CN104298122B - A kind of hardware-in-the-loop test system and test method for ACC system exploitation - Google Patents
A kind of hardware-in-the-loop test system and test method for ACC system exploitation Download PDFInfo
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- CN104298122B CN104298122B CN201410058065.1A CN201410058065A CN104298122B CN 104298122 B CN104298122 B CN 104298122B CN 201410058065 A CN201410058065 A CN 201410058065A CN 104298122 B CN104298122 B CN 104298122B
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Abstract
The invention discloses a kind of hardware-in-the-loop test system and test method for ACC system exploitation, actual test environmental information is received by testing input interface, Traffic Information as real as possible can be provided for system development, while the test and evaluation that ACC control systems perform Absent measures instruction and the response of vehicle hardware system can be provided.The hardware-in-the-loop test system can be developed in adaptive cruise control system and provide a testing stand that can reproduce real roads traffic environment early stage, the exploitation of adaptive cruise control system is carried out on the premise of reducing development cost and improving experiment security, feature exploitation for system control logic instruction, test for controller electric property, it disclosure satisfy that some specific demands in ACC system exploitation, not only can help system well exploitation, while greatly reduce the risk of exploitation.
Description
Technical field
The present invention relates to a kind of hardware-in-the-loop test system and test method for ACC system exploitation.
Background technology
The exploitation generally use V model of vehicle electrically controlling system, hardware in loop experiment is exactly the virtual control of utilization in V model
Object detects the control performance of controller.With the complexity more and more higher of vehicle electrically controlling system, its development difficulty is not yet
Disconnected increase, effect of the hardware in loop experiment in systems development process are also more and more important.
Adaptive cruise control system（ACC system）It is before perceiving vehicle traveling by intelligence sensors such as video, radars
The environmental information of side（Including road, front vehicles, barrier etc.）, driver is carried according to road traffic condition in environment
Wake up, vehicle is controlled, so as to avoid accident from occurring to improve the active safety control system of vehicle safety.Developing
During, it is necessary to largely tested, to gather traffic and analysis control algorithm, if these experiments are directly using reality
Car tests ACC-ECU, can there is certain risk.
The technology of recent hardware-in-loop simulation system gradually grows up, and it is the higher software and hardware of a set of requirement of real-time
System, development of its development dependent on microelectric technique and computer technology.The research and development of hardware-in-loop simulation is also
Get up with the development of electronic technology and computer technology in recent years.
There are multiple hardwares on the market the-loop test bed at present, but these testing stands are all general, are developed for ACC system
In some specific demands, these testing stands can not be fully able to meet.
The content of the invention
It is an object of the invention to provide a kind of hardware-in-the-loop test system for ACC system exploitation, to solve existing reality
There is the problem of risk in car test, while provide a kind of test method traditional using the experiment.
In order to realize the above object the technical solution adopted in the present invention is：A kind of hardware for ACC system exploitation exists
Ring test system, including at least provided with a host computer for testing input interface for being used to receive actual environment information and for giving birth to
Into the execution test machine of auto model, the host computer is used for according to the actual environment information generation test signal received, should
The test signal that host computer is used to be connected to be generated with ACC-ECU to be measured is sent to ACC-ECU to be measured, described to perform test
Machine be used for ACC-ECU connections to be measured with generate according to ACC-ECU to be measured testing and control instruction execution it is corresponding operation and give birth to
Into feedback signal, and the host computer is connected to be entered according to the feedback signal for performing test machine to test signal with performing test machine
Row evaluation and modification.
The ACC-ECU to be measured also is provided with the test input interface for receiving actual environment information.
The host computer is provided with one and is used to receive the test video signal input that actual environment information is vision signal
Interface, the ACC-ECU to be measured are defeated for receiving the radar signal test that actual environment information is radar signal provided with one
Incoming interface.
Technical scheme comprises the following steps used by the present invention is used for the hardware-in-the-loop test method that ACC system is developed：
（1）Host computer is to be measured for being sent to according at least one actual environment information generation test signal received
ACC-ECU；
（2）ACC-ECU generations testing and control to be measured, which is instructed and sent it to, to be performed in test machine；
（3）The testing and control that test machine is sent using the auto model of generation according to ACC-ECU to be measured tests is performed to instruct
Execution operates accordingly and generates feedback signal；
（4）Host computer receives the feedback signal for performing test machine and test signal is evaluated and repaiied according to feedback signal
Change.
The actual environment information that the host computer receives is vision signal, and it simultaneously carries out processing generation test wrapper to the signal
Environment information and corresponding control logic test signal；The ACC-ECU to be measured receives radar signal corresponding with vision signal, and
The test signal generation testing and control instruction that the radar signal and the host computer received are sent.
The actual environment information that the host computer receives includes vision signal and/or radar signal.
