Hardware-in-the-loop dynamic testing system and method for autonomous driving fleets

Abstract

The present invention relates to a hardware-in-the-loop dynamic testing system and method for an autonomous driving fleet, comprising: a lead vehicle control device configured to provide operating instructions for the lead vehicle; a fleet real-time motion calculation device configured to online calculate the dynamic and kinematic state parameters of the lead vehicle and following vehicles in the autonomous driving fleet based on the lead vehicle operating instructions; a fleet visualization device configured to obtain the lead vehicle operating instructions and the dynamic and kinematic state parameters of the lead vehicle and following vehicles, and display the fleet operation scene; a dynamic test bench configured to simulate the actual operating state of the lead vehicle and following vehicles and perform driving and braking operations on each vehicle's electric drive brake system for testing; and a fleet dynamic test bench loading calculation device configured to dynamically load the electric drive brake system of each vehicle in real time based on the dynamic and kinematic state parameters of the lead vehicle and following vehicles. The present invention can be widely applied to hardware-in-the-loop testing of autonomous driving fleets.

Description

Technical Field

[0001] The present invention relates to a hardware-in-the-loop dynamic testing system and method for an autonomous driving fleet, and relates to the technical field of vehicle testing. Background Art

[0002] Autonomous driving fleets are an effective way to ensure driving safety, improve traffic efficiency, and achieve energy conservation and emission reduction. They are also an important strategic research direction for vehicle intelligence. The core technical problem of autonomous driving fleets lies in how to design a suitable fleet controller to manipulate the vehicle actuators under the current V2V / 5G communication method to achieve the longitudinal and lateral movement of the following vehicle to the lead vehicle. Related research work involves interdisciplinary subjects such as mechanics, electricity, communications and control. The theoretical support, technical breakthroughs, testing and verification, and other levels of work are still incomplete, and there is still a long way to go before industrial implementation. In particular, in the field of autonomous driving fleet testing technology, there are problems such as weak foundation, narrow coverage, and low investment, which is a technical problem that needs to be solved urgently.

[0003] Currently, autonomous vehicle fleet testing primarily utilizes two approaches: real-vehicle testing and bench testing. Real-vehicle testing requires the vehicle under test, with open communication and control interfaces, and is conducted at a designated test site. In contrast, bench testing, which eliminates the need for a physical vehicle platform and can be conducted in a laboratory environment, offers advantages such as low testing costs, fewer testing procedures, simplicity, safety, reliability, and repeatability, leading to widespread adoption and application.

[0004] Prior art discloses fleet simulation systems based on virtual reality technology. These systems utilize a driving simulator to collect lead vehicle operating instructions, a VR system to visualize the simulation environment, and a simulation system server to build the simulation environment and fleet simulation. Prior art also discloses driver-in-the-loop intelligent connected vehicle test benches, which connect multiple driving simulators to a central server. The driving simulators collect driver operating instructions, and the central server builds simulation scenarios and fleet simulations. These two types of fleet test benches, developed based on driving simulators, fail to fully reflect the actual operation of key fleet components, such as sensors, communications, control devices, and vehicle drive and braking systems, during fleet operation. Prior art also discloses multi-vehicle pneumatic brake system static test benches, which connect multiple pneumatic brake systems to a real-time simulation system for fleet simulation. This approach struggles to verify the dynamic response characteristics of vehicle drive and braking systems. Prior art also discloses a vehicle-in-the-loop CACC stability testing system, which utilizes a full-vehicle drum test bench to test fleet CACC stability. This approach can only reflect the actual response of a single vehicle during conventional fleet CACC testing and is not applicable to extreme conditions such as wheel slip.

[0005] In summary, existing technologies cannot complete dynamic testing and software-level fleet integration vision, nor can they realize dynamic testing of autonomous driving fleets in dynamic vision. Summary of the Invention

[0006] In response to the above problems, the purpose of the present invention is to provide a hardware-in-the-loop dynamic testing system and method for autonomous driving fleets that integrates "vision-sensing-communication-control-execution" and can realize dynamic testing of autonomous driving fleets and adapt to the dynamic testing needs of complex and extreme working conditions.

