CN206627782U - A kind of hardware-in-the-loop test system of automobile controller - Google Patents
A kind of hardware-in-the-loop test system of automobile controller Download PDFInfo
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- CN206627782U CN206627782U CN201720338786.7U CN201720338786U CN206627782U CN 206627782 U CN206627782 U CN 206627782U CN 201720338786 U CN201720338786 U CN 201720338786U CN 206627782 U CN206627782 U CN 206627782U
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Abstract
The utility model discloses a kind of hardware-in-the-loop test system of automobile controller, including real-time simulation cabinet, vehicle cab and multiple true pedestrian's wearable devices, vehicle cab includes a simulated test vehicle cab and multiple true vehicular traffic driving cabins.The utility model introduces test scene by the simulated test vehicle cab for controlling true driver and true vehicular traffic driving cabin and the traffic behavior of true pedestrian, and form true driver, true pedestrian and the closed loop of virtual traffic environment, realize the reproduction of the traffic behavior in testing real vehicle, so that during the automobile controller emulation testing of simulated test, true driver can go to drive vehicle according to personal inclination, at the same time, true pedestrian moves in traffic scene according to testing requirement according to personal inclination, for traditional test scheme, expand test scene coverage, substantially increase the reliability to automobile controller test result.
Description
Technical field
Simulation technical field is the utility model is related to, in particular, is related to a kind of hardware in loop of automobile controller and imitates
True test system.
Background technology
At present in automobile industry controller test field, main flow method of testing is to use HIL (hardware-in-the-
Loop, hardware in loop) to test, i.e., Hardware-in-the-loop simu- lation is tested, and its main purpose is：Before real steering vectors are carried out, testing
In room environmental, by substantial amounts of high coverage test case to the control strategy of automobile controller, electric property, fault diagnosis etc.
Function carries out high efficiency and tested in all directions, so as to pinpoint the problems early, reduces the real steering vectors of high cost, excessive risk.HIL is tested
By efficiently create test and perform automatic test cases, can greatly save product and equipment testing time and into
This, while also become easier to test, so as to improve the feasibility of test and security.In automotive field, according to
ISO26262 (the electric Functional Safety Standard of automotive electronics), for the high automobile controller of some functional safety grades, such as
ADAS (Advanced Driver Assistance System, the general name of advanced drive assist system) CCUs and nothing
People's driving controller, it is necessary to carry out HIL tests.
Automobile controller test is carried out based on HIL platforms, it is necessary to build miscellaneous test scene in a model in advance,
The test scene is mainly traffic scene, including simulated test vehicle, vehicular traffic and the traffic behavior of pedestrian.Hand at present
The behavior mainly passed through by model engineering teacher to simulated test vehicle, vehicular traffic and pedestrian of building of logical scene predefines in fact
It is existing, to realize complicated traffic behavior, then need largely to be predefined when building model.
However, it is this it is predefined exist a shortcoming, be exactly no matter vehicle or pedestrian, its traffic behavior can only be according to pre-
The step-by-step progress of behavior of definition, and real driver and pedestrian have very big individual character in the traffic environment of reality
And uncertainty, its behavior can be influenceed by real-time traffic condition, so as to make it is complicated and changeable and can not default behavior, and this
A little is difficult to go to reappear with mathematical modeling.Also, because the behavior built to vehicular traffic and pedestrian of traditional traffic scene is determined
Justice lacks authenticity, therefore, when being related to traffic scene that simulated test vehicle interacts with vehicular traffic or pedestrian,
It can not be realized by predefined.For these reasons, it is traditional this to pass through the predefined step-by-step test scene built
Coverage is small, causes the test result reliability to automobile controller not high.
Utility model content
In view of this, the utility model discloses a kind of hardware-in-the-loop test system of automobile controller, to solve to pass
Unite automobile controller testing scheme, test scene coverage is small, not high to the test result reliability of automobile controller to ask
Topic.
