Real vehicle is in loop simulation method of testing, real-time simulation machine and systemTechnical field
The application is related to automotive field, particularly to a kind of real vehicle in loop simulation method of testing, real-time simulation machine and isSystem.
Background technology
With the continuous development of automotive electronic industry, for ensureing comfortableness and the safety of driver, a lot of and active is pacifiedThe controller of total correlation is developed, such as vehicle Unmanned Systems, automated parking system, automatic cruising system, trackDeviate early warning system, blind area monitoring system etc., these systems, except the test of function aspects, more focus on performance test.
At present, related to active safety frequently with hil (hardware-in-the-loop, hardware is in loop) equipment pairController carries out performance test.Belong to semi-hardware type simulation test due to performance test is carried out using hil equipment, set using hilIn the standby system tested, only tested controller is real, the dynamics of vehicle of automobile related to tested controller,The systems such as road, driver, power, transmission are all virtual, need by phantom come the dynamics of vehicle of simulated automotive,The systems such as road, driver, power, transmission.
But due to being real-time testing using hil testing equipment, for ensureing the real-time that phantom calculates, existingOn the basis of some computer calculated levels, phantom can only be a kind of model of more simplification, the vapour therefore simulating outThe systems such as the dynamics of vehicle of car, road, driver, power, transmission are the system of more simplification, lead to the property of tested controllerThe degree of accuracy of energy test result is not high.The dynamics of vehicle of automobile due to being simulated by phantom, road, driving againThere is deviation in the systems such as the dynamics of vehicle of the systems such as member, power, transmission and real car, road, driver, power, transmission,Therefore reduce further the degree of accuracy of the performance test results of tested controller.
Content of the invention
For solving above-mentioned technical problem, the embodiment of the present application provides a kind of real vehicle in loop simulation method of testing, imitates in real timePrototype and related system, to reach the purpose of the degree of accuracy of the performance test results improving tested controller, technical scheme is as follows:
A kind of real vehicle in loop simulation method of testing, based on the real vehicle hil system being arranged in real vehicle, described real vehicle hilSystem includes real-time simulation machine and automobile positioning device, and methods described includes:
Described real-time simulation machine simulates simulation traffic environment；And；
Receive the first movement state information of the described real vehicle that described automobile positioning device gets；And,
According to described first movement state information, described simulation traffic environment, calculate controller sensor signal；WithAnd,
Send the tested controller to described real vehicle for the described controller sensor signal, so that described tested controller is sent outSend the real vehicle controller that the control signal for described controller sensor signal is extremely connected with the bus of described tested controller；And,
Obtain described tested controller and be directed to the control signal of described controller sensor signal output, the control of described real vehicleDevice responds the signal of output and the second movement state information of the described real vehicle of reception after described control signal, described real-time simulation machineThe simulation traffic environment of emulation, and described first movement state information, as the analysis of the performance test of described tested controllerFoundation；
Wherein, described second movement state information is obtained by the vehicle motion sensor of described real vehicle itself, is described realityMovement state information after described real vehicle controller receives described control signal for the car.
Preferably, described according to described first movement state information, described simulation traffic environment, calculate controller sensingThe process of device signal, comprising:
By described first movement state information, calculate positional information in described simulation traffic environment for the described real vehicle；
According to positional information in described simulation traffic environment for the described real vehicle, calculate controller sensor signal.
Preferably, described simulation traffic environment at least includes: different tracks and lane line, static vehicular traffic, fortuneDynamic vehicular traffic, pedestrian, traffic signss, barrier.
A kind of real-time simulation machine, comprising:
Emulation module, is used for simulating simulation traffic environment；
First receiver module, the automobile positioning device for receiving described real-time simulation machine affiliated real vehicle hil system obtainsFirst movement state information of the real vehicle arriving；
Computing module, passes for according to described first movement state information, described simulation traffic environment, calculating controllerSensor signal；
Sending module, for sending the tested controller to described real vehicle for the described controller sensor signal, so that instituteState tested controller and send the control signal being directed to described controller sensor signal to the bus phase with described tested controllerReal vehicle controller even；
Bus receiver module, is directed to the control of described controller sensor signal output for obtaining described tested controllerThe signal of output after signal and the described real vehicle controller described control signal of response, and the second kinestate receiving described real vehicleInformation；
Wherein, described tested controller is directed to the control signal of described controller sensor signal output, described real vehicle controlDevice processed responds the signal of output and the second movement state information of described real vehicle after described control signal, and described real-time simulation machine is imitatedReally simulate traffic environment, and the analysis of the performance test as described tested controller for described first movement state information according toAccording to described second movement state information is obtained by the vehicle motion sensor of described real vehicle itself, is described real vehicle in described realityVehicle controller receives the movement state information after described control signal.
