Construction system and methods for digital twin platform, and AEB testing equipment and methods

Abstract

This invention relates to a digital twin platform construction system, method, and AEB testing device and method, relating to the technical field of automotive active safety testing. It utilizes digital twin technology to construct a basic hardware digital twin of the tested AEB system, compares the real and virtual states of the tested AEB system, updates the component parameters of the underlying brake-by-wire system, and obtains the final hardware digital twin. A second simulation platform receives the signal triggering the tested AEB system, runs the final hardware digital twin, performs joint real-time simulation, outputs the virtual state of the tested AEB system, and determines whether the tested AEB system passes the test based on the virtual state. The test parameters of the tested AEB system are adjusted, simultaneously optimizing the test parameters of the tested AEB system and the component parameters required for the control of the underlying brake-by-wire system, further improving the testing efficiency of the AEB system.

Description

Technical Field

[0001] This invention relates to the technical field of active safety testing for automobiles, and more specifically, to a system and method for constructing a digital twin platform, and an AEB testing device and method. Background Technology

[0002] Against the backdrop of the stable development of the automotive industry, my country's car ownership continues to rise. While the widespread use of cars brings many conveniences to people's lives, it also brings many problems. For example, due to improper braking, traffic accidents occur frequently, leading to a continuous increase in the number of injuries and fatalities among drivers and passengers, and causing significant economic losses.

[0003] Automatic Emergency Braking (AEB) is an active safety technology in automobiles that automatically monitors the distance and relative speed of objects ahead. If the driver brakes too late, with insufficient braking force, or fails to brake at all, the vehicle will issue a warning or automatically apply the brakes. AEB systems can largely prevent or mitigate rear-end collisions, ensuring the safety of passengers. Currently, the AEB system functionality in most vehicles on the market comes from supplier-packaged solutions, making it difficult to perfectly integrate the AEB system with individual vehicles and achieve optimal performance. However, with technological innovations in recent years, more and more vehicles are equipped with AEB systems. Furthermore, due to the rising global awareness of traffic safety, not only consumers are paying attention, but many new car safety assessment associations, such as NCAP, have also begun to include AEB testing as one of the indicators in their new car safety evaluations.

[0004] Currently, the National Automotive Standardization Technical Committee has been organizing the formulation of several standards regarding AEB performance requirements. These standards all mention the requirements for functional safety testing, but they do not provide specific supporting equipment for AEB testing, making it impossible to conduct functional safety testing of the AEB system based on the functional safety requirements given in the standards.

[0005] Furthermore, AEB testing generally needs to be conducted after the AEB system's functionality has been fully verified. If vehicle-level AEB testing is performed directly in the early stages of AEB system development, the AEB system's functionality cannot be fully verified, posing a risk of redundant development and making the AEB development cycle uncontrollable. However, the traditional approach of conducting AEB testing after the AEB system's functionality has been developed requires updating the test parameters (software algorithm level) or the hardware parameters of the components required for the underlying brake-by-wire system if the AEB test fails. Currently, the optimization of the test parameters of the AEB system and the optimization of the component parameters required for the underlying brake-by-wire system cannot be achieved simultaneously, resulting in low AEB system testing efficiency. Summary of the Invention

[0006] One objective of this invention is to provide a system for constructing a digital twin platform, based on digital twin technology, for safe and reliable AEB testing; a second objective is to provide a method for constructing a digital twin platform; a third objective is to provide an AEB testing device that takes the updating of component parameters required for the control of the underlying brake-by-wire system as the starting point, and adjusts the test parameters of the tested AEB system according to the test results during the AEB system testing process, solving the problem that the optimization of the test parameters of the tested AEB and the optimization of the component parameters required for the control of the underlying brake-by-wire system cannot be achieved synchronously during AEB system testing, so as to better perform AEB testing; a fourth objective is to provide an AEB testing method to improve the testing efficiency of the AEB system.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] A system for building a digital twin platform, comprising:

[0009] The status monitoring unit is used to monitor the operating status of the subject's AEB system in real time and acquire operating status parameter signals.

