CN115932453A - Intelligent network-connected automobile whole-automobile in-loop test system and method - Google Patents
Intelligent network-connected automobile whole-automobile in-loop test system and method Download PDFInfo
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- CN115932453A CN115932453A CN202211728995.4A CN202211728995A CN115932453A CN 115932453 A CN115932453 A CN 115932453A CN 202211728995 A CN202211728995 A CN 202211728995A CN 115932453 A CN115932453 A CN 115932453A
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Abstract
The invention relates to the technical field of intelligent automobile testing, and discloses an intelligent network-connected automobile whole-automobile in-loop testing system and method, which comprise the following steps: step 1: arranging the test vehicle on the turntable and stabilizing the position of the vehicle; the test vehicle and the rotary table are both arranged in an EMC darkroom; and 2, step: configuring a radar target simulator and a vision system in front of a test vehicle; the radar target simulator is used for externally exciting a radar of a test vehicle; the visual system is used for simulating a working condition scene; and step 3: synchronously controlling the vision system and the radar target simulator by the ADAS simulation control module; and the ADAS simulation control module is also used for controlling the action of the turntable. The invention can be used for solving the technical problems that the perception information obtained by the ADAS system of the test vehicle in the test is asynchronous and the misdecision probability is higher, can realize the synchronous excitation of the ADAS system of the whole vehicle and achieve higher test accuracy.
Description
Technical Field
The invention relates to the technical field of intelligent automobile testing, in particular to an intelligent network-connected automobile whole-automobile in-loop testing system and method.
Background
In recent years, automatic driving technology is rapidly popularized, the loading rate of Advanced assisted driving systems (ADAS) is gradually increased, the reliability and safety of the emerging technology are widely concerned by regulatory authorities and the public, and the reliability and safety of the emerging technology are directly related to electronic information safety and driving safety of automobiles. In addition, the ADAS system is mounted, so that the electromagnetic environment in the vehicle of the intelligent networked vehicle is more complex than that of a conventional vehicle, the electromagnetic Compatibility (EMC) performance of the intelligent networked system of the vehicle is closely related to the safety of lives and properties of people, the requirement for testing the electromagnetic Compatibility of intelligent networked parts and the vehicle is increasingly urgent, and the system and the method for testing the electromagnetic Compatibility of related products are relatively lacking at present.
In addition, the existing electromagnetic compatibility testing system for the automatic driving automobile still has the defects of insufficient testing performance and low testing accuracy. For example, although the existing test system or test method establishes an electromagnetic environment to perform a function test of the ADAS system, the probability of a wrong decision of the system is often large, or the decision data is inaccurate, and often does not match with the real performance of the system, and the test accuracy is not high.
Disclosure of Invention
The invention aims to provide an intelligent network-connected automobile whole-automobile in-loop test system and method, which are used for solving the technical problems that perception information obtained by an ADAS (adaptive analysis of vehicle performance) system of a test automobile in a test is asynchronous and the probability of wrong decision is high.
In order to achieve the above purpose, the invention provides the following basic scheme:
scheme one
An intelligent network connection automobile whole automobile in-loop test method comprises the following steps:
step 1: arranging the test vehicle on the turntable and stabilizing the position of the vehicle; the test vehicle and the turntable are both arranged in an EMC darkroom;
step 2: configuring a radar target simulator and a vision system in front of a test vehicle; the radar target simulator is used for externally exciting a radar of a test vehicle; the visual system is used for simulating a working condition scene;
and 3, step 3: synchronously controlling the vision system and the radar target simulator by the ADAS simulation control module; and the ADAS simulation control module is also used for controlling the action of the rotary table.
Scheme two
An intelligent network connection automobile whole automobile in-loop test system is applied to the intelligent network connection automobile whole automobile in-loop test method according to the scheme I; the system comprises a control system, an excitation system, a turntable system and an EMC darkroom; the turntable system is arranged in the EMC darkroom and is used for providing a motion platform for a test vehicle; the excitation system comprises a radar target simulator and a vision system; the radar target simulator is used for externally exciting a radar of a test vehicle; the visual system is used for simulating a working condition scene; the control system is in communication connection with the excitation system and the turntable system, and comprises an ADAS simulation control module; the ADAS simulation control module is used for synchronously controlling the visual system and the radar target simulator; and the ADAS simulation control module is also used for controlling the action of the rotary table.
The working principle and the advantages of the invention are as follows: the ADAS simulation control module uniformly and synchronously controls the generation action and the output time point of the perception information of the vision system and the radar target simulator, and the ADAS system arranged on the test vehicle can rely on the radar and the foresight camera arranged on the vehicle to perceive the information transmitted by the vision system and the radar target simulator, so that the environment perception and action decision can be completed. And the test vehicle executes action decision on the turntable.
