CN109388070A - A kind of emulation platform of active safety system - Google Patents
A kind of emulation platform of active safety system Download PDFInfo
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- CN109388070A CN109388070A CN201710655002.8A CN201710655002A CN109388070A CN 109388070 A CN109388070 A CN 109388070A CN 201710655002 A CN201710655002 A CN 201710655002A CN 109388070 A CN109388070 A CN 109388070A
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- radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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Abstract
The present invention relates to a kind of emulation platforms of active safety system, it is characterized in that, having: PreScan system and Vehicular system, PreScan system and Vehicular system are communicated to connect by CAN bus, PreScan system includes: virtual reality model, for simulating virtual reality；And radar sensor model, it is used for guinea pig sensor.Vehicular system includes: radar electric control unit, for providing vehicle traveling information with PreScan system interaction and to PreScan system；Electric brake control module is interacted with radar electric control unit, to radar electric control unit output deceleration as vehicle traveling information；And engine control module, it is interacted with radar electric control unit, is exported to radar electric control unit and accelerate information as vehicle traveling information.The emulation of adaptive cruise and emergency auto braking radar is researched and developed before real vehicle research and development in accordance with the invention it is possible to realize.
Description
Technical field
The present invention relates to vehicle safety technologies, flat more particularly to a kind of emulation that can be used for researching and developing active safety system
Platform.
Background technique
The emulation platform of active safety system carries out hardware mainly for adaptive cruise and emergency auto braking system
Assemblage on-orbit.When vehicle travels in rotating hub and starts preposition radar, using PreScan tool by the target under different scenes
Simulation parameter is input in radar ECU by high-speed bus, judges to try finally by the relevant parameter acquired in simulation data
Test result.The wherein tool that PreScan tool is emulated with software, general PreScan tool are made of following 4 part: 1.
Environment is created, the traffic environments such as infrastructure, weather conditions and different light conditions are included according to database creation；It is passed 2. establishing
Sensor model；3. control system's development is merged using Matlab/Simulink software design and verify data processing, sensor
With the control algolithms such as information decision；4. simulating, verifying, VeHIL are hardware in loop systems, vehicle uses real vehicle, in traffic environment
Other vehicles are replaced using wheeled robot.
The R&D Approach of existing adaptive cruise and emergency auto braking radar generally uses real vehicle to research and develop.The mode of realization
Reduction makes a reservation for the driving condition of vehicle in each scene predominantly under true environment, by observing tested vehicle ACC and CIB thunder
Whether the executive condition reached, judgment module correctly work.
But in the prior art that provide being capable of efficiently and accurately simulating vehicle radar under different driving scenes
Operating status.
Summary of the invention
In view of the above problems, the present invention is intended to provide one kind can efficiently and accurately simulating vehicle in different driving scenes
The operating status of lower radar and can pass through to relevant parameter acquisition come judge radar logic executive condition active pacify
System-wide emulation platform.
The emulation platform of active safety system of the invention, which is characterized in that have: PreScan system and Vehicular system,
The PreScan system and the Vehicular system are communicated to connect by CAN bus,
Wherein, the PreScan system includes:
Virtual reality model, for simulating virtual reality；And
Radar sensor model is used for guinea pig sensor,
The Vehicular system includes:
Radar electric control unit, for providing vehicle row with the PreScan system interaction and to the PreScan system
Sail information；
Electric brake control module is interacted with the radar electric control unit, and the output of Xiang Suoshu radar electric control unit subtracts
Fast information is as vehicle traveling information；And
Engine control module is interacted with the radar electric control unit, and the output of Xiang Suoshu radar electric control unit accelerates letter
Breath is used as vehicle traveling information.
Preferably, the Vehicular system further comprises:
Man-machine interactive interface, for real time modifying or input scene parameter and real-time display test process and test data.
Preferably, the Vehicular system further comprises:
Adaptive cruise configuration switch is used to open or closes adaptive cruise function.
Preferably, the radar sensor model is used in conjunction with the vehicle driving letter from the radar electric control unit
Breath and from the virtual reality model for simulating the scene information of virtual reality.
Preferably, the radar electric control unit is changed based on the sensor parameters output that the PreScan system provides
Become the control signal for executing logic.
Preferably, according to the deceleration control signal in the control signal of the radar electric control unit, institute
State electric brake control module control vehicle brake.
Preferably, according to the acceleration control signal in the control signal of the radar electric control unit, institute
Engine control module control vehicle is stated to accelerate.
Preferably, the radar sensor model is used for numbers of beams, frequency, detection range, angle, the wave of setting sensor
Form in it is one or more.
Preferably, the CAN bus is for realizing the synchronization between the PreScan system and the Vehicular system.
Preferably, the PreScan system is used to establish the scene of a variety of active safety systems.
Hardware-in-loop simulation of the emulation platform of active safety system of the invention based on Pre-Scan software, for realizing
Emulation to radar sensor model and the model emulation to scene.And the sensor information of simulation is passed by high-speed bus
To the ECU module of Radar for vehicle, change the logic state that radar executes.The emulation platform is unique early period before real vehicle research and development of products
The approach of guinea pig module reduces the risk of train experiment, with high reproduction degree and is easy iteration research and development.
