CN110377006A - One kind is parked test macro and method - Google Patents
One kind is parked test macro and method Download PDFInfo
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- CN110377006A CN110377006A CN201910646379.6A CN201910646379A CN110377006A CN 110377006 A CN110377006 A CN 110377006A CN 201910646379 A CN201910646379 A CN 201910646379A CN 110377006 A CN110377006 A CN 110377006A
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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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- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
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Abstract
It parks test macro and method the invention discloses one kind characterized by comprising host computer, hardware-in-loop simulation platform and the parking system to be measured being set on vehicle, hardware-in-loop simulation platform are connect with host computer and parking system to be measured of parking respectively；Host computer is for generating test instruction and being sent to hardware-in-loop simulation platform；Hardware-in-loop simulation platform is used to generate simulating scenes of parking according to test instruction, and will be sent to parking system to be measured by interacting the simulation video signal to be formed with host computer and forming signal of parking according to simulating scenes of parking；Parking system to be measured controls the signal control virtual vehicle in simulating scenes of parking and parks for according to parking signal and simulation video signal, generation, which is parked, to control signal, and by parking.Above-mentioned technical proposal is made parking system to be measured can control virtual vehicle and is parked by simulating scenes of parking, to simulate various processes of parking, improves the convenience of test and comprehensive.
Description
Technical field
It parks test macro and method the present embodiments relate to Automobile Measuring Techniques field more particularly to one kind.
Background technique
Nowadays car ownership is obviously improved, but parking stall quantity is relatively limited, parks and is increasingly difficult to, and is parked technology to driver
Requirement it is also higher and higher.Automatic parking technology advantageously accounts for this status, and more and more automobiles are all equipped with automatic parking
System.In order to guarantee the validity and safety of automatic parking, before launching production to the test of controller function of parking at
For highly important link.
Existing test macro of parking generallys use real vehicle place, tests whether controller of parking can accurately control automobile
Automatic parking enters position.However, real steering vectors are limited larger by place, test repeatability is poor, especially for various danger
The test of operating condition, different weather situation, different type parking stall, different faults etc. implements complex, inefficiency, difficult
To realize comprehensive coverage test.
Summary of the invention
It parks test macro and method the present invention provides one kind, improves the convenience of test and comprehensive to realize.
In a first aspect, parking test macro the embodiment of the invention provides one kind, comprising:
Host computer, hardware in loop (Hardware-in-the-Loop, HIL) emulation platform and be set on vehicle to
Parking system is surveyed, the HIL emulation platform is connect with the host computer and the parking system to be measured of parking respectively；
The host computer is for generating test instruction and being sent to the HIL emulation platform；
The HIL emulation platform is parked simulating scenes for being generated according to test instruction, and will by with it is described on
The position machine simulation video signal that is formed of interaction and according to the simulating scenes formation of parking park signal be sent to it is described to be measured
Parking system；
The parking system to be measured, for signal and the simulation video signal of parking according to, generation, which is parked, controls signal,
And it is parked by the virtual vehicle controlled in simulating scenes of parking described in signal control of parking；
The signal of parking comprises at least one of the following: simulated sensor signals, real sensor signals, controller local
Network (Controller Area Network, CAN) message, analog switch signal and true switching signal.
Further, the host computer is also used to:
Receive the vision rendering information of the simulating scenes of parking of the HIL emulation platform feedback；
The corresponding video flowing of the vision rendering information is inputted to the HIL emulation platform, so that the HIL emulation platform
Form the simulation video signal of the corresponding video flowing；
Further, the host computer is also used to:
According to the vision rendering information of HIL emulation platform feedback and virtual vehicle in the shape of simulating scenes of parking
State information determines the test result of parking of the parking system to be measured in conjunction with default interpretational criteria.
Further, the HIL emulation platform includes: camera emulation module, direct fault location board and real-time processor；
The video flowing that the camera emulation module is used to export the host computer is handled, and obtains simulation video letter
Number, the simulation video signal is sent to the parking system to be measured by the direct fault location board；
The real-time processor for generating simulating scenes of parking according to test instruction, and emulates field for acquiring to park
Sensing data in scape generates simulated sensor signals, and one kind as signal of parking is sent out by the direct fault location board
It send to the parking system to be measured.
The HIL emulation platform, further includes: local interconnect network (Local Interconnect Network, LIN) plate
Card；
The real-time processor and LIN board pass through PCI extension (the PCI extensions for towards instrument system
Instrumentation, PXI) bus connection；
The real-time processor is used to the simulated sensor signals of generation being transmitted to the failure by the LIN board
Board is injected, and is transmitted to the parking system to be measured by direct fault location board.
Further, the HIL emulation platform further include: controller local area network's CAN board；
The real-time processor is connect with CAN board by PXI bus；
Control data of the real-time processor for simulating scenes of parking according to generate CAN message, and as pool
One kind of vehicle signal is sent to the parking system to be measured by the CAN board.
Further, the HIL emulation platform further include: the first relay；
The parking system to be measured includes: park controller and camera；
First relay respectively with the camera emulation module, the camera and the direct fault location board
First passage connection；
The camera is used to acquire the real video signal of the vehicle local environment；
The simulation video signal or the real video signal are input to the failure by first relay and infuse
The first passage for entering board is transmitted to the controller of parking after the direct fault location board；
The controller of parking is used for park based on the received signal and the simulation video signal, or according to the pool
Vehicle signal and the real video signal, generation, which is parked, controls signal, and parks to control described in and park described in signal control
Virtual vehicle in simulating scenes is parked.