[0007] In a first aspect, the present invention provides a hardware-in-the-loop dynamic testing system for an autonomous driving fleet, the system comprising:

[0008] The lead vehicle control device is configured to give the lead vehicle operation instructions;

[0009] A real-time motion calculation device for a convoy, configured to calculate online the dynamic and kinematic state parameters of the lead vehicle and the following vehicles in the autonomous driving convoy based on the operating instructions of the lead vehicle;

[0010] A convoy visual device is configured to obtain the operating instructions of the lead vehicle and the dynamic and kinematic state parameters of the lead vehicle and the following vehicles, and display the convoy operation scene;

[0011] A dynamic test bench configured to simulate the actual operating conditions of the lead vehicle and the following vehicles and to test the electric drive braking system of each vehicle, wherein the dynamic test bench includes a dynamic test bench for the lead vehicle and a plurality of dynamic test benches for the following vehicles;

[0012] The loading calculation device of the convoy dynamic test bench is configured to dynamically load the electric drive braking system of each vehicle in real time according to the dynamic and kinematic state parameters of the lead vehicle and the following vehicle.

[0013] Furthermore, the dynamic test bench for the lead vehicle and the dynamic test bench for the follower vehicle have the same structure, both including an on-board sensor simulation device, an on-board communication device, an on-board control device and a vehicle electric drive brake system bench;

[0014] The vehicle-mounted sensor simulation device is configured to simulate the characteristics of the vehicle-mounted positioning sensor;

[0015] The vehicle-mounted communication device is configured to enable communication between different vehicles in a fleet;

[0016] The vehicle-mounted control device is configured to generate vehicle control commands to control the operation of the vehicle electric drive brake system test bench;

[0017] The vehicle electric brake system stand is configured to execute a vehicle electric brake command and perform electric brake operations on the vehicle.

[0018] Furthermore, the vehicle-mounted sensor simulation device includes a sensor signal simulation module and a sensor module; the sensor signal simulation module is used to simulate the normal and fault characteristics of the GPS or Beidou satellite positioning system, and the sensor module is a vehicle-mounted positioning sensor used to receive the signal of the sensor simulation module.

[0019] Furthermore, the vehicle-mounted communication device includes a sending module and a receiving module. The sending module is used to send information such as the vehicle's location to the receiving module of the vehicle-mounted communication device of other vehicles; the receiving module is used to receive location information from the sending module of other vehicles, using DSRC communication or 5G communication.

[0020] Furthermore, the lead vehicle dynamic test bench and the follower vehicle dynamic test bench also include a vehicle electric drive braking system, a bench sensor device and a dynamometer. The vehicle electric drive braking system is coaxially connected to the dynamometer, and the bench sensor device is installed at the connecting shaft.

[0021] Furthermore, the fleet dynamic test bench load calculation device includes a lead vehicle dynamic test bench load calculation module and a follower vehicle dynamic test bench load calculation module. Both the lead vehicle dynamic test bench load calculation module and the follower vehicle dynamic test bench load calculation module adopt a "feedforward + feedback" composite control structure, and each includes:

[0022] Lumped disturbance estimation module, used to estimate the total disturbance torque of the dynamometer;

[0023] Feedforward torque calculation module, used to calculate the dynamometer feedforward control torque;

[0024] Loading error calculation module, used to calculate the dynamometer speed control error;

[0025] Feedback torque calculation module, used to calculate the dynamometer feedback control torque;

[0026] The loading torque calculation module is used to calculate the total reference torque of the dynamometer.

[0027] Furthermore, the fleet vision device is implemented using an industrial computer, which has built-in traffic scene editing module and traffic scene real-time display module. The traffic scene editing module sends the operation instructions of the lead vehicle driver to the fleet real-time motion calculation device, and the traffic scene real-time display module obtains the vehicle motion state parameters from the fleet real-time motion calculation device and displays the fleet operation scene in real time; wherein, the communication method between the industrial computer and the fleet real-time motion calculation device adopts USB to CAN communication.

[0028] In a second aspect, the present invention further provides a hardware-in-the-loop dynamic testing method for an autonomous driving fleet, comprising:

[0029] Initialization, loading the fleet model for real-time motion calculation;

[0030] Build and display fleet simulation environments;

[0031] The lead car control device gives the lead car operation instructions;

[0032] Online calculation of the dynamics and kinematics of the lead vehicle and the following vehicles;

[0033] Based on the constructed convoy dynamic test bench, the actual operating conditions of the lead vehicle and the following vehicle are simulated to implement driving and braking operations on the vehicle electric drive system;

[0034] Dynamic loading is performed on the vehicle electric drive braking system in real time based on the dynamic and kinematic state parameters of the leading vehicle and the following vehicle.

