CN209802678U - Indoor complete vehicle hardware in-loop test device - Google Patents
Indoor complete vehicle hardware in-loop test device Download PDFInfo
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- CN209802678U CN209802678U CN201920788972.XU CN201920788972U CN209802678U CN 209802678 U CN209802678 U CN 209802678U CN 201920788972 U CN201920788972 U CN 201920788972U CN 209802678 U CN209802678 U CN 209802678U
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Abstract
The utility model relates to an indoor whole vehicle hardware in-loop test device, which comprises a tested vehicle, a hub rotating platform, an AGV movable target vehicle, an indoor positioning system, a virtual target object system with a radar on a loop screen, an environment simulation system, a virtual navigation simulation system, a V2X signal simulation system and an integrated control system; the virtual target object system with the radar on the ring screen, the environment simulation system, the virtual navigation simulation system and the V2X signal simulation system are all connected with the hub rotating platform through the integrated control system, and the indoor positioning system is in communication connection with the AGV movable target vehicle; and the rotating hub platform and the AGV movable target vehicle are in communication connection. Compared with the prior art, the utility model has the advantages of high controllability, high efficiency and high repeatability.
Description
Technical Field
the utility model belongs to the technical field of hardware vehicle hardware is in ring test field and specifically relates to an indoor whole car hardware is in ring test device is related to.
Background
Hardware-in-loop test simulation, also called semi-physical test simulation, is a simulation system in which part of system hardware to be simulated is directly put into a simulation loop, which not only makes up for many defects in digital simulation, improves the confidence of the whole model, but also can greatly reduce the workload of programming. The simulation has the advantages that real-time data interaction between the simulation model and the opportunity system is realized, the verification process of the simulation result is very visual, and the product development period is greatly shortened. During simulation, the computer is connected with the actual hardware through various information channels, the computer and the actual hardware complete simulation work together, and the simulation result is analyzed in the computer, so that the running condition of the hardware is judged.
At present, most of the whole vehicle hardware in-loop test systems are based on a controller MCU, a Battery Module (BMS), a radar, a camera and a related part fusion vehicle simulation platform to carry out hierarchical and hierarchical tests, and the real meaning of the whole vehicle hardware in-loop test system is almost blank at home. The hardware-in-loop test system can not enable a traditional host factory to estimate the overall function and performance safety of the whole vehicle before the vehicle goes on the road, and various complex traffic environments still need to be carried in a closed test area to carry out uninterrupted closed road test on the vehicle so as to obtain the overall first-hand information of the vehicle. Therefore, the testing cost is increased, the testing period is greatly increased, and the execution force of the ADAS function of the vehicle cannot be intuitively reflected by the hierarchical testing aiming at the controller MCU, the Battery Module (BMS), the radar, the camera, relevant parts and the like.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an indoor whole car is at ring test device in order to overcome the defect that above-mentioned prior art exists.
The purpose of the utility model can be realized through the following technical scheme:
The utility model provides an indoor whole car hardware is at ring test device, is including experimental car that is surveyed, still include at ring test device: the system comprises a hub rotating platform, an AGV movable target vehicle, an indoor positioning system, a ring screen radar-containing virtual target object system, an environment simulation system, a virtual navigation simulation system, a V2X signal simulation system and an integrated control system;
The virtual target object system with the radar on the ring screen, the environment simulation system, the virtual navigation simulation system and the V2X signal simulation system are all connected with the hub rotating platform through the integrated control system, and the indoor positioning system is in communication connection with the AGV movable target vehicle;
And the rotating hub platform and the AGV movable target vehicle are in communication connection.
Preferably, the rotating hub platform comprises a rotating hub subsystem for simulating road load and lifting a tested vehicle to be tested and a rotating hub control end for controlling the rotating hub subsystem;
The hub subsystem is connected with a CAN bus in the tested vehicle through an external CAN signal wire; the control end of the rotary hub is directly connected with a tested vehicle.
preferably, the virtual navigation simulation system comprises a satellite navigation simulator and a GPS radio frequency antenna which are connected with each other, the satellite navigation simulator is connected with the integrated control system, and the GPS radio frequency antenna is connected with the tested vehicle.