Further, the HIL emulation platform further include: the second relay；
The parking system to be measured further includes ultrasonic radar sensor, for acquiring real sensor signals；
Second relay respectively with the LIN board, the ultrasonic radar sensor and the direct fault location
The second channel of board is connected by rigid line；
The simulated sensor signals or the real sensor signals are as one of signal of parking by described the
The second channel of two relays and the direct fault location board is transmitted to the controller of parking.
Further, the HIL emulation platform, further includes: input and output I O board card and signal condition board；
The real-time processor and the input and output (Input/Output, IO) board pass through PXIe (PXI
Express) bus connects,
The real-time processor is instructed according to the test, is controlled the I O board card and is generated analog switch signal, the mould
For quasi- switching signal after the conditioning of the signal condition board, a kind of as signal of parking passes through the of direct fault location board
Triple channel is sent to the controller of parking, to control the starting of the parking system to be measured.
Further, the parking system to be measured further include: switch of parking；
The switch of parking is connect with the signal condition board, and the switch of parking is for generating true switching signal；
The real-time processor acquires the true switching signal for controlling the I O board card and signal condition board,
A kind of third channel by direct fault location board as signal of parking is sent to controller of parking, to control the pool to be measured
The starting of vehicle system.
The real-time processor is instructed according to test, is controlled and is parked out described in the I O board card and signal condition board back production
The true switching signal closed, the true switching signal are sent to controller of parking by the third channel of direct fault location board.
Second aspect is parked test method the embodiment of the invention also provides one kind, comprising:
Host computer generates test and instructs and be sent to HIL emulation platform；
The HIL emulation platform generates simulating scenes of parking according to test instruction, and is formed and parked described in correspondence
Parking for simulating scenes and is sent to the parking system to be measured at signal；
The host computer receives the vision rendering information of the simulating scenes of parking of the HIL emulation platform feedback, and
The corresponding video flowing of the vision rendering information is inputted to the HIL emulation platform；
The HIL emulation platform forms the simulation video signal of the corresponding video flowing, and is sent to described to be measured park
System；
The parking system to be measured parks signal based on the received and the generation of simulation video signal parks and controls signal, with base
It controls the virtual vehicle in simulating scenes of parking described in signal control in described park and parks；
According to the vision rendering information of HIL emulation platform feedback and virtual vehicle in the shape of simulating scenes of parking
State information determines the test result of parking of the parking system to be measured in conjunction with default interpretational criteria；
The signal of parking comprises at least one of the following: simulated sensor signals, real sensor signals, CAN message, mould
Quasi- switching signal and true switching signal.
It parks test macro and method the embodiment of the invention provides one kind, which includes: that host computer, HIL emulation are flat
Platform and the parking system to be measured being set on vehicle, the HIL emulation platform respectively with the host computer and it is described park to
Survey parking system connection；The host computer is for generating test instruction and being sent to the HIL emulation platform；The HIL emulation
Platform, for generating simulating scenes of parking according to test instruction, and will be by interacting the emulation to be formed with the host computer
Vision signal and the parking system to be measured is sent to according to the simulating scenes formation signal of parking of parking；The pool to be measured
Vehicle system, for signal and the simulation video signal of parking according to, generation, which is parked, controls signal, and passes through the control of parking
The virtual vehicle parked in simulating scenes described in signal control is parked；The signal of parking comprises at least one of the following: imitative
It hands down in a direct line from the master sensor signal, real sensor signals, CAN message, analog switch signal and true switching signal.Above-mentioned technical proposal
By simulating scenes of parking, makes parking system to be measured that virtual vehicle can control to park, to simulate various processes of parking, mention
The convenience and comprehensive of height test.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for test macro of parking that the embodiment of the present invention one provides；
Fig. 2 is the structural schematic diagram of the host computer in the embodiment of the present invention one；
Fig. 3 is a kind of structural schematic diagram for test macro of parking provided by Embodiment 2 of the present invention；
Fig. 4 is the structural schematic diagram of the camera emulation module in the embodiment of the present invention two；
Fig. 5 is a kind of flow chart for test method of parking that the embodiment of the present invention three provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of structural schematic diagram for test macro of parking that the embodiment of the present invention one provides.The present embodiment is applicable
In the automatic parking performance to parking system assembly is tested the case where.As shown in Figure 1, the system comprises: host computer 10,
HIL emulation platform 20 and the parking system to be measured 30 being set on vehicle, HIL emulation platform 20 respectively with host computer 10 and to
Parking system 30 is surveyed to connect；Host computer 10 is for generating test instruction and being sent to HIL emulation platform 20；HIL emulation platform 20,
Park simulating scenes for being generated according to test instruction, and by by interact formation with host computer 10 simulation video signal and
Parking system 30 to be measured is sent to according to the signal of parking for simulating scenes formation of parking；Parking system 30 to be measured, for according to pool
Vehicle signal and simulation video signal, generation park and control signal, and control signal control by parking and park in simulating scenes
Virtual vehicle is parked.
