Automatic parking test system and method

Abstract

This invention relates to the field of vehicle testing technology, and discloses an automatic parking testing system and method. The system includes: a real-time machine (RTM) for acquiring parking instructions and sending them to an automatic parking controller (VDC); the VDC for sending travel data to the VDC during parking based on the parking instructions; the VDC for sending braking force and torque requests to the RTM based on the travel data; and the RTM for performing dynamic simulation using vehicle dynamics simulation software in a vehicle co-simulation model based on the braking force and torque requests, generating motion data for a virtual vehicle, and sending the motion data to a moving trolley, causing the moving trolley to follow the virtual vehicle to complete parking. This allows for the construction of an automatic parking test bench on a HIL test platform using physical components and the RTM, improving the efficiency of vehicle testing.

Description

Technical Field

[0001] This invention relates to the field of vehicle testing technology, and in particular to an automatic parking testing system and method. Background Technology

[0002] During the real-vehicle parking test phase, a CANoe device was used as the gateway. When the CANoe forwarded messages normally, the parking function worked normally. However, when the CANoe sent erroneous messages according to instructions, the parking function entered an abnormal state. The functional response of the parking function was observed to complete the failsafe test. However, the testing phase was late, making it impossible to respond in a timely manner, thus affecting the product development schedule. Summary of the Invention

[0003] The main objective of this invention is to provide an automatic parking test system, device, equipment, and storage medium, aiming to solve the technical problem of improving vehicle testing efficiency.

[0004] To achieve the above objectives, the present invention provides an automatic parking test system, comprising: a braking component, a steering component, a vehicle morphology simulation device, a display instrument component, an interactive display component, a real-time machine, an automatic driving electronic control unit (AD ECU), an automatic parking controller, a moving vehicle, and a vehicle dynamic control system (VDC). The braking component, the steering component, the display instrument component, the interactive display component, and the AD ECU are respectively connected to the real-time machine. The real-time machine, the AD ECU, the automatic parking controller, and the moving vehicle are connected sequentially. The VDC is connected to the real-time machine. The real-time machine is capable of running a vehicle co-simulation model, and the dynamic simulation in the vehicle co-simulation model is performed by vehicle dynamics simulation software.

[0005] The real-time machine is used to acquire parking instructions and send the parking instructions to the automatic parking controller;

[0006] The automatic parking controller is used to generate driving data according to the parking command and send the driving data to the AD ECU;

[0007] The AD ECU is used to receive the driving data and send the driving data to the real-time machine;

[0008] The VDC is used to receive the travel data forwarded by the real-time machine, and send braking force and torque requests to the real-time machine according to the travel data.

[0009] The real-time machine is also used to perform dynamic simulation through the vehicle dynamics simulation software in the vehicle joint simulation model according to the braking force and torque request, generate motion data of the virtual vehicle, and send the motion data to the mobile car so that the mobile car follows the virtual vehicle to complete parking.

[0010] The real-time machine is also used to diagnose the VDC, steering components, automatic parking controller, display instrument components, and interactive display components in the automatic parking test system, and obtain diagnostic results.

[0011] Optionally, the VDC is further configured to analyze the driving data and output the braking force and torque request required for parking to the real-time machine;

[0012] The real-time machine is also used to generate wheel speed pulse signals from the simulated wheel speed data, and send the wheel speed pulse signals to the VDC so that the VDC can obtain the vehicle speed based on the wheel speed pulse signals.

[0013] Optionally, the automatic parking test system further includes a debugging device;

[0014] The joint debugging device is used to acquire the braking force and torque request required for parking output by the VDC, adjust the braking force and torque request according to the parking strategy to obtain the adjusted braking force and torque request, and send the adjusted braking force and torque request to the real-time machine.

[0015] The real-time machine is used to perform dynamic simulation using the vehicle dynamics simulation software in the vehicle co-simulation model based on the adjusted braking force and adjusted torque request, thereby generating motion data and wheel speed data of the virtual vehicle.

[0016] Optionally, the real-time machine is further configured to send the motion data to the mobile vehicle;

[0017] The mobile vehicle is used for automatic parking based on the motion data.

[0018] Optionally, the automatic parking test system further includes a router located between the real-time machine and the mobile vehicle;

[0019] The router is used to acquire the motion data output by the real-time machine and send the motion data to the mobile vehicle;

[0020] The mobile vehicle is used for automatic parking based on the motion data.

[0021] Optionally, the mobile trolley is equipped with a first set of ultrasonic probes, and the first set of ultrasonic probes is equipped with an adjustment device;

[0022] The adjustment device is used to adjust the height, pitch angle and rotation angle of the first set of ultrasonic probes;

[0023] The first set of ultrasonic probes is used to collect obstacle location information in real time and send the collected obstacle location information to the automatic parking controller;

[0024] The automatic parking controller is also used to verify the motion state of the virtual vehicle based on changes in the obstacle position information.

[0025] Optionally, the automatic parking controller is also used to acquire parking instructions sent by the real-time machine. When the parking instruction is to park out, the controller senses the surrounding environment through the ultrasonic probe on the mobile vehicle, calculates the parking trajectory, and sends the vehicle's longitudinal travel distance instruction and lateral steering wheel angle instruction to the real-time machine.

