Intelligent connected vehicle environment simulation system based on complete vehicle hardware-in-loop

Abstract

The invention relates to the technical field of automatic driving of intelligent vehicles, and discloses an intelligent connected vehicle environment simulation system based on complete vehicle hardware-in-loop. The system comprises a hub dynamometer, a control system of the hub dynamometer, a steering and transverse movement platform, a moving target, an environment simulation system, a positioning simulation system, a V2X simulation system, a central control system, a vehicle dynamics model, a vehicle steering and transverse movement platform control unit and a data acquisition module. According to the intelligent connected vehicle environment simulation system based on complete vehicle hardware-in-loop, the whole vehicle comprising a sensor can be taken as a tested object; a test systemintegrates physical weather and traffic simulation devices, so that the test precision and credibility of the system are greatly improved, meanwhile, the test efficiency can be improved; and the system is an effective test tool for accelerating realization of intelligent connected vehicle products.

Description

technical field [0001] The invention relates to the technical field of intelligent vehicle automatic driving, in particular to an intelligent networked vehicle environment simulation system based on vehicle hardware-in-the-loop. Background technique [0002] At present, there are two major technological trends in the global automotive industry: electrification and intelligence. Among them, intelligent network vehicles have attracted a lot of investment and research and development efforts. Not only traditional car manufacturers regard it as a key research and development direction, but also a large number of Internet and communication companies have joined the competition for the development of intelligent networked vehicles. The China Association of Automobile Manufacturers defines intelligent networked vehicles as equipped with advanced on-board sensors, controllers, actuators and other devices, and integrated with modern communication and network technologies to realize ...

AI Technical Summary

Problems solved by technology

The traditional method based on road experiments is time-consuming and labor-intensive, and it is difficult to ensure that all test conditions are met, especially environmental factors such as weather and traffic, and it is also unable to meet the verification of some dangerous working conditions and failure modes

Although computer simulation based on a virtual environment can improve efficiency, due to the lack of actual hardware, the accuracy and reliability of the test are not enough to ensure the reliability and safety of the final system before it goes on the road

There are also some hardware-in-the-loop simulation systems based on components or subsystems, which integrate part of the hardware, and other parts of the vehicle are simulated by computer. Although the problem of test efficiency and accuracy is partially solved, it cannot be accurately reproduced under different conditions. The response of the whole vehicle system, so there are still some limitations

At present, there are some simulation systems based on vehicle-in-the-loop in the industry, but due to the limitations of the current technical level, such systems can only perform simple tests on monocular cameras and millimeter-wave radars, and can only perform data injection on other sensors such as lidar , rather than directly testing the sensor itself

In addition, environmental conditions, such as rain, snow, fog, etc., are all simulated by computer. Therefore, although this type of system is more effective for the testing of vehicle planning and control, it still has certain limitations for testing the sensor itself.

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