Unmanned vehicle simulation method based on SysML

Abstract

The invention discloses an unmanned vehicle simulation method based on SysML, and the method comprises the steps: building a plurality of mathematical models in a joint simulation system according to preset unmanned vehicle information, and enabling the mathematical models to comprise an unmanned vehicle model, a driving scene model, and a motion control model, wherein the joint simulation system comprises a plurality of simulation tools; describing the multiple mathematical models through a SysML modeling language to obtain a SysML model, and converting the SysML model into an XMI text format; and converting the SysML model described in the XMI text format into a Python object through a Python language, generating a driving script according to the Python object, and driving the plurality of simulation tools to perform joint simulation according to the driving script. The technical problems that in the prior art, a motion control system is low in simulation efficiency and poor in information integrity and consistency are solved.

Description

technical field [0001] The present application relates to the technical field of unmanned vehicle simulation, in particular to a SysML-based unmanned vehicle simulation method. Background technique [0002] With the development of unmanned vehicle technology, unmanned vehicle technology is widely used in many fields, such as public transportation, express delivery and military and many other fields. Simulation technology is an indispensable means to study various complex systems, and the research and development of unmanned vehicles is also inseparable from vehicle simulation technology. An unmanned vehicle is composed of a motion control system, a data system, a communication system, and a power supply system. In order to ensure the normal operation of an unmanned vehicle, various systems need to be simulated during the research and development of an unmanned vehicle. Among them, the simulation of the motion control system includes Environmental simulation, mathematical mo...

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Problems solved by technology

[0004] The technical problem solved by this application is: Aiming at the problems of low simulation efficiency of motion control system and poor information integrity and consistency in the prior art, a SysML-based unmanned vehicle simulation method is provided. The embodiment of this application In the provided scheme, the SysML model is obtained by describing various mathematical models in the co-simulation system through the SysML modeling language, and the SysML model is converted into the XMI text format, and then described in the XMI text format through the Python language Convert the SysML model into a Python object, generate a driving script based on the Python object, and drive multiple simulation tools for joint simulation based on the driving script

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