Preferably, the virtual target object system with the ring screen provided with the radar comprises a radar target simulator, a ring screen and a radar antenna, wherein the integrated control system, the radar target simulator, the radar antenna and the test vehicle to be tested are sequentially connected, and the integrated control system, the ring screen and the test vehicle to be tested are sequentially connected.
Preferably, the environment simulation system comprises an environment cabin, and a rainfall system, a fog system, a haze system, a snowfall system and an illumination system which are respectively installed in the environment cabin.
preferably, the rainfall system comprises spray heads uniformly arranged in an environmental bin; the mist system comprises a steam humidifier; the haze system comprises an aerosol generator; the snowing system comprises a snowmaking machine; the illumination system comprises a xenon lamp with a movable support.
Preferably, the V2X signal simulation system includes a V2X signal generator and a V2X rf antenna, and the integrated control system, the V2X signal generator, the V2X rf antenna and the vehicle under test are connected in sequence.
Compared with the prior art, the utility model has the advantages of it is following:
The system is a real complete vehicle hardware in-loop test system completely based on complete vehicle starting, the behavior capability of the complete vehicle is taken as a judgment basis, the condition of the vehicle is reflected by data of a controller, a radar and a camera instead of data of a controller, the radar and the camera, and the ADAS function test under a relevant hub platform is matched.
In the ring test process of the whole vehicle hardware, a test vehicle is placed on a rotating hub, the motion of the test vehicle is simulated through rotation, an interaction environment with the tested vehicle is constructed by utilizing a relative motion principle, a complex road scene can be reproduced in a laboratory through a controllable environment, the simulation of various coupling environments such as integrated weather, electromagnetism and communication is facilitated, and the problems of low efficiency, high cost, poor repeatability and the like of the existing road test are solved. The system has the characteristics of high controllability, high efficiency, high repeatability and the like, can meet the test requirements under complex high-risk working conditions such as high-risk scene tests, fault tolerance tests and the like, shortens the development period, reduces the development cost, and provides a brand-new test tool for the research, development and verification of the intelligent networked automobile.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural diagram of the virtual navigation simulation system of the present invention;
FIG. 3 is a schematic structural diagram of a virtual target system of the ring screen with radar according to the present invention;
Fig. 4 is a schematic structural diagram of the environmental simulation system of the present invention;
Fig. 5 is a schematic structural diagram of the V2X signal simulation system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall fall within the protection scope of the present invention.
As shown in fig. 1, an indoor complete vehicle hardware-in-the-loop test system has an indoor site area of about 200m × 55m, and a system architecture and each component thereof are as follows:
1. The front wheel can turn, can simulate road load, and has the advantages that the lifting and supporting weight is large, the whole bearing capacity is 4.2 tons, and the supporting rack bearing capacity is 3.5 tons;
2. The indoor positioning system adopts a foreign high-precision CM-grade indoor positioning system, solves the problem that an indoor GPS signal is weak or does not have a GPS signal, and can solve the problem of indoor multipath interference;
3. testing the tested vehicle, wherein the tested vehicle is a vehicle which is provided with an ADAS system and has an automatic driving function above the L3 level;
4. The AGV can move a target vehicle, adopts a self-researched program-controlled target vehicle which can freely move in 360 degrees, and can input path information and position control information through a control platform;
5. The virtual target system with the radar on the ring screen mainly comprises a radar target simulator and a ring screen visualization system, and the radar target simulator and the ring screen visualization system can be used in a matched mode or used independently;
6. The environment simulation system comprises environmental parameters such as temperature and humidity regulation, rainfall, snowfall, fog, haze and the like, and is used singly or in combination;
7. The virtual navigation simulation system simulates the movement of a satellite relative to a vehicle to be tested by using a navigation simulator, and inputs the roller speed and time output by a roller sensor on a hub platform into the navigation simulator through an RS232 transmission line to reproduce a vehicle navigation environment and test a vehicle positioning navigation system;
8. The V2X signal simulation system and the V2X simulation system provide virtual scenes, mainly V2I scenes, including collision early warning, dangerous condition prompt, speed limit early warning, front vehicle congestion and the like;
9. and the integrated control platform is responsible for low-delay data circulation of the modules and control of the module terminals with priority arrangement.
