CN114527674A - Model in-loop simulation test method and system based on vehicle road test data - Google Patents
Model in-loop simulation test method and system based on vehicle road test data Download PDFInfo
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Abstract
The invention provides a model-in-loop simulation test method and system based on vehicle road test data, which are used for road test through a real vehicle carrying a limited automatic driving algorithm, synchronously collecting and storing road test data of the vehicle, analyzing the vehicle road test data, excavating key points of the real vehicle road test, compiling a model-in-loop simulation test case as a test key point of the model-in-loop simulation test, developing the model-in-loop simulation test to obtain a simulation test result, comparing the simulation test data with the vehicle road test data, exactly verifying the effectiveness of the model and the consistency degree with the real vehicle, and reproducing the vehicle road test effect.
Description
Technical Field
The invention relates to the technical field of automatic driving, and particularly provides a model in-loop simulation test method.
Background
The current society autopilot has become the development direction of the automobile industry in the future, and the autopilot technology is not mature at present, and in order to ensure the safety and stability of the autopilot, a large number of real vehicle road tests are usually carried out in the industry, and the completeness, effectiveness and safety of the intelligent vehicle can be ensured through sufficient simulation tests, so that the core competitiveness of products in the market can be ensured, and the development and application of the intelligent vehicle technology achieve the competition of the automobile enterprise market.
An automatic driving automobile is an automobile which can realize unmanned driving through an intelligent controller, and intelligent driving is still in a technical iteration period, so that complete unmanned driving cannot be realized, but limited automatic driving is realized. To realize unmanned driving, the technical problems in the automobile fields such as high-precision maps, sensor fusion, artificial intelligence, cloud computing and information security are solved, all parts of automatic driving form an industrial chain, and the problem that the industrial chain on the upstream and downstream of the automatic driving automobile is incomplete is solved.
The traditional vehicle mainly takes real vehicle testing as a main part, but the real vehicle testing not only consumes a large amount of manpower and material resources, but also has great risk, so that the real vehicle testing can be assisted in a simulation testing mode in the industry.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a model-in-loop simulation test method based on vehicle road test data to verify the effectiveness of a simulation test and reproduce the vehicle road test effect.
The technical scheme of the invention is as follows:
the invention provides a model in-loop simulation test method based on vehicle road test data, which comprises the following steps: the method comprises the steps of road test data acquisition, data analysis, test focus mining, simulation test cases, simulation test verification and comparison of simulation test results and road test data. Specifically, the method comprises the following steps:
and acquiring vehicle road test data, and synchronously acquiring and storing the vehicle road test data of the real vehicle on the road test.
And analyzing the data, analyzing and analyzing the vehicle road test data, analyzing the road test data into standard visual data through a Vector CANape tool, manually analyzing the vehicle test condition according to the analyzed data, and preparing for testing key excavation.
And (4) performing test key excavation, namely excavating to obtain a side key point of the test according to the analyzed real vehicle data from the aspects of environmental scenes, vehicle conditions, driver operation, system states and the like and the overall condition of the real vehicle road test, and decomposing the key point into the simulation test as a test key point of the model in-loop simulation test.
And simulating the test case, and compiling the model in-loop simulation test case.
And (4) simulation test verification, namely after simulating the test environment of the real vehicle, verifying the key points of the test by using a model-in-loop simulation test method and generating a simulation test result.
And comparing the simulation test result with the road test data, comparing the test data obtained by the model in-loop simulation test with the vehicle road test data, and repeatedly testing and perfecting the simulation test model until the data contact ratio of the two test methods is consistent.
The invention further provides a model-in-loop simulation test system based on vehicle road test data, which comprises:
the working condition scene design module is used for simulating the real environment of the vehicle and the driving process of the vehicle, including elements of external environments such as roads, vehicles, pedestrians and other traffic participants, all vehicle information of the vehicle and the target vehicle, all parameters of the roads, the traffic participants and the external environment and the like.
The vehicle dynamics is used for simulating real power output of a real vehicle, meanwhile, the power response needs to be debugged and calibrated according to vehicle performance indexes, the response is connected with the algorithm module, the output of the algorithm is fed back to the dynamics, and finally, closed-loop control of the algorithm on the vehicle dynamics is achieved.