The present invention is used for the hardware-in-the-loop test system of ACC system exploitation and test method is received by testing input interface
Actual test environmental information, Traffic Information as real as possible can be provided for system development, while ACC controls can be provided
System processed performs the test and evaluation of Absent measures instruction and the response of vehicle hardware system.The hardware-in-the-loop test system can be
Adaptive cruise control system exploitation provides a testing stand that can reproduce real roads traffic environment early stage, is developed reducing
The exploitation of adaptive cruise control system is carried out on the premise of cost and raising experiment security, is instructed for system control logic
Feature exploitation, for the test of controller electric property, disclosure satisfy that some specific demands in ACC system exploitation, no
But the exploitation of the good help system of energy, while greatly reduce the risk of exploitation.
Brief description of the drawings
Fig. 1 is the video acquisition schematic diagram of actual environment information；
Fig. 2 is the radar acquisition principle figure of actual environment information；
Fig. 3 is the structure principle chart of the present invention.
Embodiment
Below in conjunction with the accompanying drawings and the present invention is described further specific embodiment.
The structure principle chart that the present invention is used for the hardware-in-the-loop test system of ACC system exploitation is illustrated in figure 3, can by figure
Know, the system includes at least provided with a host computer for testing input interface for being used to receive actual environment information and for generating
The execution test machine of auto model, host computer are used for according to the actual environment information generation test signal received, the host computer
ACC-ECU to be measured is sent to the test signal generated for being connected with ACC-ECU to be measured, test machine is performed and is used for treating
The testing and control instruction for surveying ACC-ECU connections to be generated according to ACC-ECU to be measured performs to be operated and generates feedback signal accordingly,
And host computer is connected so that test signal is evaluated and changed according to the feedback signal for performing test machine with performing test machine.
The actual environment information of the present embodiment includes vision signal and radar signal, due to the difference of communication protocol, radar
Information data can not be with host computer direct communication, and for ease of communication, the ACC-ECU to be measured in the present embodiment also is provided with being used to receive
The test input interface of actual environment information, i.e., one is set to be used to receive actual environment information for vision signal on host computer
Test video signal input interface, handled by the substantial amounts of video signal data of the interface；Set on ACC-ECU to be measured
There is one to be used to receive the radar signal test input interface that actual environment information is radar signal.
Certainly, radar signal can also be transferred in host computer by way of protocol conversion, and host computer receives video letter
Number and/or radar signal handled.
Present invention also offers a kind of hardware-in-the-loop test method for ACC system exploitation, comprise the following steps：
（1）Host computer is to be measured for being sent to according at least one actual environment information generation test signal received
ACC-ECU；
（2）ACC-ECU generations testing and control to be measured, which is instructed and sent it to, to be performed in test machine；
（3）The testing and control that test machine is sent using the auto model of generation according to ACC-ECU to be measured tests is performed to instruct
Execution operates accordingly and generates feedback signal；
（4）Host computer receives the feedback signal for performing test machine and test signal is evaluated and repaiied according to feedback signal
Change.
As shown in figure 1, vision signal includes lane line 1, vehicle target 2, barrier 3（Trees, grid i.e. beside track
Column）Deng being to gather real traffic letter using the equipment such as camera or video camera for providing real traffic environment
Breath, then accessed by test video signal input interface in host computer, for providing human-machine interactive information, and make hardware in loop
Experimental system possesses real traffic information；As shown in Fig. 2 radar signal corresponding with vision signal includes detections of radar
The target 4 arrived and the lane line 5 of Radar Calibration etc., the data for providing vehicle front barrier in true traffic environment are believed
Breath, including the distance of front vehicles, speed etc..
The actual environment information that the present embodiment host computer receives is vision signal, and host computer inputs vision signal true
Traffic environment, vehicle action, human-machine operation instruction etc. are merged, and generation test environment information is used to provide a human
Operation and control interface, while generate control logic test signal corresponding with test environment information, the control logic test now generated
Signal includes the driver operation signals such as speed, braking, steering.
The environmental information of radar collection is reproduced in real time by way of CAN, for the controller for ACC-ECU to be measured
Hardware in loop provides environmental data information, ACC-ECU to be measured using actual hardware control, by bottom C code or
MATLAB/SIMULINK writes control logic, and the test signal and the radar signal of input sent to host computer carries out logic
Computing, and on-off model, analog signalses, CAN signal etc. are generated by hardware control, accelerate for simulating vehicle,
The instruction of the testing and controls such as deceleration sends execution test machine to.
In addition, if vision signal and radar signal all connect host computer, host computer is complete according to two kinds of signal generations
Test environment information and control instruction, what now host computer mainly generated is logic testing signal, and is controlled for decision logic
Whether normal, control instruction generates after carrying out logical operation according to test signal and radar data input signal by ACC-ECU, patrols
Volume computing mainly include vehicle speed, vehicle acceleration, vehicle deceleration and vehicle with the distance operation between target vehicle and
Control.