Fig. 1 shows that the test system is based on the whole vehicle running environment constructed by the rotating hub platform, and a basic road traffic environment is constructed by a plurality of moving objects (AGVs) according to the relative motion principle. On the basis, an environment simulation system, a virtual navigation system and a networking V2X system are combined to construct a complete and approximate real road traffic environment, and a complex road traffic combination scene test is repeated in a laboratory. And a moving target (AGV) realizes the accurate control of the motion track through a high-precision indoor positioning system and a multi-target real-time system. The integrated control is a control core of a whole vehicle hardware-in-loop test system, and plays an important role in the early, middle and later stages of the test. Before testing, scene data conversion and configuration input of test data of each system need to be completed; in the test, the data of each system needs to be acquired, transferred, decoded, controlled, monitored and the like; after the test is finished, data processing, analysis, playback, archiving and the like are required. Meanwhile, the system is also a data center, a security center, a visiting demonstration center and the like of the whole test system. After the test system is built, the ADAS of the automatic driving vehicle above L3 and related functions can be tested, the test system is different from road tests, the indoor whole vehicle test system can simulate limit working conditions, the safety and efficiency are higher, industrial development can be better served, the whole development period is shortened, and the cost is saved.
The internal subsystems and related communications are as follows:
a hub rotating system in a hub rotating platform (including a tested vehicle) is connected with a CAN bus in the tested vehicle through an external CAN signal line, and a hub rotating control end CAN directly perform information interaction with the tested vehicle to ensure the synchronism of information parameters of the two vehicles.
the hub platform (including the tested vehicle) and the movable target vehicle (AGV) have no information interaction under normal conditions, only when the AGV detects that collision risk exists between the AGV and the hub platform through the radar around the vehicle in the driving process, braking measures are taken, an interruption alarm is sent to the centralized control center, and a further braking instruction is sent through the integrated control.
The positioning information of the movable target vehicle (AGV) is provided by the indoor positioning system, the information can be accurately given, and the indoor positioning system can ensure seamless switching from indoor to outdoor and from outdoor to indoor tests.
information is mutually transmitted between the hub platform (including the tested vehicle) and the virtual navigation simulation system through integrated control, and the information is shown in figure 2.
Before the test is started, the integrated control system firstly configures test data for the satellite navigation simulator to determine the initial position of the tested vehicle, the tested vehicle is tested to simulate road running on the hub subsystem in the test process, the absolute position is static, the motion parameters of speed, acceleration and steering are transmitted to the integrated control system in real time through the hub control end, then the integrated control system transmits the information to the satellite navigation simulator, the satellite navigation simulator configures satellite signals according to the motion information, and finally the satellite signals are transmitted through the GPS radio frequency antenna to complete the virtual navigation environment of the tested vehicle, and meanwhile, the satellite navigation simulator returns the data in the test process to the integrated control system in real time.
Information is mutually transmitted between the rotating hub platform (containing the tested vehicle) and the virtual target object system with the ring screen and the radar through integrated control, and the information is shown in figure 3.
The integrated control system carries out scene calculation according to initial scene configuration and received test vehicle implementation motion information, generates a radar signal simulation instruction and sends the radar signal simulation instruction to the radar target simulator, and generates an antenna movement instruction to control the radar antenna to move; and the radar target simulator generates a target signal according to the received simulation instruction, and then transmits the target signal through a radar antenna to finish testing the radar target virtual environment of the tested vehicle.
the radar simulator needs to receive initial signals transmitted by the vehicle-mounted radar and perform time axis synchronization. The distance of the target object can be directly generated through signal simulation, and the angle change of the target object is obtained through the movement of the antenna on the guide rail.
for the video output of the ring screen, the integrated control system carries out scene calculation according to initial scene configuration and received test vehicle implementation motion information, a virtual image processing program is input (a host is arranged in an integrated control center), and the image processing program generates a video signal and sends the video signal to a screen; and constructing and finishing the road traffic environment based on the vision.
