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CN102842250A - Development car driving simulation method based on rapid control prototype - Google Patents

Development car driving simulation method based on rapid control prototype Download PDF

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Publication number
CN102842250A
CN102842250A CN2011101685036A CN201110168503A CN102842250A CN 102842250 A CN102842250 A CN 102842250A CN 2011101685036 A CN2011101685036 A CN 2011101685036A CN 201110168503 A CN201110168503 A CN 201110168503A CN 102842250 A CN102842250 A CN 102842250A
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vehicle
driving
control
module
information
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不公告发明人
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SHANGHAI NEPOCH INFORMATION TECHNOLOGY Co Ltd
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SHANGHAI NEPOCH INFORMATION TECHNOLOGY Co Ltd
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Abstract

The invention relates to a development car driving simulation method based on a rapid control prototype, and belongs to the technical field of simulated driving of a car. The method comprises the following steps of: firstly, building a software platform of a rapid control prototype device by a real-time kernel generated by a monitor computer, compiling and downloading a driving simulation model; secondly, calculating speeds and directions of all simulated vehicles and simultaneously sending a visual computer and the monitor computer after the rapid control prototype device receives a control signal of a driving simulator, and respectively generating a visual image and monitoring drive simulation process; finally, modifying the driving simulation model by a driving simulator or a developer according to a vehicle of the driving simulator and a performance requirement of an electric control system, repeating the driving simulator process until the requirement of the driving simulator or developer is met. The development car driving simulation method has the advantages that the development driving simulator is simplified; development cost is reduced, and the development car driving simulation method is suitable for a V-type development mode of the electric control system of the vehicle.

Description

Developing driving simulation method based on rapid control prototyping
Technical field
The present invention relates to a kind of developing driving simulation method, belong to the simulative automobile driving technical field based on rapid control prototyping.
Background technology
are present, and the basic structure of developing driving simulator comprises the interface between software and hardware between vehicle (perhaps driving cabin is in kind) in kind, vehicle movement analogue system, what comes into a driver's generation system, optical projection system and each system shown in figure l.Wherein, the vehicle movement analogue system is that the key of whole driving simulator is formed, and its software and hardware structure directly influences the technical merit and the range of application of whole driving simulator.The basic function of this system is: utilize driving cabin to transfer to the driver's operation signal of simulation computer, calculate the motion state that the drive simulation person belongs to vehicle and participates in simulating vehicle, and status information is sent to the what comes into a driver's generation system in real time.
The hardware of existing vehicle movement analogue system all adopts single computer platform, and software is many, and its simulation code establishment is complicated by compilation, C or C Plus Plus exploitation based on windows platform, and the construction cycle is long, and cost of development is also higher relatively.With QM-II type automobile driving simulator be example (Cheng Xiusheng etc., the development of automobile driving simulator, the Jilin Industry University journal,
No.1,1991:64~70.), its vehicle movement simulated program adopts the Z-80 assembly language to write, although adopt modularization
design philosophy, but that it writes difficulty is self-evident, and debugging and maintenance difficulties are bigger.Other are based on the C++ OOP
The vehicle movement simulation software of technology, though very its programming difficulty is simplified compared with assembly language greatly, it describes dynamic system
Ability can not show a candle to special-purpose modeling softwares such as Matlab/Simulink or Labview, and is also comparatively multiple to the maintenance and the modification of software
are assorted.
