual driving state information based on the virtual traveling position of the vehicle 200 in the virtual external environment.

According to such a configuration, real-time virtual operation state information at the virtual traveling position can be calculated.

The driving state detection sensor 204 is a gyro sensor 204a, and the virtual driving state information is virtual turning information detected by the gyro sensor 204a at the virtual traveling position of the vehicle 200 in the virtual external environment.

According to such a configuration, the operation of the vehicle 200 in consideration of the virtual turning information of the gyro sensor 204a can be inspected on the bench tester 20.

The vehicle inspection method includes a sensor inspection step of individually inspecting the operation of the driving state detection sensor 204.

According to such a method, it is possible to guarantee the system for 2001 vehicles by the vehicle motion inspection process and the sensor inspection process.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention.

The first simulator unit 56 does not output the virtual outside world information detected by the outside world sensor 202 (camera 202a, radar 202b, LiDAR202c) at the virtual traveling position of the vehicle 200 in the virtual external environment to the information output device 24, and the vehicle control device 216. You may output directly to. As a result, the information output device 24 can be omitted, so that the vehicle inspection system 10 can be downsized and the cost can be reduced. In this case, for example, in the sensor inspection step (step S1), it is preferable to individually inspect the operation of the plurality of external world sensors 202.

The above embodiments can be summarized as follows.

In the above embodiment, a vehicle control device that controls traveling of a vehicle (200) based on external environment information detected by a plurality of external world sensors (202) and driving state information detected by a driving state detection sensor (204). A vehicle inspection system (10) for inspecting the operation of the vehicle by placing the vehicle provided with (216) on the bench tester (20) and inspecting the operation of the vehicle. The motion information detection sensor (33) that detects information and the virtual external environment that imitates the external environment are reproduced, and the vehicle in the virtual external environment is based on the motion information of the vehicle detected by the motion information detection sensor. A simulator device (22) that reproduces a virtual traveling position and virtual external world information detected by the plurality of external world sensors at the virtual traveling position of the vehicle in the virtual external environment are output, which are provided for each of the plurality of external world sensors. A plurality of information output devices (24) are provided, and the simulator device includes a first simulator unit (56) that calculates control information corresponding to the virtual outside world information, and the virtual traveling of the vehicle in the virtual external environment. The second simulator unit (58) that calculates the virtual operation state information detected by the operation state detection sensor at the position, the virtual external environment reproduced by the first simulator unit, and the virtual traveling position are the second simulator unit. The simulator device includes a simulator management unit (60) that cooperatively controls the first simulator unit and the second simulator unit so as to be the same as the virtual external environment and the virtual traveling position reproduced in the above. A vehicle inspection system that outputs the control information calculated by the first simulator unit to the plurality of information output devices and outputs the virtual driving state information calculated by the second simulator unit to the vehicle control device. Is disclosed.

In the vehicle inspection system, the second simulator unit may calculate the virtual driving state information based on the virtual traveling position of the vehicle in the virtual external environment.

In the vehicle inspection system, the driving state detection sensor is a gyro sensor (204a), and the virtual driving state information is virtual detected by the gyro sensor at the virtual traveling position of the vehicle in the virtual external environment. It may be turning information.

The above embodiment inspects the operation of a vehicle provided with a vehicle control device that controls the running of the vehicle based on the external environment information detected by a plurality of external world sensors and the driving state information detected by the driving state detection sensors. The vehicle inspection method includes a vehicle motion inspection step (step S2) for inspecting the motion of the vehicle while the vehicle is placed on a tabletop tester, and the vehicle motion inspection step includes a plurality of information outputs. An arrangement step (step S4) in which each of the devices is arranged so as to face each of the plurality of external world sensors, and an operation information detection step (step S6) in which the operation information of the vehicle on the bench tester is detected. And, a simulation step (step) of reproducing a virtual external environment imitating an external environment and reproducing a virtual traveling position of the vehicle in the virtual external environment based on the operation information of the vehicle detected in the operation information detection step. Including S7), the simulation step is a first calculation step (step) of calculating control information corresponding to virtual outside world information detected by the plurality of outside world sensors at the virtual traveling position of the vehicle in the virtual external environment. S8), the first output step (step S9) of outputting the virtual outside world information from each of the plurality of information output devices based on the control information calculated in the first calculation step, and the virtual external environment. The second calculation step (step S10) for calculating the virtual driving state information detected by the driving state detection sensor at the virtual traveling position of the vehicle, and the virtual driving state information calculated in the second calculation step are used for the vehicle. The virtual external environment and the virtual traveling position, which include a second output step (step S11) of outputting to the control device and is reproduced in the first calculation step, are the virtual externals reproduced in the second calculation step. It discloses a vehicle inspection method that is the same as the environment and the virtual traveling position.