Preferably, described computing module includes:
First computing unit, for by described first movement state information, calculating described real vehicle in described simulation trafficPositional information in environment；
Second computing unit, for the positional information in described simulation traffic environment according to described real vehicle, calculates controlDevice sensor signal processed.
A kind of real vehicle hil system, comprising: supply module, automobile positioning device and real-time as described in above-mentioned any oneReplicating machine, wherein:
Described automobile positioning device, is connected with described real-time simulation machine, for obtaining the first movement state information of real vehicleWith the second movement state information；
Described supply module is connected with described automobile positioning device and described real-time simulation machine respectively.
Preferably, also include: host computer；
Described host computer is connected with described real-time simulation machine by wired or wireless network.
Compared with prior art, the having the beneficial effect that of the application
In this application, provide a kind of real vehicle in loop simulation method of testing, based on the real vehicle hil system being arranged in real vehicleSystem, wherein, real vehicle has also assisted in the performance test of tested controller.
Because the systems such as the dynamics of vehicle in real vehicle, road, driver, power, transmission are all necessary beings, thereforeTested controller can send control signal for described controller sensor signal to the bus with described tested controllerConnected real vehicle controller, so that the tested controller that real vehicle hil system gets is directed to described controller sensor letterNumber output control signal, described real vehicle controller respond described control signal after output signal, described real vehicle second fortuneDynamic status information, the simulation traffic environment of described real-time simulation machine emulation, described first movement state information is all actual signal,Using the analysis foundation of the performance test as tested controller for the actual signal, to realize carrying out performance test to tested controller,Compared to by phantom, tested controller is carried out with performance test, the degree of accuracy of the performance test results is improved, in addition,Compared with real steering vectors, the application also a saving cost, reduces the risk of test, enhances the reproducibility of test.
Brief description
For the technical scheme being illustrated more clearly that in the embodiment of the present application, will make to required in embodiment description belowAccompanying drawing be briefly described it should be apparent that, drawings in the following description are only some embodiments of the present application, forFor those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these accompanying drawingsHis accompanying drawing.
Fig. 1 is a kind of flow chart in loop simulation method of testing for the real vehicle of the application offer；
Fig. 2 is the information exchange schematic diagram between real vehicle hil system, real vehicle and the tested controller that the application provides；
Fig. 3 is a kind of logical construction schematic diagram of the real-time simulation machine that the application provides；
Fig. 4 is a kind of structural representation of the real vehicle hil system that the application provides；
Fig. 5 is another kind of structural representation of the real vehicle hil system that the application provides.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, completeSite preparation describes it is clear that described embodiment is only some embodiments of the present application, rather than whole embodiments.It is based onEmbodiment in the application, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative workEmbodiment, broadly falls into the scope of the application protection.
Embodiment one
Present embodiment illustrates the real vehicle that the application provides is in loop simulation method of testing, for carrying out to tested controllerPerformance test.Tested controller involved by the present embodiment is specially the controller related to active safety, and such as vehicle is unmannedControl loop or automated parking system or automatic cruising system or Lane Departure Warning System or blind area monitoring system.
The real vehicle that the application provides, in loop simulation method of testing, is that real vehicle participates in tested controller by real vehiclePerformance test it is ensured that the system such as the dynamics of vehicle of automobile, road, driver, power, transmission is all necessary being.
The real vehicle that the application provides is in loop simulation method of testing, based on the real vehicle hil system being arranged in real vehicle, describedReal vehicle hil system includes real-time simulation machine and automobile positioning device, refers to Fig. 1, and the real vehicle that it illustrates the application offer existsA kind of flow chart of loop simulation method of testing, may comprise steps of:
Step s11: real-time simulation machine simulates simulation traffic environment.
In the present embodiment, simulate simulation traffic environment specifically can but be not limited to different tracks and trackLine, static vehicular traffic, the vehicular traffic of motion, pedestrian, traffic signss and/or barrier.