[0026] The real-time machine is also used to enable the simulated virtual vehicle to move according to the vehicle's longitudinal travel distance command and lateral steering wheel angle command in order to park out of the parking space;

[0027] The automatic parking controller is also used to, when the parking instruction is to park, search for the target parking space using the ultrasonic probe on the mobile vehicle, and then send a longitudinal travel distance instruction and a lateral steering wheel angle instruction to the real-time machine. The VDC and the steering component connected to the real-time machine execute these instructions to make the simulated virtual vehicle park in the parking space.

[0028] Optionally, the mobile vehicle further includes a shielding box, in which a second set of ultrasonic probes are disposed;

[0029] The second set of ultrasonic probes is used to establish a communication connection with the automatic parking controller and to determine whether the communication with the automatic parking controller is normal.

[0030] Optionally, the automatic parking test system further includes a host computer, which is connected to the real-time machine. The host computer runs operating software for operating the real-time machine and an operating interface for the vehicle co-simulation model.

[0031] The host computer is used to send the operation instructions of the operation interface to the real-time machine;

[0032] The real-time machine is also used to enable the vehicle co-simulation model to perform failure safety testing according to the operation instructions;

[0033] The real-time machine is also used to inject faults at the CAN communication layer and the hardwired layer to perform fail-safe testing.

[0034] Optionally, the vehicle co-simulation model further includes a failure safety testing module;

[0035] The real-time machine is also used to enable the failure safety test module in the vehicle co-simulation model to run failure safety tests according to the operation instructions.

[0036] Optionally, the real-time machine is also used to run driver control strategies, hydraulic pressure control strategies, throttle control strategies, wheel speed pulse control strategies, communication control strategies, dynamic simulation control strategies, and power supply control strategies.

[0037] To achieve the above objectives, this invention provides an automatic parking test method. This method is applied to the automatic parking test system described above. The automatic parking test system includes: a braking component, a steering component, a display instrument component, an interactive display component, a real-time machine, an AD ECU, an automatic parking controller, a moving trolley, and a vehicle dynamic control system (VDC). The real-time machine runs a vehicle co-simulation model, and the dynamics in the vehicle co-simulation model are constructed using vehicle dynamics simulation software. The automatic parking test method includes:

[0038] The real-time machine acquires parking instructions and sends the parking instructions to the automatic parking controller;

[0039] The automatic parking controller generates driving data according to the parking command and sends the driving data to the AD ECU;

[0040] The AD ECU receives the driving data and sends the driving data to the real-time machine;

[0041] The VDC receives the driving data forwarded by the real-time machine, and sends braking force and torque requests to the real-time machine based on the driving data;

[0042] The real-time machine performs dynamic simulation using the vehicle dynamics simulation software in the vehicle joint simulation model based on the braking force and torque request, generates motion data of the virtual vehicle, and sends the motion data to the mobile car so that the mobile car follows the virtual vehicle to complete the parking.

[0043] The real-time machine diagnoses the VDC, steering components, automatic parking controller, display instrument components, and interactive display components in the automatic parking test system, and obtains diagnostic results.

[0044] The automatic parking test system proposed in this invention includes: a braking component, a steering component, a vehicle morphology simulation device, a display instrument component, an interactive display component, a real-time machine, an AD ECU, an automatic parking controller, a moving vehicle, and a vehicle dynamic control system (VDC). The braking component, the steering component, the display instrument component, the interactive display component, and the AD ECU are respectively connected to the real-time machine. The ECU, the automatic parking controller, and the moving vehicle are connected in sequence. The VDC is connected to the automatic parking controller. A vehicle co-simulation model runs on the real-time machine. The dynamics in the vehicle co-simulation model are built using vehicle dynamics simulation software. The real-time machine is used to acquire parking commands and send them to the automatic parking controller. The automatic parking controller is used to send travel data to the VDC according to the parking commands. The VDC is used to send braking force and torque requests to the real-time machine according to the travel data. The real-time machine is also used to perform dynamics simulation using the vehicle dynamics simulation software in the vehicle co-simulation model based on the braking force and torque requests, generate motion data of the virtual vehicle, and send the motion data to the moving vehicle so that the moving vehicle follows the virtual vehicle to complete parking. The real-time machine is also used to diagnose the VDC, steering components, automatic parking controller, display instrument components, and interactive display components in the automatic parking test system and obtain diagnostic results. The test bench constructs a realistic vehicle testing environment through physical components, a real-time machine, and a test trolley. Its diagnostic results can reflect whether the parking controller and related actuators of the parking system correctly identify and record fault information according to design requirements after a parking system failure, so as to facilitate subsequent maintenance and fault finding of the parking system. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the structural framework of the first embodiment of the automatic parking test system of the present invention;

[0046] Figure 2 This is a schematic diagram of the structural framework of the second embodiment of the automatic parking test system of the present invention;

[0047] Figure 3 This is a schematic diagram of the structural framework of the third embodiment of the automatic parking test system of the present invention;

[0048] Figure 4 This is a schematic diagram of a parking scenario according to an embodiment of the automatic parking test system of the present invention;

[0049] Figure 5 This is a schematic diagram of a parking exit scenario according to an embodiment of the automatic parking test system of the present invention;

[0050] Figure 6 This is a flowchart illustrating the first embodiment of the automatic parking test method of the present invention.