[0035] Furthermore, based on the constructed convoy dynamic test bench, the actual operating status of the lead vehicle and the following vehicle is simulated to implement driving and braking operations on the vehicle electric drive system, including:

[0036] The vehicle controller simulation device simulates the dynamic response characteristics of the vehicle positioning sensor;

[0037] The on-board communication device implements fleet information interaction based on a given communication topology;

[0038] The on-board control device calculates the reference torque of the vehicle's electric drive braking system in real time, adopts the torque control mode, and performs driving and braking operations on the vehicle according to the calculated reference torque.

[0039] Furthermore, the vehicle electric drive brake system is dynamically loaded in real time based on the dynamic and kinematic state parameters of the lead vehicle and the following vehicle, including calculating the reference torque of the dynamometer and controlling the dynamometer to dynamically load the vehicle electric drive brake system. Specifically:

[0040] Online measurement of the actual speed and actual torque of the dynamometer;

[0041] The total disturbance torque of the dynamometer system is estimated using an extended state observer.

[0042] Calculate the feedforward control reference torque of the dynamometer;

[0043] Calculate the speed control error of the dynamometer;

[0044] The sliding mode control method is used to calculate the feedback control reference torque of the dynamometer;

[0045] Calculate the total reference torque of the dynamometer.

[0046] The present invention has the following advantages due to the adoption of the above technical solution:

[0047] 1. This invention designs a hardware-in-the-loop test system for autonomous driving fleets that integrates "vision-sensing-communication-control-execution". It can realize complete component-level and system-level testing of networked autonomous driving fleets, and can realize dynamic testing and integrated vision of autonomous driving fleets, adapting to the dynamic testing needs of complex and extreme working conditions.

[0048] 2. The present invention uses an on-board sensor simulation device, which can support relevant tests on the motion control performance of autonomous driving fleets under normal sensor conditions, sensor failure conditions, and network attack conditions.

[0049] 3. The present invention adopts a vehicle driving and braking system dynamic test bench, which can carry out both fleet motion control performance testing and dynamic control performance testing.

[0050] 4. The lead vehicle dynamic test bench and the follower vehicle dynamic test bench of the present invention both include an on-board sensor simulation device, an on-board communication device, an on-board control device, and a vehicle electric drive and braking system test bench, which can respectively verify the characteristics of the sensor, communication device, control device, and vehicle electric drive and braking system. The loading calculation device of the fleet dynamic test bench provides loading control, which can fully verify the dynamic characteristics of the key components of the fleet.

[0051] 5. The present invention uses a dynamometer to load the vehicle's drive and brake system, which can accurately simulate the dynamic mechanical load of the vehicle's drive and brake system during the vehicle's anti-skid / locking process under extreme working conditions, effectively expanding the motion performance test of autonomous driving fleets under extreme working conditions.

[0052] In summary, the present invention can be widely used in hardware-in-the-loop testing of autonomous driving fleets. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. Throughout the drawings, the same reference numerals are used to denote the same components. In the drawings:

[0054] Figure 1 This is a structural diagram of the hardware-in-the-loop test system for an autonomous driving fleet according to an embodiment of the present invention.

[0055] Figure 2 2 is a structural diagram of a vehicle fleet real-time motion calculation device according to an embodiment of the present invention.

[0056] Figure 3 2 is a structural diagram of a vehicle-mounted sensor simulation device according to an embodiment of the present invention.

[0057] Figure 4 FIG. 4 is a structural diagram of a vehicle-mounted communication device according to an embodiment of the present invention.

[0058] Figure 5 This is a structural diagram of a fleet hardware-in-the-loop test bench according to an embodiment of the present invention.

[0059] Figure 6 This is a structural diagram of a loading computing device for a fleet dynamic test bench according to an embodiment of the present invention.

[0060] Figure 7 This is a structural diagram of the loading calculation device of the lead vehicle dynamic test bench according to an embodiment of the present invention.

[0061] Figure 8 This is a flowchart of a method for controlling a hardware-in-the-loop test system for an autonomous driving fleet according to an embodiment of the present invention.

