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In-loop rapid simulation test system and method of unmanned vehicle

A simulation test, unmanned vehicle technology, applied in vehicle testing, electrical testing/monitoring, machine/structural component testing, etc., can solve the problems of inability to test the danger of unmanned vehicles, time-consuming and laborious, and inaccurate simulation results. , to achieve the effect of shortening test time, ensuring safety and reducing area

Active Publication Date: 2018-12-28
CHANGAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in addition to being time-consuming and labor-intensive, the actual vehicle road test cannot exhaust all road environmental conditions and traffic incidents. Therefore, it is impossible to test the potential dangers of unmanned vehicles.
[0010] 3. Traditional simulation test
However, this kind of simulation test cannot truly simulate the real reaction of the vehicle in the corresponding environment, and the simulation results are not accurate enough

Method used

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  • In-loop rapid simulation test system and method of unmanned vehicle
  • In-loop rapid simulation test system and method of unmanned vehicle
  • In-loop rapid simulation test system and method of unmanned vehicle

Examples

Experimental program
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Effect test

Embodiment 1

[0068] refer to figure 1 , shows a structural block diagram of an unmanned vehicle-in-the-loop rapid simulation test system of the present invention, as figure 1 As shown, the system includes: a virtual simulation test subsystem 11, a test bench control subsystem 12 and an unmanned vehicle control subsystem 13; wherein,

[0069] The virtual simulation test subsystem 11 is used to generate a virtual test scene, and sends a road state control instruction corresponding to the current virtual test scene to the test bench control subsystem 12;

[0070] The test bench control subsystem 12 is used to simulate the road surface state according to the road surface state control instruction sent by the virtual simulation test subsystem 11; it is also used to obtain the unmanned vehicle driving parameters of the unmanned vehicle, and according to the The driving parameters of the unmanned vehicle are used to evaluate the driving performance of the unmanned vehicle;

[0071] The unmanned...

Embodiment 2

[0135] refer to Figure 4 , shows a flow chart of the steps of an unmanned vehicle-in-the-loop rapid simulation test method of the present invention, the method is applied to a virtual simulation test subsystem, and may specifically include:

[0136] Step 401, generating a virtual test scene;

[0137] Step 402, sending a road surface state control instruction corresponding to the current virtual test scene to the test bench control subsystem.

[0138] In an optional embodiment of the present invention, the method also includes:

[0139] Generate a virtual unmanned vehicle, and control the virtual unmanned vehicle to drive in the virtual test scene according to the unmanned vehicle driving parameters sent by the test bench control subsystem, and obtain the scene in the virtual scene during driving information; among them,

[0140] The scene information includes but is not limited to one or more of the following information:

[0141] Weather information, road physical enviro...

Embodiment 3

[0147] refer to Figure 5 , shows a flow chart of the steps of an unmanned vehicle-in-the-loop rapid simulation test method of the present invention, the method is applied to the test bench control subsystem, and may specifically include:

[0148] Step 501: Simulate the road state according to the road state control command sent by the virtual simulation test subsystem, and the unmanned vehicle drives on the simulated road;

[0149] Specifically, the unmanned vehicle drives on the test bench of the test bench control subsystem, and the test bench control subsystem controls the test bench to simulate various road conditions, such as slope, roll angle, road slipperiness, driving resistance etc.

[0150] Step 502, obtaining the unmanned vehicle driving parameters of the unmanned vehicle;

[0151] Specifically, the sensors on the test bench obtain the driving parameters of the unmanned vehicle, which may include driving speed, acceleration, steering angle, and so on.

[0152] S...

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Abstract

The embodiment of the invention provides an in-loop rapid simulation test system of an unmanned vehicle. The system comprises: a virtual simulation test subsystem used for generating a virtual test scene and transmitting a pavement state control instruction to a test bench control subsystem; the test bench control subsystem used for simulating a pavement state, as well as estimating the driving performance of the unmanned vehicle according to driving parameters of the unmanned vehicle; and an unmanned vehicle control subsystem used for performing driving control on the unmanned vehicle according to the virtual test scene. The above system adopts the simulation test mode of combining the virtual reality technology with the hardware in-loop, so that a controllable, repeatable and effective in-loop rapid simulation test of the unmanned vehicle can be achieved indoors; and furthermore, all extreme or special road conditions are exhausted as much as possible, so that the safety and the reliability of the unmanned vehicle before start off can be fully guaranteed. The embodiment of the invention further provides an in-loop rapid simulation test method of the unmanned vehicle.

Description

technical field [0001] The invention relates to the technical field of vehicle testing, in particular to an unmanned vehicle-in-the-loop rapid simulation testing system and method. Background technique [0002] With the support of the national strategy and the introduction of the concept of intelligent networked vehicles, research on unmanned vehicles has attracted great attention. Unmanned vehicles are equipped with on-board sensors, controllers and other devices, with functions such as positioning and navigation, environmental perception, decision-making control, path task planning and execution. At present, mainstream car companies and Internet companies at home and abroad are actively researching unmanned driving related technologies and developing unique unmanned vehicles, such as Tesla, Google unmanned vehicles, Baidu unmanned vehicles, etc. . [0003] However, at this stage, unmanned driving technology is still a certain distance from the realization of driving on t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M17/007G05B23/02
CPCG01M17/007G05B23/02
Inventor 赵祥模徐志刚田彬承靖钧王文威闵海根连心雨胡常英邵禹铭周瑜陈南峰邸建辉
Owner CHANGAN UNIV
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