[0051] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0052] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0053] Reference Figure 1 , Figure 1 This is the first embodiment of the automatic parking test system of the present invention.

[0054] The automatic parking test system includes: a braking component 10, a steering component 20, a display instrument component 30, an interactive display component 40, a real-time machine 50, an automatic driving electronic control unit (AD ECU) 60, an automatic parking controller 70, a moving vehicle 80, and a vehicle dynamic control system (VDC). The braking component 10, the steering component 20, the display instrument component 30, the interactive display component 40, and the AD ECU 60 are respectively connected to the real-time machine 50. The real-time machine 50, the AD ECU 60, the automatic parking controller 70, and the moving vehicle 80 are connected in sequence. The VDC is connected to the real-time machine 50. The real-time machine 50 is capable of running a vehicle co-simulation model, and the dynamic simulation in the vehicle co-simulation model is completed by vehicle dynamics simulation software.

[0055] It should be noted that the braking system (10), steering system (20), instrument display (30), interactive display (40), real-time machine (50), AD ECU (60), automatic parking controller (70), vehicle dynamics control system (VDC) are physical components. They are connected to the real-time machine (50) to realize the automatic parking FAP system on the HIL test bench. Radar and camera are also connected to the ADAS ECU for assistance.

[0056] It should be noted that the FAP HIL test bench enables bench testing of the FAP automatic parking function, improving efficiency and reducing manpower and vehicle operating hours. Achievable objectives include: establishing a FAP system CAN model; building a CAN communication model on the FAP system bench to meet functional and obstacle safety testing requirements; establishing a driver model to realize FAP vehicle search, parking, and exit functions; establishing a FAP system power supply model to meet obstacle safety power supply testing requirements; and establishing a FAP system sensor model to transmit vehicle gear and speed information via UDP / IP communication protocol. A mobile trolley 80 is used, with probes and the FAP ECU mounted on it to meet bench parking requirements and connect to the HIL test bench to achieve mobile vehicle exit control, thus more closely resembling actual testing scenarios.

[0057] After the hardware is built, it is also necessary to ensure the operation of the software. By establishing the FAP CAN model, driver model, system power supply model and hydraulic pressure sensor model, the working state of the physical vehicle is ensured to be consistent with the actual vehicle's operating state. The wheel speed pulse signals obtained from the FAP system sensor model directly enable the VDC to work without the need for additional sensors and sensor communication protocols, making the test bench construction simpler and easier. The driver model is used to simulate the driver's operating behavior, and the system power supply model is used to supply power to various components to ensure the normal operation of the physical components.

[0058] During the construction of the physical components, the EPS software is updated, the VDC is replaced and modified, and a router is used to enable communication between the components, thereby ensuring the normal operation of the physical components.

[0059] The real-time machine 50 is used to acquire parking instructions and send the parking instructions to the automatic parking controller 70; the automatic parking controller 70 is used to generate driving data according to the parking instructions and send the driving data to the AD ECU; the AD ECU is used to receive the driving data and send the driving data to the real-time machine 50; the VDC is used to receive the driving data forwarded by the real-time machine 50 and send braking force and torque requests to the real-time machine 50 according to the driving data; the real-time machine 50 is also used to perform dynamic simulation through the vehicle dynamics simulation software in the vehicle co-simulation model according to the braking force and torque requests, generate motion data of the virtual vehicle, and send the motion data to the moving car 80, so that the moving car 80 follows the virtual vehicle to complete parking. The vehicle dynamics simulation software is a professional vehicle dynamics simulation software, which builds a vehicle co-simulation model based on Matlab / Simulink and Carsim, compiles it, downloads it to the real-time machine for running, and realizes vehicle simulation on the platform.

[0060] The specific automatic parking process is as follows: When the automatic parking controller 70 receives the user operation command sent by the real-time machine 50 to park in or out, when parking out, the automatic parking controller 70 generates the vehicle's driving trajectory through its internal algorithm and controls the vehicle to park out of the parking space by issuing longitudinal and lateral driving control commands; when parking in, it searches for a parking space while the vehicle is moving, and after the driver confirms that the parking space has been found, it takes over the control of the vehicle, calculates the vehicle's driving trajectory through its internal algorithm, and sends longitudinal and lateral control commands to control the vehicle to park in the parking space.

[0061] The real-time machine 50 is also used to generate wheel speed pulse signals from the simulated wheel speed data of the virtual vehicle and send them to the VDC. During the test, the real-time machine 50 is also used to diagnose the VDC, steering component 20, automatic parking controller 70, display instrument component 30 and interactive display component 40 in the automatic parking test system, and obtain diagnostic results. That is, the components of the automatic parking test system can be diagnosed, diagnostic results can be obtained, communication messages can be recorded, and test result analysis can be assisted.

[0062] It is understood that the execution data of the braking component 10, the steering component 20, the display instrument component 30, the interactive display component 40, the mobile vehicle 80, and the VDC can be transmitted to the real-time machine 50 for management, and each component can also be configured with a separate data management terminal. This embodiment does not impose any restrictions on this.