[0010] Digital twin unit, used to construct the basic hardware digital twin of the subject's AEB system;

[0011] A first simulation platform and a second simulation platform are provided. The first simulation platform receives the operating status parameter signals of the test AEB system, performs joint real-time simulation, and outputs the real state of the test AEB system. The second simulation platform receives the signal that triggers the test AEB system, runs the basic hardware digital twin, performs joint real-time simulation, and outputs the virtual state of the test AEB system.

[0012] The parameter optimization unit is used to compare the real state of the subject's AEB system with the virtual state of the subject's AEB system, determine the parameter update weights based on the comparison results, update the component parameters of the underlying wire-controlled braking system corresponding to the basic hardware digital twin, and obtain the final hardware digital twin, that is, the required digital twin platform.

[0013] Based on the aforementioned technical means, a basic hardware digital twin of the tested AEB system is constructed using digital twin technology. The tested AEB system is then jointly simulated in real time using a first simulation platform and a second simulation platform to achieve "mirror image" simulation. By comparing the real state of the tested AEB system with its virtual state, the component parameters of the underlying brake-by-wire system corresponding to the basic hardware digital twin are updated. This optimizes the component parameters required for the control of the underlying brake-by-wire system of the tested AEB system, resulting in the final hardware digital twin for safe and reliable AEB testing.

[0014] Furthermore, the tested AEB system includes: the underlying brake-by-wire system and the simulation model corresponding to the underlying brake-by-wire system.

[0015] Based on the above technical means, in the tested AEB system, the underlying brake-by-wire system, as the physical hardware of the tested AEB system, can work when the tested AEB system is triggered, generating operating status parameter signals. The simulation model corresponding to the underlying brake-by-wire system can be jointly simulated in real time on the first simulation platform and the second simulation platform respectively to form a basic hardware digital twin model.

[0016] Furthermore, the operating status parameter signals of the tested AEB system include the working control response signals of the underlying brake-by-wire system.

[0017] Furthermore, the status monitoring unit includes at least one sensor for monitoring the operating status of the subject's AEB system. The input of the sensor is connected to the underlying brake-by-wire system, and the output of the sensor is connected to the first simulation platform.

[0018] Furthermore, the status monitoring unit also includes a display console and a digital display, with the sensors, display console, and digital display connected in sequence.

[0019] Based on the above technical means, after the tested AEB system is triggered, the underlying brake-by-wire system in the tested AEB system starts to work. The sensor is connected to the underlying brake-by-wire system to monitor its operating status, obtain the operating status parameter signal, and transmit it to the display console. The display console transmits the signal to the digital display for display, which makes it convenient for developers to visualize the operating status of the underlying brake-by-wire system of the tested AEB system.

[0020] Furthermore, the digital twin unit also includes a model storage disk for storing models and a first data transceiver unit. The input end of the model storage disk is connected to the test AEB system, and the simulation model in the test AEB system is stored in the model storage disk. The output end of the model storage disk is connected to the input end of the first simulation platform and the input end of the second simulation platform, respectively. The first simulation platform and the second simulation platform read the simulation model in the model storage disk and perform joint real-time simulation to construct the basic hardware digital twin of the underlying brake-by-wire system in the test AEB system. The output end of the first simulation platform and the output end of the second simulation platform are connected to the first data transceiver unit, respectively transmitting the model information after joint real-time simulation to the first data transceiver unit.

[0021] According to the above technical means, the basic hardware digital twin is obtained by reading the simulation model stored in the model storage disk and performing joint real-time simulation on both the first simulation platform and the second simulation platform before the test AEB system is triggered. At this time, the underlying brake-by-wire system in the test AEB system has not yet started working, and the initial digital twin corresponding to the virtual state of the simulation model is formed.