The more important thing is, along with the application of driving simulator in the new electronic control system development day by day increases, the former technical scheme of existing driving simulator, especially vehicle movement analogue system, can not satisfy the requirement of quick exploitation electric-control system:
The first, the vehicle movement simulated program of existing driving simulator uses the streaming programming language, be not suitable for describing vehicle with
Controllers etc. are the link system with more dynamically, causes that the modeling difficulty is big, development efficiency is low:
The second, existing driving simulator is not suitable for road, traffic flow or vehicle is carried out modeling, can not verify automatically controlled fast
The effect of system on different roads, traffic flow and vehicle;
the 3rd, in the electric-control system exploitation, the application of V-type development mode is day by day popularized.In this pattern, rapid control prototyping is done
transform the technological means of real-time controller for a kind of with control algolithm fast, are links indispensable in the V-type development mode.Existing driving simulator structure has greatly limited drive simulation technology and V-type development mode because of not possessing the rapid prototyping function
The fusion of has hindered the electric-control system exploitation, especially driver assistance system exploitation, the application on driving simulator.
Summary of the invention
The objective of the invention is to propose a kind of developing driving simulation method, be used for design and fit based on rapid control prototyping
The driving simulator that is used for the vehicle electrically controlling system performance history especially is applicable to the drive simulation that drive assist system is developed
Device, and reduce the development difficulty of developing driving simulator, improve its development efficiency.
The developing driving simulation method based on rapid control prototyping that the present invention proposes may further comprise the steps:
(1) on supervisory control comuter, generate the xPC real-time kernel, and this real-time kernel write on the mobile memory:
(2) above-mentioned mobile memory is inserted the rapid control prototyping device, the rapid control prototyping device reads from mobile memory
Real-time kernel is for the operation of driving simulation model in the rapid control prototyping device provides the software support;
(3) compiling driving simulation model in above-mentioned supervisory control comuter is downloaded to this driving simulation model through Ethernet
Above-mentioned rapid control prototyping device;
(4) collection drive simulation person's control signal, with control signal extremely fast through controller local area network's bus transfer
The control prototype;
(5) the rapid control prototyping device utilizes driving simulation Model Calculation drive simulation person according to the control signal of above-mentioned collection
Belong to the speed and the direction of vehicle and participation simulating vehicle, and speed that obtains and direction signal are sent out through serial communication bus
Deliver to the what comes into a driver's generation system, simultaneously speed that obtains and direction signal are sent to supervisory control comuter through Ethernet;
(6) the what comes into a driver's generation system generates the what comes into a driver's image that the drive simulation person belongs to vehicle front according to the above-mentioned signal that receives,
And image projection gone through on the screen of vehicle front to the drive simulation person;
(7) above-mentioned supervisory control comuter after receiving above-mentioned signal shows signal, and right according to drive simulation person or developer
Sail runnability, electric control system controls performance demands that the mimic belongs to vehicle, the driving simulation model is made amendment;
(8) repeating step (3)~(7) are until satisfy drive simulation person or developer's requirement.
In the said method, the driving simulation model is divided into drives control module, road module, traffic flow module, sensor die
Piece, vehicle modules, what comes into a driver's interface module, driver behavior interface module and monitor-interface module, its signal annexation is following:
(1) driver behavior interface module, the drive simulation person control signal on the acquisition controller LAN bus, and will
Signal is sent to the driving control module;
(2) the road module according to road model simultaneously to vehicle modules and sensor assembly send road grade, road curvature,
Coefficient of road adhesion information;
(3) traffic flow module is calculated the speed and the directional information of participating in simulating vehicle according to traffic flow model, and with information of same
