In-loop simulation method for automatic driving software

Abstract

The invention discloses an in-loop simulation method for automatic driving software. In-loop simulation is carried out by adopting a distributed architecture, a whole vehicle dynamic model, a simulator module and an automatic driving software system respectively run in different systems, environmental data is output from the simulator module to a corresponding receiving end of the automatic driving software system, and a control quantity fed back by the automatic driving software system is output to the whole vehicle dynamic model; and the whole vehicle dynamic model and the automatic drivingsoftware system are triggered according to the required frequency by adopting a time sequence triggering technology, so that starting, stopping and synchronous control of the simulation process are realized. The method does not depend on hardware or real object in-the-loop, automatic driving software in-the-loop verification from a simple scene to a complex scene can be carried out, and starting,stopping and synchronous control of a simulation process are realized by adopting a time sequence triggering technology under the condition that real-time equipment is not used; and the accuracy requirement of a control module on simulation verification is met.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a software-in-the-loop simulation method for automatic driving. Background technique [0002] The software-in-the-loop simulation verification of the software system including the vehicle dynamics model is to use CarSim to establish a simulation environment, and at the same time use its vehicle dynamics model, import it into simulink, and use the tcp module and the automatic driving planning control algorithm module in simulink to carry out Data interaction and simulation (CN201811080324.5); the second is to construct a simplified vehicle dynamics model in the form of partial differential equations, and use real data to import to the display and data interaction system for offline simulation of automatic driving software (CN201810590257.5) . [0003] The tcp communication module of simulink is directly used in the control loop simulation scheme of the vehicle dynamics ...

AI Technical Summary

Problems solved by technology

[0003] The tcp communication module of simulink is directly used in the control loop simulation scheme of the vehicle dynamics software using carsim. The speed of the CarSim model is 1000hz, and the frequency of the automatic driving software is generally between 10 and 20hz. The two are not equal. At this time, the tcp communication module in simulink The tcp module will release data to the autopilot software part at high speed, which wastes memory, and the part of the autopilot software part is heavily burdened, and other abnormalities may occur, which do not match the actual operating status.

At the same time, if the network bandwidth is insufficient, the network speed is slow or other circumstances occur, high-speed tcp communication will have an uncertain delay, resulting in chaotic data timing in use, resulting in a divergent control effect, and the simulation result is wrong, and the algorithm cannot be completed debugging and verification, and it is impossible to use simulation for software-in-the-loop testing

[0004] The scheme of constructing a simplified vehicle dynamics model in the form of partial differential equations is inaccurate, and only simple algorithm logic closed-loop verification can be performed, and the results cannot be used for software performance evaluation

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