Specifically, host computer 10 is connect with HIL emulation platform 20 by ethernet communication, HIL emulation platform 20 with it is to be measured
Parking system 30 is connected by CAN line, LIN line with rigid line.Host computer 10 can be PC machine, industrial personal computer etc., for emulating to HIL
Platform 20 sends test instruction to control the workflow for test macro of entirely parking, meanwhile, host computer 10 is emulated flat by HIL
The real-time back production virtual vehicle of platform 20 analyzes parking system 30 to be measured in the status information of simulating scenes of parking, according to status information
It parks function.
HIL emulation platform 20 is used to carry out the controllable emulation testing of environment to parking system 30 to be measured according to test instruction,
Relevant data or signal are sent to parking system 30 to be measured by building simulating scenes of parking, is made in parking system 30 to be measured
Controller of parking is thought to lay oneself open in an environment of really parking, and is controlled accordingly virtual vehicle.Wherein, it moors
Vehicle controller is the electronic control unit of parking system 30 to be measured.Real time execution is parked the imitative of controller in HIL emulation platform 20
True physical model controls signal and cuts in conjunction with the I/O capability of each interface board to parking for controller output of parking
It takes, parking for being truncated to controls signal imitation in simulated environment of parking, and virtual vehicle can be made to generate corresponding response.Example
Such as, the astern signal for exporting virtual vehicle according to parking system 30 to be measured, with certain speed, angle in simulating scenes of parking
Degree and posture reversing, and in the process of backing up, HIL emulation platform 20 simulates the field around in virtual vehicle motion process in real time
Scape variation.The response of virtual vehicle can be used as signal of parking and interact in real time with controller of parking, controller reality of parking
When control virtual vehicle, form the control function of closed loop, until according to test instruction complete park.
Parking system 30 to be measured refers to parking system assembly, may include fish-eye camera, ultrasonic sensor, parks out
It closes, controller of parking etc., for realizing the function of parking of real vehicle.Wherein, controller of parking refers to the electronic control unit of vehicle
(Electronic Control Unit, ECU), is the control centre of automatic parking, as main measurand.It parks control
The simulation video signal and signal generation of parking that device processed is sent according to HIL emulation platform 20 park and control signal, to control void
Quasi- vehicle is parked in simulating scenes of parking, such as wheel speed, steering, the posture etc. of control virtual vehicle.It is imitative by parking
True scene can simulate various operating conditions, and to parking, controller is tested, and without carrying out real steering vectors, improve the comprehensive of test
Property and convenience.
Further, the signal of parking comprises at least one of the following: simulated sensor signals, real sensor signals,
CAN message, analog switch signal and true switching signal.
It signal and is sent specifically, the present embodiment is parked based on the simulating scenes formation of parking that HIL emulation platform 20 is built
To parking system 30 to be measured.The model for the radar sensor that simulated sensor signals are established by HIL emulation platform 20 is according to virtual
The real-time status of vehicle, which is simulated, to be generated, and is simulated LIN agreement and be transmitted to parking system 30 to be measured, make parking system 30 to be measured by its
It is analyzed and processed as identifiable signal of parking；Corresponding, real sensor signals in parking system 30 to be measured by being arranged
True radar sensor generated according to real vehicle state, can be passed by different boards in HIL emulation platform 20 or different channels
Transport to the controller of parking of parking system 30 to be measured.CAN message be the various Virtual Controllers of simulation and parking system 30 to be measured it
Between communication data, HIL emulation platform 20 provide for parking system 30 to be measured carry out peripheral communications various virtual controllings
Device model, parking system 30 to be measured can be analyzed and processed CAN message as signal of parking, by with various Virtual Controllers
It is communicated and is controlled, to realize the control to virtual vehicle；Analog switch signal refers to what HIL emulation platform 20 simulated
Some switching values during parking, such as the switch state for switch of parking；Corresponding, true switching signal can be pool to be measured
It really parks in vehicle system 30 switch state of switch.
It should be noted that may be implemented really to pass by the different channels of board, board in HIL emulation platform 20
The switching of sensor signal and simulated sensor signals and the switching of analog switch signal and true switching signal, thus make to
Survey parking system 30 can carry out test of parking based on the signal of parking simulated, also can based on really collected signal into
The fault test of row parking system, to detect the failure of actual sensor, real camera etc..
Further, host computer 10 is also used to: receiving the vision rendering for the simulating scenes of parking that HIL emulation platform 20 is fed back
Information；The corresponding video flowing of vision rendering information is inputted to HIL emulation platform 20, so that HIL emulation platform 20 forms corresponding institute
State the simulation video signal of video flowing.
Specifically, HIL emulation platform 20 and host computer 10, which interact, can form simulation video signal, simulation video signal
Parking system 30 to be measured is sent to by HIL emulation platform 20.The specific implementation process of simulation video signal are as follows: HIL emulation is flat
For platform 20 by the simulating scenes Real-time Feedback of parking built to host computer 10, host computer 10 combines parking for HIL emulation platform building
Simulating scenes carry out vision rendering to it, then export corresponding video flowing by 10 video card of host computer, video flowing is passed through height
Clear multimedia interface (High Definition Multimedia Interface, HDMI) is transferred to HIL emulation platform 20
Camera module is emulated, the processing such as camera module is decoded video flowing, format is converted, recompiled are emulated and then is formed
Simulation video signal.Wherein, vision rendering refers to that construction is parked in simulating scenes and the threedimensional model of virtual objects and reproduces true
Environment display or three-dimensional can also be passed through with the authenticity and real-time for reaching simulated effect true to nature, improving vision
Shadow casting technique shows.