In the emulation platform of active safety system of the invention, by vehicle dynamic characteristics collected under truth,
Realize vehicle dynamic simulation in laboratory environments, by the assemblage on-orbit of hardware so as to relatively accurately simulate real driving
Scene, and Pre-Scan software guinea pig sensor is utilized, it is successfully realized by high-speed bus and Radar for vehicle sensor ECU
Interaction, pass through test during collected vehicle actual acceleration, deceleration degree level, collision speed, system in different scenes
The parameters such as dynamic distance, obtain the final result of active safety system test.The emulation platform is participated in due to introducing actual hardware
Emulation, the analysis exploitation of relatively pure CAE, improves fidelity, and opposite real vehicle is researched and developed, and has high reproduction degree height and easily iteration is ground
Hair, shortens the development cycle of project.
The emulation platform of active safety system according to the present invention can be realized by simulation software in laboratory conditions
The simulation reduction of true complexity road scene, reproduction degree is high and can repeat to test each control algolithm and calibrating parameters to systematicness
The influence of energy.Moreover, the emulation platform of active safety system according to the present invention, the compatibility of emulation platform is high, is suitable for more
The emulation research and development of the adaptive cruise and emergency auto braking radar of money vehicle.The emulation of active safety system according to the present invention
Platform is capable of providing the human-computer interaction interface of complete set, can facilitate research staff's real time modifying scenario parameters, and intuitive display is ground
Experimentation is sent out, acquire experimental data in real time and can finally form calibration performance report.Active safety system according to the present invention
Emulation platform, can be realized and real vehicle is carried out to the adaptive cruise and emergency auto braking radar that have been assemblied on vehicle grind
Hair, it is convenient synchronous with productive temp.
Detailed description of the invention
Fig. 1 is the organigram of the emulation platform of active safety system of the invention.
Fig. 2 is the workflow schematic diagram of the emulation platform of active safety system of the invention.
Specific embodiment
What is be described below is some in multiple embodiments of the invention, it is desirable to provide to basic understanding of the invention.And
It is not intended to and confirms crucial or conclusive element of the invention or limit scope of the claimed.
Fig. 1 is the organigram of the emulation platform of active safety system of the invention.
Fig. 2 is the workflow schematic diagram of the emulation platform of active safety system of the invention.
As shown in Figure 1, the emulation platform of active safety system has: PreScan system 100 and Vehicular system 200, it is described
PreScan system 100 and the Vehicular system 200 are communicated to connect by CAN bus.
Wherein, PreScan system 100 includes: virtual reality model 110, for simulating virtual reality；And radar sensing
Device model 120 is used for guinea pig sensor.Wherein, virtual reality model 110 is passed for simulating various traffic scenes, radar
Sensor model 120 is for one or more in the numbers of beams of setting sensor, frequency, detection range, angle, the form of wave.
In order to avoid the signal and real vehicle radar of 100 analog sensor of PreScan system lack synchronism, in PreScan
The high-speed CAN bus of 500kb/s is used between system 100 and Vehicular system 200, and defines the CAN message of both sides' interaction
Content ensures that the synchronism of emulation platform.
Vehicular system 200 includes: radar electric control unit (can also referred to as " radar ECU ") 210, for
PreScan system 100 is interactive and provides vehicle traveling information to PreScan system 100；Electric brake control module 220
(can also referred to as " EBCM "), interacts with radar electric control unit 210, exports the letter that slows down to radar electric control unit 210
Breath is used as vehicle traveling information；Engine control module 230(can also referred to as " ECM "), it is handed over radar electric control unit 210
Mutually, exporting to radar electric control unit 210 accelerates information as vehicle traveling information；Man-machine interactive interface 240, for providing
Real time modifying or input scene parameter and real-time display test process and test data, such as program is carried out based on VC++ platform
It writes, thus driver can obtain the information of function executive condition in real time, and can obtain video image when experiment in real time, side
Just it researches and develops；Adaptive cruise configuration switch 250(can also referred to as " ACC switch "), it is used to open or closes adaptive cruise function
Energy.
Wherein, radar sensor model 120 be used to combining vehicle traveling information from radar electric control unit 210 and
The scene information for being used to simulate virtual reality from virtual reality model 120, on the other hand, radar electric control unit 120
Change the control signal for executing logic based on the sensor parameters output that PreScan system 100 provides.According to from radar electric
Deceleration control signal in the control signal of control unit 120, electric brake control module 220 controls vehicle brake, according to next
Acceleration control signal from the control signal of radar electric control unit 120, engine control module 230 control vehicle and accelerate.
Fig. 2 is the workflow schematic diagram of the emulation platform of active safety system of the invention.