The time be sent to sensor assembly and what comes into a driver's interface module;
(4) sensor assembly according to car speed and the directional information that the traffic flow module is sent, calculates drive simulation person institute
Relative distance and velocity information between vehicle and participation simulating vehicle; Road grade, road according to the transmission of road module
Curvature and coefficient of road adhesion information are calculated the lane line information that the drive simulation person belongs to vehicle: export according to vehicle modules
Engine speed, wheel speed, transverse acceleration, longitudinal acceleration and yaw velocity, the output of calculating respective sensor respectively
Doubly cease; At last above-mentioned all information are sent to the driving control module;
(5) drive control module, according to the information of the sensor module, the person belongs to vehicle electrically controlling system to utilize the drive simulation
The control algolithm of system calculates the control signal of expecting the drive simulation person; Drive simulation person control signal to above-mentioned reception is advanced
Row filtering, the requirement according to the drive simulation person belongs to vehicle electrically controlling system substitutes filter with the control signal of expecting the drive simulation person
Signal behind the ripple, and be sent to vehicle modules;
(6) vehicle modules, the vehicle that belongs to vehicle according to the drive simulation person be in length and breadth to kinetic model, and connect according to above-mentioned
The information of receiving, the person that calculates the drive simulation belong to vehicle longitudinal velocity, transverse velocity, travel direction, engine speed,
Wheel speed, transverse acceleration, longitudinal acceleration and yaw velocity, and be sent to sensor assembly during with information of same, monitor and connect
Mouth module and what comes into a driver's interface module;
(7) monitor-interface module is sent to Ethernet with the information of above-mentioned reception, is used for the signal in real time of supervisory control comuter
Monitoring, simultaneously the monitor-interface module receives the monitor command of supervisory control comuter from Ethernet, is used to control the driving simulation model
Operation;
(8) the what comes into a driver's interface module receives the information of above-mentioned traffic flow module and vehicle modules, and it is logical that information is sent to serial
The news bus is used to generate the what comes into a driver's image.
The developing driving simulation method that the present invention proposes based on rapid control prototyping, its advantage is: the first, simplify
Developing driving simulator, especially vehicle movement development of Simulation System difficulty has improved development efficiency, has reduced and has opened
Send out cost; The second, the driving simulation model that combines with the rapid control prototyping technology is fit to describe vehicle and controller etc. dynamically
The link system with more can increase the careful degree of vehicle object modeling, has effectively improved the simulation accuracy of driving simulator;
The 3rd, the driving simulator of use the inventive method can be applicable to the V-type development mode of vehicle electrically controlling system, has improved driving
The applicability of simulator in the vehicle electrically controlling system exploitation.
Description of drawings
Fig. 1 is the existing structural drawing of drinking general developing driving simulator.
Fig. 2 is the developing automobile driving simulator structural representation based on rapid control prototyping that the present invention proposes.
Fig. 3 is a driving simulation model of module structural drawing in the inventive method.
Among Fig. 1~Fig. 2, l is a projection screen, the 2nd, and vehicle is in kind, and the 3rd, controller local area network's bus, the 4th, fast speed control
The system prototype, the 5th, supervisory control comuter, the 6th, the what comes into a driver's generation system, the 7th, optical projection system, the 8th, serial communication bus, the 9th,
Industry ethernet, the 10th, video transmission line, the 11st, hardware interface.
Embodiment
Below in conjunction with an embodiment, introduce content of the present invention in detail:
The structure of the developing driving simulator of car is as shown in Figure 2, and the 1st, projection screen, the 2nd, vehicle is in kind, and the 3rd, control
General ability territory network-bus, the 4th, rapid control prototyping device, the 5th, supervisory control comuter, the 6th, what comes into a driver's generation system, the 7th, projection system
System, the 8th, serial communication bus, the 9th, industry ethernet, the 10th, video transmission line.Table 1 is based on rapid control prototyping
The developing driving simulator key hardware of car model list.
