CN102306022A - Automobile semi-physical simulation experimental system combining controller area network (CAN) bus and electronic control unit - Google Patents
Automobile semi-physical simulation experimental system combining controller area network (CAN) bus and electronic control unit Download PDFInfo
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- CN102306022A CN102306022A CN201110240571A CN201110240571A CN102306022A CN 102306022 A CN102306022 A CN 102306022A CN 201110240571 A CN201110240571 A CN 201110240571A CN 201110240571 A CN201110240571 A CN 201110240571A CN 102306022 A CN102306022 A CN 102306022A
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Abstract
The invention discloses an automobile semi-physical simulation experimental system combining a controller area network (CAN) bus and an electronic control unit, and belongs to the technical field of automobile design and development. The automobile semi-physical simulation system mainly comprises two parts: an entity part and a virtual simulation part, wherein the entity part is connected with the CAN bus through all systems including wheels, a frame, a power system and sensors of all control systems on an automobile chassis; the CAN bus is connected with the virtual simulation part through the electronic control unit; the virtual simulation part comprises a road view and a mathematical model; physical hardware is embedded into the simulation system; a software and hardware technique and an electronic technique are combined together; a computer is used for establishing a virtual model for reflecting an objective law; the virtual model is used for performing experiments; and certain acquired key signals are sent out by real hardware. The automobile semi-physical simulation system saves the cost compared with pure hardware, and has higher reliability compared with pure software.
Description
Technical field
The invention belongs to Automobile Design and development technique scope, the hardware-in-the-loop simulation experimental system that particularly a kind of automobile CAN-bus and ECU (Electrical Control Unit) combine.
Background technology
Traditional automobile test is carried out with material object, time-consuming, effort and expensive be its maximum characteristics; Danger and inconvenience that next is to use material object to educate or train; Use when in kind, if the operator made mistakes, the destructive accident that may produce, injury operator, harm environment, negative influence such as cause any property loss.
Utilize semi-true object emulation technology, the part system in the automobile is replaced with software mode, the performance or the electric system of automobile are tested, can be used as the preliminary preparation of true test, and can substitute traditional test to a certain extent.Overcome and used danger and inconvenience in kind; Avoided using when in kind, the destructiveness that may produce when the operator made mistakes, injury operator, harm environment, negative influence such as cause any property loss; Adopt analogue system to replace real system, favorable interaction is provided, experiment number can be unrestricted, and simulation result has repeatability.
The hardware-in-the-loop simulation experimental system that automobile CAN-bus that the present invention proposes and ECU (Electrical Control Unit) combine, is saved cost of development at the construction cycle that can simplify automobile and electric system.
Summary of the invention
The purpose of this invention is to provide the hardware-in-the-loop simulation experimental system that a kind of automobile CAN-bus and ECU (Electrical Control Unit) combine; It is characterized in that; Said semi-matter simulating system is that hardware in kind is embedded analogue system; Software and hardware technology is combined with electronic technology; Appliance computer is set up the dummy model of reflection objective law, and the applying virtual model makes an experiment, and obtains some key signals that sent by real hardware; This semi-matter simulating system is than pure hardware savings cost, and is more with a high credibility than pure software mode.
Said semi-matter simulating system mainly is made up of two parts: entity part and virtual emulation part; Each control system of entity part is connected with the CAN bus; (Electronic Control Unit ECU) partly is connected with virtual emulation the CAN bus through the electronic control unit as entire car controller;
Said entity part comprises the sorts of systems of automobile: rain washing control, automatic seat, door lock antitheft, power windows, rearview mirror loudspeaker, fault diagnosis, caution signal, instrument demonstration, engine, automatic transmission, ABS/ESP (Anti-lock Braking System are controlled, blown to automobile chassis, light; Anti-lock braking system/Electronic Stability Program, Electronic Stability Program (ESP)), air bag, electronic controlled suspension, Ruiss Controll and power steering.
Said virtual emulation partly comprises road what comes into a driver's and mathematical model (engine mockup, vehicle dynamic model etc.); In the virtual emulation part; Utilize display to show road what comes into a driver's (road surface scene) information; The driver can be according to the road surface scene on the display; Handle running car; Operation information is delivered to automobile chassis through the CAN bus, thereby makes a response to driver's manipulation in the chassis.Connect through the CAN bus communication between the two; Like this; Various signal cable system on the automobile only needs two cables to serve as; Various electronic instruments, sensor and topworks are suspended on these two cables through a plurality of single chip microcomputer interfaces, utilize these two mutual serial communications of cable between the equipment and carry out Data Control.Connected mode mainly adopts 2 CAN buses (Controller AreaNetwork, controller local area network): adopt high-speed CAN bus and low speed CAN bus respectively according to the unlike signal characteristic.