[0062] Figure 9 This is a flowchart of a method for calculating the reference torque of a dynamometer in a hardware-in-the-loop test system for an autonomous driving fleet according to an embodiment of the present invention. DETAILED DESCRIPTION

[0063] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "comprise", "include", "contain" and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the specific order described or illustrated, unless the order of execution is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0064] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0065] For ease of description, spatially relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figures, such as "inside," "outside," "inner side," "outer side," "lower," "upper," etc. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.

[0066] Since existing autonomous driving fleet test bench systems cannot complete dynamic testing and software-level fleet integration vision, and cannot fully verify the dynamic characteristics of key fleet components, the present invention provides an autonomous driving fleet hardware-in-the-loop test system and method, including a lead vehicle control device, configured to give lead vehicle operation instructions; a fleet real-time motion calculation device, configured to online calculate the dynamic and kinematic state parameters of the lead vehicle and the following vehicles in the autonomous driving fleet based on the lead vehicle operation instructions; a fleet vision device, configured to obtain the lead vehicle operation instructions and the dynamic and kinematic state parameters of the lead vehicle and the following vehicles, and display the fleet operation scene; a dynamic test bench, configured to simulate the actual operating state of the lead vehicle and the following vehicles, and perform drive and brake operations on each vehicle's electric drive brake system for testing, wherein the dynamic test bench includes a lead vehicle dynamic test bench and a plurality of following vehicle dynamic test benches; and a fleet dynamic test bench loading calculation device, configured to dynamically load the electric drive brake system of each vehicle in real time according to the dynamic and kinematic state parameters of the lead vehicle and the following vehicles. Therefore, the present invention realizes a hardware-in-the-loop test system for autonomous driving fleets that integrates "vision-sensing-communication-control-execution". It can adapt to fleet dynamic testing under complex and extreme working conditions and fully verify the dynamic characteristics of key components of the fleet.

[0067] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0068] Example 1: Figure 1 As shown, the hardware-in-the-loop dynamic test system for an autonomous driving fleet provided in this embodiment includes a lead vehicle control device 1, a fleet vision device 2, a fleet real-time motion calculation device 3, a dynamic test bench, and a fleet dynamic test bench loading calculation device 4.

[0069] The lead vehicle control device 1 is configured to give the lead vehicle operation instructions.

[0070] The fleet real-time motion calculation device 3 is configured to calculate the dynamic and kinematic state parameters of the lead vehicle and the following vehicles in the autonomous driving fleet online based on the operating instructions of the lead vehicle. The host computer device 6 is also included. The host computer device 6 is used to initialize the fleet real-time motion calculation device, monitor the safety status of the fleet, and record the dynamic and kinematic data of the vehicles during the test.

[0071] The convoy visual device 2 is configured to construct and display a simulated dynamic environment, obtain the operating instructions of the lead vehicle and the dynamic and kinematic state parameters of the lead vehicle and the following vehicles, and edit and display the convoy operation scene in real time.

[0072] The dynamic test bench is configured to simulate the actual operating conditions of the lead vehicle and the following vehicles and to perform driving and braking operations on the vehicles. The dynamic test bench includes a lead vehicle dynamic test bench 5 and a plurality of following vehicle dynamic test benches i (i = 1, 2, ...). The number of following vehicle dynamic test benches is set according to the length of the convoy to be tested and is not limited here.

[0073] The platoon dynamic test bench load calculation device 4 is configured to calculate the dynamometer reference torque for the lead and follower vehicles based on their dynamic and kinematic state parameters. This torque is then used to load the motors, simulating the loads on the motors during platoon movement. Using the dynamometer to load the vehicle's drive and brake systems accurately simulates the dynamic mechanical loads on the vehicle's drive and brake systems during anti-skid and locking conditions under extreme operating conditions, effectively expanding the range of motion performance testing for autonomous driving platoons under these extreme conditions.

[0074] In a preferred embodiment, the fleet vision device 2 is implemented using an industrial computer, which has built-in traffic scene editing module 21 and traffic scene real-time display module 22. The traffic scene editing module 21 sends the operation instructions of the lead vehicle driver to the fleet real-time motion calculation device 3; the traffic scene real-time display module 22 obtains the vehicle motion state parameters from the fleet real-time motion calculation device 3 and displays the fleet operation status in real time; the communication method between the industrial computer and the fleet real-time motion calculation device 3 adopts USB to CAN communication, and the construction and display of the fleet vision can be carried out using existing software, which will not be elaborated here.