The ADAS simulation control module can keep high consistency of output of the two types of perception information. Compared with a conventional test scheme, the conventional scheme usually adopts a separate excitation mode, output time difference inevitably exists in the output of the visual perception information and the radar perception information, and the fact that the output time difference is usually small in a plurality of data transmission scenes is not influenced apparently, which is one of the reasons that the output time difference is not reduced further in a plurality of test methods.
However, in the process, the time point when the vehicle-mounted radar and the forward-looking camera receive the sensing information is very critical, if the information of the vehicle-mounted radar and the forward-looking camera is delayed, the sensing information acquired by the ADAS system at the same time point may be actually contradictory, and the sequence of receiving the sensing information can also cause confusion effect to the ADAS system, so that the ADAS system cannot correctly judge the front scene, and has higher misdecision probability, and the misdecision cannot reflect the performance effect of the ADAS system.
According to the scheme, the phenomenon is sharply discovered, consistency control is performed on an excitation system (the vision system and the radar target simulator) through the ADAS simulation control module, scene perception information and radar perception information can be synchronously generated and transmitted, the problem of data perception asynchronization can be effectively solved, synchronous excitation on the vehicle-mounted radar and the front-view camera is completed, a more accurate test environment can be constructed, the decision error probability of the ADAS system is effectively reduced, and the test accuracy is improved.
Drawings
FIG. 1 is a schematic view of a method flow of a first embodiment of an intelligent networked automobile in-loop test system and method of the invention;
FIG. 2 is a schematic diagram of a system structure of a first embodiment of the intelligent networked automobile in-loop test system and method of the invention;
fig. 3 is a partial schematic view of a system structure of a first embodiment of an intelligent networked automobile in-loop test system and method of the invention.
Detailed Description
The following is further detailed by the specific embodiments:
the reference numbers in the drawings attached hereto include: EMC darkroom 1, test vehicle 2, revolving stage system 3, vision system 4, radar target simulator 5.
Example one
The embodiment is basically as shown in the attached figures 2 and 3: an intelligent network connection automobile whole automobile in-loop test system is applied to an intelligent network connection automobile whole automobile in-loop test method as follows; comprises a control system, an excitation system, a turntable system 3 and an EMC darkroom 1.
The turntable system 3 is arranged in the EMC darkroom 1, and the turntable system 3 is used for providing a motion platform for the test vehicle 2. Specifically, the turntable system 3 includes a turntable and a turntable controller; in the embodiment, the rotary table is a rotary table with a rotary hub; the test vehicle 2 can perform normal driving operations such as acceleration and deceleration, steering, and the like on the turntable. The turntable controller is used for receiving a control instruction of the ADAS simulation control module, controlling the turntable to operate according to the control instruction, acquiring turntable operation data and feeding back the data to the ADAS simulation control module. By the arrangement, the turntable system 3 can acquire the turntable operation data in time so as to update the corresponding vehicle model operation state in the control system, and further construct a complete in-loop test system.
The excitation system comprises a radar target simulator 5 and a vision system 4. The radar target simulator 5 is used for carrying out external excitation on a radar of the test vehicle 2; the vision system 4 is used for simulating a working condition scene. In this embodiment, the radar target simulator 5 is a millimeter wave radar target simulator 5, and the vision system 4 is a projection circular screen. The excitation system has simple structure and is convenient to install and debug.
The control system is in communication connection with the excitation system and the turntable system 3, and an ADAS simulation control module, a scene simulation module and a vehicle dynamics module are arranged in the control system. The ADAS simulation control module is used for synchronously controlling the vision system 4 and the radar target simulator 5; and the ADAS simulation control module is also used for controlling the action of the rotary table. When the ADAS simulation control module is used for constructing a test working condition, the scene simulation module and the vehicle dynamics module are called to construct the test working condition, and the construction content comprises a virtual working condition scene corresponding to the test working condition and a vehicle running working condition corresponding to the test working condition.
As shown in fig. 1, the embodiment further provides an intelligent network-connected automobile whole-automobile in-loop testing method, which includes the following steps:
step 1: arranging the test vehicle 2 on the turntable and stabilizing the vehicle position; the test vehicle 2 and the rotary table are both arranged in an EMC darkroom 1, and the EMC darkroom 1 provides an electromagnetic compatibility environment for the test vehicle 2.
And 2, step: a radar target simulator 5 and a vision system 4 are arranged in front of the test vehicle 2; the radar target simulator 5 is used for externally exciting the radar of the test vehicle 2; the vision system 4 is used for simulating working condition scenes.