[0063] To obtain diagnostic results, the braking component 10, the steering component 20, the display instrument component 30, the interactive display component 40, the moving vehicle 80, and the VDC can be tested. For example, for the braking component 10, check whether the operating data of the braking component 10 is normal when the automatic parking model is running, whether the braking control is performed according to the parking strategy, whether the display instrument component 30 and the interactive display component 40 are displayed normally, and whether the movement of the moving vehicle 80 is parking and exiting according to the automatic parking data.

[0064] In the specific implementation, the physical components of the vehicle, including brake components, steering components, interactive display components, and the automatic parking test system, are connected to the real-time machine 50. The remaining virtual components of the vehicle, including other vehicle components, BCM, DCT, T-box, etc., are simulated in the real-time machine 50. The communication system is built on the platform to simulate the real vehicle, ensuring that the physical components work normally and function properly.

[0065] During the test, the real-time machine 50 can diagnose the components of the automatic parking test system, obtain diagnostic results, record communication messages, and assist in the analysis of test results.

[0066] In this embodiment, the automatic parking test system includes: a braking component 10, a steering component 20, a vehicle shape simulation device, a display instrument component 30, an interactive display component 40, a real-time machine 50, an AD ECU 60, an automatic parking controller 70, a moving trolley 80, and a vehicle dynamic control system (VDC). The braking component 10, the steering component 20, the display instrument component 30, the interactive display component 40, and the AD ECU 60 are respectively connected to the real-time machine 50. The ECU 60, the automatic parking controller 70, and the moving vehicle 80 are connected in sequence, and the VDC is connected to the automatic parking controller 70. A vehicle co-simulation model runs on the real-time machine 50, and the dynamics in the vehicle co-simulation model are built using the vehicle dynamics simulation software Carsim. The real-time machine 50 is used to acquire parking commands and send them to the automatic parking controller 70. The automatic parking controller 70 is used to send travel data to the VDC according to the parking commands. The VDC is used to send braking force and torque requests to the real-time machine 50 according to the travel data. The real-time machine 50 is also used to perform dynamics simulation using Carsim in the vehicle co-simulation model based on the braking force and torque requests, generate motion data for the virtual vehicle, and send the motion data to the moving vehicle 80, causing the moving vehicle 80 to follow the virtual vehicle to complete parking. The real-time machine 50 is also used to diagnose the VDC, steering components, automatic parking controller, display instrument components, and interactive display components in the automatic parking test system, and obtain diagnostic results.

[0067] Reference Figure 2 , Figure 2 This is the second embodiment of the automatic parking test system of the present invention.

[0068] The VDC is also used to analyze the driving data and output the braking force and torque required for parking to the real-time machine 50.

[0069] It should be noted that the real-time machine 50 runs a vehicle dynamics simulation software kinematic model, which performs virtual vehicle simulation to replace the physical vehicle in driving according to the VDC control commands and to report errors. The braking force and torque required for parking are output as CAN signals, which are received by the real-time machine 50. The simulation model running in the real-time machine 50 includes vehicle dynamics simulation software participating in the co-simulation, which performs dynamics simulation and generates virtual vehicle driving data.

[0070] The real-time machine 50 is also used to generate wheel speed pulse signals based on the wheel speed data generated by the simulation, and send the wheel speed pulse signals to the VDC via the AD ECU, so that the VDC can obtain the vehicle speed based on the wheel speed pulse signals, thereby realizing the vehicle movement of the virtual vehicle established based on the kinematic model of the vehicle dynamics simulation software, and realizing the automatic parking function test without the need for a physical vehicle. That is, after the real-time machine 50 runs the vehicle dynamics simulation software in the simulation model to complete the vehicle dynamics simulation, it generates vehicle movement data, in which the vehicle wheel speed is converted into wheel speed pulse signals by the real-time machine and sent to the VDC.

[0071] In this embodiment, the automatic parking test system further includes a joint debugging device; the joint debugging device is used to acquire the braking force and torque request required for parking output by the VDC, adjust the braking force and torque request according to the parking strategy to obtain the adjusted braking force and torque request, and send the adjusted braking force and torque request to the real-time machine 50; the real-time machine 50 is also used to perform dynamic simulation in the vehicle dynamics simulation software in the vehicle joint simulation model according to the adjusted braking force and torque request, and generate wheel speed data of the virtual vehicle.

[0072] When establishing the FAP HIL test bench using physical components and the HIL platform, the braking force and torque requests sent by the VDC to the kinematic model of the vehicle dynamics simulation software cannot be directly responded to. Without joint debugging, the virtual vehicle cannot move according to the vehicle force and torque requests and will generate abnormal errors. In order to ensure the normal operation of the virtual vehicle, when obtaining the braking force and torque requests required for parking from the VDC, the braking force and torque requests are jointly debugged so that the virtual vehicle can move normally according to the adjusted braking force and torque requests.

[0073] It should be noted that the joint debugging device can be a device that runs the joint debugging strategy. It can be run through a terminal or set up to run on a physical machine. This embodiment does not limit this. The joint debugging strategy includes the operating logic of braking force during automatic parking or normal driving, as well as the control logic of torque. Braking force and torque are adapted through the joint debugging strategy to establish braking force model and torque model. Braking force and torque are adapted through the braking force model and torque model. Specifically, the braking force output by VDC is adapted through the braking force model to obtain the brake force output after joint debugging and is sent to the kinematic model of the vehicle dynamics simulation software for processing. The torque request output by VDC is adapted through the torque model to obtain the torque request output after joint debugging and is sent to the kinematic model of the vehicle dynamics simulation software for processing. This ensures the normal driving of the virtual vehicle generated by the kinematic model of the vehicle dynamics simulation software and avoids abnormal situations.

