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Method and system for mapping vehicle control data to simulation environment

A technology for manipulating data and mapping methods, applied in design optimization/simulation, special data processing applications, CAD numerical modeling, etc., can solve problems such as high cost, long time, and unable to find vehicle reference values, and achieve wide application prospects , cost saving, high accuracy effect

Pending Publication Date: 2021-12-14
WUHAN KOTEI INFORMATICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] From the above, it can be seen that in the prior art, the real vehicle test is usually used to determine the difference between the simulation parameters of the simulated vehicle and the actual control parameters, but this method often requires the construction of a complex dynamic model and continuous iterations to obtain A relatively ideal mapping result, and an effective reference value for handling the vehicle in the simulation environment cannot be found before modeling
Therefore, there are problems such as difficult model construction, long time-consuming, high cost, and unintuitive implementation process

Method used

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  • Method and system for mapping vehicle control data to simulation environment
  • Method and system for mapping vehicle control data to simulation environment

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Embodiment 1

[0048] Embodiment 1 provided by the present invention is an embodiment of the mapping from vehicle manipulation data to simulation environment provided by the present invention. Embodiment 1 of the present invention provides a mapping method from vehicle manipulation data to simulation environment. The vehicle control data (including accelerator parameters, brake parameters, and steering parameters) obtained through the CAN device are linearly fitted according to the value range of the vehicle control data output in the simulated driving implemented by the MPC algorithm in the simulation environment, so as to establish the actual vehicle The mapping of the control data of the vehicle to the vehicle control data of the simulation environment.

[0049] The basis for this mapping is that it is necessary to first obtain the driving control data of the real vehicle from the driving of a certain road section, and then use the road data of the same road section to build a simulation e...

Embodiment 2

[0072] Embodiment 2 provided by the present invention is an embodiment of a system for mapping vehicle handling data to a simulation environment provided by the present invention, and this embodiment includes: CAN / GPS / IMU equipment, a driving simulation system and a range matching module.

[0073] CAN / GPS / IMU equipment is used to collect the actual control data and speed track data of the vehicle when driving on the ground.

[0074] The driving simulation system is used to build a simulated driving environment based on the road section of the vehicle on the spot, configure the parameters of the simulated vehicle model based on the parameters of the vehicle; according to the speed track data, use the MPC algorithm to drive the simulated vehicle model in the simulated Carry out simulated driving in the driving environment, and output the simulated control data of the vehicle.

[0075] A value range matching module, configured to transform the actual manipulation data into a data...

Embodiment 3

[0078] Embodiment 3 provided by the present invention is an application example of a method for mapping vehicle control data to a simulation environment provided by the present invention. The method for verifying whether the real vehicle control data mapped to the simulation environment after linear fitting is valid can be as follows :

[0079] The real vehicle control data after linear fitting is directly used as input, and the simulated vehicle model is driven in the simulation environment to perform simulated driving on the same road section, and the driving log is output.

[0080] Each field in the driving log is plotted with time as the horizontal axis, and compared with the corresponding fields (speed, trajectory, horizontal G, vertical G, etc.) output when the actual vehicle is actually driving. If the comparison results confirm that the data change trends are the same and the numerical differences are small, it can be confirmed that the mapping result is valid.

[0081]...

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Abstract

The invention relates to a method and a system for mapping vehicle control data to a simulation environment. The method comprises the following steps: acquiring actual control data and speed trajectory data when a vehicle runs on the spot; building a simulation driving environment based on the on-site driving road section of the vehicle, and configuring the parameters of the simulation vehicle model based on the parameters of the vehicle; according to the speed track data, using an MPC (Model Predictive Control) algorithm to drive a simulation vehicle model to implement simulation driving in a simulation driving environment, and outputting simulation control data of the vehicle; converting the actual control data into a data column matched with the value domain of the simulation control data through linear fitting, and achieving mapping from the actual control data of the vehicle to the simulation driving environment. Through the MPC algorithm and the linear fitting mode, the method for constructing the mapping relation between the actual vehicle control parameters and the simulation environment vehicle control parameters is convenient, fast, low in cost and high in accuracy.

Description

technical field [0001] The invention relates to the technical field of vehicle simulation driving, in particular to a method and system for mapping vehicle manipulation data to a simulation environment. Background technique [0002] At present, in related fields, there are many existing technologies related to the method of mapping actual vehicle driving data into the simulation environment, for example: the name is "A Method and System for Adaptive Calibration of Control Parameters of Parallel Driving Vehicles (Application Number: 202010349073.7)" In the disclosed scheme, the vehicle control parameters are calibrated in real time through real vehicle driving data, vehicle end quality and slope value; the name is "A Simulation Test Method and System for Parallel Driving (Application Number: 202010349719.1)". modify the mapping relationship between the driving simulation data and the simulation driving data until the actual driving data is within the preset range, and quickly...

Claims

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Application Information

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IPC IPC(8): G06F30/20G06F30/17G06F111/10
CPCG06F30/20G06F30/17G06F2111/10Y02T10/40
Inventor 程德心方俊文张进军
Owner WUHAN KOTEI INFORMATICS
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