CN112730992A - System and method for non-road test of V2X application scene in anechoic chamber - Google Patents
System and method for non-road test of V2X application scene in anechoic chamber Download PDFInfo
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Abstract
The invention provides a non-road test system and a method for a V2X application scene in a anechoic chamber; the vehicle networking wireless communication technology based on C-V2X relates to the field of V2X application scene testing, and a scene non-road testing system is applied through V2X in a anechoic chamber; the system is positioned in a anechoic chamber, and realizes non-road test of a vehicle-mounted V2X application scene by simulating a road vehicle driving scene.
Description
Technical Field
The invention relates to the field of vehicle testing, in particular to a non-road testing system and method for a V2X application scene in an anechoic chamber.
Background
With the rapid development of intelligent networked automobiles, the trends of automobile intellectualization and networking are increasingly obvious, the V2X technology is used as a key technology of automobile networking, and the standards committees such as automobile standards committee, general standards committee, automobile engineering society and the like are all established with relevant safety standards. Various host factories are also actively developing safety applications based on V2X, including forward collision early warning, blind area early warning and the like, and in order to better promote the safe landing of the V2X technology, the safety detection of the V2X application is an indispensable part in future automobile detection. At present, the application scenario test scheme of V2X includes two types, namely outfield road test and HIL bench test, wherein the outfield road test is to test a vehicle to be tested in an actual road, including a closed road, a semi-open road and the like. The HIL bench test scheme is used for simulating a road scene through test equipment such as a comprehensive tester and testing V2X parts, only supports the test of V2X parts, and cannot be used for testing the whole vehicle. There is a great need for those skilled in the art to solve the corresponding technical problems.
Disclosure of Invention
The invention aims to at least solve the technical problems in the prior art, and particularly provides a system and a method for testing a V2X application scene non-road in a anechoic chamber.
The invention discloses a C-V2X-based wireless communication technology for a vehicle networking, relates to the field of V2X application scene testing, and discloses a V2X application scene non-road testing system in a anechoic chamber. The system is positioned in a anechoic chamber, and realizes non-road test of a vehicle-mounted V2X application scene by simulating a road vehicle driving scene.
In order to achieve the above object, the present invention provides a V2X application scenario non-road test system in anechoic chamber, comprising: host computer signal receiving terminal connects switch signal transmitting terminal, and EMS power amplifier signal transmitting terminal is connected to switch EMS signal receiving terminal, and GNSS signal generator signal transmitting terminal is connected to switch GNSS signal receiving terminal, will be surveyed the vehicle and place in the anechoic chamber, and the vehicle that will be surveyed carries out signal transmission through wireless CAN signal, will be surveyed data and send to the switch through CAN signal detector.
Preferably, an EMS antenna is adopted in the anechoic chamber to simulate the external radiation of the vehicle on the actual road condition, positioning simulation is carried out through a GNSS antenna, N OBU simulated road nodes are arranged in the anechoic chamber, and N is more than or equal to 1.
The invention discloses a non-road test method for a V2X application scene in a anechoic chamber, which comprises the following steps:
s1, setting complex electromagnetic field irradiation parameters in the anechoic chamber, and testing the electromagnetic interference resistance of the vehicle to be tested;
s2, generating corresponding application scenes, carrying out data interaction between the detected vehicle and the OBU in the darkroom through a BSM message packet, wherein the BSM message packet comprises V2X safety information,
s2-1, after traffic flow scene simulation, selecting remote RV in a complex traffic flow scene;
s2-2, completing construction of an application scene through communication between vehicles;
s3, transmitting the RV motion and the position information in the application scene to the OBU through the Ethernet, and controlling the GNSS signal simulator to send the GPS information by the upper computer according to the position information of the HV in the application scene so as to simulate the GPS signal of the DUT;
and S4, controlling the GNSS signal simulator to emit GPS signals, connecting the detected vehicle to an upper computer through a CAN bus, monitoring whether the application of the detected vehicle responds or not through the upper computer, and evaluating the V2X application response performance of the detected vehicle.
