Vehicle-in-the-loop fusion test system and method

Abstract

The present invention discloses a vehicle-in-the-loop fusion test system and method. A vehicle-in-the-loop fusion test system includes: a driving simulation system, a real-time simulation system and a test vehicle; the driving simulation system is respectively connected to the test vehicle and the real-time simulation system in communication, the driving simulation system is used to generate a driving operation signal in response to the user's driving operation, and to generate a dynamic response based on the operation performed by the test vehicle for the virtual driving event generated by the real-time simulation system; the real-time simulation system is respectively connected to the test vehicle and the driving simulation system in communication, the real-time simulation system is used to generate a virtual test scene of a simulated test site, and to generate a virtual driving event based on the position and posture information of the test vehicle and the position information of the virtual vehicle; the test vehicle is respectively connected to the driving simulation system and the real-time simulation system in communication, the test vehicle is used to perform a real vehicle test based on the driving operation signal and the virtual driving event, and to collect the position and posture information of the test vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle testing technology, and in particular to a vehicle-in-the-loop fusion testing system and method. Background Art

[0002] Autonomous driving technology is characterized by functional diversity and scenario complexity. A large number of autonomous driving function and performance tests with different functions, scenarios and specifications are required during engineering development. As the level of autonomous driving targeted by the autonomous driving system increases, in order to ensure the safety of autonomous driving, the test coverage and complexity are required to be improved, including extreme scenarios, which leads to an increase in the time and labor costs and test risks of the autonomous driving system testing process.

[0003] The autonomous driving system usually consists of three components: perception module, decision and planning module, and control module. At different stages of product development, the main testing work for the autonomous driving system development status includes model-in-the-loop testing (MIL), software-in-the-loop testing (SIL), hardware-in-the-loop testing (HIL), vehicle-in-the-loop testing (VIL), driver-in-the-loop (DIL), and road testing (RT). The vehicle-in-the-loop testing (VIL) mainly solves the problem of vehicle dynamics simulation accuracy.

[0004] The current vehicle-in-the-loop testing technology places the entire unmanned vehicle on a vehicle motion simulation platform, which cannot accurately simulate the motion performance of the vehicle dynamics model on a real road, and the equipment is large and complex, making the solution low in feasibility. Another existing vehicle-in-the-loop testing technology is a GPS-based virtual scene injection test vehicle in the loop testing system. Through a computer monitor, virtual reality glasses, augmented reality display or a head-up display interface, the driver needs to sit in the test vehicle, which makes it difficult to immerse the visual experience in the test virtual scene, and the lack of synchronization between visual perception and physical perception will cause perceptual dizziness. In addition, the driver will have certain personal safety risks in the test vehicle. Summary of the invention

[0005] The present invention provides a vehicle-in-the-loop fusion test system and method, which is suitable for enabling a driver to perform a test without sitting in a real test vehicle and to feel the vehicle dynamics response of a real vehicle when a virtual driving event is injected, thereby ensuring the accuracy of the test while ensuring the safety of the driver.

[0006] According to one aspect of the present invention, a vehicle-in-the-loop fusion test system is provided, comprising: a driving simulation system, a real-time simulation system and a test vehicle;

[0007] The driving simulation system is communicatively connected to the test vehicle and the real-time simulation system, respectively, and the driving simulation system is used to generate a driving operation signal in response to a user's driving operation, and to generate a dynamic response based on the operation performed by the test vehicle in response to a virtual driving event generated by the real-time simulation system;

[0008] The real-time simulation system is respectively connected to the test vehicle and the driving simulation system for communication, and the real-time simulation system is used to generate a virtual test scene simulating a test site, and to generate a virtual driving event based on the position and posture information of the test vehicle and the virtual vehicle position information;

[0009] The test vehicle is communicatively connected to the driving simulation system and the real-time simulation system respectively, and the test vehicle is used to perform a real vehicle test based on the driving operation signal and the virtual driving event, and to collect the position and posture information of the test vehicle.

[0010] According to another aspect of the present invention, a vehicle-in-the-loop fusion testing method is provided, comprising:

[0011] The real-time simulation system obtains the real vehicle position information and the virtual vehicle position information;

[0012] The real-time simulation system calibrates the real vehicle position information and the virtual vehicle position information to obtain a calibration value;

[0013] The driving simulator system generates a driving operation signal in response to a user's driving operation;

[0014] The test vehicle performs a real vehicle test based on the driving operation signal and the virtual driving event;

[0015] The test vehicle collects position and posture information;

[0016] The real-time simulation system updates the virtual vehicle position information based on the calibration value and the real vehicle position information;

[0017] The real-time simulation system generates a virtual driving event according to the position and posture information and the virtual vehicle position information;

[0018] The driving simulation system simulates vehicle motion based on the position and posture information;

[0019] The driving simulator system generates a vehicle simulation view based on the virtual test scene, the virtual vehicle position information and the position posture information.

[0020] The vehicle-in-the-loop fusion test system provided by the embodiment of the present invention includes: a driving simulation system, a real-time simulation system and a test vehicle; the driving simulation system is respectively connected to the test vehicle and the real-time simulation system in communication, the driving simulation system is used to generate a driving operation signal in response to the user's driving operation, and to generate a dynamic response based on the operation performed by the test vehicle for the virtual driving event generated by the real-time simulation system; the real-time simulation system is respectively connected to the test vehicle and the driving simulation system in communication, the real-time simulation system is used to generate a virtual test scene of a simulated test site, and to generate a virtual driving event based on the position and posture information of the test vehicle and the position information of the virtual vehicle; the test vehicle is respectively connected to the driving simulation system and the real-time simulation system in communication, the test vehicle is used to perform a real vehicle test based on the driving operation signal and the virtual driving event, and to collect the position and posture information of the test vehicle. The embodiment of the present invention ensures the accuracy of the vehicle dynamic response during the vehicle-in-the-loop fusion test, and can improve the test efficiency and safety of the vehicle-in-the-loop fusion test, and the user can feel the physical sensation and vision under the current virtual driving event without sitting in the test vehicle located in the real test site, so that the user can immersively perform vehicle evaluation tests, and increase the authenticity and experience of the vehicle-in-the-loop fusion test.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A schematic diagram of the structure of a vehicle-in-the-loop fusion test system provided in Embodiment 1 of the present invention;