A kind of hardware-in-the-loop test system of automobile controller, including：Real-time simulation cabinet, vehicle cab and more
Individual true pedestrian's wearable device, the vehicle cab include a simulated test vehicle cab and multiple true special buses
Driving cabin, the real-time simulation cabinet include：Signal input/output board and real-time simulation machine, the signal input/output board
Card connects the simulated test vehicle cab, each true vehicular traffic driving cabin, each true pedestrian's wearing and set respectively
Standby, real-time simulation machine and the automobile controller of simulated test, wherein：
The simulated test vehicle cab, for providing manipulation environment for true driver, gather true driver
Manipulation signal and export to the real-time simulation machine, so as to operate in target vehicle mould corresponding in the real-time simulation machine
Type realizes target vehicle operation emulation according to the manipulation signal received, and according to real-time simulation machine output in traffic
The video flowing and audio stream of the corresponding target vehicle model, realize the what comes into a driver's and environment to real goal vehicle in scene
Audio analog simulation；
Each true vehicular traffic driving cabin, for providing manipulation environment for true driver, gathers true drive
The manipulation signal of member is simultaneously exported to the real-time simulation machine, so as to operate in vehicular traffic corresponding in the real-time simulation machine
Model realizes vehicular traffic operation emulation according to the manipulation signal received, and is being handed over according to what the real-time simulation machine exported
The video flowing and audio stream of the corresponding vehicular traffic model, realize the what comes into a driver's and ring to true vehicular traffic in logical scene
Border audio analog simulation；
Each true pedestrian's wearable device, for measuring the real motion data of true pedestrian and exporting to the reality
When replicating machine so that it is real according to the service data signal that receives to operate in pedestrian dummy corresponding in the real-time simulation machine
Existing Pedestrian Movement Simulation Studies, and the video of the pedestrian dummy corresponding in traffic scene exported according to the real-time simulation machine
Stream and audio stream, realize the what comes into a driver's and EAX analog simulation to true pedestrian；
The signal input/output board, for gathering the automobile controller emulation testing process of the simulated test
In, the manipulation signal of true driver in each vehicle cab and the true service data of true pedestrian, and by the behaviour
Control signal and the true service data are converted into corresponding control signal and export the corresponding model into the real-time simulation machine,
The dynamic simulation of traffic behavior is carried out, meanwhile, the auto model operated in the real-time simulation machine and pedestrian dummy are being handed over
Corresponding video flowing and audio stream, are exported to corresponding vehicle cab and true pedestrian's wearable device in logical scene.
Preferably, the vehicle cab includes：Sensor and audio-visual equipment；
The sensor, for gathering the manipulation signal of true driver, and by the signal input/output board,
By the manipulation signal output to the real-time simulation machine；
The audio-visual equipment, for the auto model corresponding in traffic scene exported according to the real-time simulation machine
Video flowing and audio stream, realize the what comes into a driver's and EAX analog simulation to real vehicles.
Preferably, using electrical connection, the audio-visual equipment between the sensor and the signal input/output board
Connected between the signal input/output board using network service.
Preferably, the vehicle cab comprises at least：Throttle, braking, steering wheel, gear and display screen.
Preferably, true pedestrian's wearable device includes：Wearable inertial sensor and virtual reality head show equipment, institute
Stating the aobvious equipment of virtual reality head includes：Virtual reality glasses and headset；
The wearable inertial sensor, for measuring the real motion data of true pedestrian, the real motion data
Including at least the direction of motion and speed；
The virtual reality head shows equipment, for according to the real-time simulation machine export in traffic scene it is corresponding
The video flowing and audio stream of pedestrian dummy, realize what comes into a driver's and EAX analog simulation to true pedestrian.
Preferably, using electrical connection, institute between the wearable inertial sensor and the signal input/output board
Virtual reality head is stated to show between equipment and the signal input/output board using network service connection.