Preferably, the S2-1 includes:
constructing a complex traffic flow T through a traffic flow generating tool, selecting a vehicle node in the T as an HV, and reading the speed v of the HV in real timeHVPosition SHVAcceleration aHVSteering angleHVData, and the speed v of the vehicle around HVRPosition SRAcceleration aRAngle of turningRData for calculating the relative velocity v 'and the relative position S' between the nearby vehicle and the HV, respectively, according to the following formulas, as defined by 17 typical applications specified in the standard T/CSAE 53-2017, as to the relative position, the relative velocity, and the steering angle thereofWhen the standard definition is met, the surrounding vehicle is determined to be the RV of the HV, and in a traffic flow T, most of the RVs meeting the standard requirement are more than 1, so that RVs of the combination of the RVs can be obtained;
v′＝vHV-vR，
S'＝SHV-SR。
preferably, the S2-2 includes:
RVs required by the test of the current application scene are selected from RVs, and form a primary application scene scenario together with HVfTo scenariofThe HV and the RV are programmed, the motion states of the HV and the RV are adjusted according to standard requirements, including speed, acceleration and deceleration, motion tracks, or roadside facilities and road obstacles are added (if scene requirements), and a complete application scene scenario is constructedl。
Preferably, the S3 includes:
s3-1, the upper computer obtains the scienio through the interface according to the field requirement in the BSM message packetlMotion information of the medium HV and RV, including velocity, acceleration, steering angle, and position information;
s3-2, the upper computer transmits the acquired RV motion information and the acquired position information to OBU nodes in a darkroom through the Ethernet, and injection of the RV motion information and the acquired position information is achieved;
s3-3, because HV is the detected vehicle, the experimenter actually operates the vehicle according to the acquired HV motion information requirement in the vehicle to complete the injection of the HV motion information;
and S3-4, the upper computer transmits the position information of the HV to the GNSS simulator through the interface, and then transmits the position information of the HV to the DUT through the GNSS simulator, so that the injection of the position information of the HV is completed.
Preferably, the S4 includes:
the tested vehicle is connected to an upper computer through a CAN bus, whether the application of the tested vehicle responds or not is monitored through the upper computer, namely whether response early warning in the vehicle is triggered or not, response time t is recorded, whether t is in collision time TTC or not is judged, and total test times n and total response times n are recorded through a plurality of testsresponseTotal number of responses in TTC nTTCAccording to the followingCalculating the success rate S of response by formularesponseAnd effective response success rate STTCForming a test report to evaluate the V2X application response performance of the tested vehicle;
Sresponse＝nresponse/n；STTC＝nTTC/n。
in summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the technology can effectively solve the problems of high test cost, difficult reproduction of problem test scenes and difficult guarantee of test safety in road tests, provides detection services based on controllable darkroom test environment, controllable test scenes and controllable test cost for the test development of the V2X application of a whole automobile factory, and assists the commercialized landing of the V2X application to accelerate the development of intelligent networked automobiles.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic of the process of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Aiming at the problems of two current V2X application scene test schemes, a V2X application scene non-road test system in a anechoic chamber is provided. The key technical problems to be solved by the invention are as follows:
1. simulating and injecting GNSS signals in an anechoic chamber;
2. constructing an application scene of the test;
3. and (4) capturing and analyzing the application response of the whole vehicle.
As shown in fig. 1, the V2X application scenario non-road test system in the anechoic chamber of the present invention is:
the application scene of V2V is simulated by controlling the BSM packet transmission of a plurality of OBU nodes in an anechoic chamber, and the application response test of the whole vehicle is completed in the environment of electromagnetic interference. C-V2X application scene response means that the environment of the vehicle at the moment is judged and reasonable and correct early warning reaction is made on the corresponding scene through information interaction between vehicles. This interaction involves the Host Vehicle (HV) and the Remote Vehicle (RV). The test system is built based on an anechoic chamber environment, and aims to simulate a V2X message packet of a road driving node by constructing a road scene, verify whether a tested vehicle can correctly sense the road condition at the moment and make a reasonable and correct response. As shown in the figure, the test system is subjected to master control by an upper computer and mainly comprises four parts of laboratory complex electromagnetic field parameter setting, application scene generation and injection, GNSS signal simulation and application response capturing and analysis.