ACC-ECU reads the data message for the various targets of vehicle front that radar is sent out, and according to target its data（It is vertical
To distance, relative velocity, lateral separation）Target is followed etc. identifying, while according to the velocity variations of target itself, with reference to upper
Test signal caused by machine, testing and control instruction is produced, each executing agency is controlled to vehicle, realizes that vehicle accelerates, slowed down
Action.
The dynamic (dynamical) simulated environment of simulating vehicle can be produced by generating auto model by performing test machine, be moved using vehicle
Mechanics Simulation software truckSim or VeDyNa etc. are public using associated vehicle performance parameter or mathematics according to vehicle inherent characteristic
Formula establishes auto model；The testing and control instruction sent out according to ACC-ECU assemblage on-orbits to be measured is carried out to each executing agency of vehicle
Control, feedback signal is generated for simulating action of the actual vehicle after control instruction is received.
Ipc monitor performs the responsive state of auto model in test machine, and feedback signal back to host computer is used for man-machine
Interaction, developer can be tested test signal, evaluated and be changed.
The test philosophy of the present invention is as follows：When target vehicle speed or target with a distance from vehicle from changing（Radar data
In included）, ACC-ECU can be exported by computing acceleration or deceleration control instruction to perform test machine, now perform test machine
Feedback signal after action is delivered into host computer by developer's observed result, and the control in results modification ACC-ECU is patrolled
Volume, test checking is carried out again, until control logic energy meet demand.
Above example is only used for helping the core concept for understanding the present invention, it is impossible to the present invention is limited with this, for ability
The technical staff in domain, every thought according to the present invention, the present invention is modified or equivalent substitution, in embodiment
And any change done in application, it should be included in the scope of the protection.
Claims (6)
- A kind of 1. hardware-in-the-loop test system for ACC system exploitation, it is characterised in that：Including being used to connect at least provided with one Receive the host computer of the test input interface of actual environment information and the execution test machine for generating auto model, the host computer For generating test signal according to the actual environment information that receives, the host computer be used to being connected with ACC-ECU to be measured with by its The test signal of generation is sent to ACC-ECU to be measured, and the execution test machine is used to be connected with according to be measured with ACC-ECU to be measured The testing and control instruction of ACC-ECU generations, which performs, to be operated accordingly and generates feedback signal, and the host computer is with performing test Machine is connected so that test signal is evaluated and changed according to the feedback signal for performing test machine；The actual environment information is to connect The real Traffic Information received.
- 2. the hardware-in-the-loop test system according to claim 1 for ACC system exploitation, it is characterised in that：It is described to treat Survey ACC-ECU also is provided with the test input interface for receiving actual environment information.
- 3. the hardware-in-the-loop test system according to claim 2 for ACC system exploitation, it is characterised in that：On described Position machine is provided with one and is used to receive the test video signal input interface that actual environment information is vision signal, described to be measured ACC-ECU is provided with one and is used to receive the radar signal test input interface that actual environment information is radar signal.
- A kind of 4. hardware-in-the-loop test method for ACC system exploitation, it is characterised in that comprise the following steps：(1) host computer is used to send ACC- to be measured to according at least one actual environment information generation test signal received ECU；(2) ACC-ECU generations testing and control to be measured, which is instructed and sent it to, performs in test machine；(3) perform the testing and control that test machine utilizes the auto model of generation to be sent according to ACC-ECU to be measured tests and instruct execution Operate accordingly and generate feedback signal；(4) host computer receives the feedback signal for performing test machine and test signal is evaluated and changed according to feedback signal；The actual environment information is the real Traffic Information received.
- 5. the hardware-in-the-loop test method according to claim 4 for ACC system exploitation, it is characterised in that：On described The actual environment information that position machine receives be vision signal, and it simultaneously carries out processing to the signal and generate test environment information and corresponding Control logic test signal；The ACC-ECU to be measured receives radar signal corresponding with vision signal, and by the radar signal and The test signal generation testing and control instruction that the host computer received is sent.
- 6. the hardware-in-the-loop test method according to claim 4 for ACC system exploitation, it is characterised in that：On described The actual environment information that position machine receives includes vision signal and/or radar signal.
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| CN108958066A (en) * | 2017-05-19 | 2018-12-07 | 百度在线网络技术（北京）有限公司 | Emulation test method and device |
| CN109388070A (en) * | 2017-08-03 | 2019-02-26 | 上汽通用汽车有限公司 | A kind of emulation platform of active safety system |
| CN108760338B (en) * | 2018-06-22 | 2020-07-31 | 天津英创汇智汽车技术有限公司 | Unmanned on-loop testing device and system |
| CN108845509A (en) * | 2018-06-27 | 2018-11-20 | 中汽研（天津）汽车工程研究院有限公司 | A kind of adaptive learning algorithms algorithm development system and method |
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| CN113341259B (en) * | 2021-06-23 | 2022-10-04 | 重庆长安新能源汽车科技有限公司 | Whole vehicle high and low temperature testing system and method for new energy automobile |
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