Preferably, the signal input/output board is integrated with signal condition board；
The signal condition board, for the signal input/output board to be exported into the real-time simulation machine
The manipulation signal of each true driver and the true service data of true pedestrian, required for nursing one's health into the real-time simulation machine
Signal.
Preferably, the automobile controller of the simulated test includes：Actively/unmanned controller.
It was found from above-mentioned technical scheme, the utility model discloses a kind of hardware-in-the-loop test of automobile controller
System, including real-time simulation cabinet, vehicle cab and multiple true pedestrian's wearable devices, vehicle cab specifically include one
Simulated test vehicle cab and multiple true vehicular traffic driving cabins, the utility model is by the way that true driver is controlled
Simulated test vehicle cab and true vehicular traffic driving cabin and the traffic behavior of true pedestrian introduce test scene, and
True driver, true pedestrian and the closed loop of virtual traffic environment are formed, realizes the traffic behavior in testing real vehicle
Reproduction so that during the automobile controller emulation testing of simulated test, true driver can be according to personal inclination
Go to drive vehicle, at the same time, true pedestrian moves in traffic scene according to testing requirement according to personal inclination, compared to tradition
For testing scheme, the utility model expands test scene coverage, substantially increases to automobile controller test result
Reliability.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is embodiment of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawings can be obtained according to disclosed accompanying drawing.
Fig. 1 is a kind of structure of the hardware-in-the-loop test system of automobile controller disclosed in the utility model embodiment
Schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
The utility model embodiment discloses a kind of hardware-in-the-loop test system of automobile controller, to solve tradition
Automobile controller testing scheme, test scene coverage is small, it is not high to the test result reliability of automobile controller the problem of.
Referring to Fig. 1, a kind of hardware-in-the-loop test system of automobile controller disclosed in the utility model embodiment
Structural representation, wherein, automobile controller is active/unmanned controller, is specifically as follows all automobile-used of ADAS correlations
Controller, ADAS is the general name of advanced drive assist system, including (Adaptive Cruise Control, are adaptively patrolled ACC
Navigate control system), AEB (Autonomous Emergency Braking, automatic emergency brake system), LDW (Lane
Departure Warning, lane departure warning system) etc.；
The emulation test system includes：
Real-time simulation cabinet 11, vehicle cab and multiple true pedestrian's wearable devices are (referring to the institute of reference in Fig. 1 13
The multiple true pedestrian's wearable devices shown), vehicle cab includes a simulated test vehicle cab 10 and multiple true
Vehicular traffic driving cabin (referring to multiple true vehicular traffic driving cabins shown in reference in Fig. 1 12), real-time simulation cabinet 11
Including：Signal input/output board 111 and real-time simulation machine 112, signal input/output board 111 connect simulated survey respectively
Try vehicle cab 10, each true vehicular traffic driving cabin, each true pedestrian's wearable device, real-time simulation machine 112 and
The automobile controller 101 of simulated test, wherein, it is simulated the automobile controller 101 of test and simulated test vehicle drive
Cabin 10 matches, and in actual applications, the automobile controller 101 of simulated test can be arranged on the inside of real-time simulation cabinet 11
(such as Fig. 1), the outside of real-time simulation cabinet 11 can also be arranged on, in the present embodiment, be simulated the automobile controller 101 of test
It is specifically as follows active/unmanned controller；
Specifically：
Simulated test vehicle cab 10, for providing manipulation environment for true driver, gather true driver's
Manipulate signal and export to the real-time simulation machine 112, so as to operate in target carriage corresponding in the real-time simulation machine 112
Model realizes target vehicle operation emulation according to the manipulation signal received, and is exported according to the real-time simulation machine 112
The target vehicle model corresponding in traffic scene video flowing and audio stream, realize and real goal vehicle regarded
Scape and EAX analog simulation；
Each true vehicular traffic driving cabin, for providing manipulation environment for true driver, gathers true drive
The manipulation signal of member is simultaneously exported to the real-time simulation machine 112, so as to operate in friendship corresponding in the real-time simulation machine 112
Logical auto model realizes vehicular traffic operation emulation according to the manipulation signal received, and according to the real-time simulation machine 112
The video flowing and audio stream of the vehicular traffic model corresponding in traffic scene of output, realize and true vehicular traffic are regarded
Scape and EAX analog simulation, wherein, each true vehicular traffic driving cabin can be one by throttle, braking, steering wheel and
The driving cabin of the simple version of one of the compositions such as gear, the driving cabin have a display screen, for showing the traffic scene of simulation.
