Hardware in-loop testing platform of electric vehicle whole-body layered control system and testing method thereof

Abstract

The invention discloses a hardware in-loop testing platform of an electric vehicle whole-body layered control system and a testing method thereof, wherein the hardware in-loop testing platform comprises a stand substrate, a driving environment simulating system, a road feel feedback system, an upper machine, a target machine, a data acquisition card and a to-be-tested integral-body layered control system. The testing method comprises the following steps of 1), establishing an integral-body model, a road model and a to-be-tested integral-body layered control system model; 2), forming the to-be-tested integral-body layered control system; 3), establishing a road feel feedback control model; 4), writing the integral-body model into the target machine; 5), inputting a control signal; 6), inputting a steering parameter, an acceleration parameter and a braking parameter into the whole-body model; 7), outputting a sensor signal which is simulated by the integral-body model; 8), outputting a real-time analog animation; and 9), performing evaluation and correction on the to-be-tested integral-body layer control system. The hardware in-loop testing platform can perform simulation on the driving environment and the integral-body model, thereby realizing hardware in-loop testing on a person-vehicle-road closed-loop control system.

Description

technical field [0001] The invention relates to the technical field of electric vehicle control, in particular to a hardware-in-the-loop test platform and a test method for a layered control system of an electric vehicle. Background technique [0002] With the deepening of electric vehicle research and development, there is an increasing demand for verification in the development process of electric vehicles, especially for the verification requirements of electric vehicle controllers, driving stability control, brake anti-lock control, and drive anti-skid control of electric vehicles. Control, intelligent driving assistance technology, etc. are all based on the controller. However, most of the research on controller testing at this stage is to use the simulation modeling method or the actual vehicle verification method for testing. The simulation test method and practical application are used. There is a big difference in the situation, and the actual vehicle verification r...

AI Technical Summary

Problems solved by technology

At present, hardware-in-the-loop simulation is divided into large-scale hardware-in-the-loop test platform, medium-sized hardware-in-the-loop test platform, and small-scale hardware-in-the-loop test platform. The 360° circular screen simulates the driving environment of the car. Such a platform has the disadvantages of large size and high cost. The medium-sized hardware-in-the-loop test platform uses the whole vehicle as the control object and uses a semi-enclosed space to simulate the driving environment of the car. The experimental platform still has high costs. problem; the small hardware-in-the-loop test platform only uses some automotive components to build the hardware part. This type of test platform has the advantages of low cost and high efficiency, but some benches use load motors, dynamometers, etc. to simulate the driving conditions of the car. There is a danger of high-voltage electricity, and some small hardware-in-the-loop simulation platforms are limited by hardware, so they can only perform in-the-loop simulation on a small number of hardware, and the simulation effect on the environment is weak, and the driver's subjective driving intention cannot be included in the simulation. During the test process, the application range is narrow and other shortcomings

[0004] The wire-controlled electric vehicle is different from the traditional electric vehicle. It adopts the method of full-wire control and four-wheel motor independent drive. The controller adopts electromagnetic braking and electronically controlled steering. Because this type of electric vehicle uses a large number of wire controls, the vehicle control method is very complicated. The traditional integrated controller can no longer meet the control requirements due to the existence of control coupling, so it is necessary to design Hierarchical controllers, for the verification of hierarchal controllers, it is necessary to propose a new hardware-in-the-loop test platform

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