The invention has the beneficial effects as follows that can partly substitute time-consuming in real world, effort and expensive is difficult to the test carried out, remedies the shortage of physical resource thus.The hardware-in-loop simulation system not only can be used as the preliminary preparation of true test, and can substitute traditional test to a certain extent, has overcome to use danger and inconvenience in kind; Avoided using when in kind, the destructiveness that may produce when the operator made mistakes, injury operator, harm environment, negative influence such as cause any property loss; Adopt analogue system to replace real system, make the experiment number can be unrestricted, simulation result has repeatability; Favorable interaction is provided.
The present invention uses the CAN mechanics of communication, has simplified wiring, has reduced the quantity of electrical node and the consumption of lead, has increased the reliability that information transmits.
Description of drawings
Fig. 1 is semi-matter simulating system wiring synoptic diagram.
Embodiment
The hardware-in-the-loop simulation experimental system that the present invention provides a kind of automobile CAN-bus and ECU (Electrical Control Unit) to combine.In semi-matter simulating system wiring synoptic diagram shown in Figure 1; Said semi-matter simulating system is that hardware in kind is embedded analogue system; Software and hardware technology is combined with electronic technology; Appliance computer is set up the dummy model of reflection objective law; The applying virtual model makes an experiment; Some key signals that obtain are to be sent by real hardware, and this semi-matter simulating system is than pure hardware savings cost, and is more with a high credibility than pure software mode.Connected mode mainly adopts 2 CAN buses (Controller Area Network; Controller local area network): adopt high-speed CAN bus 3 and low speed CAN bus 3.1 respectively according to the unlike signal characteristic, the control system that high-speed CAN bus is connected with low speed CAN bus as shown in Figure 1.
This semi-matter simulating system mainly is made up of two parts: entity part 1 and virtual emulation part 2; Entity part 1 is connected with high-speed CAN bus 3 or low speed CAN bus 3.1 through the sensor of each control system; Article 2, the CAN bus through as the electronic control unit of entire car controller (Electronic Control Unit, ECU) 4 are connected with virtual emulation part 2;
Said entity part 1 comprises the sorts of systems of automobile: rain washing control, automatic seat, door lock antitheft, power windows, rearview mirror loudspeaker, fault diagnosis, caution signal, instrument demonstration, engine, automatic transmission, ABS/ESP (Anti-lock Braking System are controlled, blown to automobile chassis, light; Anti-lock braking system/Electronic Stability Program, Electronic Stability Program (ESP)), air bag, electronic controlled suspension, Ruiss Controll and power steering etc.;
Said virtual emulation partly comprises road what comes into a driver's and mathematical model (engine mockup, vehicle ' mechanical model etc.).
In the virtual emulation part, utilize display to show road what comes into a driver's information, the driver can handle running car according to the road surface scene on the display, and operation information is delivered to automobile chassis 1 through the CAN bus, thus make a response to driver's manipulation in the chassis.Connect through the CAN communication between the two; Like this; Various signal cable system on the automobile only needs two cables to serve as; Various electronic instruments, sensor and topworks are suspended on these two cables through a plurality of single chip microcomputer interfaces, utilize these two mutual serial communications of cable between the equipment and carry out Data Control.Connected mode mainly adopts 2 CAN (Controller Area Network, controller local area network): adopt high-speed CAN bus 3 and low speed CAN bus 3.1 respectively according to the unlike signal characteristic.
Engine mockup.Obtain engine speed and torque data through test, the structure polynomial expression obtains the external characteristics model of engine.Regard its velocity characteristic the function of a single variable of engine speed as, polynomial expression is described below:
X in the formula
e---a certain characteristic value of engine;
N---engine speed, rmin
-1 
---engine speed sample average, rmin
-1
a
0, a
1..., a
k---multinomial coefficient.
The vehicle ' mechanical model
T in the formula
Tq---motor torque; i
g---transmission ratio;
i
0---the main reducing gear ratio of gear; η
T---the mechanical efficiency of power train;
R---radius of wheel, m; G---act on the gravity on the automobile, N;
F---coefficient of rolling resistance; I---road grade;
C
D---coefficient of air resistance; A---front face area, m
2
v
a---relative velocity, the travel speed of automobile when calm, m/s;
δ---vehicle correction coefficient of rotating mass;
M---vehicle mass, kg.
This system can be used for debugging line traffic control (X-by-wire) system of automobile.
Claims (3)
1. the hardware-in-the-loop simulation experimental system that combines of automobile CAN-bus and ECU (Electrical Control Unit); It is characterized in that; Said semi-matter simulating system is that hardware in kind is embedded analogue system; Semi-matter simulating system mainly is made up of two parts: entity part and virtual emulation part; Entity part is connected with the CAN bus through the sensor of each control system, and the CAN bus partly is connected with virtual emulation through the electronic control unit as entire car controller; Appliance computer is set up the dummy model of reflection objective law, and the applying virtual model makes an experiment, and obtains some key signals that sent by real hardware; This semi-matter simulating system is than pure hardware savings cost, and is more with a high credibility than pure software mode.