When performance test is carried out to tested controller although employing real vehicle, but when carrying out performance test, it is not required toReal road barrier and real traffic environment are set, and tester only needs to use real vehicle, imitate in real-time simulation machineCarry out performance test in the simulation traffic environment really going out.
Step s12: real-time simulation machine receives the first kinestate of the described real vehicle that described automobile positioning device getsInformation.
Tested controller is being carried out in test process, tester drives real vehicle, travelling in more spacious place, realIn the process of moving, described automobile positioning device can get the first movement state information of described real vehicle to car.
First movement state information is the controller sensor signal not sent in real-time simulation machine for tested controllerBefore, the movement state information of real vehicle, the mode of acquisition is the alignment system by real-time simulation machine and this test system, such as vapourCar positioner is obtained, and specifically, can obtain the positional information of automobile, bus location in real time by automobile positioning deviceBy these information transmissions to real-time simulation machine, replicating machine goes out the first kinestate letter of automobile according to positional information calculation to systemBreath.
First movement state information is specifically as follows the speed of real vehicle all directions, acceleration, angular velocity and angular acceleration.
Step s13: real-time simulation machine, according to described first movement state information, described simulation traffic environment, calculates controlDevice sensor signal processed.
This controller sensor signal herein refers to for detecting and simulating the true traffic environment of traffic environment identicalWhen required sensor signal.In the embodiment of the present invention, because real vehicle assemblage on-orbit, traffic environment is emulation, thereforeReal vehicle controller is simultaneously sent to by hardware by the value that simulation algorithm calculates required sensor signal, thunder such as at this stageReach the signal of sensor or camera sensing device, certain the application is not limited to that, as long as can be used in detecting or being beneficial toThe extraneous road barrier of the detection sensor related with simulation traffic environment and its relevant information detecting broadly fall into the applicationProtection domain.
The controller sensor signal calculating is used for carrying out performance test to tested controller.
In the present embodiment, real-time simulation machine, according to described first movement state information, described simulation traffic environment, calculatesThe detailed process going out controller sensor signal is:
Step a11: by described first movement state information, calculate position in described simulation traffic environment for the described real vehicleConfidence ceases.
Positional information in described simulation traffic environment for the described real vehicle includes described real vehicle and described simulation traffic environmentIn simulated roadway barrier relative position relation.
Step a12: according to positional information in described simulation traffic environment for the described real vehicle, calculate controller sensorSignal.
Step s14: send the tested controller to described real vehicle for the described controller sensor signal, so that described testedController sends the reality that the control signal for described controller sensor signal is extremely connected with the bus of described tested controllerVehicle controller.
In the present embodiment, the bus system of tested controller is connected with real vehicle, with real vehicle in tested controller phaseThe control system closed carries out information exchange.
Tested controller, after receiving described controller sensor signal, responds described controller sensor signal, rawBecome the control signal for described controller sensor signal, and the control signal for described controller sensor signal is sent outDeliver to the control that the real vehicle controller being connected with the bus of described tested controller will be directed to described controller sensor signalSignal send to related with described tested controller control system in real vehicle.
Step s15: obtain described tested controller and be directed to the control signal of described controller sensor signal output, describedReal vehicle controller responds the signal of output after described control signal, and the second movement state information of the described real vehicle of reception, describedThe simulation traffic environment of real-time simulation machine emulation, and described first movement state information, as the performance of described tested controllerThe analysis foundation of test.
Described second movement state information is obtained by the vehicle motion sensor of described real vehicle itself, is described real vehicle in instituteState the movement state information after real vehicle controller receives described control signal.
The real vehicle controller related to tested controller, after receiving the control signal that tested controller sends, executes phaseThe operation answered, to realize the control function of tested controller.Corresponding in execution with the related real vehicle controller of tested controllerAfter operation, the movement state information of real vehicle changes, and the movement state information after change is the second movement state information.
Real-time simulation machine obtains described tested controller and is directed to the control signal of described controller sensor signal output, instituteState the signal that real vehicle controller responds output after described control signal, and the second movement state information of the described real vehicle of reception, realWhen replicating machine emulation simulation traffic environment, and described first movement state information, and show tester, as described quiltSurvey the analysis foundation of the performance test of controller.