Fig. 2 is the structural schematic diagram of the host computer in the embodiment of the present invention one.Host computer 10 and HIL emulation platform 20 passes through
Ethernet is communicated.
Specifically, as shown in Fig. 2, host computer 10 includes: database module 11, cycle tests module 12, automatic test
Module 13 and animation display module 14.Wherein, the automatic test that database module 11 is used to store parking system 30 to be measured needs
The parameter wanted；Cycle tests module 12, for generating executable cycle tests, i.e. test instruction, and to the database mould
Cycle tests library 115 in block 11 is updated；Automatic test module 13, for executing automatic test course, and it is raw
At test result report；Animation display module 14 emulates field for showing that the virtual vehicle in HIL emulation platform 20 is located to park
Real time position and environment scene in scape.
Further, database module 11 includes basic function library 111, measurement condition library 112, interpretational criteria library 113, surveys
Try parameter library 114 and cycle tests library 115.Specifically, host computer 10 carries out index decomposition according to actual test demand, by base
This function library 111 determines specific measurement condition, interpretational criteria and test parameter, wherein measurement condition is moored for qualitative description
Vehicle test process concrete operation step (such as: first travel to designated position, move backward again, finally stop), test parameter is used for
Quantization is parked each operating procedure (such as: wheel speed, attitude angle etc. in traveling and reversing process) of test process, interpretational criteria
For determine test result whether meet function/performance indicator require (such as: the final parking place of virtual vehicle and standard are moored
Whether the deviation in vehicle region is less than predetermined deviation threshold value, parks the used time whether within preset duration etc.).Measurement condition, evaluation
Criterion and test parameter are integrated in measurement condition library 112 respectively, interpretational criteria library 113, test parameter library 114 are managed.
Further, there is the basic operation component of building cycle tests in basic function library 111, such as: information exchange
Component, for flat based on same diagnostic service (Unified Diagnostic Services, UDS) communication protocol and HIL emulation
Platform 20 carries out information exchange；For another example: Python scripting language grammar component and test data equipments of recording operating assembly.It surveys
Examination block 12 is used to construct executable test instruction, and test instruction is made of cycle tests, and cycle tests is with code
Or the form of test case is stored in the cycle tests library 115 in case calling.The test macro owning side that parks is easy
The software environment that real-time code is generated, downloads, debugged.
Further, host computer 10 is also used to: the vision rendering information fed back according to HIL emulation platform 20, and virtual
Vehicle determines the test knot of parking of parking system 30 to be measured in conjunction with default interpretational criteria in the status information of simulating scenes of parking
Fruit.
Specifically, according to the status information of park simulating scenes and virtual vehicle after 10 vision rendering of host computer, it can
The performance of parking of parking system 30 to be measured is evaluated.Such as: virtual vehicle is in the simulating scenes of parking after vision rendering
Parking place and standard parking areas deviation be less than predetermined deviation threshold value, it is determined that test result of parking be qualification, if
The deviation is greater than or equal to predetermined deviation threshold value, it may be determined that test result is unqualified.It is underproof feelings in test result
Under condition, the hardware and software failure of test macro of parking is excluded, then can determine in parking system 30 to be measured and park controller performance not
It is qualified.
The test macro of parking of the present embodiment can be used for parking system to be measured on different type parking stall, different traffic rings
Basic function testing under the simulating scenes such as border can also carry out system power supply exception, signal communication exception, open sensor etc.
The test of the fault diagnosis of fault test and controller of parking, solves and carries out real steering vectors low efficiency, risk by manpower
The problems such as height, poor repeatability, not comprehensive, error-prone covering.Compared to real steering vectors, significantly reduce the test period and at
This, improves testing efficiency, increases Test coverage degree and test depth, while improving the software quality of ECU, reduces automobile factory
Risk.The system is parked simulating scenes by HIL emulation platform building, the authenticity of vision is improved by vision rendering, most
So that parking system to be measured control virtual vehicle is parked eventually, to simulate various processes of parking, improve test convenience and
It is comprehensive.
Embodiment two
Fig. 3 is a kind of structural schematic diagram for test macro of parking provided by Embodiment 2 of the present invention.The present embodiment is above-mentioned
On the basis of embodiment, the structure of HIL emulation platform and parking system to be measured is illustrated, not in the present embodiment
The technical detail of detailed description can be found in above-mentioned any embodiment.
As shown in figure 3, HIL emulation platform 20 includes: camera emulation module 22, direct fault location board 26 and processing in real time
Device 21；The video flowing that camera emulation module 22 is used to export host computer 10 is handled, and obtains simulation video signal, is emulated
Vision signal is sent to parking system 30 to be measured by direct fault location board 26；Real-time processor 21, for being instructed according to test
Generation is parked simulating scenes, and for acquire the sensing data in simulating scenes of parking, generation simulated sensor signals, as
The one kind of signal of parking is sent to parking system 30 to be measured by direct fault location board 26.