2. the hardware-in-the-loop simulation experimental system that combines according to the said automobile CAN-bus of claim 1 and ECU (Electrical Control Unit); It is characterized in that; Said entity part comprises the sorts of systems of automobile, as: the sensor of rain washing control, automatic seat, door lock antitheft, power windows, rearview mirror loudspeaker, fault diagnosis, caution signal, instrument demonstration, engine, automatic transmission, anti-lock braking system ABS/ Electronic Stability Program (ESP) ESP, air bag, electronic controlled suspension, Ruiss Controll, power steering and each control system is controlled, blown to light.
3. the hardware-in-the-loop simulation experimental system that combines according to the said automobile CAN-bus of claim 1 and ECU (Electrical Control Unit); It is characterized in that; Said virtual emulation partly comprises road surface scene and mathematical model; In the virtual emulation part; Utilize display to show road what comes into a driver's information, the driver can handle running car according to the road surface scene on the display; Operation information is delivered to automobile chassis through the CAN bus, thereby makes a response to driver's manipulation in the chassis.Connect through the CAN bus communication between the two; Like this; Various signal cable system on the automobile only needs two cables to serve as; Various electronic instruments, sensor and topworks are suspended on these two cables through a plurality of single chip microcomputer interfaces, utilize these two mutual serial communications of cable between the equipment and carry out Data Control.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103308327A (en) * | 2012-03-07 | 2013-09-18 | 长春孔辉汽车科技有限公司 | In-loop real-time simulation test system for suspension component |
| CN103414620A (en) * | 2013-08-15 | 2013-11-27 | 上海固泰科技有限公司 | Double-channel CAN simulation system based on CAN buses |
| CN103680240A (en) * | 2013-12-20 | 2014-03-26 | 中广核核电运营有限公司 | Universal type simulation system for nuclear power plant three-waste technical control |
| CN104598373A (en) * | 2013-10-30 | 2015-05-06 | 北京精密机电控制设备研究所 | Embedded software testing method capable of realizing multi-technology fusion |
| CN104731080A (en) * | 2013-12-19 | 2015-06-24 | 北汽福田汽车股份有限公司 | Automatic hardware-in-loop simulation environment model generating system and method |
| CN105759789A (en) * | 2016-04-18 | 2016-07-13 | 北京新能源汽车股份有限公司 | Simulation testing method, apparatus and system for vehicle control unit |
| CN105938331A (en) * | 2016-06-29 | 2016-09-14 | 中国北方车辆研究所 | Semi-physical simulation platform for hybrid vehicle research and development |
| CN108241762A (en) * | 2016-12-26 | 2018-07-03 | 乐视汽车（北京）有限公司 | For the test system and test method of automatic Pilot analogue system |
| CN111402663A (en) * | 2020-04-17 | 2020-07-10 | 李力 | Semi-physical simulation vehicle-mounted bus system teaching and fault diagnosis training platform |
| CN112306033A (en) * | 2019-07-29 | 2021-02-02 | 北京新能源汽车股份有限公司 | Vehicle-mounted controller joint test control method, device and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103308327A (en) * | 2012-03-07 | 2013-09-18 | 长春孔辉汽车科技有限公司 | In-loop real-time simulation test system for suspension component |
| CN103414620A (en) * | 2013-08-15 | 2013-11-27 | 上海固泰科技有限公司 | Double-channel CAN simulation system based on CAN buses |
| CN104598373A (en) * | 2013-10-30 | 2015-05-06 | 北京精密机电控制设备研究所 | Embedded software testing method capable of realizing multi-technology fusion |
| CN104731080A (en) * | 2013-12-19 | 2015-06-24 | 北汽福田汽车股份有限公司 | Automatic hardware-in-loop simulation environment model generating system and method |
| CN104731080B (en) * | 2013-12-19 | 2017-08-04 | 北汽福田汽车股份有限公司 | A kind of hardware-in-loop simulation environmental model automatic creation system and method |
| CN103680240A (en) * | 2013-12-20 | 2014-03-26 | 中广核核电运营有限公司 | Universal type simulation system for nuclear power plant three-waste technical control |
| CN105759789A (en) * | 2016-04-18 | 2016-07-13 | 北京新能源汽车股份有限公司 | Simulation testing method, apparatus and system for vehicle control unit |
| CN105759789B (en) * | 2016-04-18 | 2019-06-04 | 北京新能源汽车股份有限公司 | The emulation test method of entire car controller, device and system |
| CN105938331A (en) * | 2016-06-29 | 2016-09-14 | 中国北方车辆研究所 | Semi-physical simulation platform for hybrid vehicle research and development |
| CN108241762A (en) * | 2016-12-26 | 2018-07-03 | 乐视汽车（北京）有限公司 | For the test system and test method of automatic Pilot analogue system |
| CN112306033A (en) * | 2019-07-29 | 2021-02-02 | 北京新能源汽车股份有限公司 | Vehicle-mounted controller joint test control method, device and system |
| CN111402663A (en) * | 2020-04-17 | 2020-07-10 | 李力 | Semi-physical simulation vehicle-mounted bus system teaching and fault diagnosis training platform |
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Application publication date: 20120104 |