Real vehicle in-loop simulation test method, real-time simulator and system

Abstract

The invention provides a real automobile in-the-loop simulation testing method, a real-time simulation machine and a system. The method includes the steps that the real-time simulation machine simulates the analogue traffic environment; the first motion state information of a real automobile, which is acquired by an automobile positioning device, is received; a controller sensor signal is calculated according to the first motion state information and the simulated traffic environment; the controller sensor signal is sent to a detected controller in the real automobile; a control signal which is output by the detected controller according to the controller sensor signal and a signal which is output after a real automobile controller responds to the control signal are acquired, and the second motion state information of the real automobile, the traffic environment information and the like are received to be used as the performance testing analysis basis of the detected controller. Compared with traditional HIL testing, the real automobile in-the-loop simulation testing method improves the accuracy of performance testing results of the detected controller; compared with real automobile testing, the cost is saved, the testing risk is lowered, and the testing reproducibility is enhanced.

Description

technical field [0001] The present application relates to the field of automobiles, in particular to a real-vehicle in-loop simulation test method, a real-time simulation machine and a system. Background technique [0002] With the continuous development of the automotive electronics industry, in order to ensure the comfort and safety of drivers, many controllers related to active safety have been developed, such as vehicle driverless systems, automatic parking systems, automatic cruise systems, lane departure systems, etc. Early warning system, blind spot monitoring system, etc. In addition to functional testing, these systems pay more attention to performance testing. [0003] At present, HIL (Hardware-in-the-Loop, hardware-in-the-loop) equipment is often used to test the performance of controllers related to active safety. Since the performance test using HIL equipment is a semi-physical simulation test, only the controller under test is real in the system using HIL equi...

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Problems solved by technology

[0004] However, since the test using HIL equipment is a real-time test, in order to ensure the real-time calculation of the simulation model, on the basis of the existing computer calculation level, the simulation model can only be a relatively simplified model, so the simulated vehicle Dynamics, road, driver, power, transmission and other systems are relatively simplified systems, resulting in low accuracy of the performance test results of the tested controller

And because there are deviations between the vehicle dynamics, road, driver, power, transmission and other systems of the car simulated by the simulation model and the vehicle dynamics, road, driver, power, transmission and other systems of the real car, it further reduces the Measure the accuracy of the performance test results of the controller

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