The vehicle inspection method may include a sensor inspection step (step S1) for individually inspecting the operation of the driving state detection sensor.

10 ... Vehicle inspection system 20 ... Bench tester 22 ... Simulator device 24 ... Information output device 33 ... Operation information detection sensor 56 ... First simulator section 58 ... Second simulator section 60 ... Simulator management section 68 ... Gyro simulator 200 ... Vehicle 202 ... External sensor 204 ... Driving state detection sensor 204a ... Gyro sensor 216 ... Vehicle control device

Claims (5)

The vehicle equipped with a vehicle control device that controls the running of the vehicle based on the external environment information detected by a plurality of external world sensors and the driving state information detected by the driving state detection sensor is placed on the bench tester. It is a vehicle inspection system that inspects the operation of the vehicle.
An operation information detection sensor that detects the operation information of the vehicle on the bench tester,
A simulator device that reproduces a virtual external environment that imitates an external environment and reproduces a virtual traveling position of the vehicle in the virtual external environment based on the motion information of the vehicle detected by the motion information detection sensor.
A plurality of information output devices provided for each of the plurality of external world sensors and outputting virtual external world information detected by the plurality of external world sensors at the virtual traveling position of the vehicle in the virtual external environment are provided.
The simulator device is
The first simulator unit that calculates the control information corresponding to the virtual outside world information, and
A second simulator unit that calculates virtual driving state information detected by the driving state detection sensor at the virtual traveling position of the vehicle in the virtual external environment.
The first simulator unit and the above are such that the virtual external environment and the virtual traveling position reproduced by the first simulator unit are the same as the virtual external environment and the virtual traveling position reproduced by the second simulator unit. It has a simulator management unit that cooperatively controls the second simulator unit, and has.
The simulator device outputs the control information calculated by the first simulator unit to the plurality of information output devices, and outputs the virtual driving state information calculated by the second simulator unit to the vehicle control device. , Vehicle inspection system. The vehicle inspection system according to claim 1.
The second simulator unit is a vehicle inspection system that calculates the virtual driving state information based on the virtual traveling position of the vehicle in the virtual external environment. The vehicle inspection system according to claim 1 or 2.
The operating state detection sensor is a gyro sensor.
The virtual driving state information is virtual turning information detected by the gyro sensor at the virtual traveling position of the vehicle in the virtual external environment, which is a vehicle inspection system. It is a vehicle inspection method that inspects the operation of a vehicle equipped with a vehicle control device that controls the running of the vehicle based on the external environment information detected by a plurality of external world sensors and the driving state information detected by the driving state detection sensor. hand,
Including a vehicle operation inspection step of inspecting the operation of the vehicle while the vehicle is placed on a tabletop tester.
The vehicle operation inspection process is
An arrangement step of arranging each of the plurality of information output devices so as to face each of the plurality of external world sensors, and
An operation information detection process for detecting the operation information of the vehicle on the bench tester, and
It includes a simulation step of reproducing a virtual external environment imitating an external environment and reproducing a virtual traveling position of the vehicle in the virtual external environment based on the motion information of the vehicle detected in the motion information detection step. ,
The simulation process is
A first calculation step of calculating control information corresponding to virtual outside world information detected by the plurality of outside world sensors at the virtual traveling position of the vehicle in the virtual external environment.
A first output step of outputting the virtual outside world information from each of the plurality of information output devices based on the control information calculated in the first calculation step.
A second calculation step of calculating virtual driving state information detected by the driving state detection sensor at the virtual traveling position of the vehicle in the virtual external environment.
A second output step of outputting the virtual driving state information calculated in the second calculation step to the vehicle control device is included.
A vehicle inspection method in which the virtual external environment and the virtual traveling position reproduced in the first calculation process are the same as the virtual external environment and the virtual traveling position reproduced in the second calculation process. The vehicle inspection method according to claim 4.
A vehicle inspection method including a sensor inspection step of individually inspecting the operation of the driving state detection sensor.

Images