[0074] In this embodiment, the braking force and torque request output by the VDC are adapted to the parking strategy through the joint debugging device, so as to ensure the normal operation of the simulated virtual vehicle of the kinematic model of the vehicle dynamics simulation software.

[0075] Reference Figure 3 , Figure 3 This is the third embodiment of the automatic parking test system of the present invention.

[0076] In this embodiment, in addition to the normal operation of the simulated virtual vehicle using the Carsim kinematic model, a mobile car 80 is also provided. The motion data corresponding to automatic parking can be sent to the mobile car 80, and automatic parking can be completed by the mobile car 80. The execution status of the mobile car 80 can be obtained more intuitively. Furthermore, the mobile car 80 can follow the virtual vehicle. When the automatic parking controller 70 determines that the movement is abnormal, the function can be verified by the movement status of the mobile car 80.

[0077] In one embodiment, the automatic parking test system further includes a router located between the real-time machine 50 and the mobile vehicle 80; the router is used to acquire motion data output by the real-time machine 50 and send the motion data to the mobile vehicle 80; the mobile vehicle 80 is used to perform automatic parking based on the motion data.

[0078] Continue as Figure 3As shown, in order to ensure the communication function of the mobile vehicle 80 and the normal interaction between components, a router is also provided. The router enables information interaction between physical components. The physical machine and the mobile vehicle 80 can be networked through the router, and information interaction can be carried out in the established local area network. Specifically, when the physical machine obtains the motion data of the simulated virtual vehicle from the kinematic model of the vehicle dynamics simulation software, it can send the motion data to the mobile vehicle 80 through the router via the UDP / IP communication protocol, thereby realizing data interaction between physical components.

[0079] In this embodiment, a complete and functionally sound test environment is used to build an automatic parking test bench, thereby accelerating vehicle development. A solution of a mobile robot car and a HIL (Hardware-In-the-Loop) test bench is adopted. The parking function is activated on the bench and functions normally. This method is suitable for black-box testing and does not require sensor communication protocols to complete the bench setup and testing.

[0080] In one embodiment, the mobile trolley 80 is equipped with a first set of ultrasonic probes, and the first set of ultrasonic probes is equipped with an adjustment device; the adjustment device is used to adjust the height, pitch angle and rotation angle of the ultrasonic probes.

[0081] It should be noted that, since there are significant differences in height and probe angle between the mobile trolley 80 and the physical vehicle, an adjustment device is provided on the ultrasonic probe to ensure that the mobile trolley 80 is closer to the physical vehicle. The height, pitch angle and rotation angle of the ultrasonic probe are adjusted by the adjustment device to ensure that the operating state of the mobile trolley 80 is consistent with that of the physical vehicle.

[0082] In practice, the height, pitch angle, and rotation angle can be obtained according to different vehicle types. When conducting automatic parking tests on specific vehicle models, the height and angle of the ultrasonic probe on the moving car 80 can be adjusted according to the height, pitch angle, and rotation angle corresponding to the specific vehicle model, thereby improving the realism of the automatic parking test.

[0083] In one embodiment, the first set of ultrasonic probes is used to collect obstacle location information in real time and send the collected obstacle location information to the automatic parking controller 70; the automatic parking controller 70 is also used to verify the motion state of the virtual vehicle based on the changes in the obstacle location information.

[0084] It should be noted that the first set of ultrasonic probes can collect distance information to obstacles in real time. During the parking process of the virtual vehicle according to the parking instruction, the motion data is sent to the mobile trolley 80. The mobile trolley 80 moves according to the motion data and reports the position information collected by the ultrasonic probes on the mobile trolley 80 in a timely manner. The automatic parking controller 70 determines whether the position has changed based on the reported position information. If the position has changed, it means that the movement state of the virtual vehicle is normal. If the position has not changed, it means that the movement state of the virtual vehicle is abnormal and an error is reported.

[0085] In one embodiment, the automatic parking controller 70 is further configured to acquire parking instructions sent by the real-time machine. When the parking instruction is to exit the parking space, the controller senses the surrounding environment through the ultrasonic probe on the mobile vehicle 80, calculates the parking trajectory, and sends a longitudinal travel distance instruction and a lateral steering wheel angle instruction to the real-time machine.

[0086] The real-time machine 50 is also used to enable the simulated virtual vehicle to move according to the vehicle's longitudinal travel distance command and lateral steering wheel angle command in order to park out of the parking space.

[0087] The automatic parking controller 70 is also used to, when the parking instruction is to park, search for the target parking space using the ultrasonic probe on the mobile vehicle 80, and then send a longitudinal travel distance instruction and a lateral steering wheel angle instruction to the real-time machine 50. The VDC and the steering component 10 connected to the real-time machine 50 execute the instructions to make the simulated virtual vehicle park in the parking space.