[0024] Figure 2 A schematic diagram of the structure of a vehicle-in-the-loop fusion test system provided in Embodiment 2 of the present invention;

[0025] Figure 3 A flow chart of a vehicle-in-the-loop fusion testing method is provided for Embodiment 3 of the present invention;

[0026] Figure 4 This is a flow chart of a vehicle-in-the-loop fusion testing method applicable to Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment 1

[0030] Figure 1 This is a schematic diagram of the structure of a vehicle-in-the-loop fusion test system provided in the first embodiment of the present invention. This embodiment can be used to enable the driver to perform the test without sitting in a real test vehicle, and to feel the vehicle dynamics response of the real vehicle when a virtual driving event is injected, while ensuring the accuracy of the test and the safety of the driver, such as Figure 1 As shown, the system includes: a driving simulation system 201 , a real-time simulation system 202 and a test vehicle 203 .

[0031] The driving simulation system 201 is a system that is set up indoors and simulates the cockpit of a real vehicle. The driving simulation system 201 is provided with at least a simulated vision subsystem, a simulated motion subsystem, a driver's seat, an audio device, and a HIL (Hardware-in-the-Loop) system. The driver's seat includes at least a steering wheel, a brake pedal, and an accelerator pedal.

[0032] The driving simulation system 201 is communicatively connected to the test vehicle 203 and the real-time simulation system 202 respectively. The driving simulation system 201 is used to generate a driving operation signal in response to the user's driving operation, and to generate a dynamic response based on the operation performed by the test vehicle 203 in response to the virtual driving event generated by the real-time simulation system 202.

[0033] Exemplarily, the driving simulation system 201 and the test vehicle 203 are connected via wireless communication technology for data exchange between the two, wherein the wireless communication technology can be 3G, 4G, 5G, WiFi, etc.; the driving simulation system 201 and the real-time simulation system 202 are both indoors, and the driving simulation system 201 and the real-time simulation system 202 are connected via communication technology to achieve data exchange. The user will complete the vehicle-in-the-loop test in the driver's seat in the driving simulation system 201, and the driving simulation system 201 generates a driving operation signal in response to the user's driving operation on the steering wheel, accelerator pedal, and brake pedal in the driver's seat, and sends the driving operation signal to the test vehicle 203.

[0034] At the same time, the driving simulation system 201 converts the position and posture information of the virtual driving event transmitted by the real-time simulation system 202 into a dynamic response, and simulates the dynamic response through the audio equipment, visual equipment and motion platform in the driving simulation system 201, so that the user can immersively feel the somatosensory movement and visual scene changes of the current real test vehicle 203 in the driver's seat, and make a more accurate subjective evaluation. Among them, the position and posture changes generated by the test vehicle 203 are generated according to the user's driving operation and the corresponding automatic driving operation made by the virtual driving event in the real-time simulation system 202.

[0035] It should be noted that in the embodiments of the present invention, the use of wireless communication technologies such as 3G, 4G, 5G, WiFi, etc. for connection is an exemplary description of the present invention. In other embodiments of the present invention, other wireless communication technologies may also be used for connection. The present invention is only for example and not limited.

[0036] In addition, in the embodiment of the present invention, the driving operation signal at least includes the steering wheel torque, the brake pedal pressure value, and the accelerator pedal pressure value, which is an exemplary description of the present invention. In other embodiments of the present invention, other driving operation signals may also be included, such as emergency braking signals, etc. The present invention is only for example and not limited.

[0037] The real-time simulation system 202 is respectively connected to the test vehicle 203 and the driving simulation system 201 for communication. The real-time simulation system 202 is used to generate a virtual test scene of a simulated test site, and to generate a virtual driving event based on the position and posture information of the test vehicle 203 and the virtual vehicle position information.

[0038] The real-time simulation system 202 is wirelessly connected to the test vehicle 203 and is connected to the driving simulation system 201 to realize data interaction between the systems. The real-time simulation system 202 can build a virtual test scene of the simulation test site to be performed according to the preset test case. The virtual test scene of the simulation test site includes the environment around the current virtual vehicle and the virtual vehicle model, and the virtual vehicle model includes at least a virtual vehicle body and a number of virtual sensors on the virtual vehicle body.

[0039] Exemplarily, the virtual test scene constructed according to the test case in the real-time simulation system 202 is a conventional urban highway, which is provided with traffic lights, sidewalks, primary schools, pedestrians crossing the road on non-sidewalks, large obstacles, etc. from the starting point to the end point.

[0040] It should be noted that the virtual test scenario in the embodiment of the present invention is an exemplary illustration of the present invention. In other embodiments of the present invention, other virtual test scenarios can be constructed according to other test cases, such as a mountain road with a slope, a narrow road with low friction on rainy days, etc. The embodiment of the present invention is only an example and is not limited.

[0041] Furthermore, the real-time simulation system 202 also updates the position information of the virtual vehicle in the virtual test scene in real time according to the position and posture information transmitted back by the test vehicle 203, thereby generating a virtual driving event.

[0042] The real-time simulation system 202 obtains the position and posture information sent back by the test vehicle 203 and the virtual vehicle position information to determine the position and posture information changes corresponding to the driving action of the current virtual vehicle, the virtual vehicle position information changes and the changes in the received data of the virtual sensors on the virtual vehicle as virtual driving events.

[0043] The real-time simulation system 202 can quickly and easily build complex and dangerous virtual test scenarios to complete vehicle-in-the-loop testing without setting up working scenarios in actual sites, thereby improving the efficiency and safety of vehicle-in-the-loop testing and reducing the cost of vehicle-in-the-loop testing.