Specifically, the radar target simulator 5 is arranged opposite to the vehicle-mounted radar of the test vehicle 2; the vision system 4, namely the projection circular screen is arranged facing to the front-view camera of the test vehicle 2; so that the vehicle-mounted radar and the forward-looking camera can directly obtain the excitation information and the scene information.
And 3, step 3: the ADAS simulation control module synchronously controls the visual system 4 and the radar target simulator 5; and the ADAS simulation control module is also used for controlling the action of the turntable.
Specifically, the ADAS simulation control module uniformly and synchronously controls the generation action and the output time point of the perception information of the vision system 4 and the radar target simulator 5, and the ADAS system arranged on the test vehicle 2 can perceive the information transmitted by the vision system 4 and the radar target simulator 5 by means of the radar and the front-view camera arranged on the vehicle, so that the environment perception and action decision can be completed. The test vehicle 2 performs an action decision on the turntable. In the process, the turntable feeds back the turntable operation data to the ADAS simulation control module, and the ADAS simulation control module controls the vehicle model in the virtual working condition scene to operate according to the turntable operation data to form a test closed loop.
In step 3, when the ADAS simulation control module synchronously controls the visual system 4 and the radar target simulator 5, the control is carried out according to a control strategy; the control strategy comprises the following steps: and the ADAS simulation control module switches the test working conditions according to the preset test requirements, and synchronously modifies the states of the vision system 4 and the radar target simulator 5 when the working conditions are switched once.
Specifically, in this embodiment, the switchable test conditions include ADAS test conditions such as an automatic emergency braking system AEB, an adaptive cruise ACC, a lane keeping assist LKA, a traffic congestion assist TJA, and the like, and the test conditions are various in types and comprehensive in test types. When the ADAS simulation control module switches and loads one type of test working condition, the scene simulation module and the vehicle dynamics module are called to construct the test working condition according to the test working condition, and the construction content comprises the virtual working condition scene corresponding to the test working condition and the vehicle running working condition corresponding to the test working condition. Meanwhile, the ADAS simulation control module also synchronously sets an output control signal of the radar simulator.
Furthermore, the set virtual working condition scene and the set output control signal are synchronously output to the vision system 4 and the radar target simulator 5 respectively, so that the scene information provided by the vision system 4 and the generation time point of the excitation information provided by the radar target simulator 5 can be kept consistent, the ADAS system of the test vehicle 2 can obtain consistent perception information through the vehicle-mounted radar and the forward-looking camera of the test vehicle 2, and the decision error probability of the ADAS system caused by the test environment factors can be greatly reduced.
According to the system and the method for testing the whole vehicle in the environment of the intelligent networked automobile, the generation action and the output time point of the perception information of the vision system 4 and the radar target simulator 5 are synchronously controlled in a unified mode through the ADAS simulation control module, the output of the two kinds of perception information can be kept high in consistency, the problem of data perception asynchronism can be effectively solved, synchronous excitation on the vehicle-mounted radar and the front-view camera is completed, a more accurate testing environment can be constructed, the decision error probability of the ADAS system is effectively reduced, and the testing accuracy is improved.
Example two
On the basis of the first embodiment, the control system is further provided with a magnetic field control module.
The magnetic field control module is used for controlling and adjusting the electromagnetic environment of the EMC darkroom 1. The electromagnetic environment comprises an electromagnetic radiation disturbance environment, an electromagnetic conduction disturbance environment and an electromagnetic stray interference environment. Specifically, according to actual test requirements, the electromagnetic environment of the EMC darkroom 1 can be switched and adjusted through the magnetic field control module to construct different electromagnetic test environments.
Compared with the first embodiment, the system and the method for testing the whole vehicle in the environment of the intelligent networked automobile can meet more diversified test requirements and realize the electromagnetic compatibility test of the intelligent networked automobile in different electromagnetic environments.
EXAMPLE III
On the basis of the first embodiment, a correction module is further arranged on the test vehicle 2; the correction module is used for acquiring the excitation information transmitted by the vision system 4 and the radar target simulator 5, calculating the transmission time difference of the excitation information of the vision system 4 and the radar target simulator 5 and feeding back the transmission time difference to the ADAS simulation control module; the ADAS simulation control module also adjusts the control methods of the vision system 4 and the radar target simulator 5 according to the feedback transmission time difference.