[0088] In its implementation, the automatic parking controller 70, upon receiving a parking command from the user, uses a sonar to sense the vehicle's surroundings when parking out, calculates a reasonable parking trajectory, and issues longitudinal travel distance and lateral steering wheel angle commands to control the vehicle's movement and exit the parking space. When parking in, the driver moves the vehicle, and the parking controller uses a sonar to search for parking spaces. Once a suitable space is found, it similarly issues longitudinal and lateral control commands, which are executed by the vehicle's actuators (VDC and EPS) to ultimately park the vehicle in the space, thus achieving automatic parking testing. Figure 4 The diagram shown illustrates the berthing scenario, as follows: Figure 5 The diagram shows a parking exit scenario.

[0089] In one embodiment, the mobile vehicle 80 further includes a shielding box, in which a second ultrasonic probe is disposed; the second set of ultrasonic probes is used to establish a communication connection with the automatic parking controller 70 and to determine whether the communication with the automatic parking controller is normal. Continuing as follows... Figure 3As shown, the mobile trolley 80 uses four individually motor-driven McLarens, enabling straight-line driving and real-time speed adjustment for steering, perfectly replicating the driving posture of a simulated vehicle. All 12 ultrasonic sensors are mounted on the mobile trolley 80. The first group of ultrasonic sensors consists of two reversing radar sensors (Ultrasonic Parking Assistant sensor, UPA sensor) and two automatic parking assist sensors (APA sensor) for parking space detection, all mounted on a bracket above the trolley. The second group of ultrasonic sensors, consisting of the remaining six reversing radar sensors and two automatic parking sensors, is installed in a shielded box, such as a foam box, at a certain distance from the first group. Setting up the second group of ultrasonic sensors prevents the controller from mistakenly identifying a sensor as faulty, thus avoiding system degradation and disabling the parking function. Placing the second group in a shielded box also prevents interference between multiple ultrasonic sensors belonging to the second group, as well as interference between the second and first groups, avoiding interference-related errors that could lead to reduced functionality and disabling the parking function.

[0090] To avoid interference between the upper probes, the first set of ultrasonic probes on the upper part of the vehicle must be spaced more than 30cm apart laterally, the probe orientation must not cause interference, and the height and pitch angle must meet the actual vehicle installation requirements.

[0091] It is understood that the automatic parking test system also includes a host computer, which is connected to the real-time machine 50. The host computer runs operating software for operating the real-time machine 50 and an operating interface for the vehicle co-simulation model. The host computer is used to send operating instructions from the operating interface to the real-time machine 50. The real-time machine 50 is also used to enable the vehicle co-simulation model to perform fail-safe testing according to the operating instructions. The real-time machine 50 is also used to inject faults at the CAN communication layer and the hardwired layer to perform fail-safe testing. The vehicle co-simulation model also includes a fail-safe testing module. The real-time machine 50 is also used to enable the fail-safe testing module in the vehicle co-simulation model to run fail-safe testing according to the operating instructions.

[0092] The vehicle simulation model running in the real-time machine 50 is equipped with a fail-safe testing module. The real-time machine is connected to a PC host computer, which runs the real-time machine operating software and includes a simulation model operation panel. During simulation in the real-time machine 50, the tester can send commands to the running simulation model via the operation panel to activate the fail-safe testing module. Correspondingly, the real-time machine 50 injects faults at the CAN communication level and component hardwire level, realizing fail-safe testing of the automatic parking test system at the vehicle system level. The test results are judged by the experimenter. The real-time machine diagnoses the components and records messages to assist in the judgment of the test results.

[0093] In this embodiment, the parking function-related test items can be moved from the original actual vehicle PT stage test to the VC stage, which allows for early detection of problems, early countermeasures, and saves R&D personnel and vehicle manpower.

[0094] In one embodiment, the real-time machine 50 is also used to run driver control strategies, hydraulic pressure control strategies, throttle control strategies, wheel speed pulse control strategies, communication control strategies, dynamic simulation control strategies, and power supply control strategies, establish models that match the physical components, and realize the normal operation of the physical components. In order to realize the normal operation of the physical components, on the basis of hardware construction, driver control strategy models, hydraulic pressure control models, throttle control models, wheel speed pulse control models, communication control models, dynamic simulation control models, and power supply control models are established. Corresponding logic control is performed through driver control strategy models, hydraulic pressure control models, throttle control models, wheel speed pulse control models, communication control models, dynamic simulation control models, and power supply control models. Thus, the physical components associated with the automatic parking test system are installed on the HIL test bench, and matching models are designed to realize parking Failsafe test on the test bench.

[0095] In this embodiment, the HIL test bench is equipped with physical components associated with the automatic parking test system and features a matching model. Parking failsafe testing is performed on the bench, allowing the testing to be conducted earlier in the VC (Visual Characteristic) stage, improving experimental efficiency and saving vehicle and human labor time. This solves the bottleneck problem of not being able to build a parking test bench when the sensor communication protocol is unavailable. It achieves benchtop-based parking functionality, enabling functional verification and failsafe testing.

[0096] Reference Figure 6 , Figure 6 This is the first embodiment of the automatic parking test method of the present invention.