[0044] The test vehicle 203 is respectively connected to the driving simulation system 201 and the real-time simulation system 202 for communication. The test vehicle 203 is used to perform real vehicle testing based on driving operation signals and virtual driving events, and to collect position and posture information of the test vehicle 203 .

[0045] The test vehicle 203 is parked in an open and safe test site, and is wirelessly connected to the driving simulation system 201 and the real-time simulation system 202. The vehicle controller of the test vehicle 203 controls the vehicle operation according to the driving operation signal generated by the user in the driving simulation system 201 and the virtual driving event generated in the real-time simulation system 202, so as to realize the test of the real test vehicle. During the real vehicle test, the position and posture information of the test vehicle 203 is collected in real time and transmitted back to the real-time simulation system 202.

[0046] The vehicle-in-the-loop fusion test system provided in the embodiment of the present invention can execute the vehicle-in-the-loop fusion test method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0047] The vehicle-in-the-loop fusion test system provided by the embodiment of the present invention includes: a driving simulation system, a real-time simulation system and a test vehicle; the driving simulation system is respectively connected to the test vehicle and the real-time simulation system in communication, the driving simulation system is used to generate a driving operation signal in response to the user's driving operation, and to generate a dynamic response based on the operation performed by the test vehicle for the virtual driving event generated by the real-time simulation system; the real-time simulation system is respectively connected to the test vehicle and the driving simulation system in communication, the real-time simulation system is used to generate a virtual test scene of a simulated test site, and to generate a virtual driving event based on the position and posture information of the test vehicle and the position information of the virtual vehicle; the test vehicle is respectively connected to the driving simulation system and the real-time simulation system in communication, the test vehicle is used to perform a real vehicle test based on the driving operation signal and the virtual driving event, and to collect the position and posture information of the test vehicle. The embodiment of the present invention ensures the accuracy of the vehicle dynamic response during the vehicle-in-the-loop fusion test, and can improve the test efficiency and safety of the vehicle-in-the-loop fusion test, and the user can feel the physical sensation and vision under the current virtual driving event without sitting in the test vehicle located in the real test site, so that the user can immersively perform vehicle evaluation tests, and increase the authenticity and experience of the vehicle-in-the-loop fusion test.

[0048] Embodiment 2

[0049] Figure 2 This is a schematic diagram of the structure of a vehicle-in-the-loop fusion test system provided in the second embodiment of the present invention. This embodiment is a refinement of each system in the above embodiment. Figure 2 As shown, the system includes: a driving simulation system 201 , a real-time simulation system 202 and a test vehicle 203 .

[0050] In some embodiments of the present invention, the driving simulation system 201 includes: a driving operation feedback subsystem 2011 , a driving simulation motion subsystem 2012 , and a driving simulation vision subsystem 2013 .

[0051] The driving operation feedback subsystem 2011 is connected to the test vehicle 203 via communication, and is used to generate a driving operation signal in response to the user's operation.

[0052] The driving operation feedback subsystem 2011 and the test vehicle are linked via wireless communication technology. The driving operation feedback subsystem 2011 generates a driving operation signal based on the user's operation of the steering wheel, accelerator pedal, and brake pedal in the driving simulation system, and sends the driving operation signal to the test vehicle, which is equivalent to the user making corresponding driving operations on the real test vehicle.

[0053] The driving simulation motion subsystem 2012 is in communication with the real-time simulation system 202 and is used to simulate vehicle motion based on position and posture information.

[0054] The driving simulation motion subsystem 2012 includes a motion platform, which communicates with the real-time simulation system to obtain the position and posture information received in the real-time simulation system, and enables the motion platform to simulate the vehicle cabin movement of the real test vehicle in the test site according to the position and posture information.

[0055] Exemplarily, the position and posture information at least includes the changes in the six degrees of freedom of the real test vehicle during the test, such as the vehicle's movement freedom in three dimensions and the vehicle's rotation freedom around three-dimensional coordinates. The driving simulation motion subsystem 2012 drives the motion platform to make the same motion as the position and posture information according to the changes in the six degrees of freedom in the position and posture information transmitted from the real-time simulation system, so as to simulate the vehicle cabin motion of the real vehicle during the test.

[0056] It should be noted that in the embodiment of the present invention, the position and posture information at least includes the changes in the six degrees of freedom of the actual test vehicle during the test process as an exemplary description. In other embodiments of the present invention, other position and posture information may also be included. The present invention is only for example and not limited.

[0057] The driving simulation vision subsystem 2013 is connected to the real-time simulation system 202 and is used to generate a vehicle simulation vision based on a virtual test scene, virtual vehicle position information and position posture information.

[0058] The driving simulation visual subsystem 2013 at least includes a display device around the cockpit. For example, the display device can be a surround display screen. The driving simulation visual subsystem 2013 is connected to the real-time simulation system through a communication technology, and generates a vehicle simulation visual according to the virtual test scene preset in the real-time simulation system, and the position information and position posture information of the virtual vehicle in the current virtual driving event. The surrounding environment visual of the virtual vehicle at this time can be known through the current virtual test scene and the current vehicle position information. At the same time, the environmental visual of the virtual vehicle is further adjusted according to the position angle of the vehicle cockpit in the current position posture information.

[0059] For example, based on the virtual test scene and the virtual vehicle position information, it can be known that the surrounding environment of the current virtual vehicle is that there is a large obstacle in front, and based on the position and posture information at this time, it can be known that the vehicle cabin is in a slightly forward tilted state. The driving simulation vision subsystem 2013 simulates the forward movement and slightly forward tilted vision changes of the virtual vehicle in the virtual test scene based on the above information.

[0060] It should be noted that, in the embodiment of the present invention, generating a vehicle simulation scene based on a virtual test scene, virtual vehicle position information and position posture information is an exemplary illustration of the present invention. In other embodiments of the present invention, other information may be combined to generate a vehicle simulation scene. The present invention is only an example and not a limitation.