When actual emulation is tested, be closer to real traffic scene, can according to the difference between true vehicular traffic, will it is each very
Real vehicular traffic driving cabin is designed to the driving cabin that difference be present.
In the present embodiment, using the method transformed real vehicle driving cabin or customize driving cabin, to complete to driving environment
Simulation, need to be by power assembly and tire when transforming real vehicle driving cabin.Vehicle cab is set in emulation test system
Purpose be：Manipulation environment is provided for true driver, its function mainly there are two aspects, is on the one hand the true driver of collection
Signal is manipulated, such as accelerates brake pedal, steering wheel angle, gear；On the other hand it is to realize the what comes into a driver's and ring to real vehicles
Border audio analog simulation.
Specifically, during the emulation testing of automobile controller 101 of simulated test, when true driver is according to individual
When wish drives vehicle in traffic scene, vehicle cab can gather the manipulation signal of true driver in real time and export to institute
Real-time simulation machine 112 is stated, operating in auto model corresponding in real-time simulation machine 112 will be according to the manipulation signal received
Realize the motion simulation of vehicle.Meanwhile running position confidence of the real-time simulation machine 112 according to different vehicle model in traffic scene
Breath, in the form of video flowing and audio stream, is exported to corresponding vehicle cab by network communication, passed through in vehicle cab
Display or other display devices show virtual traffic scene, and multiple true drivers are dissolved into virtual test scene.
It should be noted that operating in auto model in real-time simulation machine 112 is reserved with outside control input interface, vehicle
Model manipulates signal by corresponding outside control input interface.
Each true pedestrian's wearable device, for measuring the real motion data of true pedestrian and exporting to the reality
When replicating machine 112, so as to operate in pedestrian dummy corresponding in the real-time simulation machine 112 according to the service data received
Signal realizes Pedestrian Movement Simulation Studies, and the pedestrian corresponding in traffic scene exported according to the real-time simulation machine 112
The video flowing and audio stream of model, what comes into a driver's and EAX analog simulation to true pedestrian are realized, wherein it is possible to for difference
The different true pedestrian's wearable device of pedestrian scheme, such as when being bracelet for true pedestrian's wearable device of a certain position pedestrian scheme
Can be another one pedestrian scheme earphone and VR glasses during with VR glasses.
Specifically, when wear the true pedestrian of true pedestrian's wearable device according to testing requirement according to personal inclination in traffic
When being moved in scene, true pedestrian's wearable device can measure the real motion data of true pedestrian, including：The direction of motion and motion
Data etc.；True pedestrian's wearable device is transported after the real motion data output of the true pedestrian of measurement to real-time simulation machine 112
Row pedestrian dummy corresponding in real-time simulation machine 112 will realize that pedestrian movement imitates according to the service data signal received
Very.Meanwhile running position information of the real-time simulation machine 112 according to different pedestrian dummies in traffic scene, with video flowing and sound
The form of frequency stream, exported by network communication to corresponding true pedestrian's wearable device, pass through the aobvious of true pedestrian's wearable device
Show that device shows virtual traffic scene, multiple true pedestrians are dissolved into virtual test scene.