The whole vehicle behavior capacity on the rotating hub test bed is influenced by the real rain and fog environment among the environment simulation systems, and the replacement and combination of weather such as rain, snow, fog, haze and the like are carried out through instructions issued by the integrated control center, as shown in fig. 4.
the environment simulation system uses the whole environment bin to be conveniently moved and disassembled, and in the environment bin, a rainfall system, a haze environment, a snowfall environment and a lighting environment are arranged.
A rainfall system: the rotary hub is required to be covered with rain, the area is 100 × 12 square meters, and the rain quantity is designed to be 5-30 mm. The nozzles are uniformly arranged in the environmental chamber, and the rainfall can be controlled through the water pump, the frequency converter and the flow regulating valve.
A mist system: the steam humidifier is adopted, the humidity in Shanghai is high, the annual average humidity is 78%, and the humidification mode can meet the requirements by adopting the steam humidifier.
Haze system: the aerosol generator is configured in the laboratory, and the visibility sensor of the Visala is adopted for detection, so that the haze requirement in the laboratory can be met.
a snowing system: the snowfall environment is required to be simulated in a test environment, the snowfall area is 100 × 12 square meters, and the snowfall amount is designed to be 5-10 mm. The snowfall intensity can be obtained by controlling the rotating speed of the high-pressure water pump, the snowfall interval, the opening number of the spray heads and other different modes.
An illumination system: a movable xenon lamp with a support, which is similar to a solar spectrum, is used, the coverage area is 100 x 12 square meters, the illumination range is 0-1 x10^5 lumens, and the illumination is controlled through a current switch. And all lamp stand angles are adjustable, simulate the illumination of the different angles and intensity of oncoming traffic and the influence of early morning and evening parallel illumination on the sensor.
and the influence of the temperature on the radar sensor is tested, and only one set of controllable temperature control system needs to be arranged around the sensor. The surface water and the accumulated snow can be temporarily paved according to the requirements.
data transmission is carried out between the rotary hub platform (containing the tested vehicle) and the V2X signal simulation system through an integrated control center, as shown in FIG. 5.
As shown in fig. 5, before the test starts, the integrated control system first configures test data for the V2X signal generator to simulate an initial state networking environment. When the test is started, the tested vehicle simulates road running on the hub subsystem, the absolute position is static, the motion parameters of the speed and the acceleration are transmitted to the integrated control system in real time through the hub control end, and the motion state of the moving target object is also transmitted to the integrated control system through a wireless link; then the integrated control system carries out scene calculation according to initial scene configuration and received real-time data, generates a V2X signal simulation instruction and sends the instruction to a V2X signal generator; and the V2X signal generator generates signals according to the received analog commands, and finally transmits the signals through a V2X radio frequency antenna (DSRC, LTE-V2V and 5G) to finish the V2X test environment of the vehicle to be tested. The number of corresponding V2X simulators and radio frequency antennas can be increased according to the complexity of the networking scene.
In addition, signal interference is added in the test process, the system performance of the tested vehicle under the condition of poor network environment is verified, and even test environments such as network attack and the like can be added. Therefore, an indoor complete vehicle hardware-in-loop test system is formed.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope of the present invention, and these modifications or replacements should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. the utility model provides an indoor whole car hardware is at ring test device, is including experimental car that is surveyed, its characterized in that, still include at ring test device: the system comprises a hub rotating platform, an AGV movable target vehicle, an indoor positioning system, a ring screen radar-containing virtual target object system, an environment simulation system, a virtual navigation simulation system, a V2X signal simulation system and an integrated control system;
The virtual target object system with the radar on the ring screen, the environment simulation system, the virtual navigation simulation system and the V2X signal simulation system are all connected with the hub rotating platform through the integrated control system, and the indoor positioning system is in communication connection with the AGV movable target vehicle;
and the rotating hub platform and the AGV movable target vehicle are in communication connection.