[0075] In a preferred embodiment, the lead vehicle control device 1 has a built-in driver model, which can select a manned driving mode or an unmanned driving mode, and give the lead vehicle operation instructions; the lead vehicle control device 1 and the industrial computer can use a USB signal cable.

[0076] In a preferred embodiment, Figure 1As shown, the structures of the dynamic test bench 5 of the leading vehicle and the dynamic test bench of the following vehicle are the same. This embodiment takes the dynamic test bench 5 of the leading vehicle as an example for description. The dynamic test bench 5 of the leading vehicle includes an on-board sensor simulation device 51, an on-board communication device 52, an on-board control device 53, and a vehicle electric drive brake system bench 54.

[0077] The vehicle-mounted sensor simulation device 51 is used to simulate the characteristics of the vehicle-mounted positioning sensor;

[0078] The vehicle-mounted communication device 52 is used to complete the communication between different vehicles in the fleet;

[0079] The vehicle control device 53 is used to generate vehicle control commands and control the operation of the vehicle electric drive brake system test bench;

[0080] The vehicle electric brake system stand 54 is used to execute vehicle electric brake commands and perform electric brake operations on the vehicle.

[0081] Furthermore, if Figure 3 As shown, the vehicle-mounted sensor simulation device 51 includes a sensor signal simulation module 511 and a sensor module 512. The sensor signal simulation module 511 is used to simulate the normal and fault characteristics of the GPS or Beidou satellite positioning system, including delay, noise, faults, and network attacks. The sensor module 512 is an on-vehicle positioning sensor that receives signals from the sensor simulation module 511.

[0082] Furthermore, if Figure 4 As shown, the vehicle-mounted communication device 52 includes a sending module 521 and a receiving module 522. The sending module 521 is mainly used to send information such as the vehicle's location to the receiving module of the vehicle-mounted communication device of other vehicles; the receiving module 522 is mainly used to receive location information from the sending module of other vehicles, etc., using DSRC communication or 5G communication.

[0083] Furthermore, if Figure 5 As shown, the dynamic test bench 5 of the leading vehicle and the dynamic test bench of the following vehicle i both include a vehicle electric brake system 541, a bench sensor device 542 and a dynamometer 543. The vehicle electric brake system 541 is coaxially connected to the dynamometer 543, and the bench sensor device 542 is installed at the connecting shaft; the vehicle electric brake system 541 can be a pure electric brake system, a hybrid power system, a hydrogen engine system, etc., and the dynamometer 543 simulates the road load in real time, wherein the vehicle electric brake system 541 is the actual power system of the vehicle in the fleet to be tested and is the component to be tested; the bench sensor device 542 is used to measure the speed and torque information of the bench; the dynamometer 543 is used to dynamically load the vehicle electric brake system in real time according to the operation status of the fleet.

[0084] In a preferred embodiment, Figure 2As shown, the real-time motion calculation device 3 of the vehicle fleet includes a lead vehicle dynamics and kinematics calculation module 31, and dynamics and kinematics calculation modules 32, 33... for each following vehicle i. Each of the above calculation modules has a built-in vehicle dynamics model and kinematics model, wherein the number of dynamics and kinematics calculation modules for the following vehicle i is set according to the length of the vehicle fleet to be tested; wherein, the lead vehicle dynamics and kinematics calculation module 31 and the dynamics and kinematics calculation modules 32, 33... for each following vehicle i integrate the operating instructions of the lead vehicle, the actual operating status of the dynamic test bench of the lead vehicle and the dynamic test bench of the following vehicle i, calculate the dynamics and kinematic status of the lead vehicle and the following vehicle i, including the acceleration, speed, position and other data of the vehicles, and send them to the dynamic test bench 5 of the lead vehicle, the dynamic test bench of the following vehicle i and the loading calculation device 4 of the dynamic test bench of the vehicle fleet.

[0085] In a preferred embodiment, Figure 6 As shown, the fleet dynamic test bench loading calculation device 4 includes a lead vehicle dynamic test bench loading calculation module 41 and follower vehicle i dynamic test bench loading calculation modules 42, 43..., which adopts a speed-controlled load simulation method to calculate the dynamometer reference torque of the lead vehicle dynamic test bench 5 and the follower vehicle i dynamic test bench respectively; wherein, the number of the follower vehicle i (i = 1, 2, ...) dynamic test bench loading calculation modules is set according to the length of the fleet to be tested.