[0097] The automatic parking test method is applied to the automatic parking test system described above. The automatic parking test system includes: a braking component, a steering component, a vehicle morphology simulation device, a display instrument component, an interactive display component, a real-time machine, an automatic driving electronic control unit (AD ECU), an automatic parking controller, a moving vehicle, and a vehicle dynamic control system (VDC). The real-time machine is capable of running a vehicle co-simulation model. The dynamic simulation in the vehicle co-simulation model is performed by vehicle dynamics simulation software. The automatic parking test method includes:

[0098] In step S10, the real-time machine acquires a parking instruction and sends the parking instruction to the automatic parking controller.

[0099] In step S20, the automatic parking controller generates driving data according to the parking instruction and sends the driving data to the AD ECU.

[0100] In step S30, the AD ECU receives the travel data and sends the travel data to the real-time machine.

[0101] In step S40, the VDC receives the travel data forwarded by the real-time machine and sends braking force and torque requests to the real-time machine based on the travel data.

[0102] In step S50, the real-time machine performs dynamic simulation using the vehicle dynamics simulation software in the vehicle joint simulation model based on the braking force and torque request, generates motion data of the virtual vehicle, and sends the motion data to the mobile car so that the mobile car follows the virtual vehicle to complete parking.

[0103] In step S60, the real-time machine performs diagnostics on the VDC, steering component, automatic parking controller, display instrument component, and interactive display component in the automatic parking test system, and obtains diagnostic results.

[0104] In this embodiment, the automatic parking test system includes: a braking component, a steering component, a vehicle morphology simulation device, a display instrument component, an interactive display component, a real-time machine, an AD ECU, an automatic parking controller, a moving vehicle, and a vehicle dynamic control system (VDC). The braking component, the steering component, the display instrument component, the interactive display component, and the AD ECU are respectively connected to the real-time machine. The real-time machine and the AD ECU... The ECU, the automatic parking controller, and the moving vehicle are connected in sequence. The VDC is connected to the automatic parking controller. A vehicle co-simulation model runs on the real-time machine. The dynamics in the vehicle co-simulation model are built using vehicle dynamics simulation software. The real-time machine is used to acquire parking commands and send them to the automatic parking controller. The automatic parking controller is used to send travel data to the VDC according to the parking commands. The VDC is used to send braking force and torque requests to the real-time machine according to the travel data. The real-time machine is also used to perform dynamics simulation using the vehicle dynamics simulation software in the vehicle co-simulation model based on the braking force and torque requests, generate motion data of the virtual vehicle, and send the motion data to the moving vehicle so that the moving vehicle follows the virtual vehicle to complete parking. The real-time machine is also used to diagnose the VDC, steering components, automatic parking controller, display instrument components, and interactive display components in the automatic parking test system and obtain diagnostic results. Therefore, when conducting automatic parking tests, an automatic parking test bench can be built on the HIL test platform using physical components and a real-time machine. The bench construction and testing can be completed without the need for sensor communication protocols, thus improving the efficiency of vehicle testing.

[0105] Since this automatic parking test method adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0106] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0107] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0108] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a computer-readable storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a smart terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0109] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. An automatic parking test system, characterized in that, The automatic parking test system includes: a braking component, a steering component, a vehicle morphology simulation device, a display instrument component, an interactive display component, a real-time machine, an automatic driving electronic control unit (ADECU), an automatic parking controller, a mobile vehicle, and a vehicle dynamic control system (VDC). The braking component, the steering component, the display instrument component, the interactive display component, and the ADECU are respectively connected to the real-time machine. The real-time machine, the ADECU, the automatic parking controller, and the mobile vehicle are connected in sequence. The VDC is connected to the real-time machine. The real-time machine can run a vehicle co-simulation model. The dynamic simulation in the vehicle co-simulation model is completed by vehicle dynamics simulation software. The mobile vehicle is equipped with a probe and an FAP ECU. The real-time machine is used to acquire parking instructions and send the parking instructions to the automatic parking controller; The automatic parking controller is used to generate driving data according to the parking command and send the driving data to the AD ECU; The AD ECU is used to receive the driving data and send the driving data to the real-time machine; The VDC is used to receive the travel data forwarded by the real-time machine, and send braking force and torque requests to the real-time machine according to the travel data. The real-time machine is also used to perform dynamic simulation through the vehicle dynamics simulation software in the vehicle joint simulation model according to the braking force and torque request, generate motion data of the virtual vehicle, and send the motion data to the mobile car so that the mobile car follows the virtual vehicle to complete parking. The real-time machine is also used to diagnose the VDC, steering components, automatic parking controller, display instrument components, and interactive display components in the automatic parking test system, and obtain diagnostic results; The VDC is also used to analyze the driving data and output the braking force and torque required for parking to the real-time machine. The real-time machine is also used to generate wheel speed pulse signals from the simulated wheel speed data, and send the wheel speed pulse signals to the VDC via the AD ECU, so that the VDC can obtain the vehicle speed based on the wheel speed pulse signals; The mobile trolley is equipped with a first set of ultrasonic probes, and the first set of ultrasonic probes is equipped with an adjustment device. The adjustment device is used to adjust the height, pitch angle and rotation angle of the first set of ultrasonic probes; The first set of ultrasonic probes is used to collect obstacle location information in real time and send the collected obstacle location information to the automatic parking controller; The automatic parking controller is also used to verify the motion state of the virtual vehicle based on changes in the obstacle position information.