[0022] Furthermore, when the tested AEB system is triggered, the tested AEB system outputs the target braking pressure, and the underlying brake-by-wire system in the tested AEB system starts to work. The sensor monitors the operating status of the underlying brake-by-wire system in the tested AEB system, acquires the operating status parameter signal and transmits it to the first simulation platform. The first simulation platform performs joint real-time simulation based on the operating status parameter signal and outputs the real status of the underlying brake-by-wire system to the first data transceiver unit.

[0023] Furthermore, the operating status parameter signals are transmitted to the first simulation platform. After the first simulation platform performs joint real-time simulation based on the operating status parameter signals, it also outputs information on the actual motion state changes of the vehicle.

[0024] According to the above technical means, when the tested AEB system is triggered, the underlying brake-by-wire system starts to work. Sensors monitor the operating status signal of the underlying brake-by-wire system in the tested AEB system, and perform joint real-time simulation based on the operating status signal. The physical test of the corresponding underlying brake-by-wire system is running on the first simulation platform. At this time, the real state of the underlying brake-by-wire system is obtained, and the information on the change of the vehicle's motion state can also be obtained. This information serves as the basis for subsequent judgment on whether the tested AEB system passes the test.

[0025] Furthermore, when the subject's AEB system is triggered, the trigger signal is synchronously transmitted to the second simulation platform. The second simulation platform reads and runs the simulation model, outputs the underlying target pressure control signal corresponding to the trigger signal, and the hardware digital twin outputs the actual braking pressure according to the target pressure control signal. The second simulation platform performs joint real-time simulation based on the actual braking pressure output by the hardware digital twin and outputs the virtual state of the underlying brake-by-wire system to the first data transceiver unit.

[0026] Furthermore, the parameter optimization unit includes a second data transceiver unit, a data storage unit, a data parsing unit, a data comparison module, and a system parameter correction module. The input end of the second data transceiver unit is connected to the output end of the digital twin unit. The digital twin unit transmits the real state information of the underlying brake-by-wire system and the virtual state information of the underlying brake-by-wire system to the second data transceiver unit. The output end of the second data transceiver unit is connected to the input end of the data storage unit and the input end of the data parsing unit, respectively. The data parsing unit, the data comparison module, and the system parameter correction module are connected in sequence. The system parameter correction module is connected to the second simulation platform.

[0027] The data parsing unit parses the real state information and virtual state information of the underlying brake-by-wire system and transmits the parsing results to the data comparison module. The data comparison module compares the real state and virtual state of the underlying brake-by-wire system and outputs the comparison results to the system parameter correction module. The system parameter correction module determines the parameter update weights based on the comparison results and updates the component parameters of the underlying brake-by-wire system corresponding to the basic hardware digital twin.

[0028] Furthermore, the system parameter correction module updates the weights of the parameters determined based on the comparison results, satisfying the following formula:

[0029]

[0030] Where α represents the update weight of a component parameter in the underlying brake-by-wire system; ε represents the error between the actual state and the virtual state of the underlying brake-by-wire system; ε0 represents the allowable error threshold; ε1 represents the fast iteration threshold; f(ε) represents the update weight of a component parameter in the underlying brake-by-wire system when the error is between the allowable error threshold and the fast iteration threshold, which is designed by the developer; the component parameter includes: the piston area of ​​the drive cylinder, the piston area of ​​the wheel cylinder, and the control current of the drive-by-wire motor;

[0031] The process of updating the component parameters of the underlying brake-by-wire system corresponding to the basic hardware digital twin satisfies the formula:

[0032] p(k+1)=(1-α)p(k)+α[p'(k)-p(k)]

[0033] Where p(k) and p(k+1) represent the values ​​of a component parameter of the underlying brake-by-wire system corresponding to the basic hardware digital twin at the k-th and k+1-th updates, respectively; p'(k) represents the derivative of a component parameter of the underlying brake-by-wire system corresponding to the basic hardware digital twin at the k-th update.

[0034] When the error ε reaches the set error threshold range, the update stops, and the final hardware digital twin is obtained.