It should be noted that the pedestrian dummy operated in real-time simulation machine 112 is reserved with outside control input interface, OK
People's model passes through corresponding outside control input interface service data signal.
Real-time simulation cabinet 11 is the core of whole emulation test system, is model running and the carrier of signal interaction, mainly
Including：Signal input/output board 111 and real-time simulation machine 112, in actual applications, real-time simulation cabinet 11 can also integrate
It is provided with system power supply.The one side of real-time simulation cabinet 11 ensure that model (comprises at least vehicle mould in real-time simulation machine 112
Type and pedestrian dummy) operation and system emulation real-time, on the other hand realize all types of electric signals, network signal is adopted
Collection and simulation, and electric signal and the signal interaction of network signal and the automobile controller 101 of simulated test.
Signal input/output board 111, for gathering the emulation testing of automobile controller 101 of the simulated test
Cheng Zhong, the manipulation signal of true driver and the true service data of true pedestrian in each vehicle cab, and will described in
Manipulation signal and the true service data be converted into corresponding to corresponding to control signal exported into the real-time simulation machine 112
Model, the dynamic simulation of traffic behavior is carried out, meanwhile, auto model and the pedestrian that will be operated in the real-time simulation machine 112
Model video flowing and audio stream corresponding in traffic scene, export to corresponding vehicle cab and true pedestrian wearing
Equipment.
In summary, the utility model passes through the simulated test vehicle cab for controlling true driver and true friendship
The traffic behavior of logical vehicle cab and true pedestrian introduce test scene, and form true driver, true pedestrian and void
Intend the closed loop of traffic environment, realize the reproduction of the traffic behavior in testing real vehicle so that in the car of simulated test
During the emulation testing of controller 101, true driver can go to drive vehicle according to personal inclination, at the same time, truly
Pedestrian moves in traffic scene according to testing requirement according to personal inclination, for traditional test scheme, the utility model
Test scene coverage is expanded, substantially increases the reliability to automobile controller test result.
It is understood that before real-time simulation machine 112 is to the emulation testing of automobile controller 101 of simulated test, it is real
When replicating machine 112 also need to parameterize auto model and pedestrian dummy so that auto model and pedestrian dummy can essences
The true emulation for completing vehicle and pedestrian's dynamics.
Therefore, before real-time simulation machine 112 is to the emulation testing of automobile controller 101 of simulated test, real-time simulation machine
112 are additionally operable to parameterize corresponding auto model according to the true vehicular traffic parameter that experiment measures, according to test
The true pedestrian's parameter obtained parameterizes to corresponding pedestrian dummy, wherein, the true vehicular traffic parameter includes
Simulated test vehicle parameter.
It should be noted that in actual applications, vehicle can be emulated by the commercial drivers simulation model of maturation
With the dynamics of pedestrian.Auto model and the reserved outside control input interface of pedestrian dummy, auto model and pedestrian dummy
Simulation result controlled by input signal, and corresponding behavior response is simulated according to the corresponding control signal of reception.
It is understood that true driver and pedestrian traffic scene simulation are based on to realize, it is right in real-time simulation machine 112
Before the emulation testing of automobile controller 101 of simulated test, it is also necessary to which the initial position of each true vehicular traffic and initial is set
State, and the initial position and original state of each true pedestrian, wherein, the initial position and initial shape of true vehicular traffic
State, and the initial position and original state of true pedestrian, depending on concrete foundation actual test scene needs, the utility model exists
This is not limited.
For true driver, after the initial position of each true vehicular traffic and original state are set, truly drive
The person's of sailing can goes to drive vehicle, so as to improve the reliability of test result according to test scene needs according to personal inclination；It is right
For true pedestrian, the in vitro position of true pedestrian is demarcated with the position in test scene, pedestrian can
To receive the video flowing in the virtual traffic scene of the transmission of real-time simulation machine 112 according to true pedestrian's wearable device, according to survey
Examination demand is moved according to personal inclination in virtual traffic scene, so as to improve the reliability of test result.
