Hardware-in-loop test method and device

Abstract

The invention discloses a hardware-in-loop test method and device. The method comprises the following steps: receiving a vehicle position signal; determining a virtual map signal required for testingaccording to a preset vehicle driving prospective distance and the vehicle position signal; sending the virtual map signal required for testing and the vehicle simulation signal to a lower computer, enabling the lower computer to test a to-be-tested piece, and enabling functional modules operated in the upper computer to comprise a map signal simulation module that is pre-configured; recording thevirtual map signal required for testing in a map signal simulation module. According to the technical scheme, the method at least does not depend on a map box, a real vehicle does not need to be tested on a real road, so that the cost is reduced.

Description

technical field [0001] The invention relates to the technical field of intelligent driving simulation testing, in particular to a hardware-in-the-loop testing method and device. Background technique [0002] In the existing high-precision map HIL (Hardware-in-the-Loop, hardware-in-the-loop) test, the high-precision map signal is generally provided by the map box or message playback, and then the response of the device under test is tested. [0003] However, existing testing methods have the following problems: [0004] First of all, the method of using the map box to provide high-precision map signals strongly depends on the normal work of the map box, the map provider and the GPS (Global Positioning System, Global Positioning System), and requires real vehicles to drive on real roads to provide high-precision maps signal, making the test costly and inefficient. Secondly, the map box can only provide real and existing road information, but cannot provide custom road map in...

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Problems solved by technology

[0004] First of all, the method of using the map box to provide high-precision map signals strongly depends on the normal work of the map box, the map provider and the GPS (Global Positioning System, Global Positioning System), and requires real vehicles to drive on real roads to provide high-precision maps signal, making the test costly and inefficient

Secondly, the map box can only provide real and existing road information, but cannot provide custom road map information. For example, if you want to test a road with a specific custom working condition, it is difficult to find the road in the real map

Thirdly, when the map box reproduces the working conditions, due to the different driving environments, it is difficult to repeatedly test the same scene. For example, when testing the scene of driving the leftmost lane, it is difficult to repeatedly drive the leftmost lane forcibly, which is not conducive to driving safety.

In addition, in the existing method, the high-precision map signal that can reproduce the working conditions is provided in the way of replaying the message, but the way of replaying the message can only simply play the message. During the test of the driving system, the content of the message is not It will change with the movement of the controller or the vehicle model. For example, the content of the map message will not be updated according to the new position of the vehicle changing lanes. Therefore, it is not possible to test the real vehicle response effect of the driving system in a closed loop. Therefore, for complex Real-time vehicle control HIL test is not applicable

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