[0035] Based on the above technical means, the component parameters of the underlying wire-controlled braking system at the hardware level are optimized and updated during the AEB system testing process.

[0036] A method for constructing a digital twin platform includes the following steps:

[0037] Construct a basic hardware digital twin of the subject's AEB system;

[0038] Triggering the subject's AEB system;

[0039] Real-time monitoring of the operating status of the subject's AEB system to obtain operating status parameter signals;

[0040] The first simulation platform receives the operating status parameter signals of the tested AEB system, performs joint real-time simulation, and outputs the real state of the tested AEB system.

[0041] The second simulation platform receives the signal that triggers the subject's AEB system, runs the basic hardware digital twin, performs joint real-time simulation, and outputs the virtual state of the subject's AEB system.

[0042] The actual state of the subject's AEB system is compared with the virtual state of the subject's AEB system. Based on the comparison results, the parameter update weights are determined, and the component parameters of the underlying wire-controlled braking system corresponding to the basic hardware digital twin are updated to obtain the final hardware digital twin, which is the required digital twin platform.

[0043] Based on the above technical means, a basic hardware digital twin of the tested AEB system is constructed using digital twin technology. The tested AEB system is then jointly simulated in real time using a first simulation platform and a second simulation platform. The component parameters of the underlying wire-controlled braking system corresponding to the basic hardware digital twin are updated by comparing the real state of the tested AEB system with the virtual state of the tested AEB system, thus obtaining the final hardware digital twin for safe and reliable AEB testing.

[0044] An AEB testing device includes a digital twin platform construction system and an AEB system development unit. The AEB development unit is equipped with a trajectory analysis module. After a second simulation platform performs joint real-time simulation based on the hardware digital twin, it also outputs information on the virtual motion state changes of the vehicle. The trajectory analysis module determines whether the vehicle has collided or made contact based on the information on the virtual motion state changes of the vehicle to confirm whether the tested AEB system has passed the test. If the tested AEB system fails the test, the test parameters of the tested AEB system are adjusted based on the virtual trajectory of the vehicle formed by the virtual motion state information of the vehicle.

[0045] Based on the aforementioned technical means, when the tested AEB system is triggered, the trigger signal is directly and synchronously transmitted to the second simulation platform. The trigger signal corresponds to the underlying target pressure control signal. The hardware digital twin outputs the actual braking pressure according to the target pressure control signal. The second simulation platform is equivalent to running the hardware digital twin test. At this time, the virtual state of the underlying brake-by-wire system is obtained, and the virtual motion state change information of the vehicle can also be obtained. This information serves as the basis for subsequent judgment on whether the tested AEB system has passed the test. Based on the virtual state of the tested AEB system output by the second simulation platform, the test parameters of the tested AEB system are adjusted to solve the problem that the optimization of the tested AEB test parameters and the optimization of the component parameters required for the control of the underlying brake-by-wire system cannot be achieved synchronously during AEB system testing, further improving the development efficiency of the AEB system.

[0046] Furthermore, the testing device also includes a display module, which includes: a first simulation scene rendering module corresponding to the first simulation platform, a second simulation scene rendering module corresponding to the second simulation platform, and a display. The parameter optimization unit is connected to the input terminals of the first simulation scene rendering module and the second simulation scene rendering module, respectively. The output terminals of the first simulation scene rendering module and the second simulation scene rendering module are both connected to the display. The output terminal of the second simulation scene rendering module is also connected to the trajectory analysis module.

[0047] Furthermore, the AEB test transposition also includes: a virtual traffic scene generation module and a triggering module. The virtual traffic scene generation module is connected to the triggering module and the subject's AEB system respectively. The triggering module sets a trigger signal in the virtual traffic scene generated by the virtual traffic scene generation module. The virtual traffic scene with the trigger signal set is loaded into the subject's AEB system to trigger the subject's AEB system.

[0048] Furthermore, the adjusted test parameters for the subject's AEB system include: the subject's AEB system reaction time, braking force build-up speed, and minimum braking distance.