And the algorithm module is used for controlling the whole vehicle system, gives a corresponding decision and control to the vehicle according to the running environment of the vehicle based on the designed running range of the whole system, further realizes the operation of replacing a part of drivers, and plays a role in assisting the driving.
And the communication module is configured for communication based on a CAN bus protocol and is used for data interaction of the whole system, so that data form a closed loop in the whole system.
And the simulation platform is used for building and adapting all simulation environments according to the test contents, and fully verifying and testing the limited automatic driving algorithm in the running range through the simulation test environments.
Based on the technical scheme, the road test is carried out through the real vehicle carrying the limited automatic driving algorithm, the road test data of the vehicle are synchronously collected and stored, the vehicle road test data are analyzed, the key point of the real vehicle road test is mined, the key point of the model in-loop simulation test is used as the test key point of the model in-loop simulation test, the model in-loop simulation test case is compiled, the model in-loop simulation test is developed, the simulation test result is obtained, and the simulation test data are compared with the vehicle road test data. Therefore, the whole vehicle road test condition can be reproduced in the simulation environment based on the data of the vehicle road test, the whole real vehicle test environment and the real vehicle environment are simulated in the simulation environment in a simulation mode, the model-based simulation test method can exactly verify the effectiveness of the model and the consistency degree with the real vehicle, and the vehicle road test effect can be reproduced.
Drawings
FIG. 1 is a block diagram of a simulation test verification system for a model-based limited autopilot system;
FIG. 2 is a general flow diagram of a model-in-loop simulation test method based on vehicle road test data.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings and the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments, and as such, they do not limit the present invention.
As shown in fig. 1, the simulation test method of the present invention is implemented on a simulation test verification system as shown in the figure, and the system includes:
the working condition scene design module is used for simulating a vehicle and a real environment of the vehicle in the driving process, the information is simulated by Prescan, the information comprises elements of external environments such as roads, vehicles, pedestrians and other traffic participants, and all vehicle information, all parameters of the roads, the traffic participants and the external environment of the vehicle and the target vehicle are configured.
The vehicle dynamic model is used for simulating real power output of a real vehicle, and meanwhile, the power response needs to be debugged and calibrated according to vehicle performance indexes, such as vehicle acceleration, vehicle deceleration and other key parameters of the vehicle, which influence the vehicle response. The vehicle dynamics model is built by using Carsim software and is connected with decision control to form a vehicle execution part. The response is connected with an algorithm module, and the output of the algorithm is fed back to dynamics, so that the closed-loop control of the algorithm on the vehicle power is finally realized.
And the algorithm module is used for controlling the whole vehicle system, gives a corresponding decision and control to the vehicle according to the running environment of the vehicle based on the designed running range of the whole system, further realizes the operation of replacing a part of drivers, and plays a role in assisting the driving.
In this embodiment, the algorithm is developed by using a Matlab/Simulink tool, and the algorithm is suitable for a limited automatic driving system based on a model, so that the limited automatic driving system can realize limited decision on a vehicle instead of a driver, and assists the driver in controlling and driving the vehicle, and the control can only be suitable for some special working conditions.
The communication module is configured based on a CAN bus protocol, is used for data interaction of the whole system, mainly comprises communication between a platform and an algorithm, and CAN enable data to form a closed loop in the whole system after the communication configuration is successful.
The simulation platform is an important component of an automatic driving system and is used for adapting to the whole test environment, and the simulation platform can also be called as a simulation test environment. The simulation test platform is built by Simulink and used for building and adapting all simulation environments according to test contents, and fully verifying and testing the limited automatic driving algorithm in the operating range through the simulation test environments.
As shown in fig. 2, the present embodiment is a general flow of a model-in-loop simulation test method based on vehicle road test data, and specifically includes:
the vehicle road test data acquisition mainly stores test data of road tests of real vehicles by using data acquisition equipment, wherein the data comprises data of sensors, actuators, vehicle body controllers, main controllers and the like on the test vehicles.
And the data analysis is to analyze and analyze the vehicle road test data and prepare for subsequent data use. The analysis of the test data is to analyze the road test data into standard visual data through a Vector CANape tool, and manually analyze the vehicle test condition according to the analyzed data. CANape is an on-board controller matching and calibration system based on the ASAP standard developed by Vector, germany. CANape simultaneously calibrates parameter values and collects measurement signals during system operation.