[0061] In addition, the display device in the driving simulation visual subsystem 2013 in the embodiment of the present invention is a surround display screen as an exemplary illustration of the present invention. In other embodiments of the present invention, it can also be other display devices, such as a VR display screen, a head-mounted display device, etc. The present invention is only for example and not limited.

[0062] The embodiment of the present invention simulates vehicle motion and generates a simulated vehicle vision according to the position and posture information of the test vehicle, a virtual test scene, and virtual position information, so that a user in a driving simulation system can intuitively feel the changes in the motion sensation and visual scene of a real test vehicle, and the position and posture information used to simulate the vehicle motion and the information used to generate the simulated vehicle vision in the driving simulation system are both derived from a real-time simulation system, thereby ensuring the synchronization of the simulated vehicle motion and the simulated vehicle vision, so that the user can complete the test evaluation in an immersed and safe manner in the driving simulation system, and can ensure the safety of the user while being able to truly reflect the dynamic response of a real vehicle.

[0063] In some embodiments of the present invention, the real-time simulation system 202 includes: a scene sensor simulation subsystem 2021 and a virtual driving event generation subsystem 2022 .

[0064] The scene sensor simulation subsystem 2021 is in communication with the test vehicle 203 , and is used to generate a simulated sensor signal and transmit it to the test vehicle 203 .

[0065] The scene sensor simulation subsystem 2021 senses the surrounding environment of the virtual vehicle in the virtual test scene, generates simulated sensor signals, and transmits the perception signals to the test vehicle through wireless communication technology.

[0066] Exemplarily, the scene sensor simulation subsystem 2021 includes at least a virtual millimeter wave radar sensor, a virtual ultrasonic radar sensor, a virtual camera device, etc. The scene sensor simulation subsystem 2021 transmits the sensor information collected from each virtual sensor as a simulated sensor signal to the test vehicle as a sensor signal obtained by the sensor of the real test vehicle.

[0067] In some embodiments of the present invention, the scene sensor simulation subsystem 2021 also needs to pre-process the acquired sensor information before transmitting it to the test vehicle.

[0068] Exemplarily, the continuous frame video captured by the virtual camera device is transmitted to the test vehicle as an analog sensor signal. At the same time, the virtual camera device extracts several equally spaced frame images from the continuous frame video and performs preliminary grayscale processing before transmitting them to the test vehicle as an analog sensor signal.

[0069] Exemplarily, the virtual test scene constructed according to the test case in the real-time simulation system 202 is a conventional urban highway, and the highway is provided with traffic lights, sidewalks, elementary schools, pedestrians crossing the road on non-sidewalks, large obstacles, etc. from the starting point to the end point. The position and posture information sent back by the test vehicle 203 is calibrated with the virtual vehicle position information in the virtual test scene to obtain the surrounding environment of the current virtual vehicle in the virtual test scene. For example, if the surrounding environment of the current virtual vehicle includes pedestrians crossing the road on non-sidewalks, the virtual radar sensor and the virtual camera device obtain relevant data information and transmit it to the test vehicle as a simulated sensor signal.

[0070] In addition, in the embodiment of the present invention, the scene sensor simulation subsystem 2021 includes at least a virtual millimeter-wave radar sensor, a virtual ultrasonic radar sensor, and a virtual camera device as an exemplary illustration. In other embodiments of the present invention, other virtual sensors may also be included, such as laser sensors, etc. The present invention is only for example and not limited.

[0071] The virtual driving event generation subsystem 2022 is respectively connected to the test vehicle 203, the driving simulation motion subsystem 2012 and the driving simulation vision subsystem 2013 for generating a virtual driving event based on the position and posture information of the test vehicle 203 and the real vehicle position information.

[0072] The virtual driving event generation subsystem 2022 is connected to the test vehicle via wireless communication technology. The virtual driving event generation subsystem 2022 generates a virtual driving event based on the position and posture information of the test vehicle 203 and the real vehicle position information, including: calibrating and updating the virtual vehicle position information according to the real vehicle position information sent back by the test vehicle, and synchronously generating the virtual vehicle position and posture information according to the position and posture information of the real test vehicle, and at the same time, sending instructions to the scene sensor simulation subsystem 2021 to reacquire the received analog sensor signal of the virtual sensor.

[0073] The virtual driving event generation subsystem 2022 sends the virtual driving event to the driving simulation motion subsystem 2012 and the driving simulation vision subsystem 2013 in the driving simulation system, so that the driving simulation system can simulate vehicle motion and generate vehicle simulation vision.

[0074] It should be noted that the virtual driving event in the embodiment of the present invention is an exemplary description. In other embodiments of the present invention, the virtual driving event may also include other detailed events. The embodiment of the present invention is only an example and is not limiting.

[0075] The virtual driving event subsystem in the real-time simulation system of an embodiment of the present invention can generate virtual driving events based on the position and posture information of the test vehicle and the real vehicle position information, so as to update the virtual vehicle position information and virtual position and posture information in the virtual test scene, and enable the scene sensor simulation subsystem 2021 to re-acquire the simulated sensor signal of the current virtual vehicle in the virtual test scene, so as to be able to test the real vehicle by injecting the simulated sensor signal into the test vehicle, thereby saving the time and financial cost of setting up the test condition scene and improving the efficiency of the test.

[0076] In some embodiments of the present invention, the test vehicle 203 includes: an automatic driving subsystem 2031, a driving robot 2032, a vehicle controller 2033, and a position and posture sensor 2034.

[0077] The autonomous driving subsystem 2031 is respectively connected to the scene sensor simulation subsystem 2021 and the vehicle controller 2033 for generating autonomous driving instructions based on virtual driving events.