[0049] An AEB testing method includes the following steps:

[0050] Construct a basic hardware digital twin of the subject's AEB system;

[0051] Triggering the subject's AEB system;

[0052] Real-time monitoring of the operating status of the subject's AEB system to obtain operating status parameter signals;

[0053] The first simulation platform receives the operating status parameter signals of the tested AEB system, performs joint real-time simulation, and outputs the real state of the tested AEB system.

[0054] The second simulation platform receives the signal that triggers the subject's AEB system, runs the basic hardware digital twin, performs joint real-time simulation, and outputs the virtual state of the subject's AEB system.

[0055] The actual state of the subject's AEB system is compared with the virtual state of the subject's AEB system. Based on the comparison results, the parameter update weights are determined, and the component parameters of the underlying wire-controlled braking system corresponding to the basic hardware digital twin are updated to obtain the final hardware digital twin.

[0056] The subject's AEB system was tested based on the final hardware digital twin.

[0057] Furthermore, the process of testing the subject's AEB system based on the final hardware digital twin is as follows:

[0058] The second simulation platform receives the signal that triggers the subject's AEB system, runs the final hardware digital twin, performs joint real-time simulation, and outputs the virtual state of the subject's AEB system.

[0059] Based on the virtual state of the subject's AEB system, determine whether the subject's AEB system passes the test. If it does, the test parameters of the subject's AEB system are not adjusted; otherwise, the test parameters of the subject's AEB system are adjusted.

[0060] Based on the above technical means and digital twin technology, during the testing of the AEB system, the test parameters of the tested AEB system are adjusted according to the test results, which solves the problem that the optimization of the test parameters of the tested AEB and the optimization of the component parameters required for the control of the underlying brake-by-wire system cannot be achieved synchronously during the testing of the AEB system.

[0061] Furthermore, the first and second simulation platforms respectively read the simulation model of the subject's AEB system and perform joint real-time simulation to construct a basic hardware digital twin of the underlying brake-by-wire system in the subject's AEB system.

[0062] According to the above technical means, the basic hardware digital twin is obtained by reading the simulation model and performing joint real-time simulation on both the first and second simulation platforms before the test AEB system is triggered. At this time, the underlying brake-by-wire system in the test AEB system has not yet started working, and the initial digital twin corresponding to the virtual state of the simulation model is formed.

[0063] Furthermore, the updated weights based on the parameters determined by the comparison results satisfy the following formula:

[0064]

[0065] Where α represents the update weight of a component parameter in the underlying brake-by-wire system; ε represents the error between the actual state and the virtual state of the underlying brake-by-wire system; ε0 represents the allowable error threshold; ε1 represents the fast iteration threshold; f(ε) represents the update weight of a component parameter in the underlying brake-by-wire system when the error is between the allowable error threshold and the fast iteration threshold, which is designed by the developer; the component parameter includes: the piston area of ​​the drive cylinder, the piston area of ​​the wheel cylinder, and the control current of the drive-by-wire motor;

[0066] The process of updating the component parameters of the underlying brake-by-wire system corresponding to the basic hardware digital twin satisfies the formula:

[0067] p(k+1)=(1-α)p(k)+α[p'(k)-p(k)]

[0068] Where p(k) and p(k+1) represent the values ​​of a component parameter of the underlying brake-by-wire system corresponding to the basic hardware digital twin at the k-th and k+1-th updates, respectively; p'(k) represents the derivative of a component parameter of the underlying brake-by-wire system corresponding to the basic hardware digital twin at the k-th update.

[0069] When the error ε reaches the set error threshold range, the update stops, and the final hardware digital twin is obtained.

[0070] Based on the above technical means, the component parameters required for the control of the underlying brake-by-wire system during the AEB system testing process are optimized and updated.