Tester can observe described tested controller be directed to the output of described controller sensor signal control signal,Described real vehicle controller responds the signal of output after described control signal, and the second movement state information of the described real vehicle of reception,The simulation traffic environment of real-time simulation machine emulation, and described first movement state information, comment to the performance of tested controllerFixed.
Tester, can be with real-time monitored except observing the second movement state information shown on real-time simulation machineSecond movement state information of the display exhibits of real vehicle.
In this application, provide a kind of real vehicle in loop simulation method of testing, based on the real vehicle hil system being arranged in real vehicleSystem, wherein, real vehicle has also assisted in the performance test of tested controller.
Because the systems such as the dynamics of vehicle in real vehicle, road, driver, power, transmission are all necessary beings, thereforeTested controller can send control signal for described controller sensor signal to the bus with described tested controllerConnected real vehicle controller, so that the tested controller that real vehicle hil system gets is directed to described controller sensor letterNumber output control signal, described real vehicle controller respond described control signal after output signal and described real vehicle second fortuneDynamic status information is all real signal, using the analysis foundation of the performance test as tested controller for the actual signal, to realizePerformance test is carried out to tested controller, compared to by phantom, performance test, performance test is carried out to tested controllerThe degree of accuracy of result is improved.
Further, because, during carrying out performance test to tested controller, real-time simulation machine has simulated mouldIntend traffic environment, tester can drive real vehicle and in more spacious place, tested controller be tested it is not necessary to realBorder arranges barrier and traffic environment, reduces security risk and the testing cost of tester, the work reducing test is strongDegree, improves the efficiency of test.
Real vehicle shown in Fig. 1 in loop simulation method of testing in the process of implementation, carries out performance survey to tested controllerDuring examination, the information exchange schematic diagram between real vehicle hil system, real vehicle and tested controller refers to Fig. 2.Wherein, Fig. 2In real vehicle hil system use independently-powered mode, by the supply module in real vehicle hil system to automobile positioning deviceIt is powered with real-time simulation machine.
The real vehicle that the application is provided of now illustrating illustrates in loop simulation method of testing, specifically with automated parking systemAs a example.For example, the controller of automated parking system, as tested controller, is carried out starting the controller to automated parking systemDuring performance test, real-time simulation machine simulates simulation traffic environment, and tester then drives the real vehicle being provided with real vehicle hil systemTravel in more spacious place, automobile positioning device obtains the first movement state information of real vehicle and sends to real-time simulationMachine, real-time simulation machine receives described first movement state information, and real-time simulation machine is according to the first movement state information, simulation trafficEnvironment, calculates and there is controller sensor signal needed for barrier (i.e. traffic environment) around detection, and by this controllerSensor signal sends to the controller of automated parking system, and the controller of automated parking system is receiving controller sensorAfter signal, parking route can be calculated, and control the steering of real vehicle, help tester to be turned to, final realize fromThe dynamic purpose parked.Tester then observes the control letter that automated parking system sends after receiving controller sensor signalNumber real vehicle controller related to the controller of automated parking system responds the signal of output after described control signal, and describedSecond movement state information of real vehicle, the simulation traffic environment of the first movement state information and the emulation of described real-time simulation machine, comesThe performance of the controller of automated parking system is evaluated, to complete the performance test of the controller of automated parking system.
Embodiment two
In the present embodiment, show a kind of real-time simulation machine that the application provides, refer to Fig. 3, it illustrates this ShenA kind of logical construction schematic diagram of the real-time simulation machine that please provide, real-time simulation machine includes: emulation module 31, the first receiver module32nd, computing module 33, sending module 34 and bus receiver module 35, wherein:
Emulation module 31, is used for simulating simulation traffic environment.
First receiver module 32, the automobile positioning device for receiving described real-time simulation machine affiliated real vehicle hil system obtainsFirst movement state information of the described real vehicle got.
Computing module 33, for according to described first movement state information, described simulation traffic environment, calculating controllerSensor signal.
In the present embodiment, computing module 33 specifically can include the first computing unit and the second computing unit.Wherein:
First computing unit, for by described first movement state information, calculating described real vehicle in described simulation trafficPositional information in environment.
Positional information in described simulation traffic environment for the described real vehicle includes described real vehicle and described simulation traffic environmentIn simulated roadway barrier relative position relation.
Second computing unit, for the positional information in described simulation traffic environment according to described real vehicle, calculates controlDevice sensor signal processed.