Specifically, real-time processor 21 includes: Virtual Controller model emulation module 211, vehicle dynamic model emulation
Module 212, I/O model emulation module 213, cartoon scene model emulation module 214, ultrasonic radar model emulation module 215 and
Fish-eye camera model emulation module 216.Wherein, Virtual Controller model emulation module 211 is in real time and vehicle dynamic model
The interaction of emulation module 212, generates various control signals, is sent to parking system 30 to be measured by I/O model emulation module 213；Vehicle
Kinetic model emulation module 212 is used for the athletic posture of simulating vehicle, and hands over cartoon scene model emulation module 214
Mutually, refresh position and posture of the virtual vehicle in simulating scenes of parking in real time；Ultrasonic radar model emulation module 215 is root
According to the ultrasonic radar transducer emulation module 312 of parking system 30 to be measured according to location parameter, angle parameter and radar itself
Parameter calibration obtain, for realizing the identification in simulating scenes of parking to target information；Fish-eye camera model emulation module
216 are obtained according to the parameter calibration of the true camera of parking system 30 to be measured, for realizing lane in simulating scenes of parking
The identification of line and parking stall line；Cartoon scene model emulation module 214 is for simulating virtual vehicle surrounding objects information and parking stall letter
Breath etc., can interact, vision rendering with host computer 10, form simulation video signal finally by camera emulation module 22.Into one
Step, be by HDMI agreement transmitting video data, mould between real-time processor 21, host computer 10 and camera emulation module 22
Vehicle-surroundings video is tested in quasi- cartoon scene, the simulation video signal that camera emulation module 22 exports passes through direct fault location plate
The first passage of card 26 is input to controller of parking.
Further, direct fault location board 26 can also be used in the injection for emulating all kinds of faults, such as short circuit, open circuit.
Real-time processor 21 can generate after direct fault location board 26 according to the various fault conditions of test instruction simulation of host computer 10
Corresponding fault-signal is simultaneously transmitted to parking system 30 to be measured, and fault-signal carries out failure to parking system 30 to be measured based on the received
Detection, failure detection result can feed back to host computer 10, so that host computer 10 is according to failure detection result to parking system to be measured
30 performance of parking is evaluated.
Fig. 4 is the structural schematic diagram of the camera emulation module in the embodiment of the present invention two.As shown in figure 4, camera is imitative
True module 22 includes: video acquisition module 221, field programmable gate array (Field Programmable Gate
Array, FPGA) video processing module 222 and camera signals analog output module 223.
Specifically, host computer 10 parks simulating scenes simultaneously by animation display module 14 and the building of cartoon scene model 214
After carrying out vision rendering, by video card outputting video streams, it is transferred to the video acquisition module 221 of camera emulation module 22；Depending on
The high speed HDMI signal of acquisition is decoded as standardized digital signal and is conveyed to FPGA video processing module 222 by frequency acquisition module 221；
After FPGA video processing module 222 is by formatting video standard signal, caching and recompile processing, equally with
Standardized digital signal format is exported to camera signals analog output module 223；Camera signals analog output module 223 will
The standardized digital signal format that FPGA video processing module 222 is sent is formed and real camera acquisition after serial code
The consistent vision signal of electrical characteristic and communications protocol of video, exports by direct fault location board 26 to parking system to be measured
30。
Further, HIL emulation platform 20, further includes: LIN board 23；Real-time processor 21 and LIN board 23 passes through
The connection of PXI bus；Real-time processor 21 is used to the simulated sensor signals of generation being transmitted to direct fault location by LIN board 23
Board 26, and parking system to be measured is transmitted to by direct fault location board 26.
Specifically, real-time processor 21 is connect with LIN board 23 by PXI bus, for emulating ultrasonic radar sensing
The target information that device model detects in simulating scenes of parking, and pool is input to by the second channel of direct fault location board 26
Vehicle controller 313.
Further, hardware-in-loop simulation platform further include: CAN board 24；Real-time processor 21 and CAN board 24 passes through
The connection of PXI bus；Real-time processor 21 is used to generate CAN message according to the control data for simulating scenes of parking, and as parking
One kind of signal is sent to parking system 30 to be measured by CAN board 24.
Specifically, real-time processor 21 is connect with CAN board 24 by CAN line, CAN board 24 and parking system to be measured 30
Controller 313 of parking connected by CAN line.Real-time processor 21 is based on 211 analog of Virtual Controller model and control of parking
Device 313 processed carries out the CAN message of peripheral communications, is sent to controller 313 of parking by CAN board 24.
Further, HIL emulation platform 20, further includes: the first relay 28；Parking system 30 to be measured includes: control of parking
Device 313 and camera 311 processed；First relay 28 respectively with camera emulation module 22, camera 311 and direct fault location plate
The first passage connection of card 26；Camera 311 is used to acquire the real video signal of vehicle local environment；Simulation video signal or
Real video signal is input to the first passage of direct fault location board 26 by the first relay 28, by direct fault location board 26
After be transmitted to controller 313 of parking；Controller 313 of parking is used for park based on the received signal and simulation video signal, or
According to signal and the real video signal of parking, generation, which is parked, controls signal, and emulates field by parking to control signal control and park
Virtual vehicle in scape is parked.