Preferably, vehicle cab includes：Sensor and audio-visual equipment；
The sensor, for gathering the manipulation signal of true driver, and pass through the signal input/output board
111, by the manipulation signal output to the real-time simulation machine 112；
Specifically, the type of sensor is by the manipulation signal deciding of the true driver gathered, it is to add such as when manipulating signal
During fast brake pedal, sensor can use displacement transducer；When it is steering wheel angle to manipulate signal, sensor can use
Angular transducer.
The audio-visual equipment, for the vehicle corresponding in traffic scene exported according to the real-time simulation machine 112
The video flowing and audio stream of model, realize what comes into a driver's and EAX analog simulation to real vehicles.
Specifically, audio-visual equipment can be the equipment such as display, sound equipment.
Preferably, true pedestrian's wearable device includes：Wearable inertial sensor and virtual reality (i.e. VR) head show equipment,
Wherein, the virtual reality head shows equipment and included：Virtual reality glasses and headset；
The wearable inertial sensor is worn on true pedestrian, for measuring the real motion number of true pedestrian
According to the real motion data comprise at least the direction of motion and speed；
The virtual reality head shows equipment, for according to the real-time simulation machine export in traffic scene it is corresponding
The video flowing and audio stream of pedestrian dummy, realize what comes into a driver's and EAX analog simulation to true pedestrian.
It should be noted that hardware-in-the-loop test system disclosed in the utility model is believed using electric signal and network
Number parallel communication modes.The exercise data of manipulation signal and true pedestrian from true driver is changed through respective sensor
Into electric signal, the electric signal is acquired by signal input/output board 111, and by signal input/output board
111 input transform electric to operating in corresponding model in real-time simulation machine 112, each model into corresponding manipulation signal
It is based respectively on the dynamic simulation that the manipulation signal received carries out traffic behavior.
Meanwhile real-time simulation machine 112 is by different vehicle model (including target vehicle model and vehicular traffic model), pedestrian
Video flowing and audio stream of the model in virtual traffic scene, are transmitted in the form of network signal to corresponding vehicle cab and row
The virtual reality head of people shows equipment, and vehicle cab is shown multiple drivers and multiple by display or other display devices
Pedestrian is dissolved into virtual test scene, and equally, virtual reality head shows equipment and also incorporates multiple drivers and multiple pedestrians
Into virtual test scene.
It should be noted that true driver is first person mould in the test scene that residing vehicle cab is shown
Type, true pedestrian are also first person model in the test scene that the aobvious equipment of virtual reality head of wearing is shown.
To realize that the communication modes of hardware-in-the-loop test system are：Electric signal and the parallel communication side of network signal
Formula, in the utility model, using electrical connection, car between the sensor and signal input/output board 111 in vehicle cab
Connected between audio-visual equipment and signal input/output board 111 in driving cabin using network service.
Adopted between wearable inertial sensor and the signal input/output board 111 in true pedestrian's wearable device
With electrical connection, the virtual reality head is aobvious to be connected between equipment and the signal input/output board 111 using network service
Connect.
It should be noted that to ensure that the signal that signal input/output board 111 is exported to real-time simulation machine 112 can
Used in real-time simulation machine 112, signal input/output board 111 is integrated with signal condition board, institute disclosed in the utility model
Signal condition board is stated, it is each true into the real-time simulation machine 112 for the signal input/output board 111 to be exported
The manipulation signal of real driver and the true service data of true pedestrian, required for nursing one's health into the real-time simulation machine 112
Signal.