The developing driving simulator key hardware of table 1 car model
┏━━━━━━━━━┳━━━━━━━━━┳━━━━━━━━━━━━━━━┓
┃ title ┃ ardware model number ┃ remarks ┃
┣━━━━━━━━━╋━━━━━━━━━╋━━━━━━━━━━━━━━━┫
┃ vehicle ┃ Nissan in kind black horse reaches car ┃ and only removes engine, keeps former car electronic system ┃
┣━━━━━━━━━╋━━━━━━━━━╋━━━━━━━━━━━━━━━┫
┃ rapid control prototyping device ┃ grinds auspicious 810 type industrial computer ┃ ┃
┏━━━━━━━━━┳━━━━━━━━━┳━━━━━━━━━━━━━━━┓
┃ supervisory control comuter ┃ grinds auspicious 810 type industrial computer ┃ ┃
┣━━━━━━━━━╋━━━━━━━━━╋━━━━━━━━━━━━━━━┫
┃ what comes into a driver's computing machine ┃ combined type desk-top computer ┃ Installed System Memory 1G, video card internal memory 128M ┃
┣━━━━━━━━━╋━━━━━━━━━╋━━━━━━━━━━━━━━━┫
The ┃ projector ┃ PT-PX770 ┃ of Panasonic 3200 lumens, the ratio of width to height is 4:3 ┃
┣━━━━━━━━━╋━━━━━━━━━╋━━━━━━━━━━━━━━━┫
┃ projection screen ┃ cloth screen ┃ the ratio of width to height is 4:3 ┃
┗━━━━━━━━━┻━━━━━━━━━┻━━━━━━━━━━━━━━━┛
Control algolithm with adaptive cruise control system is developed as example, and the developing drive simulation method of the car based on rapid control prototyping that the present invention proposes is described:
(l) on supervisory control comuter 5, generate the xPC real-time kernel, and this real-time kernel is write on the mobile memory; Mobile memory is 3.5 cun floppy disks of Sony in this example.
(2) above-mentioned mobile memory is inserted rapid control prototyping device 4, rapid control prototyping device 4 reads real-time kernel from mobile memory, for the operation of driving simulation model in the rapid control prototyping device 4 provides the software support;
(3) compiling driving simulation model in above-mentioned supervisory control comuter 5 is downloaded to above-mentioned rapid control prototyping device 4 with this driving simulation model through Ethernet 9; The control algolithm that comprises adaptive cruise control system in the driving control module of driving simulation model.
(4) collection drive simulation person's control signal transfers to rapid control prototyping device 4 with control signal through controller local area network's bus 3:
(5) rapid control prototyping device 4 is according to the control signal of above-mentioned collection; Utilize driving simulation Model Calculation drive simulation person to belong to the speed and the direction of vehicle and participation simulating vehicle; And speed that obtains and direction signal is sent to what comes into a driver's generation system 6 through serial communication bus 8, simultaneously speed that obtains and direction signal are sent askew supervisory control comuter 5 through Ethernet;
(6) what comes into a driver's generation system 6 generates the drive simulation person according to the above-mentioned signal that receives and belongs to the what comes into a driver's image of vehicle front, and utilizes optical projection system 7 to belong to image projection on the screen of vehicle front to the drive simulation person;
(7) after above-mentioned supervisory control comuter 5 receives above-mentioned signal signal is shown, and judge the vehicle-following behavior of adaptive cruise control algolithm according to the drive simulation person; As the person's that do not satisfy the drive simulation requirement, revise the structure or the parameter of adaptive cruise control algolithm in the driving simulation model;
(8) the driving mould is satisfied until the vehicle-following behavior that satisfies the adaptive cruise control algolithm in repeating step (3)~(7)
Plan person's requirement.
As indicated above, driving simulator of the present invention comprises a vehicle movement analogue system based on rapid control prototyping.The key of vehicle movement analogue system is the driving simulation model that on the rapid control prototyping device, moves.The basic structure of the driving simulation model that the present invention proposes is as shown in Figure 3; Utilize Matlab/Simulink software to build completion; Comprise and drive control module, road module, traffic flow module, sensor assembly, vehicle modules, what comes into a driver's interface module, driver behavior interface module and monitor-interface module, specifically describe as follows:
(l) the drive simulation person control signal (comprising accelerator open degree, brake pressure, steering wheel angle and gear signal) on the driver behavior interface module acquisition controller LAN bus, and signal is sent to the driving control module;
(2) the road module doubly ceases to vehicle modules and sensor assembly transmission road grade, road curvature, coefficient of road adhesion according to road model simultaneously; In this example, road model comprises two parts, is respectively the urban road of 3 kilometers of highway and the length of 7 kilometers of length.