Specifically, camera emulation module 22 is directly connect by video rigid line with the first relay 28, the first relay
28 are connect with the first passage of direct fault location board 26 by video rigid line, the first passage of direct fault location board 26 and control of parking
It is connected between device 313 processed by video rigid line.HIL emulation platform 20 may be implemented to imitate by controlling the switch of the first relay 28
The switching of true vision signal and real video signal selects one to input to by the first passage of direct fault location board 26 and parks
Controller 313.
Further, HIL emulation platform 20, further includes: the second relay 29；Parking system 313 to be measured further includes ultrasound
Wave radar sensor 312, for acquiring real sensor signals；Second relay 29 respectively with LIN board 23, ultrasonic radar
The second channel of sensor 312 and direct fault location board 26 is connected by rigid line；Simulated sensor signals or actual sensor
Signal is transmitted to control of parking by the second channel of the second relay and direct fault location board 26 as one of signal is parked
Device 313 processed.
Specifically, LIN board 23 is connected with the second relay 29 by LIN line, the second relay 29 and direct fault location plate
The second channel of card 26 is connected by LIN line；Pass through between the second channel of direct fault location board 26 and controller 313 of parking
The connection of LIN line.Simulated sensor signals and true may be implemented by controlling the switch of the second relay 29 in HIL emulation platform 20
The switching of sensor signal selects one to input to controller 313 of parking by the second channel of direct fault location board 26.
It should be noted that the case where not considering true camera and ultrasonic radar sensor collected signal
Under, it is corresponding, the first relay 28 and the second relay 29, the emulation for only exporting camera emulation module 22 can be not provided with
The simulated sensor signals that vision signal and LIN board 23 export pass through the first passage and second of direct fault location board 26 respectively
Channel is sent to parking system 30 to be measured.
Further, HIL emulation platform 20, further includes: I O board card 25 and signal condition board 27；Real-time processor 21 with
I O board card 25 is connected by PXIe bus, and real-time processor 21 is instructed according to test, and control I O board card 25 generates analog switch letter
Number, for analog switch signal after the amendment of signal condition board 27, one kind as signal of parking passes through direct fault location board
26 third channel is sent to controller 313 of parking, to control the starting of parking system 30 to be measured.
Specifically, real-time processor 21 is connected with I O board card 25 by PXIe bus, parked by 213 analog of I/O model
The switch state of switch simultaneously inputs to controller of parking by the third channel of signal condition board 27 and direct fault location board 26
313.I/O board 25 is connected with signal condition board 27 with rigid line, the third of signal condition board 27 and direct fault location board 26
Channel is connected by rigid line, and the third channel of direct fault location board 26 is connect with controller 313 of parking by rigid line.Signal condition
Auxiliary boards of the board 27 as I O board card 25, when the voltage of the input/output signal of needs, current value range exceed control of parking
When the support range of device 313 processed, input/output signal value can be improved to supported range.For example, the analog switch generated
The voltage of signal is 12V, and parking system to be measured 30 supports the voltage of 5V, then signal condition board 27 can be by I O board card 25
12V voltage be adjusted to 5V.Real-time processor 21 is instructed according to test, can be automatically controled the output signal and failure of I O board card 25
Inject the failure mode of board 26.
Further, parking system 30 to be measured further include: switch 314 of parking；It parks switch 314 and signal condition board 27
Connection, switch 314 of parking is for generating true switching signal；Real-time processor 21, for controlling I O board card 25 and signal condition
Board 27 acquires true switching signal, and a kind of third channel by direct fault location board 26 as signal of parking is sent to pool
Vehicle controller 313, to control the starting of parking system 30 to be measured.
Specifically, real-time processor 21 is instructed according to test, I O board card 25 and 27 back production of signal condition board pool can control
The true switching signal of stopping switch 314, true switching signal are sent to control of parking by the third channel of direct fault location board 26
Device processed.
One kind provided by Embodiment 2 of the present invention is parked test macro, is optimized on the basis of the above embodiments, is led to
The first passage and second channel for crossing direct fault location board, and can to parking system transmission video signal to be measured and sensor signal
The injection and test of all kinds of faults are realized based on direct fault location board；It is real by the way that the first relay, the second relay is arranged
Showed the switching of simulation video signal and real video signal, the switching of real sensor signals and simulated sensor signals, with
And the switching of analog switch signal and true switching signal, make parking system to be measured can either based on simulate park signal into
Capable test of parking also can carry out fault diagnosis test of parking based on true collected signal, to detect really to sense
The failure of device, real camera etc.；Video flowing after the vision rendering exported by camera emulation module to host computer carries out
Decoding, format such as converts, recompile at the processing, and the electrical characteristic for forming the video that real camera acquires is consistent with communications protocol
Vision signal, the controller that allows to park identifies；LIN agreement, which is simulated, by LIN board, CAN board transmits data, CAN report
Text, the controller that allows to park identifies, has built simulated environment of parking feasible, that visual realism is high.
Embodiment three
Fig. 5 is a kind of flow chart for test method of parking that the embodiment of the present invention three provides.
S310, host computer generate test and instruct and be sent to HIL emulation platform.
Specifically, host computer carries out performance index decomposition according to actual test demand, specific measurement condition, evaluation are determined
Criterion and test parameter construct executable test instruction, and test instruction is made of cycle tests, and test instruction is sent to
HIL emulation platform is to control the workflow of test macro of entirely parking.