Finally, it is to be noted that, herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between any this actual relation or order be present.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of elements not only include that
A little key elements, but also the other element including being not expressly set out, or also include for this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except other identical element in the process including the key element, method, article or equipment being also present.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or new using this practicality
Type.A variety of modifications to these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can be realized in other embodiments in the case where not departing from spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (8)
- A kind of 1. hardware-in-the-loop test system of automobile controller, it is characterised in that including：Real-time simulation cabinet, vehicle are driven Sail cabin and multiple true pedestrian's wearable devices, the vehicle cab includes a simulated test vehicle cab and multiple True vehicular traffic driving cabin, the real-time simulation cabinet include：Signal input/output board and real-time simulation machine, the signal Input/output board connects the simulated test vehicle cab, each true vehicular traffic driving cabin, each true respectively The automobile controller of pedestrian's wearable device, real-time simulation machine and simulated test, wherein：The simulated test vehicle cab, for providing manipulation environment for true driver, gather the behaviour of true driver Control signal and export to the real-time simulation machine, so as to operate in target vehicle model root corresponding in the real-time simulation machine Target vehicle operation emulation is realized according to the manipulation signal received, and according to real-time simulation machine output in traffic scene In the corresponding target vehicle model video flowing and audio stream, realize the what comes into a driver's and EAX to real goal vehicle Analog simulation；Each true vehicular traffic driving cabin, for providing manipulation environment for true driver, gathers true driver's Manipulate signal and export to the real-time simulation machine, so as to operate in vehicular traffic model corresponding in the real-time simulation machine Manipulation signal according to receiving realizes vehicular traffic operation emulation, and according to real-time simulation machine output in traffic field The video flowing and audio stream of the corresponding vehicular traffic model, realize the what comes into a driver's and ambient sound to true vehicular traffic in scape Imitate analog simulation；Each true pedestrian's wearable device, for measuring the real motion data of true pedestrian and exporting to described imitative in real time Prototype, so that operate in pedestrian dummy corresponding in the real-time simulation machine realizes row according to the service data signal received People's motion simulation, and according to the real-time simulation machine export pedestrian dummy corresponding in traffic scene video flowing and Audio stream, realize what comes into a driver's and EAX analog simulation to true pedestrian；The signal input/output board, during the automobile controller emulation testing for gathering the simulated test, respectively The manipulation signal of true driver in vehicle cab and the true service data of true pedestrian, and by the manipulation signal Corresponding control signal is converted into the true service data and exports the corresponding model into the real-time simulation machine, is handed over Pass through the dynamic simulation for being, meanwhile, by the auto model and pedestrian dummy that operate in the real-time simulation machine in traffic scene In corresponding video flowing and audio stream, export to corresponding vehicle cab and true pedestrian's wearable device.
- 2. hardware-in-the-loop test system according to claim 1, it is characterised in that the vehicle cab includes： Sensor and audio-visual equipment；The sensor, for gathering the manipulation signal of true driver, and by the signal input/output board, by institute Manipulation signal output is stated to the real-time simulation machine；The audio-visual equipment, for regarding for the auto model corresponding in traffic scene that is exported according to the real-time simulation machine Frequency stream and audio stream, realize the what comes into a driver's and EAX analog simulation to real vehicles.
- 3. hardware-in-the-loop test system according to claim 2, it is characterised in that the sensor and the signal Using electrical connection between input/output board, network is used between the audio-visual equipment and the signal input/output board Communication connection.
- 4. hardware-in-the-loop test system according to claim 1, it is characterised in that the vehicle cab is at least wrapped Include：Throttle, braking, steering wheel, gear and display screen.
- 5. hardware-in-the-loop test system according to claim 1, it is characterised in that true pedestrian's wearable device Including：Wearable inertial sensor and virtual reality head show equipment, and the virtual reality head shows equipment and included：Virtual reality glasses And headset；The wearable inertial sensor, for measuring the real motion data of true pedestrian, the real motion data are at least Including the direction of motion and speed；The virtual reality head shows equipment, for the pedestrian corresponding in traffic scene exported according to the real-time simulation machine The video flowing and audio stream of model, realize what comes into a driver's and EAX analog simulation to true pedestrian.