[0078] The autonomous driving subsystem 2031 obtains the simulated sensor signal sent by the scene sensor simulation subsystem 2021 through wireless communication technology, and based on the simulated sensor signal in the current virtual driving event, generates a corresponding driving decision plan according to a preset algorithm, and sends it to the vehicle controller 2033 as an autonomous driving instruction.

[0079] In some embodiments of the present invention, the autonomous driving subsystem 2031 includes: a perception module 311 and a decision planning module 312 .

[0080] The perception module 311 is respectively connected to the scene sensor simulation subsystem 2021 and the decision-making planning module 312 for communication, and is used to obtain the analog sensor signal generated by the scene sensor simulation subsystem 2021, and further process the analog sensor signal, and transmit the processed analog sensor signal to the decision-making planning module 312.

[0081] The decision-making planning module 312 is in communication with the vehicle controller 2033 and is used to generate a driving decision plan as an automatic driving instruction based on the analog sensor signal processed by the perception module 311 according to a preset algorithm.

[0082] It should be noted that the embodiment of the present invention that generates automatic driving instructions based on virtual driving events is an exemplary description. In other embodiments of the present invention, automatic driving instructions can be generated in combination with the real vehicle position information and the position and posture information of the real test vehicle. For example, when the real test vehicle detects that it is close to the edge of the test site, an automatic driving instruction to terminate parking is generated. The present invention is only an example and is not limited thereto.

[0083] The driving robot 2032 is communicatively connected to the driving operation feedback subsystem 2011, and the driving robot 2032 is wirelessly communicatively connected to the vehicle controller 2033, for receiving driving operation signals such as steering wheel torque, brake pedal pressure value, and accelerator pedal pressure value from the driving operation feedback subsystem 2011, and converting the driving operation signals into manual driving instructions for the test vehicle based on the above driving operation signals.

[0084] The vehicle controller 2033 is used to control the test vehicle 203 to execute operations corresponding to the automatic driving instructions and the manual driving instructions.

[0085] The vehicle controller 2033 receives and executes manual driving instructions and automatic driving instructions, and performs driving operations such as steering, deceleration, and acceleration according to the instructions.

[0086] It should be noted that the driving operation in the embodiment of the present invention is only an example and is not limited thereto. In other embodiments of the present invention, driving operations such as reversing may also be included.

[0087] The position and posture sensor 2034 is in communication connection with the virtual driving event generation subsystem 2022 , and is used to obtain the position and posture information of the test vehicle 203 , and send it to the virtual driving event generation subsystem 2022 .

[0088] The position and posture sensor 2034 obtains the position information of the test vehicle in real time, including the movement freedom of the test vehicle in three dimensions and the rotation freedom of the test vehicle around the three-dimensional coordinates, so as to determine the actual state of the current test vehicle such as left leaning, right leaning, backward leaning, forward leaning, etc.

[0089] For example, the test vehicle is equipped with a high-precision GPS (Global Positioning System) differential positioning sensor and a high-precision inertial navigation sensor at a high-rigidity part of the vehicle body, which are used to obtain the moving distance of the test vehicle along the three-dimensional coordinate axis and the rotation angle of the test vehicle around the three-dimensional coordinate axis. The above data is sent as position and posture information to the virtual driving event generation subsystem 2022 in the real-time simulation system through wireless communication technology.

[0090] It should be noted that the actual states of the test vehicle in the embodiment of the present invention, such as leaning left, leaning right, leaning back, leaning forward, etc., are for exemplary purposes only. In other embodiments of the present invention, other actual states may also be included.

[0091] In addition, the use of the high-precision GPS differential positioning sensor and the high-precision inertial navigation sensor in the embodiments of the present invention to obtain the position and attitude information of the test vehicle is for exemplary purposes only. In other embodiments of the present invention, other sensors may also be used to obtain the position and attitude information. The present invention is only for illustrative purposes and is not intended to be limiting.

[0092] The embodiments of the present invention solve the problem of simulation differences between vehicle dynamics models of vehicle systems and complex electronic control systems by performing interactive simulation tests among a driving simulation system, a real-time simulation system, and a real test vehicle, thereby ensuring the accuracy of vehicle dynamics response during vehicle-in-the-loop fusion testing, while improving the test efficiency and safety of vehicle-in-the-loop fusion testing, providing a solution for extremely dangerous test scenarios, and allowing users to drive the test vehicle without sitting in the test vehicle located in a real test site, and to feel the physical and visual sensations in the current driving operation and virtual driving events, enabling users to perform vehicle evaluation tests in an immersive manner, thereby increasing the safety, authenticity, and experience of vehicle-in-the-loop fusion testing.

[0093] Embodiment 3

[0094] Figure 3A flowchart of a vehicle-in-the-loop fusion test method is provided for the third embodiment of the present invention. The method can be executed by a vehicle-in-the-loop fusion test system. The vehicle-in-the-loop fusion test method can be implemented in the form of hardware and / or software. Figure 3 As shown, the method includes:

[0095] S301. The real-time simulation system obtains real vehicle position information and virtual vehicle position information.

[0096] The real-time simulation system obtains the real vehicle position information transmitted by the test vehicle, and obtains the virtual vehicle position information in the current virtual test scene. The real vehicle position at least includes the value on the three-dimensional coordinates. The virtual vehicle position information is the position information of the virtual vehicle in the virtual test scene, and also at least includes the value on the three-dimensional coordinates.

[0097] Exemplarily, both the real vehicle position information and the virtual vehicle position information are represented by a three-dimensional array, and the numerical value corresponding to each dimension in the three-dimensional array represents the coordinate value in that direction.

[0098] It should be noted that in the embodiment of the present invention, the vehicle position information is a numerical value on a three-dimensional coordinate system for exemplary purposes of the present invention. In other embodiments of the present invention, other methods may be used to represent the vehicle position information. The embodiment of the present invention is only an example and is not intended to be limiting.

[0099] S302: The real-time simulation system calibrates the real vehicle position information and the virtual vehicle position information to obtain a calibration value.