[0071] The beneficial effects of this invention are:

[0072] This invention proposes a system and method for constructing a digital twin platform, as well as an AEB (Automatic Emergency Braking) testing device and method. It utilizes digital twin technology to construct a basic hardware digital twin of the tested AEB system. By comparing the real state and virtual state of the tested AEB system, the component parameters of the underlying brake-by-wire system corresponding to the basic hardware digital twin are updated to obtain the final hardware digital twin. A second simulation platform receives the signal that triggers the tested AEB system. During AEB testing, the final hardware digital twin is run, and joint real-time simulation is performed. The virtual state of the tested AEB system is output. Based on the virtual state of the tested AEB system, it is determined whether the tested AEB system passes the test. The test parameters of the tested AEB system are adjusted, simultaneously optimizing the test parameters of the tested AEB system and the component parameters required for the control of the underlying brake-by-wire system, thus improving the efficiency of AEB testing. Attached Figure Description

[0073] Figure 1This diagram illustrates the system composition of the digital twin platform proposed in this embodiment of the invention.

[0074] Figure 2 This is a flowchart illustrating the construction method of the digital twin platform proposed in this embodiment of the invention;

[0075] Figure 3 This diagram illustrates the composition of the AEB testing device proposed in this embodiment of the invention.

[0076] Figure 4 This is a flowchart illustrating the AEB testing method proposed in this embodiment of the invention.

[0077] The system comprises: 101-Underlying brake-by-wire system; 102-Simulation model; 201-First simulation platform; 202-Second simulation platform; 203-Model storage disk; 204-First transceiver unit; 301-Sensor; 302-Display console; 303-Digital display; 401-Second data transceiver unit; 402-Data storage unit; 403-Data parsing unit; 404-Data comparison module; 405-System parameter correction module; 501-Trigger module; 502-Trajectory analysis module; 503-Display module; 504-First simulation scene rendering module; 505-Second simulation scene rendering module; 506-Display; and 507-Virtual traffic scene generation module. Detailed Implementation

[0078] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0079] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0080] See Figure 1This embodiment proposes a construction system for a digital twin platform, including: a status monitoring unit, a digital twin unit, and a parameter optimization unit. The status monitoring unit is used to monitor the operating status of the tested AEB system in real time and obtain operating status parameter signals. In this embodiment, the tested AEB system includes: a bottom-level brake-by-wire system 101 and a simulation model 102 corresponding to the bottom-level brake-by-wire system 101. The operating status of the tested AEB system refers to the operating status of the bottom-level brake-by-wire system 101.

[0081] The digital twin unit is used to construct a basic hardware digital twin of the subject's AEB system. The digital twin unit includes a first simulation platform 201 and a second simulation platform 202. The first simulation platform 201 receives the operating status parameter signals of the subject's AEB system, performs joint real-time simulation, and outputs the real state of the subject's AEB system. The second simulation platform 202 receives the signal that triggers the subject's AEB system, runs the basic hardware digital twin, performs joint real-time simulation, and outputs the virtual state of the subject's AEB system.

[0082] In the tested AEB system, the underlying brake-by-wire system 101 serves as the physical hardware of the tested AEB system. When the tested AEB system is triggered, it can operate and generate operating status parameter signals. The simulation model 102 corresponding to the underlying brake-by-wire system 101 can be jointly simulated in real time on the first simulation platform and the second simulation platform respectively to form a basic hardware digital twin model. In this embodiment, the simulation model 102 corresponding to the underlying brake-by-wire system 101 is a Simulink model, and the joint real-time simulation performed on the first simulation platform 201 and the second simulation platform 202 respectively is a joint real-time simulation based on Simulink-CarSim. CarSim is a simulation method specifically for vehicle dynamics. CarSim runs 3-6 times faster on a computer than in real time and can simulate the vehicle's response to driver, road surface, and aerodynamic inputs. It is mainly used to predict and simulate the handling stability, braking performance, ride comfort, power, and economy of the entire vehicle, and is widely used in the development of modern automotive control systems. CarSim allows for convenient and flexible definition of the test environment and test process, and detailed definition of the characteristic parameters and characteristic files of each system of the vehicle.