[0086] Furthermore, if Figure 7 As shown, the leading vehicle dynamic test bench loading calculation module 41 and the following vehicle i dynamic test bench loading calculation modules 42, 43, ... all adopt a "feedforward + feedback" composite control structure. The leading vehicle dynamic test bench loading calculation module 41 is used for illustration, and includes a lumped disturbance estimation module 411, a feedforward torque calculation module 412, a loading error calculation module 413, a feedback torque calculation module 414, and a loading torque calculation module 415.

[0087] The lumped disturbance estimation module 411 estimates the total disturbance torque of the dynamometer;

[0088] The feedforward torque calculation module 412 calculates the dynamometer feedforward control torque;

[0089] The loading error calculation module 413 calculates the dynamometer speed control error;

[0090] The feedback torque calculation module 414 calculates the dynamometer feedback control torque;

[0091] The loading torque calculation module 415 calculates the total reference torque of the dynamometer.

[0092] In a preferred embodiment, CAN communication is adopted among the fleet real-time motion calculation device 3, the lead vehicle dynamic test bench 5, the follower vehicle i dynamic test bench and the fleet dynamic test bench loading calculation device.

[0093] Example 2: Figure 8 As shown, the control method of the hardware-in-the-loop dynamic test system for an autonomous driving fleet provided in this embodiment includes the following steps:

[0094] S1, initialization, the host device 6 loads the fleet model for real-time motion calculation;

[0095] S2, the fleet visual device 3 in the industrial computer builds and displays the simulation environment;

[0096] S3, the lead vehicle operating device 1 gives the lead vehicle operating instruction;

[0097] S4, online calculation of the dynamic and kinematic states of the lead vehicle and the following vehicles;

[0098] S5. Based on the constructed platoon dynamic test bench, simulate the actual operating conditions of the lead vehicle and the following vehicles to perform driving and braking operations on the vehicles, including:

[0099] S51, vehicle-mounted sensor 51 simulates the dynamic response characteristics of the vehicle-mounted positioning sensor;

[0100] S52, the vehicle-mounted communication device 52 implements fleet information interaction by providing a given communication topology;

[0101] S53, the vehicle control device 53 calculates the reference torque of the vehicle electric drive brake system in real time;

[0102] S54, determining that the vehicle electric drive brake system adopts a torque control mode;

[0103] S55, performing driving and braking operations on the vehicle according to the calculated reference torque;

[0104] S6, such as Figure 9 As shown, the vehicle electric drive brake system is dynamically loaded in real time based on the dynamic and kinematic state parameters of the lead vehicle and the following vehicle. This includes using a speed control mode, calculating the reference torque of the dynamometer, and controlling the dynamometer to dynamically load the vehicle electric drive brake system. Specifically:

[0105] S61, online measurement of the actual speed and actual torque of the dynamometer;

[0106] S62, estimating the total disturbance torque of the dynamometer system using an extended state observer;

[0107] S63, calculating the feedforward control reference torque of the dynamometer;

[0108] S64, calculating the speed control error of the dynamometer;

[0109] S65, calculating the feedback control reference torque of the dynamometer using a sliding mode control method;

[0110] S66. Calculate the total reference torque of the dynamometer.