1. Complex electromagnetic field irradiation parameter settings
The strength of the road electromagnetic field influences the V2X performance of the networked vehicles, so in order to verify that the tested vehicle fails under any electromagnetic field strength, the electromagnetic field irradiation needs to be arranged in a darkroom to test the electromagnetic interference resistance of the tested vehicle. The test method refers to a standard GBT-33012.2-2016 and adopts an external radiation source method to carry out electromagnetic interference resistance test.
2. Application scenario generation and injection
Step 1: in the application scenario generation process, in the C-V2X application scenario, the vehicle exchanges data through a BSM message packet, where the BSM message packet includes information of the position, speed, size, and the like of the vehicle, and the specific content is shown in the following table.
Method for selecting RV in complex traffic flow scene
Constructing a complex traffic flow T through a traffic flow generating tool, selecting a vehicle node in the T as an HV, and reading the speed v of the HV in real timeHVPosition SHVAcceleration aHVSteering angleHVData, and the speed v of the vehicle around HVRPosition SRAcceleration aRAngle of turningRData, relative velocity v 'and relative position S' between a nearby vehicle and an HV are calculated according to the following formulas, respectively, and according to the definition of 17 typical applications specified in the standard T/CSAE 53-2017, when the relative position, relative velocity, and steering angle thereof satisfy the standard definition, the nearby vehicle is regarded as the RV of the HV, and in one traffic flow T, most of the RVs satisfying the standard requirement are more than 1, and therefore, a combination RVs of RVs is obtained.
v′＝vHV-vR
S'＝SHV-SR
Application scene structure
RVs required by the test of the current application scene are selected from RVs, and form a primary application scene scenario together with HVfTo scenariofThe HV and the RV are programmed, the motion states of the HV and the RV are adjusted according to standard requirements, including speed, acceleration and deceleration, motion tracks, or roadside facilities and road obstacles are added (if scene requirements), and a complete application scene scenario is constructedl。
Step 2: application scenario injection procedure, application scenario scieniolThe RV and the HV in the system correspond to an OBU node and a DUT (device under test) in a darkroom respectively;
firstly, the upper computer obtains the scienio through the interface according to the field requirement in the BSM message packetlMotion information for the HV and RV includes velocity, acceleration, steering angle, and location information, such as GPS location.
And secondly, the upper computer transmits the acquired RV motion information and the acquired position information to an OBU node in the darkroom through the Ethernet, so that the injection of the RV motion information and the position information is realized.
And thirdly, as the HV is the detected vehicle, the experimenter actually controls the vehicle in the vehicle according to the acquired HV motion information requirement to complete the injection of the HV motion information.
And fourthly, the upper computer transmits the position information of the HV to the GNSS simulator through the interface, and then transmits the position information of the HV to the DUT through the GNSS simulator, so that the injection of the position information of the HV is completed.
After the motion and position information of RV and HV in the application scene are respectively and synchronously injected, the application scene scenario is completedlThe implantation of (2).
3. GNSS signal simulation
The upper computer controls the GNSS simulator through the interface and then enables the scenariolThe position information of the medium HV is transmitted to the GNSS simulator, and the GPS signal is sent through the GNSS simulator.
4. Application response capture and analysis
The tested vehicle is connected to the upper computer through the CAN bus, whether the application of the tested vehicle responds or not is monitored through the upper computer, namely whether response early warning in the vehicle is triggered or not, response time t is recorded, whether t is within collision time TTC or not is judged, and through multiple tests, total test times n and total response times n are recordedresponseNumber of times of response in TTC nTTCThe response success rate S is calculated according to the following formularesponseAnd effective response success rate STTCAnd forming a test report to evaluate the V2X application response performance of the tested vehicle.
Sresponse＝nresponse/n
STTC＝nTTC/n
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. A V2X application scene non-road test system in a anechoic chamber is characterized by comprising: host computer signal receiving terminal connects switch signal transmitting terminal, and EMS power amplifier signal transmitting terminal is connected to switch EMS signal receiving terminal, and GNSS signal generator signal transmitting terminal is connected to switch GNSS signal receiving terminal, will be surveyed the vehicle and place in the anechoic chamber, and the vehicle that will be surveyed carries out signal transmission through wireless CAN signal, will be surveyed data and send to the switch through CAN signal detector.