In a specific application, for example, if the difference between the transmission times of the excitation information of the vision system 4 and the radar target simulator 5 determined by the calibration module is 40ms, and the excitation information of the radar target simulator 5 is relative delay information, the difference between the transmission times is transmitted to the ADAS simulation control module, and the ADAS simulation control module controls the output time point of the excitation information of the radar target simulator 5 to be advanced, wherein the advance time is the same as the difference between the transmission times, so as to ensure that complete synchronous excitation is realized. Preferably, the correction module can take the mean value of all the transmission time differences as the transmission time differences adopted in subsequent adjustment after continuously collecting the transmission time differences for a plurality of times, so that the value of the transmission time differences is more reliable, the randomness is reduced, the control method of the vision system 4 and the radar target simulator 5 can be adjusted more accurately, and a better data synchronization effect is achieved.
According to the system and the method for testing the whole vehicle in the environment of the intelligent networked automobile, the correction module is arranged, so that the transmission time difference of the excitation information of the vision system 4 and the radar target simulator 5 can be effectively captured, intelligent adjustment is performed, the control on synchronous excitation is flexible, and the control effect is better.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent.
Claims (8)
1. An intelligent network connection automobile whole-automobile in-loop test method is characterized by comprising the following steps:
step 1: arranging the test vehicle on the turntable and stabilizing the position of the vehicle; the test vehicle and the turntable are both arranged in an EMC darkroom;
step 2: configuring a radar target simulator and a vision system in front of a test vehicle; the radar target simulator is used for carrying out external excitation on a radar of the test vehicle; the visual system is used for simulating a working condition scene;
and step 3: synchronously controlling the visual system and the radar target simulator by the ADAS simulation control module; and the ADAS simulation control module is also used for controlling the action of the rotary table.
2. The intelligent online vehicle-on-vehicle loop test method according to claim 1, wherein the ADAS simulation control module is arranged in a control system; the control system is also provided with a scene simulation module and a vehicle dynamics module; when the ADAS simulation control module is used for constructing a test working condition, the scene simulation module and the vehicle dynamics module are called to construct the test working condition, and the construction content comprises a virtual working condition scene corresponding to the test working condition and a vehicle running working condition corresponding to the test working condition.
3. The intelligent online vehicle on-loop test method according to claim 1, wherein in step 3, the ADAS simulation control module performs control according to a control strategy during synchronous control; the control strategy comprises the following steps: and the ADAS simulation control module switches the test working conditions according to the preset test requirements, and synchronously modifies the states of the vision system and the radar target simulator when the working conditions are switched once.
4. The intelligent online vehicle-on-vehicle loop testing method as claimed in claim 2, wherein in step 3, the turntable feeds back turntable operation data to the ADAS simulation control module, and the ADAS simulation control module controls the vehicle model in the virtual working condition scene to operate according to the turntable operation data.
5. The intelligent on-board network test method for the whole automobile of the networked automobile according to claim 2, wherein a magnetic field control module is further arranged in the control system; the magnetic field control module is used for controlling and adjusting the electromagnetic environment of the EMC darkroom.
6. The intelligent online vehicle on-loop test method of claim 5, wherein the electromagnetic environment comprises an electromagnetic radiation disturbance environment, an electromagnetic conduction disturbance environment and an electromagnetic stray interference environment.
7. The intelligent online vehicle-on-vehicle loop test method according to claim 1, wherein the test vehicle is further provided with a correction module; the correction module is used for acquiring the excitation information transmitted by the vision system and the radar target simulator, calculating the transmission time difference of the excitation information of the vision system and the radar target simulator and feeding back the transmission time difference to the ADAS simulation control module; and the ADAS simulation control module is also used for adjusting the control methods of the vision system and the radar target simulator according to the feedback transmission time difference.
8. An intelligent network connection automobile whole automobile in-loop test system is characterized by being applied to the intelligent network connection automobile whole automobile in-loop test method according to any one of claims 1-7; the system comprises a control system, an excitation system, a turntable system and an EMC darkroom; the turntable system is arranged in the EMC darkroom and is used for providing a motion platform for the test vehicle; the excitation system comprises a radar target simulator and a vision system; the radar target simulator is used for externally exciting a radar of a test vehicle; the visual system is used for simulating a working condition scene; the control system is in communication connection with the excitation system and the turntable system, and comprises an ADAS simulation control module; the ADAS simulation control module is used for synchronously controlling the visual system and the radar target simulator; and the ADAS simulation control module is also used for controlling the action of the rotary table.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117589476A (en) * | 2024-01-18 | 2024-02-23 | 理工雷科电子(天津)有限公司 | Simulation test system for intelligent driving |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117589476A (en) * | 2024-01-18 | 2024-02-23 | 理工雷科电子(天津)有限公司 | Simulation test system for intelligent driving |
| CN117589476B (en) * | 2024-01-18 | 2024-03-19 | 理工雷科电子(天津)有限公司 | Simulation test system for intelligent driving |
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