[0100] Since the real vehicle position information and the virtual vehicle position information are in two different three-dimensional coordinate systems, there is always a certain deviation between the real vehicle position information and the virtual vehicle position information. The real-time simulation system needs to calibrate and calculate the deviation between the real vehicle position information and the virtual vehicle position information, and use the deviation value between the two as the calibration value, so that the calibration value and the real vehicle position can be used to determine the accurate position of the virtual vehicle in the virtual test scene.

[0101] Exemplarily, the real coordinates corresponding to the center of mass of the test vehicle are used as the real vehicle position information, and the virtual coordinates corresponding to the center of mass of the virtual vehicle are used as the virtual vehicle position information.

[0102] Exemplarily, the three-dimensional coordinate is a rectangular coordinate system in which three directions are mutually perpendicular, and the values ​​in the three-dimensional array are the coordinate values ​​of the three directions respectively.

[0103] It should be noted that the three-dimensional coordinate is a rectangular coordinate system in which three directions are perpendicular to each other for exemplary purposes of an embodiment of the present invention. In other embodiments of the present invention, the three directions of the three-dimensional coordinate can be selected according to actual needs. The embodiments of the present invention are only examples and are not limiting.

[0104] Figure 4 Flow chart of a vehicle-in-the-loop fusion testing method applicable to the third embodiment of the present invention, such as Figure 4 As shown, in some embodiments of the present invention, S302 includes:

[0105] S3021. Subtract the virtual first coordinate of the virtual vehicle information from the real first coordinate of the real vehicle position information to obtain a calibrated first coordinate.

[0106] The difference between the real first coordinate in the three-dimensional array corresponding to the initial real vehicle position information at the beginning of the test and the virtual first coordinate in the three-dimensional array corresponding to the initial virtual vehicle information is subtracted, and the obtained difference is used as the calibration first coordinate, which is used as the deviation value between the test vehicle and the virtual vehicle.

[0107] S3022. Subtract the virtual second coordinate of the virtual vehicle information from the real second coordinate of the real vehicle position information to obtain a calibrated second coordinate.

[0108] The real second coordinate in the three-dimensional array corresponding to the real vehicle position information is subtracted from the virtual second coordinate in the three-dimensional array corresponding to the virtual vehicle information, and the difference obtained is used as the calibrated second coordinate.

[0109] S3023. Subtract the virtual third coordinate of the virtual vehicle information from the real third coordinate of the real vehicle position information to obtain a calibrated third coordinate.

[0110] The real third coordinate in the three-dimensional array corresponding to the real vehicle position information is subtracted from the virtual third coordinate in the three-dimensional array corresponding to the virtual vehicle information, and the difference obtained is used as the calibrated third coordinate.

[0111] S3024, composing a calibration three-dimensional array by combining the calibration first coordinate, the calibration second coordinate, and the calibration third coordinate as a calibration value.

[0112] Exemplarily, the initial real vehicle position information is (113.36, 23.09, 54), and the initial virtual vehicle information is (100, 20, 52). The calculated calibration first coordinate, calibration second coordinate, and calibration third coordinate are combined into a calibration three-dimensional array (13.36, 3.09, 2) as the calibration value.

[0113] It should be noted that in the embodiment of the present invention, the actual values ​​of the real vehicle position information and the virtual vehicle position information are exemplary illustrations of the present invention. In other embodiments of the present invention, the actual values ​​of the corresponding real vehicle position information and the virtual vehicle position information can be determined according to the actual operating scenario. The embodiment of the present invention is only an example and is not limited.

[0114] S303: The driving simulator system generates a driving operation signal in response to the user's driving operation.

[0115] The driving simulator responds to the driving operation made by the user on the manipulation feedback component in the driver's seat, and then generates a corresponding driving operation signal, which represents the action made by the user on the manipulation feedback component.

[0116] Exemplarily, the driving simulator system generates a steering wheel torque, a brake pedal pressure value, and an accelerator pedal pressure value as driving operation signals according to the user turning the steering wheel and stepping on the accelerator pedal and the brake pedal.

[0117] It should be noted that in other embodiments of the present invention, the user may also perform driving operations on other operating feedback components in the driver's seat and generate other driving operation signals. The present invention is only for example and not for limitation.

[0118] S304: The test vehicle performs a real vehicle test based on the driving operation signal and the virtual driving event.

[0119] The driving robot in the test vehicle receives the driving operation signal transmitted by the driving operation feedback subsystem in the driving simulation system. At the same time, the perception module in the test vehicle receives the simulated sensor signal generated corresponding to the virtual driving event transmitted by the scene sensor simulation module in the real-time simulation system. The vehicle controller of the test vehicle controls the test vehicle to drive in the real test site according to the acquired signal data and the preset rules to complete the actual vehicle test.

[0120] It should be noted that the actual vehicle test based on the driving operation signal and the virtual driving event is an exemplary description of the embodiment of the present invention. In other embodiments of the present invention, other factors may be combined to carry out actual vehicle testing. The embodiment of the present invention is only an example and is not limiting.

[0121] In some embodiments of the present invention, S304 includes:

[0122] S3041. The driving robot generates a manual driving instruction based on the driving operation signal.

[0123] The driving robot generates corresponding manual driving instructions based on the received driving operation signals and sends them to the vehicle controller to respond to the driving operations that the user needs to perform on the test vehicle in the driving simulation system.

[0124] Exemplarily, the driving robot generates a manual driving instruction based on the steering wheel torque, brake pedal pressure value, and accelerator pedal pressure value in the driving operation signal, wherein the manual driving instruction includes a steering wheel angle, an accelerator pedal opening, and a brake pedal opening.

[0125] It should be noted that the manual driving instructions in the embodiment of the present invention are exemplary illustrations. In other embodiments of the present invention, other manual driving instructions may be included according to actual scenarios. The embodiment of the present invention is only an example and is not limiting.