2. The automatic parking test system as described in claim 1, characterized in that, The automatic parking test system also includes a debugging device; The joint debugging device is used to acquire the braking force and torque request required for parking output by the VDC, adjust the braking force and torque request according to the parking strategy to obtain the adjusted braking force and torque request, and send the adjusted braking force and torque request to the real-time machine. The real-time machine is also used to perform dynamic simulation using the vehicle dynamics simulation software in the vehicle co-simulation model based on the adjusted braking force and adjusted torque request, and generate wheel speed data of the virtual vehicle.

3. The automatic parking test system as described in claim 1, characterized in that, The automatic parking test system also includes a router, which is located between the real-time machine and the mobile vehicle; The router is used to acquire the motion data output by the real-time machine and send the motion data to the mobile vehicle; The mobile vehicle is used for automatic parking based on the motion data.

4. The automatic parking test system as described in claim 1, characterized in that, The automatic parking controller is also used to acquire parking instructions sent by the real-time machine. When the parking instruction is to exit, it senses the surrounding environment through the ultrasonic probe on the mobile vehicle, calculates the parking trajectory, and sends the vehicle's longitudinal travel distance instruction and lateral steering wheel angle instruction to the real-time machine. The real-time machine is also used to enable the simulated virtual vehicle to move according to the vehicle's longitudinal travel distance command and lateral steering wheel angle command in order to park out of the parking space; The automatic parking controller is also used to, when the parking instruction is to park, search for the target parking space using the ultrasonic probe on the mobile vehicle, and then send a longitudinal travel distance instruction and a lateral steering wheel angle instruction to the real-time machine. The VDC and the steering component connected to the real-time machine execute these instructions to make the simulated virtual vehicle park in the parking space.

5. The automatic parking test system as described in claim 1, characterized in that, The mobile vehicle also includes a shielding box, in which a second set of ultrasonic probes are installed; The second set of ultrasonic probes is used to establish a communication connection with the automatic parking controller and to determine whether the communication with the automatic parking controller is normal.

6. The automatic parking test system as described in claim 1, characterized in that, The automatic parking The testing system also includes a host computer, which is connected to the real-time machine. The host computer runs operating software for operating the real-time machine and an operating interface for the vehicle co-simulation model. The host computer is used to send the operation instructions of the operation interface to the real-time machine; The real-time machine is also used to enable the vehicle co-simulation model to perform failure safety testing according to the operation instructions; The real-time machine is also used to inject faults at the CAN communication layer and the hardwired layer to perform fail-safe testing.

7. The automatic parking test system as described in claim 6, characterized in that, The vehicle joint The simulation model also includes a failure safety testing module; The real-time machine is also used to enable the failure safety test module in the vehicle co-simulation model to run failure safety tests according to the operation instructions.

8. The automatic parking test system as described in claim 1, characterized in that, The real-time machine is also used to run driver control strategies, hydraulic pressure control strategies, throttle control strategies, wheel speed pulse control strategies, communication control strategies, dynamic simulation control strategies, and power supply control strategies.

9. An automatic parking test method, characterized in that, The automatic parking test method is applied to the automatic parking test system as described in any one of claims 1 to 8. The automatic parking test system includes: a braking component, a steering component, a display instrument component, an interactive display component, a real-time machine, an automatic driving electronic control unit (AD ECU), an automatic parking controller, a moving vehicle, and a vehicle dynamic control system (VDC). The real-time machine is capable of running a vehicle co-simulation model, and the dynamics in the vehicle co-simulation model are built using vehicle dynamics simulation software. The moving vehicle is equipped with a probe and an FAP ECU. The automatic parking test method includes: The real-time machine acquires parking instructions and sends the parking instructions to the automatic parking controller; The automatic parking controller generates driving data according to the parking command and sends the driving data to the AD ECU; The AD ECU receives the driving data and sends the driving data to the real-time machine; The VDC receives the driving data forwarded by the real-time machine, and sends braking force and torque requests to the real-time machine based on the driving data; The real-time machine performs dynamic simulation using the vehicle dynamics simulation software in the vehicle joint simulation model based on the braking force and torque request, generates motion data of the virtual vehicle, and sends the motion data to the mobile car so that the mobile car follows the virtual vehicle to complete the parking. The real-time machine is used to diagnose the VDC, steering components, automatic parking controller, display instrument components, and interactive display components in the automatic parking test system, and obtain diagnostic results. The method further includes: The VDC analyzes the driving data and outputs the braking force and torque required for parking to the real-time machine; The real-time machine generates wheel speed pulse signals from the simulated wheel speed data and sends the wheel speed pulse signals to the VDC via the AD ECU, so that the VDC can obtain the vehicle speed based on the wheel speed pulse signals; The mobile trolley is equipped with a first set of ultrasonic probes, and the first set of ultrasonic probes is equipped with an adjustment device. The method further includes: The adjustment device adjusts the height, pitch angle, and rotation angle of the first group of ultrasonic probes; The first set of ultrasonic probes collects obstacle location information in real time and sends the collected obstacle location information to the automatic parking controller; The automatic parking controller verifies the movement status of the virtual vehicle based on changes in the obstacle position information.

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