2. The indoor whole vehicle hardware-in-the-loop test device of claim 1, wherein the hub rotating platform comprises a hub rotating subsystem for simulating road load and lifting a tested vehicle to be tested and a hub rotating control end for controlling the hub rotating subsystem;
the hub subsystem is connected with a CAN bus in the tested vehicle through an external CAN signal wire; the control end of the rotary hub is directly connected with a tested vehicle.
3. The indoor complete vehicle hardware-in-loop test device as claimed in claim 2, wherein the virtual navigation simulation system comprises a satellite navigation simulator and a GPS radio frequency antenna which are connected with each other, the satellite navigation simulator is connected with the integrated control system, and the GPS radio frequency antenna is connected with a tested vehicle.
4. The indoor whole vehicle hardware-in-loop test device according to claim 1, wherein the loop screen radar-equipped virtual target object system comprises a radar target simulator, a loop screen and a radar antenna, the integrated control system, the radar target simulator, the radar antenna and the test vehicle to be tested are sequentially connected, and the integrated control system, the loop screen and the test vehicle to be tested are sequentially connected.
5. The indoor complete vehicle hardware-in-the-loop test device of claim 1, wherein the environment simulation system comprises an environment cabin, and a rainfall system, a fog system, a haze system, a snowfall system and an illumination system which are respectively installed in the environment cabin.
6. The indoor complete vehicle hardware-in-the-loop test device of claim 5, wherein the rainfall system comprises spray heads uniformly arranged in an environmental chamber; the mist system comprises a steam humidifier; the haze system comprises an aerosol generator; the snowing system comprises a snowmaking machine; the illumination system comprises a xenon lamp with a movable support.
7. The indoor whole vehicle hardware-in-loop test device of claim 2, wherein the V2X signal simulation system comprises a V2X signal generator and a V2X radio frequency antenna, and the integrated control system, the V2X signal generator, the V2X radio frequency antenna and the tested vehicle are connected in sequence.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112033702A (en) * | 2020-10-09 | 2020-12-04 | 吉林大学 | Electric automobile intelligence thermal management system test bench |
| CN112050853A (en) * | 2020-08-14 | 2020-12-08 | 一汽奔腾轿车有限公司 | Whole vehicle testing method of shadow system |
| CN113553730A (en) * | 2021-09-22 | 2021-10-26 | 中国汽车技术研究中心有限公司 | Automobile industry multi-equipment joint debugging scene simulation method, device, equipment and medium |
| CN114384893A (en) * | 2021-12-29 | 2022-04-22 | 广东一诺维新科技有限公司 | System and method for testing automobile ADAS in semi-anechoic chamber |
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2019
- 2019-05-29 CN CN201920788972.XU patent/CN209802678U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112050853A (en) * | 2020-08-14 | 2020-12-08 | 一汽奔腾轿车有限公司 | Whole vehicle testing method of shadow system |
| CN112033702A (en) * | 2020-10-09 | 2020-12-04 | 吉林大学 | Electric automobile intelligence thermal management system test bench |
| CN113553730A (en) * | 2021-09-22 | 2021-10-26 | 中国汽车技术研究中心有限公司 | Automobile industry multi-equipment joint debugging scene simulation method, device, equipment and medium |
| CN113553730B (en) * | 2021-09-22 | 2022-02-11 | 中国汽车技术研究中心有限公司 | Automobile industry multi-equipment joint debugging scene simulation method, device, equipment and medium |
| CN114384893A (en) * | 2021-12-29 | 2022-04-22 | 广东一诺维新科技有限公司 | System and method for testing automobile ADAS in semi-anechoic chamber |
| CN114384893B (en) * | 2021-12-29 | 2023-12-08 | 深圳一诺维新科技有限公司 | Semi-anechoic chamber automobile ADAS test system and method |
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