An unmanned vehicle testing system and method

Abstract

The invention discloses an automated vehicle test system and method. The test system comprises a real-time simulation system, a triaxial simulation rotary table, a visual simulation system and a remote automated vehicle control center; the real-time simulation system performs model calculation on a pre-established automated vehicle motion model according to the actual rotary speed after receiving the current actual rotary speed sent by the automated vehicle and sends two-dimensional plane position information and course angle information obtained from calculation to a video simulation system, the visual simulation system simulates motion states of the automated vehicle under different working conditions, obtains vertical height information and attitude angle information of the automated vehicle through a collision detection function and sends the vertical height information and the attitude angle information to the triaxial simulation rotary table. According to the automated vehicle test system, the visual simulation system serves as a monitoring display mean, meanwhile the collision detection function of the visual simulation system is well played, and accordingly a design verification process of the automated vehicle simulation model is greatly simplified.

Description

technical field [0001] The invention relates to the technical field of hardware-in-the-loop simulation, and more specifically, relates to an unmanned vehicle testing system and method. Background technique [0002] In future ground operations, unmanned vehicles will become an important part of the information equipment system, and will also be a strong guarantee for improving tactical precision strike capabilities, especially in terms of tactical early warning. Dangerous areas and reconnaissance blind spots provide important tactical information for ground operations. [0003] The core of the unmanned vehicle is the unmanned vehicle control system. In order to ensure the good control performance of the unmanned vehicle control system and the safety of driving, a series of test experiments are required before the unmanned vehicle is finalized, including driving on complex roads. , obstacle avoidance, autonomous driving function and control accuracy test, etc. At present, th...

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Problems solved by technology

[0004] When the above test method uses the kinematics and dynamics simulation model, it is necessary to load different initial conditions for model calculation to realize the test of unmanned vehicles under different working conditions. Therefore, the number of simulation experiments is large, and the simulation model The test verification process is more complicated, which ultimately leads to low test work efficiency, high cost of manpower and material resources

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