- 6. hardware-in-the-loop test system according to claim 5, it is characterised in that the wearable inertial sensor Between the signal input/output board using electrical connection, the virtual reality head show equipment and the signal input/it is defeated Go out between board using network service connection.
- 7. hardware-in-the-loop test system according to claim 1, it is characterised in that the signal input/output board Card is integrated with signal condition board；The signal condition board, it is each true into the real-time simulation machine for the signal input/output board to be exported The manipulation signal of real driver and the true service data of true pedestrian, nurse one's health into the letter required for the real-time simulation machine Number.
- 8. hardware-in-the-loop test system according to claim 1, it is characterised in that the simulated test it is automobile-used Controller includes：Actively/unmanned controller.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108319250A (en) * | 2017-12-25 | 2018-07-24 | 浙江合众新能源汽车有限公司 | Intelligent driving automobile test method |
| CN108508761A (en) * | 2018-03-28 | 2018-09-07 | 惠州市德赛西威汽车电子股份有限公司 | A kind of AEB algorithm function verification methods based on CarMaker simulated environment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108319250A (en) * | 2017-12-25 | 2018-07-24 | 浙江合众新能源汽车有限公司 | Intelligent driving automobile test method |
| CN108627350A (en) * | 2018-03-27 | 2018-10-09 | 北京新能源汽车股份有限公司 | Vehicle testing system and method |
| CN108508761A (en) * | 2018-03-28 | 2018-09-07 | 惠州市德赛西威汽车电子股份有限公司 | A kind of AEB algorithm function verification methods based on CarMaker simulated environment |
| CN108919779A (en) * | 2018-07-02 | 2018-11-30 | 北京小马智行科技有限公司 | A kind of interactive mode unmanned vehicle emulation mode and emulation platform |
| CN109188932A (en) * | 2018-08-22 | 2019-01-11 | 吉林大学 | A kind of multi-cam assemblage on-orbit test method and system towards intelligent driving |
| CN109213126B (en) * | 2018-09-17 | 2020-05-19 | 安徽江淮汽车集团股份有限公司 | Automatic driving automobile test system and method |
| CN109213126A (en) * | 2018-09-17 | 2019-01-15 | 安徽江淮汽车集团股份有限公司 | Autonomous driving vehicle test macro and method |
| CN109270923A (en) * | 2018-11-05 | 2019-01-25 | 安徽江淮汽车集团股份有限公司 | The real vehicle of LDW controller is in ring test method and system |
| CN110197027A (en) * | 2019-05-28 | 2019-09-03 | 百度在线网络技术（北京）有限公司 | A kind of automatic Pilot test method, device, smart machine and server |
| CN110727971A (en) * | 2019-10-22 | 2020-01-24 | 北京工业大学 | Multi-user main body traffic facility evaluation method |
| CN111458154A (en) * | 2020-04-01 | 2020-07-28 | 清华大学苏州汽车研究院（吴江） | System and method for testing human-vehicle-surrounding conflict scene based on automatic driving of whole vehicle |
| CN111460683A (en) * | 2020-04-20 | 2020-07-28 | 同济大学 | Pedestrian in-loop simulation system and testing method thereof |
| CN112835341A (en) * | 2020-12-31 | 2021-05-25 | 北京新能源汽车技术创新中心有限公司 | Real vehicle test evaluation method of automatic driving area controller |
| CN113448316A (en) * | 2021-06-29 | 2021-09-28 | 安徽江淮汽车集团股份有限公司 | Signal injection system for hardware-in-the-loop testing |
| CN113867315A (en) * | 2021-09-24 | 2021-12-31 | 同济大学 | Virtual-real combined high-fidelity traffic flow intelligent vehicle test platform and test method |
| CN113759880A (en) * | 2021-09-30 | 2021-12-07 | 中科测试(深圳)有限责任公司 | Intelligent vehicle on-loop test method and system |
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