(3) traffic flow module calculate to be participated in the speed and the directional information of simulating vehicle according to traffic flow model, and is sent to sensor assembly and what comes into a driver's interface module during with information of same; In this example, the traffic flow module comprises that altogether three are participated in simulating vehicle, can simulate freeway traffic flow and urban road traffic flow.
(4) sensor assembly calculates the relative distance and the relative velocity of radar output according to the speed and the directional information of the simulating vehicle of traffic flow module transmission; According to road grade, road curvature and the coefficient of road adhesion information that the road module is sent, calculate the lane line information of in-vehicle camera; According to engine speed, wheel speed, transverse acceleration, longitudinal acceleration and the yaw velocity of vehicle modules output, simulate the information of onboard sensor respectively; And above-mentioned information is sent to the driving control module;
(5) driving control module utilizes the control algolithm of electric-control system to calculate expectation drive simulation person's control signal according to the output information of sensor assembly; And the drive simulation person control signal of above-mentioned reception carried out filtering; Require to substitute filtered signal according to electric-control system, and be sent to vehicle modules with expectation drive simulation person's control signal;
(6) vehicle modules according to vehicle in length and breadth to kinetic model; The above-mentioned information that utilization receives; The person belongs to the longitudinal velocity of vehicle, transverse velocity, travel direction, engine speed, wheel speed, transverse acceleration, longitudinal acceleration and yaw velocity to calculate the drive simulation, and is sent to sensor assembly, signal monitoring module and what comes into a driver's interface module during with information of same;
(7) the signal monitoring module is sent to Ethernet with the letter trouble of above-mentioned reception, is used for the signal in real time monitoring of supervisory control comuter, and the synchronous signal monitoring module is used to control the operation that receives realistic model from the monitor command of Ethernet reception supervisory control comuter;
(8) the what comes into a driver's interface module receives the information of above-mentioned traffic flow module and vehicle modules, and information is sent to serial communication bus, is used to generate the what comes into a driver's image.

Claims (2)

1. developing driving simulation method based on rapid control prototyping, it is following to it is characterized in that this method comprises
Step:
(1) on supervisory control comuter, generate the xPC real-time kernel, and this real-time kernel write on the mobile memory:
(2) above-mentioned mobile memory is inserted the rapid control prototyping device, the rapid control prototyping device reads from mobile memory
Real-time kernel is for the operation of driving simulation model in the rapid control prototyping device provides the software support;
(3) compiling driving simulation model in above-mentioned supervisory control comuter is downloaded to this driving simulation model through Ethernet
Above-mentioned rapid control prototyping device;
(4) collection drive simulation person's control signal, with control signal extremely fast through controller local area network's bus transfer
The control prototype;
(5) the rapid control prototyping device utilizes driving simulation Model Calculation drive simulation person according to the control signal of above-mentioned collection
Belong to the speed and the direction of vehicle and participation simulating vehicle, and speed that obtains and direction signal are sent out through serial communication bus
Deliver to the what comes into a driver's generation system, simultaneously speed that obtains and direction signal are sent to supervisory control comuter through Ethernet;
(6) the what comes into a driver's generation system generates the what comes into a driver's image that the drive simulation person belongs to vehicle front according to the above-mentioned signal that receives,
And belong to image projection on the screen of vehicle front to the drive simulation person;
(7) above-mentioned supervisory control comuter after receiving above-mentioned signal shows signal, and right according to drive simulation person or developer
Sail runnability, electric control system controls performance demands that the mimic belongs to vehicle, driving simulation mould plough is made amendment;
(8) repeating step (3)~(7) are until satisfy drive simulation person or developer's requirement.