The test focus mining is to analyze the data and then know the test key points of the simulation test. Specifically, according to the analyzed real vehicle data, from the aspects of environmental scenes, vehicle conditions, driver operation, system states and the like, and according to the overall conditions of the real vehicle road test, the lateral key points of the test are obtained by mining, and the key points are decomposed into the simulation test as the test key points of the model in-loop simulation test.
Writing a simulation test case refers to a scheme for guiding simulation test, and the case must contain information such as required function points, test starting conditions, passing standards and the like.
The simulation test verification is that after the test environment of the real vehicle is simulated, the key point of the test is verified by using a model-in-loop simulation test method, and a simulation test result is generated.
And comparing the simulation test result with the road test data, wherein the test data obtained by the model in-loop simulation test is mainly compared with the vehicle road test data, and after a large number of repeated tests, the simulation test model is continuously perfected until the data contact ratio of the two test methods is consistent.
Claims (4)
1. A model in-loop simulation test method based on vehicle road test data is characterized by comprising the following steps:
acquiring vehicle road test data, and synchronously acquiring and storing vehicle road test data of a real vehicle in a road test;
analyzing the data, namely analyzing and analyzing the vehicle road test data, wherein the analysis of the test data is to analyze the road test data into standard visual data through a tool, and manually analyzing the vehicle test condition according to the analyzed data;
mining test key points, namely mining the key points of the test according to the analyzed real vehicle data from the aspects of environmental scenes, vehicle conditions, driver operation, system states and the like and the overall condition of the real vehicle road test, and decomposing the key points into the simulation test as the test key points of the model in-loop simulation test;
simulating a test case, and compiling a model in-loop simulation test case;
simulation test verification, after simulating the test environment of the real vehicle, verifying the key points of the test by using a model-in-loop simulation test method, and generating a simulation test result;
and comparing the simulation test result with the road test data, comparing the test data obtained by the model in-loop simulation test with the vehicle road test data, and repeatedly testing and perfecting the simulation test model until the data contact ratio of the two test methods is consistent.
2. The model-in-loop simulation test method based on vehicle road test data according to claim 1, wherein the vehicle road test data includes but is not limited to data of sensors, actuators, body controllers, master controllers, etc. on a test vehicle.
3. The method as claimed in claim 1, wherein the simulation test case contains information of required function point, start condition of test, passing standard, etc.
4. A model-in-loop simulation test system based on vehicle road test data, implementing the method of any one of claims 1-3, the system comprising:
the working condition scene design module is used for simulating real environments of vehicles and vehicle driving processes, including elements of external environments such as roads, vehicles, pedestrians and other traffic participants, all vehicle information of the vehicles and target vehicles, all parameters of the roads, the traffic participants and external environments and the like;
the vehicle dynamics is used for simulating real power output of a real vehicle, debugging and calibrating power response according to vehicle performance indexes, connecting the response with an algorithm module, and feeding back the output of the algorithm to the dynamics so as to finally realize closed-loop control of the algorithm on the vehicle dynamics;
the algorithm module is used for controlling the whole vehicle system, and gives a corresponding decision and control to the vehicle according to the running environment of the vehicle based on the designed running range of the whole system, so that the operation of replacing a part of drivers is realized, and the function of assisting the driving is achieved;
the communication module is configured for communication based on a CAN bus protocol and is used for data interaction of the whole system so that data form a closed loop in the whole system;
and the simulation platform is used for building and adapting all simulation environments according to the test contents, and fully verifying and testing the limited automatic driving algorithm in the running range through the simulation test environments.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115114786A (en) * | 2022-06-29 | 2022-09-27 | 重庆长安汽车股份有限公司 | Evaluation method, system and storage medium for traffic flow simulation model |
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| CN115309074A (en) * | 2022-08-31 | 2022-11-08 | 重庆长安汽车股份有限公司 | Automatic driving simulation test method and device, simulation equipment and storage medium |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115145243A (en) * | 2022-06-17 | 2022-10-04 | 重庆长安汽车股份有限公司 | Simulation test system and method for automatic driving |
| CN115114786A (en) * | 2022-06-29 | 2022-09-27 | 重庆长安汽车股份有限公司 | Evaluation method, system and storage medium for traffic flow simulation model |
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