S320, the HIL emulation platform generate simulating scenes of parking according to test instruction, and are formed described in correspondence
Parking for simulating scenes of parking and is sent to the parking system to be measured at signal.
Specifically, HIL emulation platform is used to carry out the controllable emulation of environment to parking system to be measured according to test instruction to survey
Examination sends relevant data or signal to parking system to be measured by building simulating scenes of parking, makes in parking system to be measured
Controller of parking is thought to lay oneself open in an environment of really parking, and is controlled accordingly virtual vehicle.
S330, the host computer receive the vision rendering letter of the simulating scenes of parking of the HIL emulation platform feedback
Breath, and the corresponding video flowing of the vision rendering information is inputted to the hardware-in-loop simulation platform.
Specifically, host computer 10 parks simulating scenes simultaneously by animation display module 14 and the building of cartoon scene model 214
After carrying out vision rendering, by video card outputting video streams, the camera for being transferred to HIL emulation platform based on HDMI agreement emulates mould
Block.
S340, the hardware-in-loop simulation mesa-shaped and are sent to institute at the simulation video signal of the correspondence video flowing
State parking system to be measured.
Specifically, emulating the processing such as camera module is decoded video flowing, format is converted, recompiled and then being formed
With the electrical characteristic and the consistent vision signal of communications protocol of the video of real camera acquisition, it is transmitted to parking system to be measured.
S350, the parking system to be measured park based on the received signal and simulation video signal generation park control letter
Number, to control the virtual vehicle in simulating scenes of parking described in signal control based on described park and park.
Specifically, simulation video signal and signal generation of parking that controller of parking is sent according to HIL emulation platform are parked
Signal is controlled, is parked in simulating scenes of parking to control virtual vehicle, such as controls the wheel speed of virtual vehicle, turn
To, posture etc..By parking, simulating scenes can simulate various operating conditions, and to parking, controller is tested, real without carrying out
Vehicle test, improves the comprehensive and convenience of test.
S360, the vision rendering information fed back according to the HIL emulation platform and virtual vehicle are in simulating scenes of parking
Status information, the test result of parking of the parking system to be measured is determined in conjunction with default interpretational criteria；The signal packet of parking
Include following at least one: simulated sensor signals, real sensor signals, CAN message, analog switch signal and true switch
Signal.
Further, parking system to be measured park the specific implementation process of test are as follows: host computer is according to test
Actual demand generates test instruction for various line parking stalls and space parking stall scene and is sent to HIL emulation platform；HIL emulation
Platform generates simulating scenes of parking according to test instruction, and interacts with host computer, and host computer is taken using animation display module
Simulating scenes of parking after building out vision rendering.Virtual vehicle in simulating scenes of parking is according to the practical ginseng for being tested real vehicle
Number parametrization, for example, the installation site of the camera of virtual vehicle and ultrasonic radar sensor, angle are all according to real vehicle
The physical location parameter of middle sensor is demarcated.HIL emulation platform to parking system to be measured send simulation video signal and
It parks signal, parking system to be measured parks according to simulation video signal and signal generation of parking and controls signal, and it is imitative to be sent to HIL
True platform realizes the control to virtual vehicle to pass through the interaction of Virtual Controller model and various dummy models.HIL emulation
Platform calculates position of the virtual vehicle in simulating scenes of parking, and vehicle location is transferred to animation in master system in real time
Display module is shown that host computer combines default interpretational criteria to evaluate the performance of parking of parking system to be measured.
During the test, the I/O model in the real-time processor of HIL emulation platform can be interacted with dynamics of vehicle,
The status signal parked is passed back in real time in host computer automatic test module；Ultrasonic radar model in real-time processor
It is interacted with fish-eye camera model with cartoon scene model, the information such as real-time monitoring space parking stall, parking stall line and barrier, and anti-
It feeds automatic test module, realizes automatic test.In addition, passing through first between real camera and camera emulation module
Relay control switching, is sent to controller of parking using direct fault location board；Live ultrasound wave radar sensor and pass through
The simulated sensor signals of LIN line simulation are switched by the second relay, then are sent to control of parking by direct fault location board
Device, therefore, the automated function test being not only able to achieve in the case of virtual-sensor, but also can guarantee the failure under actual sensor
Diagnostic test, thus to parking system to be measured carry out in all directions, easily test.
The test system that parks that the test method of parking of the offer of the embodiment of the present invention three can be provided based on above-mentioned any embodiment
System is realized, belongs to same inventive concept, has corresponding function and beneficial effect.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
- The test macro 1. one kind is parked characterized by comprising host computer, hardware-in-loop simulation platform and be set to vehicle On parking system to be measured, the hardware-in-loop simulation platform connects with the host computer and the parking system to be measured of parking respectively It connects；The host computer is for generating test instruction and being sent to the hardware-in-loop simulation platform；The hardware-in-loop simulation platform is parked simulating scenes for being generated according to test instruction, and will by with it is described The host computer simulation video signal that is formed of interaction and according to the simulating scenes formation of parking park signal be sent to it is described to Survey parking system；The parking system to be measured, for signal and the simulation video signal of parking according to, generation, which is parked, controls signal, and leads to The virtual vehicle controlled in simulating scenes of parking described in signal control of parking is crossed to park；The signal of parking comprises at least one of the following: simulated sensor signals, real sensor signals, controller local area network CAN message, analog switch signal and true switching signal.