2. the method for claim 1 is characterized in that wherein said driving simulation model is divided into driving control
Module, road module, traffic flow module, sensor assembly, vehicle modules, what comes into a driver's interface module, driver behavior interface mould
Piece and monitor-interface module, its signal annexation is following:
(1) driver behavior interface module, the drive simulation person control signal on the acquisition controller LAN bus, and will
Signal is sent to the driving control module;
(2) the road module according to road model simultaneously to vehicle modules and sensor assembly send road grade, road curvature,
Coefficient of road adhesion information:
(3) traffic flow module is calculated the speed and the directional information of participating in simulating vehicle according to traffic flow model, and with information of same
The time be sent to sensor assembly and what comes into a driver's interface module;
(4) sensor assembly according to car speed and the directional information that the traffic flow module is sent, calculates drive simulation person institute
Relative distance and velocity information between vehicle and participation simulating vehicle: according to road grade, the road of road module transmission
Curvature and coefficient of road adhesion information are calculated the lane line information that the drive simulation person belongs to vehicle: export according to vehicle modules
Engine speed, wheel speed, transverse acceleration, longitudinal acceleration and yaw velocity, the output of calculating respective sensor respectively
Information; At last above-mentioned all information are sent to the driving control module;
(5) drive control module, according to the information of the sensor module, the person belongs to vehicle electrically controlling system to utilize the drive simulation
Algorithm is cut in the control of system, calculates expectation drive simulation person's control signal; Drive simulation person control signal to above-mentioned reception is carried out filtering, and the requirement according to the drive simulation person belongs to vehicle electrically controlling system substitutes filter with the control signal of expecting the drive simulation person
Signal behind the ripple, and be sent to vehicle modules:
(6) vehicle modules, the vehicle that belongs to vehicle according to the drive simulation person be in length and breadth to kinetic model, and connect according to above-mentioned
The information of receiving, the person that calculates the drive simulation belong to vehicle longitudinal velocity, transverse velocity, travel direction, engine speed,
Wheel speed, transverse acceleration, longitudinal acceleration and yaw velocity, and be sent to sensor assembly during with information of same, monitor and connect
Mouth module and what comes into a driver's interface module;
(7) monitor-interface module is sent to Ethernet with the information of above-mentioned reception, is used for the signal in real time of supervisory control comuter
Monitoring, simultaneously the monitor-interface module receives the monitor command of supervisory control comuter from Ethernet, is used to control the driving simulation model
Operation;
(8) the what comes into a driver's interface module receives the information of above-mentioned traffic flow module and vehicle modules, and it is logical that information is sent to serial
The news bus is used to generate the what comes into a driver's image.
CN2011101685036A 2011-06-22 2011-06-22 Development car driving simulation method based on rapid control prototype Pending CN102842250A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105652859A (en) * 2016-03-31 2016-06-08 北京经纬恒润科技有限公司 Early production containment system for controller products
CN106547588A (en) * 2015-09-18 2017-03-29 福特全球技术公司 Virtual road surface perceives test platform
CN110414082A (en) * 2019-07-09 2019-11-05 武汉乐庭软件技术有限公司 A kind of construction method of automatic Pilot decision and control associative simulation model
CN114141091A (en) * 2021-11-18 2022-03-04 禾多科技(北京)有限公司 Cockpit bench for adaptive simulation test based on PID control and control method thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106547588A (en) * 2015-09-18 2017-03-29 福特全球技术公司 Virtual road surface perceives test platform
CN105652859A (en) * 2016-03-31 2016-06-08 北京经纬恒润科技有限公司 Early production containment system for controller products
CN105652859B (en) * 2016-03-31 2019-10-18 北京经纬恒润科技有限公司 A kind of early stage production suppression system of controller product
CN110414082A (en) * 2019-07-09 2019-11-05 武汉乐庭软件技术有限公司 A kind of construction method of automatic Pilot decision and control associative simulation model
CN114141091A (en) * 2021-11-18 2022-03-04 禾多科技(北京)有限公司 Cockpit bench for adaptive simulation test based on PID control and control method thereof

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Application publication date: 20121226