[0111] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In the description of this specification, the reference terms "one embodiment", "some implementations", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of this specification. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in an appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A hardware-in-the-loop dynamic testing system for an autonomous driving fleet, characterized by: The system includes: The lead vehicle control device is configured to give the lead vehicle operation instructions, has a built-in driver model, and is set to a manned driving mode or an unmanned driving mode; A real-time motion calculation device for a convoy, configured to calculate online the dynamic and kinematic state parameters of the lead vehicle and the following vehicles in the autonomous driving convoy based on the operating instructions of the lead vehicle; A convoy visual device is configured to obtain the operating instructions of the lead vehicle and the dynamic and kinematic state parameters of the lead vehicle and the following vehicles, and display the convoy operation scene; A dynamic test bench is configured to simulate the actual operating status of a lead vehicle and a following vehicle, and to test the driving and braking operations of each vehicle's electric brake system. The dynamic test bench includes a lead vehicle dynamic test bench and several following vehicle dynamic test benches. The lead vehicle dynamic test bench and the following vehicle dynamic test bench have the same structure, and both include an on-board sensor simulation device, an on-board communication device, an on-board control device, and a vehicle electric brake system bench. The on-board sensor simulation device is configured to simulate the characteristics of an on-board positioning sensor. The on-board communication device is configured to enable communication between different vehicles in a fleet. The on-board control device is configured to generate vehicle control commands to control the operation of the vehicle electric brake system bench. The vehicle electric brake system bench is configured to execute vehicle driving and braking commands and perform driving and braking operations on the vehicle. The lead vehicle dynamic test bench and the following vehicle dynamic test bench also include a vehicle electric brake system, a bench sensing device, and a dynamometer. The vehicle electric brake system is coaxially connected to the dynamometer, and the bench sensing device is installed at the connecting shaft. The convoy dynamic test bench load calculation device includes a lead vehicle dynamic test bench load calculation module and a follower vehicle dynamic test bench load calculation module. It is configured to dynamically load the electric drive brake system of each vehicle in real time based on the dynamic and kinematic state parameters of the lead vehicle and the follower vehicle. Both the lead vehicle dynamic test bench load calculation module and the follower vehicle dynamic test bench load calculation module adopt a "feedforward + feedback" composite control structure, including: Lumped disturbance estimation module, used to estimate the total disturbance torque of the dynamometer; Feedforward torque calculation module, used to calculate the dynamometer feedforward control torque; Loading error calculation module, used to calculate the dynamometer speed control error; Feedback torque calculation module, used to calculate the dynamometer feedback control torque; The loading torque calculation module is used to calculate the total reference torque of the dynamometer.

2. The hardware-in-the-loop dynamic testing system for an autonomous driving fleet according to claim 1, characterized in that: The vehicle-mounted sensor simulation device includes a sensor signal simulation module and a sensor module; the sensor signal simulation module is used to simulate the normal and fault characteristics of the GPS or Beidou satellite positioning system, and the sensor module is a vehicle-mounted positioning sensor used to receive the signal of the sensor signal simulation module.

3. The hardware-in-the-loop dynamic testing system for an autonomous driving fleet according to claim 1, characterized in that: The vehicle-mounted communication device includes a sending module and a receiving module. The sending module is used to send the vehicle's location information to the receiving module of the vehicle-mounted communication device of other vehicles; the receiving module is used to receive the location information from the sending module of other vehicles, using DSRC communication or 5G communication.

4. A method for hardware-in-the-loop dynamic testing of an autonomous driving fleet based on the hardware-in-the-loop dynamic testing system of an autonomous driving fleet according to any one of claims 1 to 3, characterized in that include: Initialization, loading the fleet model for real-time motion calculation; Build and display fleet simulation environments; The lead car control device gives the lead car operation instructions; Online calculation of the dynamics and kinematics of the lead vehicle and the following vehicles; Based on the constructed convoy dynamic test bench, the actual operating conditions of the lead vehicle and the following vehicle are simulated to implement driving and braking operations on the vehicle electric drive system; Dynamic loading is performed on the vehicle electric drive braking system in real time based on the dynamic and kinematic state parameters of the leading vehicle and the following vehicle.

5. The testing method according to claim 4, characterized in that: Based on the constructed platoon dynamic test bench, the actual operating conditions of the lead vehicle and the following vehicle are simulated to implement driving and braking operations on the vehicle electric drive system, including: The vehicle controller simulation device simulates the dynamic response characteristics of the vehicle positioning sensor; The on-board communication device implements fleet information interaction based on a given communication topology; The on-board control device calculates the reference torque of the vehicle's electric drive braking system in real time, adopts the torque control mode, and performs driving and braking operations on the vehicle according to the calculated reference torque.

6. The testing method according to claim 4, wherein: Dynamic loading is performed on the vehicle's electric drive brake system in real time based on the dynamic and kinematic state parameters of the lead vehicle and the following vehicle. This includes calculating the reference torque of the dynamometer and controlling the dynamometer to dynamically load the vehicle's electric drive brake system. Specifically: Online measurement of the actual speed and actual torque of the dynamometer; The total disturbance torque of the dynamometer system is estimated using an extended state observer. Calculate the feedforward control reference torque of the dynamometer; Calculate the speed control error of the dynamometer; The sliding mode control method is used to calculate the feedback control reference torque of the dynamometer; Calculate the total reference torque of the dynamometer.

Images