- 2. system according to claim 1, which is characterized in that the host computer is also used to:Receive the vision rendering information of the simulating scenes of parking of the hardware-in-loop simulation platform feedback；The corresponding video flowing of the vision rendering information is inputted to the hardware-in-loop simulation platform, so that the hardware in loop is imitative True mesa-shaped at the correspondence video flowing simulation video signal.
- 3. system according to claim 1, which is characterized in that the host computer is also used to:According to the vision rendering information of hardware-in-loop simulation platform feedback and virtual vehicle in the shape of simulating scenes of parking State information determines the test result of parking of the parking system to be measured in conjunction with default interpretational criteria.
- 4. system according to claim 1, which is characterized in that the hardware-in-loop simulation platform includes: camera emulation Module, direct fault location board and real-time processor；The video flowing that the camera emulation module is used to export the host computer is handled, and obtains simulation video signal, The simulation video signal is sent to the parking system to be measured by the direct fault location board；The real-time processor, for generating simulating scenes of parking according to test instruction, and for acquiring in simulating scenes of parking Sensing data, generate simulated sensor signals, one kind as signal of parking is sent to by the direct fault location board The parking system to be measured；The hardware-in-loop simulation platform, further includes: local interconnect network LIN board；The real-time processor is connect with LIN board by PXI bus；The real-time processor is used to the simulated sensor signals of generation being transmitted to the direct fault location by the LIN board Board, and the parking system to be measured is transmitted to by direct fault location board.
- 5. system according to claim 4, which is characterized in that the hardware-in-loop simulation platform further include: CAN board；The real-time processor is connect with CAN board by PXI bus；Control data of the real-time processor for simulating scenes of parking according to generate CAN message, and as letter of parking Number one kind the parking system to be measured is sent to by the CAN board.
- 6. system according to claim 4, which is characterized in that the hardware-in-loop simulation platform further include: the first relay Device；The parking system to be measured includes: park controller and camera；First relay respectively with the camera emulation module, the camera and the direct fault location board The connection of one channel；The camera is used to acquire the real video signal of the vehicle local environment；The simulation video signal or the real video signal are input to the direct fault location plate by first relay The first passage of card is transmitted to the controller of parking after the direct fault location board；The controller of parking is used for park based on the received signal and the simulation video signal, or according to the letter of parking Number and the real video signal, generation park and control signal, and emulation of parking described in signal control is controlled by described park Virtual vehicle in scene is parked.
- 7. system according to claim 6, which is characterized in that the hardware-in-loop simulation platform further include: the second relay Device；The parking system to be measured further includes ultrasonic radar sensor, for acquiring real sensor signals；Second relay respectively with the LIN board, the ultrasonic radar sensor and the direct fault location board Second channel pass through rigid line connect；The simulated sensor signals or the real sensor signals as park one of signal by described second after The second channel of electric appliance and the direct fault location board is transmitted to the controller of parking.
- 8. system according to claim 4, which is characterized in that the hardware-in-loop simulation platform, further includes: input and output I O board card and signal condition board；The real-time processor is connect with the I O board card by PXIe bus,The real-time processor is instructed according to the test, is controlled the I O board card and is generated analog switch signal, the simulation is opened For OFF signal after the conditioning of the signal condition board, a kind of third by direct fault location board as signal of parking is logical Road is sent to the controller of parking, to control the starting of the parking system to be measured.
- 9. system according to claim 8, which is characterized in that the parking system to be measured further include: switch of parking；The switch of parking is connect with the signal condition board, and the switch of parking is for generating true switching signal；The real-time processor acquires the true switching signal for controlling the I O board card and signal condition board, as A kind of third channel by direct fault location board of signal of parking is sent to controller of parking, and is to control to be measured park The starting of system.The real-time processor is instructed according to test, controls switch of parking described in the I O board card and signal condition board back production True switching signal, the true switching signal are sent to controller of parking by the third channel of direct fault location board.
- The test method 10. one kind is parked characterized by comprisingHost computer generates test and instructs and be sent to hardware-in-loop simulation platform；The hardware-in-loop simulation platform generates simulating scenes of parking according to test instruction, and is formed and parked described in correspondence Parking for simulating scenes and is sent to the parking system to be measured at signal；The host computer receives the vision rendering information of the simulating scenes of parking of the hardware-in-loop simulation platform feedback, and The corresponding video flowing of the vision rendering information is inputted to the hardware-in-loop simulation platform；The hardware-in-loop simulation mesa-shaped and is sent to described to be measured park at the simulation video signal of the correspondence video flowing System；The parking system to be measured parks signal based on the received and the generation of simulation video signal parks and controls signal, to be based on institute The virtual vehicle parked and controlled in simulating scenes of parking described in signal control is stated to park；According to the vision rendering information of hardware-in-loop simulation platform feedback and virtual vehicle in the shape of simulating scenes of parking State information determines the test result of parking of the parking system to be measured in conjunction with default interpretational criteria；The signal of parking comprises at least one of the following: simulated sensor signals, real sensor signals, CAN message, simulation are opened OFF signal and true switching signal.
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