2. The V2X application scenario non-road test system in anechoic chamber according to claim 1, wherein EMS antenna is used in anechoic chamber to simulate real road condition external radiation, positioning simulation is performed through GNSS antenna, N OBU simulation road nodes are arranged in anechoic chamber, and N is greater than or equal to 1.
3. A V2X application scene non-road test method in a anechoic chamber is characterized by comprising the following steps:
s1, setting complex electromagnetic field irradiation parameters in the anechoic chamber, and testing the electromagnetic interference resistance of the vehicle to be tested;
s2, generating corresponding application scenes, carrying out data interaction between the detected vehicle and the OBU in the darkroom through a BSM message packet, wherein the BSM message packet comprises V2X safety information,
s2-1, after traffic flow scene simulation, selecting remote RV in a complex traffic flow scene;
s2-2, completing construction of an application scene through communication between vehicles;
s3, transmitting the RV motion and the position information in the application scene to the OBU through the Ethernet, and controlling the GNSS signal simulator to send the GPS information by the upper computer according to the position information of the HV in the application scene so as to simulate the GPS signal of the DUT;
and S4, controlling the GNSS signal simulator to emit GPS signals, connecting the detected vehicle to an upper computer through a CAN bus, monitoring whether the application of the detected vehicle responds or not through the upper computer, and evaluating the V2X application response performance of the detected vehicle.
4. The V2X application scenario non-road test method in anechoic chamber according to claim 1, wherein the S2-1 includes:
constructing a complex traffic flow T through a traffic flow generating tool, selecting a vehicle node in the T as an HV, and reading the speed v of the HV in real timeHVPosition SHVAcceleration aHVSteering angleHVData, and the speed v of the vehicle around HVRPosition SRAcceleration aRAngle of turningRData for calculating a relative velocity v 'and a relative position S' between a nearby vehicle and an HV according to the following formulas, respectively, and assuming that the nearby vehicle is an RV for the HV when the relative position, the relative velocity, and the steering angle thereof satisfy the standard definitions according to 17 typical application definitions specified in the standard T/CSAE 53-2017, and in one traffic flow T, most of RVs satisfying the standard requirements are more than 1, and therefore, a combination RVs of RVs is obtained;
v′＝vHV-vR，
S'＝SHV-SR。
5. the V2X application scenario non-road test method in anechoic chamber according to claim 3, wherein the S2-2 includes:
RVs required by the test of the current application scene are selected from RVs, and form a primary application scene scenario together with HVfTo scenariofThe HV and the RV are programmed, the motion states of the HV and the RV are adjusted according to standard requirements, including speed, acceleration and deceleration, motion tracks, or roadside facilities and road obstacles are added (if scene requirements), and a complete application scene scenario is constructedl。
6. The V2X application scenario non-road test method in anechoic chamber according to claim 3, wherein the S3 includes:
s3-1, the upper computer obtains the scienio through the interface according to the field requirement in the BSM message packetlMotion information of the medium HV and RV, including velocity, acceleration, steering angle, and position information;
s3-2, the upper computer transmits the acquired RV motion information and the acquired position information to OBU nodes in a darkroom through the Ethernet, and injection of the RV motion information and the acquired position information is achieved;
s3-3, because HV is the detected vehicle, the experimenter actually operates the vehicle according to the acquired HV motion information requirement in the vehicle to complete the injection of the HV motion information;
and S3-4, the upper computer transmits the position information of the HV to the GNSS simulator through the interface, and then transmits the position information of the HV to the DUT through the GNSS simulator, so that the injection of the position information of the HV is completed.
7. The V2X application scenario non-road test method in anechoic chamber according to claim 1, wherein the S4 includes:
the tested vehicle is connected to an upper computer through a CAN bus, whether the application of the tested vehicle responds or not is monitored through the upper computer, namely whether response early warning in the vehicle is triggered or not, response time t is recorded, whether t is in collision time TTC or not is judged, and total test times n and total response times n are recorded through a plurality of testsresponseTotal number of responses in TTC nTTCThe response success rate S is calculated according to the following formularesponseAnd effective response success rate STTCForming a test report to evaluate the V2X application response performance of the tested vehicle;
Sresponse＝nresponse/n；STTC＝nTTC/n。
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