[0126] S3042. The autonomous driving subsystem generates autonomous driving instructions according to the virtual driving events and preset rules.

[0127] The perception module in the autonomous driving subsystem receives the simulated sensor signals when the virtual driving events occur, and pre-processes the received simulated sensors before transmitting them to the decision-making module. The decision-making module generates autonomous driving instructions based on preset driving rules and sends them to the vehicle controller to perform driving operations based on the virtual driving events in the virtual test scenarios in the real-time simulation system.

[0128] It should be noted that in other embodiments of the present invention, the autonomous driving subsystem can also generate autonomous driving instructions in combination with other conditions, such as generating autonomous driving instructions in combination with sensor signals of the test vehicle, and generating a parking termination instruction when the sensor on the test vehicle recognizes that the vehicle is approaching the edge of the test site. The embodiments of the present invention are for example only and are not limiting.

[0129] S3043. The vehicle controller controls the test vehicle to perform actual vehicle testing based on manual driving instructions and automatic driving instructions.

[0130] The vehicle controller executes manual driving instructions from the driving robot and autonomous driving instructions from the decision-making module, and controls the operation of the test vehicle to complete the actual vehicle test.

[0131] S305. The test vehicle collects position and posture information.

[0132] The position and posture sensor in the test vehicle collects the position and posture information of the current test vehicle to obtain the physical state of the test vehicle.

[0133] In some embodiments of the present invention, the position and posture information includes at least the movement degrees of freedom corresponding to the first direction, the second direction, and the third direction, and the rotation degrees of freedom corresponding to the coordinate axes of the first direction, the second direction, and the third direction.

[0134] Exemplarily, the first direction is the east-west direction, the second direction is the north-south direction, and the third direction is the vertical direction, and the first direction, the second direction, and the third direction are perpendicular to each other. The degrees of freedom of movement corresponding to the first direction, the second direction, and the third direction in the position and posture information can be positive or negative, and the degrees of freedom of movement represent the distance moved by the test vehicle in the positive direction along the current direction; and the angle values ​​of rotation corresponding to the coordinate axes of the first direction, the second direction, and the third direction in the position and posture information.

[0135] The information included in the position and posture information in the embodiments of the present invention is only used as an example and is not limited thereto.

[0136] S306. The real-time simulation system updates the virtual vehicle position information based on the calibration value and the real vehicle position information.

[0137] When the test vehicle is driving in the real test site, the real vehicle position information will change. The real-time simulation system uses the updated real vehicle position information and the fixed calibration value to update the current virtual vehicle position information and determine the position of the current virtual vehicle in the virtual test scene.

[0138] In some embodiments of the present invention, S306 includes:

[0139] S3061. Obtain the real three-dimensional array at the current moment.

[0140] S3062. Subtract the calibration three-dimensional array from the real three-dimensional array to obtain an updated virtual three-dimensional array.

[0141] Exemplarily, the initial real vehicle position information is (113.36, 23.09, 54), and the calculated calibration value is fixed to (13.36, 3.09, 2). After the test vehicle travels a distance, the real vehicle position information is updated to (113.86, 22.99, 54.2). The calibration three-dimensional array is subtracted from the updated three-dimensional array to obtain an updated virtual three-dimensional array of (100.5, 19.9, 52.2), and the position of the virtual vehicle model in the virtual test scene at this time is determined.

[0142] It should be noted that in the embodiments of the present invention, the actual values ​​of the real three-dimensional array, the calibrated three-dimensional array and the virtual three-dimensional array are for illustrative purposes only. In other embodiments of the present invention, other values ​​may be taken according to other actual conditions. The embodiments of the present invention are only for example and are not limiting.

[0143] S307: The real-time simulation system generates a virtual driving event according to the position and posture information and the virtual vehicle position information.

[0144] The virtual driving event generation subsystem in the real-time simulation system generates virtual driving events based on the position and posture information transmitted back by the test vehicle and the virtual vehicle position information, including: calibrating and updating the virtual vehicle position information, reacquiring the surrounding environment of the current virtual vehicle in the virtual test scene, and synchronously generating the virtual vehicle position and posture information according to the position and posture information of the real test vehicle. At the same time, sending instructions to the scene sensor simulation subsystem to reacquire the received analog sensor signal of the virtual sensor.

[0145] The embodiments of the present invention only provide examples of virtual driving events and do not limit them.

[0146] S308: The driving simulation system simulates vehicle motion based on the position and posture information.

[0147] The driving simulation motion subsystem in the driving simulation system drives the motion platform to simulate the motion of the test vehicle according to the position and posture information of the virtual vehicle sent by the virtual driving event generation subsystem.

[0148] It should be noted that in other embodiments of the present invention, other data information may be combined to simulate vehicle motion, and the embodiments of the present invention are only examples and are not limiting.

[0149] S309: The driving simulator system generates a vehicle simulation scene based on the virtual test scene, the virtual vehicle position information and the position and posture information.

[0150] The driving simulation motion subsystem in the driving simulation system determines the surrounding environment and position posture information of the current virtual vehicle in the virtual test scene according to the virtual vehicle position information to generate a vehicle simulation vision, reflecting the changes in the visual scene when the vehicle drives according to instructions.

[0151] The embodiments of the present invention solve the problem of simulation differences between vehicle dynamics models of vehicle systems and complex electronic control systems by performing interactive simulation tests among a driving simulation system, a real-time simulation system, and a real test vehicle, thereby ensuring the accuracy of vehicle dynamics response during vehicle-in-the-loop fusion testing, while improving the test efficiency and safety of vehicle-in-the-loop fusion testing, providing a solution for extremely dangerous test scenarios, and allowing users to drive the test vehicle without sitting in the test vehicle located in a real test site, and to feel the physical and visual sensations in the current driving operation and virtual driving events, enabling users to perform vehicle evaluation tests in an immersive manner, thereby increasing the safety, authenticity, and experience of vehicle-in-the-loop fusion testing.