Sending module 34, for sending the tested controller to described real vehicle for the described controller sensor signal, so thatDescribed tested controller sends the control signal being directed to described controller sensor signal to the bus with described tested controllerConnected real vehicle controller.
Bus receiver module 35, is directed to the control of described controller sensor signal output for obtaining described tested controllerThe signal of output after signal processed and the described real vehicle controller described control signal of response, and the second motion shape receiving described real vehicleState information.
Wherein, described tested controller is directed to the control signal of described controller sensor signal output, described real vehicle controlDevice processed responds the signal of output and the second movement state information of described real vehicle after described control signal, and described real-time simulation machine is imitatedReally simulate traffic environment, and the analysis of the performance test as described tested controller for described first movement state information according toAccording to described second movement state information is obtained by the vehicle motion sensor of described real vehicle itself, is described real vehicle in described realityVehicle controller receives the movement state information after described control signal.
Embodiment three
In the present embodiment, show the real vehicle hil system that the application provides, refer to Fig. 4, illustrate that hil system includes:Automobile positioning device 41 and real-time simulation machine 42.
The concrete structure of real-time simulation machine 42 and function refer to embodiment two, will not be described here.
Automobile positioning device 41, is connected with real-time simulation machine 42, for obtaining the movement state information of real vehicle
Automobile positioning device 41, specifically for obtaining involved the first kinestate in embodiment one and embodiment twoInformation and the second movement state information.
Real vehicle hil system shown in Fig. 5 can adopt the power supply of real vehicle to be powered.It is, of course, also possible to be supplied using independentThe mode of electricity.If real vehicle hil system is by the way of independently-powered, the real vehicle hil system shown in Fig. 5 also includes: power supply mouldBlock 43, is connected with automobile positioning device 41 and real-time simulation machine 42 respectively；
In addition, based on real vehicle hil system disclosed above, also including host computer (not shown)；Described host computer canThink mobile terminal, such as notebook computer, panel computer etc.；Described host computer is imitated with described in real time by wired or wireless networkPrototype is connected, and to realize man-machine interaction, is more convenient to be emulated and controller is tested.For example, it is possible to pass through wireless networkThe radio communication between real-time simulation machine and host computer realized by card.Host computer and real-time simulation machine can be connected by netting twine, realExisting wire communication between host computer and real-time simulation machine.
It should be noted that each embodiment in this specification is all described by the way of going forward one by one, each embodiment weightPoint explanation is all difference with other embodiment, between each embodiment identical similar partly mutually referring to.For device class embodiment, due to itself and embodiment of the method basic simlarity, so description is fairly simple, related part ginsengSee that the part of embodiment of the method illustrates.
Last in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to byOne entity or operation are made a distinction with another entity or operation, and not necessarily require or imply these entities or operationBetween there is any this actual relation or order.And, term " inclusion ", "comprising" or its any other variant meaningCovering comprising of nonexcludability, so that including a series of process of key elements, method, article or equipment not only include thatA little key elements, but also include other key elements being not expressly set out, or also include for this process, method, article orThe intrinsic key element of equipment.In the absence of more restrictions, the key element being limited by sentence "including a ...", does not arrangeRemove and also there is other identical element in the process including described key element, method, article or equipment.
For convenience of description, it is divided into various units to be respectively described with function when describing apparatus above.Certainly, implementing thisThe function of each unit can be realized in same or multiple softwares and/or hardware during application.
As seen through the above description of the embodiments, those skilled in the art can be understood that the application canMode by software plus necessary general hardware platform to be realized.Based on such understanding, the technical scheme essence of the applicationOn in other words prior art is contributed partly can be embodied in the form of software product, this computer software productCan be stored in storage medium, such as rom/ram, magnetic disc, CD etc., include some instructions use so that a computer equipment(can be personal computer, server, or network equipment etc.) executes some of each embodiment of the application or embodimentPartly described method.
Above real vehicle provided herein is carried out in loop simulation method of testing, real-time simulation machine and system in detailIntroduce, specific case used herein is set forth to the principle of the application and embodiment, the explanation of above exampleIt is only intended to help and understand the present processes and its core concept；Simultaneously for one of ordinary skill in the art, according to thisThe thought of application, all will change in specific embodiments and applications, and in sum, this specification content should notIt is interpreted as the restriction to the application.