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A vehicle-in-the-loop-based cacc stability test system and method

A stability test and vehicle technology, applied in the direction of test/monitoring control system, general control system, control/regulation system, etc., can solve the problems of high test cost, easy to be disturbed, poor repeatability, etc., to ensure the effectiveness and The effect of safety, simple testing process and convenient use

Active Publication Date: 2021-12-28
CHANGAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] At present, the actual vehicle field test technology cannot perform multi-frequency tests under the condition of imperfect technology, the test variables are not well controlled, the test cost is high, and the repeatability is poor. These factors restrict its further application; while the test results of virtual simulation test Extremely dependent on the accuracy of the built model and highly susceptible to interference

Method used

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  • A vehicle-in-the-loop-based cacc stability test system and method
  • A vehicle-in-the-loop-based cacc stability test system and method
  • A vehicle-in-the-loop-based cacc stability test system and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0096] The first test example is the correction of the stability of the CACC vehicle platoon. In this scenario, the communication delay is 0, and the virtual vehicle in front travels at a speed of 10 km / h, and keeps it for 20 seconds until the end of the experiment.

[0097] Further, the specific experimental parameters for evaluating vehicle stability are: the experiment duration is set to 155s; the data frame type is standard frame; the data frame sending format is spontaneous and self-receiving; the data frame sending interval is 400ms; the data frame timeout time is set to 1000ms; t d is 1s; k a is 0.6; k v is 0.4; k s 0.2; G min Set to 2m; k d Take 5.35.

[0098] Specifically, the schematic diagram of the virtual front vehicle speed and acceleration curve is as follows: Figure 4 shown.

[0099] The test results of this test case are analyzed as follows:

[0100] (1) Speed ​​analysis

[0101] Figure 6 The speed information of the vehicle platoon given by the CA...

Embodiment 2

[0110] The second test example is a scene where the speed of the vehicle in front of the CACC vehicle queue is sinusoidally oscillating. In particular, in order to be compared, two groups of control experiments are set up. The communication delay of one group of vehicles is 0, and the communication delay of the other group is 0.5s , the velocity amplitude of the approximate sine function of the virtual preceding vehicle is about 5km / h.

[0111] Further, the specific experimental parameters for evaluating vehicle stability are: the experiment duration is set to 155s; the data frame type is standard frame; the data frame sending format is spontaneous and self-receiving; the data frame sending interval is 400ms; the data frame timeout time is set to 1000ms; t d is 1s; ka is 0.6; k v is 0.4; k s 0.2; G min Set to 2m; k d Take 5.35.

[0112] Specifically, the schematic diagram of the virtual front vehicle speed and acceleration curve is as follows: Figure 9 shown.

[0113] ...

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Abstract

The invention discloses a CACC stability test system and method based on vehicle-in-the-loop. Passenger car road dynamic simulation test bench, DSRC equipment, virtual front vehicle control module and control module are used as the hardware components of the test system, and work together Provide the necessary scene for the test vehicle to be tested; the control module realizes information reading and processing of motion parameters, vehicle position, and vehicle status. It can effectively test the stability of vehicle platooning under the CACC formation mode, and is convenient and simple to use. The invention is a vehicle-in-the-loop CACC stability test method, which can effectively test the stability of vehicle platoon running in a CACC platoon mode, and is convenient to use, low in cost and simple in the test process.

Description

technical field [0001] The invention relates to the technical field of intelligent vehicle testing, in particular to a vehicle-in-the-loop (CACC) stability testing system and method. Background technique [0002] With the further development of society, in order to better improve the efficiency of road transportation and reduce the safety risks in urban traffic, Intelligent Transport Systems (ITS) has become the trend of modern road transportation development and related industry changes. [0003] As a typical application of ITS, vehicle platooning technology mainly installs sensors, radars and on-board communication units on vehicles to enable vehicles to sense or communicate with each other, and then through specific control strategies to make multiple vehicles line up and maintain a certain safe distance. Multiple platoons are processed as a single entity, allowing vehicle flows to travel at high average speeds and relatively short distances between vehicles. [0004] A...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B23/02G05B17/02
CPCG05B23/0213G05B17/02
Inventor 赵祥模王润民薛丁瑞徐志刚承靖钧王振李妍孙朋朋刘占文
Owner CHANGAN UNIV