As shown in Fig. 2, in the step s 100, adapting to the switch letter of " the ACC switch " in cruise set switch 250(, that is, Fig. 2
Breath input radar ECU210.In step s 200, according to sets requirement, radar ECU210 sends phase to EBCM220 and ECM230
The instruction answered.In step S300, by high-speed CAN bus, PreScan system 100 is sent by vehicle traveling information.In step
In rapid S400, driving scene is selected, predefined scenario parameters are set in radar sensor model 120.
In step S500, the driving information of vehicle and scene information are imported into radar sensor model 120.In step
In S600, by high-speed bus, the output of radar sensor model 120 is transmitted to radar ECU210, to change execution logic.
In step S700, determined according to radar ECU210 as a result, sending acceleration to EBCM220 and ECM230, slowing down refers to
It enables.On the other hand, in step S800, in 240 real-time display test process of man-machine interface and test data.In step S900,
Test result can be provided to user, user analyzes test result.
The emulation platform of active safety system according to the present invention can obtain following technical effect: realization is ground in real vehicle
The emulation of adaptive cruise and emergency auto braking radar is researched and developed before hair, reduces the risk of real vehicle research and development；According to
PreScan software simulate adaptive cruise sensor requirement, to the long range radar LRR of adaptive cruise have selected range and
Detection angle；In view of domestic complicated traffic condition, data statistics is carried out to domestic typical traffic scene, has drafted nearly 30
The control parameter of kind road driving scene, functional requirement is complete, and scene reproduction degree is high；It is applicable to different trailer-mounted radar manufacturer productions
Different model product research and development, it is applied widely.
Example above primarily illustrates the emulation platform of active safety system of the invention.Although only to this some of hair
Bright specific embodiment is described, but those of ordinary skill in the art it is to be appreciated that the present invention can without departing from
Implement in its spirit and scope in many other forms.Therefore, the example shown is considered as schematical with embodiment
And not restrictive, in the case where not departing from the spirit and scope of the present invention as defined in appended claims, the present invention
Various modification and replacement may be covered.
Claims (10)
1. a kind of emulation platform of active safety system, which is characterized in that have: PreScan system and Vehicular system, it is described
PreScan system and the Vehicular system are communicated to connect by CAN bus,
Wherein, the PreScan system includes:
Virtual reality model, for simulating virtual reality；And
Radar sensor model is used for guinea pig sensor,
The Vehicular system includes:
Radar electric control unit, for providing vehicle row with the PreScan system interaction and to the PreScan system
Sail information；
Electric brake control module is interacted with the radar electric control unit, and the output of Xiang Suoshu radar electric control unit subtracts
Fast information is as vehicle traveling information；And
Engine control module is interacted with the radar electric control unit, and the output of Xiang Suoshu radar electric control unit accelerates letter
Breath is used as vehicle traveling information.
2. the emulation platform of active safety system as described in claim 1, which is characterized in that
The Vehicular system further comprises:
Man-machine interactive interface, for real time modifying or input scene parameter and real-time display test process and test data.
3. the emulation platform of active safety system as claimed in claim 1 or 2, which is characterized in that
The Vehicular system further comprises:
Adaptive cruise configuration switch is used to open or closes adaptive cruise function.
4. the emulation platform of active safety system as claimed in claim 1 or 2, which is characterized in that
The radar sensor model is used in conjunction with the vehicle traveling information from the radar electric control unit and comes from institute
State the scene information for being used to simulate virtual reality of virtual reality model.
5. the emulation platform of active safety system as claimed in claim 1 or 2, which is characterized in that
The radar electric control unit is changed based on the sensor parameters output that the PreScan system provides executes logic
Control signal.
6. the emulation platform of active safety system as claimed in claim 5, which is characterized in that
According to the deceleration control signal in the control signal of the radar electric control unit, the electric brake control
Molding block controls vehicle brake.
7. the emulation platform of active safety system as claimed in claim 5, which is characterized in that
According to the acceleration control signal in the control signal of the radar electric control unit, the engine control mould
Block controls vehicle and accelerates.
8. the emulation platform of active safety system as claimed in claim 1 or 2, which is characterized in that
The radar sensor model is in the numbers of beams of setting sensor, frequency, detection range, angle, the form of wave
It is one or more.
9. the emulation platform of active safety system as claimed in claim 5, which is characterized in that
The CAN bus is for realizing the synchronization between the PreScan system and the Vehicular system.
10. the emulation platform of active safety system as claimed in claim 5, which is characterized in that
The PreScan system is used to establish the scene of a variety of active safety systems.
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| CN110850843A (en) * | 2019-11-08 | 2020-02-28 | 北京海纳川汽车部件股份有限公司 | Car lamp control simulation test method and system |
| CN111399475A (en) * | 2020-03-05 | 2020-07-10 | 中国第一汽车股份有限公司 | Test system and method |
| CN112213959A (en) * | 2020-10-30 | 2021-01-12 | 浙江工业大学 | Braking energy recovery experiment table based on vehicle-road cooperation |
| CN113704947A (en) * | 2020-05-20 | 2021-11-26 | 上汽通用汽车有限公司 | Intelligent driving simulation system and method |
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