Vehicle in-loop automatic driving simulation test method and system based on frequency control

Abstract

The invention relates to the technical field of automatic driving, and provides a vehicle in-loop automatic driving simulation test method and system based on frequency control. The method comprises the following steps: operating an automatic driving control unit deployed on a test vehicle based on target information under the view angle of a main vehicle in a simulation scene, and controlling the test vehicle to move; obtaining the position of the test vehicle, and updating the position of the main vehicle in the simulation scene according to the displacement of the test vehicle; on the basis of the position of the main vehicle in the updated simulation scene, calculating to obtain updated target information under the view angle of the main vehicle in the simulation scene, and returning the target information until a set stop condition is met, so as to obtain a test conclusion; according to the invention, the vehicle in-the-loop test is introduced into a real vehicle running on an actual road, so that the automatic driving test process can better show the influence of various factors such as the power, steering and braking system performance of the whole vehicle, the load of the whole vehicle, the tire wear degree and the road condition, and a more accurate test result is obtained.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a simulation test method and system for vehicle-in-the-loop automatic driving based on frequency control. Background technique [0002] Before the automatic driving system is applied to mass-produced products, it needs to complete the test and verification under various scenarios. However, the scenarios encountered on the actual road are limited by the road conditions and are random, so the test scenarios that can be covered within a certain period of time are limited. There are safety risks in some extreme test scenarios with a risk of collision in the test field or on the actual road. [0003] The performance of the vehicle controlled by the automatic driving system in various test scenarios is affected by various factors such as the vehicle's power system performance, steering system performance, braking system performance, vehicle load, tire wear, and road c...

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a vehicle-in-the-loop automatic driving simulation test method and system based on frequency control, which is used to solve the defect of insufficient accuracy of test results in a full simulation environment in the prior art, and realize more accurate vehicle-in-the-loop automatic driving test

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