[0152] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0153] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle-in-the-loop fusion test system, characterized in that: include: Driving simulation systems, real-time simulation systems, and test vehicles; The driving simulation system is communicatively connected to the test vehicle and the real-time simulation system, respectively, and the driving simulation system is used to generate a driving operation signal in response to a user's driving operation, and to generate a dynamic response based on the operation performed by the test vehicle in response to a virtual driving event generated by the real-time simulation system; The real-time simulation system is respectively connected to the test vehicle and the driving simulation system for communication, and the real-time simulation system is used to generate a virtual test scene of a simulated test site, and to generate a virtual driving event based on the position and posture information of the test vehicle and the position information of the virtual vehicle; The test vehicle is communicatively connected to the driving simulation system and the real-time simulation system respectively, and the test vehicle is used to perform a real vehicle test based on the driving operation signal and the virtual driving event, and to collect the position and posture information of the test vehicle; Wherein, the driving simulation system comprises: a driving operation feedback subsystem, a driving simulation motion subsystem and a driving simulation vision subsystem; The driving operation feedback subsystem is connected to the test vehicle via communication, and is used to generate a driving operation signal in response to a user's operation; The driving simulation motion subsystem is communicatively connected to the real-time simulation system and is used to simulate vehicle motion based on the position and posture information; The driving simulation vision subsystem is connected to the real-time simulation system and is used to generate a vehicle simulation vision based on the virtual test scene, the virtual vehicle position information and the position posture information; Wherein, the real-time simulation system comprises: a scene sensor simulation subsystem and a virtual driving event generation subsystem; The scene sensor simulation subsystem is communicatively connected to the test vehicle, and is used to generate a simulated sensor signal and transmit it to the test vehicle; The virtual driving event generation subsystem is respectively connected to the test vehicle, the driving simulation motion subsystem and the driving simulation vision subsystem for generating virtual driving events based on the position and posture information of the test vehicle and the real vehicle position information; The test vehicle includes: an automatic driving subsystem, a driving robot, a vehicle controller, and a position and posture sensor; The autonomous driving subsystem is respectively connected to the scene sensor simulation subsystem and the vehicle controller for generating an autonomous driving instruction based on the virtual driving event; The driving robot is communicatively connected to the driving operation feedback subsystem and the vehicle controller respectively, and is used to receive the driving operation signal and generate a manual driving instruction based on the driving operation signal; The vehicle controller is communicatively connected to the position and attitude sensor, and is used to control the test vehicle to execute operations corresponding to the automatic driving instructions and the manual driving instructions; The position and posture sensor is communicatively connected to the virtual driving event generation subsystem, and is used to obtain the position and posture information of the test vehicle and send it to the virtual driving event generation subsystem.

2. The system according to claim 1, characterized in that The autonomous driving subsystem includes: a perception module and a decision-making and planning module; The perception module is respectively connected to the scene sensor simulation subsystem and the decision-making planning module for obtaining the analog sensor signal generated by the scene sensor simulation subsystem; The decision-making planning module is communicatively connected to the vehicle controller and is used to determine the automatic driving instructions based on the simulated sensor signal.

3. A vehicle-in-the-loop fusion test method, using the vehicle-in-the-loop fusion test system as described in any one of claims 1-2, comprising: The real-time simulation system obtains the real vehicle position information and the virtual vehicle position information; The real-time simulation system calibrates the real vehicle position information and the virtual vehicle position information to obtain a calibration value; The driving simulator system generates a driving operation signal in response to a user's driving operation; The test vehicle performs a real vehicle test based on the driving operation signal and the virtual driving event; The test vehicle collects position and posture information; The real-time simulation system updates the virtual vehicle position information based on the calibration value and the real vehicle position information; The real-time simulation system generates a virtual driving event according to the position and posture information and the virtual vehicle position information; The driving simulation system simulates vehicle motion based on the position and posture information; The driving simulator system generates a vehicle simulation view based on the virtual test scene, the virtual vehicle position information and the position posture information.

4. The method according to claim 3, characterized in that The real vehicle position information includes a real three-dimensional array of three-dimensional coordinates, and the virtual vehicle position information is a virtual three-dimensional array including three-dimensional coordinates. The real-time simulation system calibrates the real vehicle position information and the virtual vehicle position information to obtain a calibration value, including: Subtracting the virtual first coordinate of the virtual vehicle position information from the real first coordinate of the real vehicle position information to obtain a calibrated first coordinate; Subtracting the virtual second coordinate of the virtual vehicle position information from the real second coordinate of the real vehicle position information to obtain a calibrated second coordinate; Subtracting the virtual third coordinate of the virtual vehicle position information from the real third coordinate of the real vehicle position information to obtain a calibrated third coordinate; The calibration first coordinate, the calibration second coordinate, and the calibration third coordinate are combined into a calibration three-dimensional array as a calibration value.

5. The method according to claim 3, characterized in that: The test vehicle performs a real vehicle test based on the driving operation signal and the virtual driving event, including: The driving robot generates a manual driving instruction based on the driving operation signal; The automatic driving subsystem generates an automatic driving instruction according to the virtual driving event and preset rules; The vehicle controller controls the test vehicle to perform actual vehicle testing based on the manual driving instructions and the automatic driving instructions.

6. The method according to claim 4, characterized in that The real-time simulation system updates the virtual vehicle position information based on the calibration value and the real vehicle position information, including: Get the real three-dimensional array at the current moment; The calibration three-dimensional array is subtracted from the real three-dimensional array to obtain an updated virtual three-dimensional array.

7. The method according to any one of claims 3 to 6, characterized in that: The position and posture information includes at least the movement degrees of freedom corresponding to the first direction, the second direction, and the third direction, and the rotation degrees of freedom corresponding to the coordinate axes of the first direction, the second direction, and the third direction, wherein the first direction, the second direction, and the third direction are perpendicular to each other.

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