[0083] See Figure 1The parameter optimization unit is connected to the output of the digital twin unit. It receives the real state and virtual state of the tested AEB system from the first simulation platform 201 and the second simulation platform 202 of the digital twin unit, respectively. The parameter optimization unit compares the real state and virtual state of the tested AEB system, determines the parameter update weights based on the comparison results, and updates the component parameters of the underlying brake-by-wire system corresponding to the basic hardware digital twin. The update of the component parameters of the underlying brake-by-wire system corresponding to the basic hardware digital twin is an iterative update until the final hardware digital twin is determined, thus obtaining the required digital twin platform.

[0084] Overall, the digital twin system for AEB testing proposed in this embodiment utilizes digital twin technology to construct a basic hardware digital twin of the tested AEB system. A joint real-time simulation of the tested AEB system is performed using a first simulation platform 201 and a second simulation platform 202, achieving a "mirror image." By comparing the real state of the tested AEB system with its virtual state, the component parameters of the underlying brake-by-wire system corresponding to the basic hardware digital twin are updated to complete the final hardware digital twin construction, enabling safe and reliable AEB testing. Simultaneously, based on the virtual state of the tested AEB system output by the second simulation platform, the system's pass / fail status is determined. Based on the test results, the test parameters of the tested AEB system are adjusted, simultaneously optimizing both the test parameters and the component parameters required for the underlying brake-by-wire system control.

[0085] In this embodiment, the operating status parameter signals of the tested AEB system include the working control response signals of the underlying brake-by-wire system, such as: the piston displacement signal of the drive cylinder, the control current signal of the drive motor, the pressure signal of the drive cylinder, and the pressure signal of the wheel cylinder, etc. The status monitoring unit includes at least one sensor 301 for monitoring the operating status of the tested AEB system, a display console 302, and a digital display 303. See [link to documentation]. Figure 1 This embodiment uses Figure 1 The diagram shows a sensor block diagram. Sensor 301, display console 302, and digital display 303 are connected in sequence. The input end of sensor 301 is connected to the underlying wire-controlled braking system 101, and the output end of sensor 301 is also connected to the first simulation platform 201.

[0086] After the tested AEB system is triggered, the underlying brake-by-wire system 101 in the tested AEB system starts to work. The sensor 301 is connected to the underlying brake-by-wire system 101 to monitor its operating status and acquire operating status parameter signals, such as the piston displacement signal of the active cylinder, the control current signal of the drive motor, the pressure signal of the active cylinder and the pressure signal of the wheel cylinder. These signals can be transmitted to the display console 302 and then to the digital display 303 for display, which makes it convenient for developers to visualize the operating status of the underlying brake-by-wire system of the hardware part of the tested AEB system.

[0087] See Figure 1 The digital twin unit also includes a model storage disk 203 for storing models and a first data transceiver unit 204. The model storage disk 203 has storage slots. The input of the model storage disk 203 is connected to the test AEB system. The simulation model (the Simulink model corresponding to the underlying brake-by-wire system) in the test AEB system is stored in the model storage disk 203. The output of the model storage disk 203 is connected to the input of the first simulation platform 201 and the second simulation platform 202, respectively. The first simulation platform 201 and the second simulation platform 202 read the simulation model in the model storage disk 203 and perform joint real-time simulation (Simulink-Carsim joint real-time simulation) to construct the basic hardware digital twin of the underlying brake-by-wire system in the test AEB system. The output of the first simulation platform 201 and the output of the second simulation platform 202 are connected to the first data transceiver unit 204 to transmit the model information after joint real-time simulation to the first data transceiver unit 204.

[0088] The basic hardware digital twin is obtained by reading the simulation model stored in the model storage disk 203 and performing joint real-time simulation when the test AEB system has not yet been triggered. At this time, the underlying brake-by-wire system 101 in the test AEB system has not yet started working, and the initial digital twin corresponding to the virtual state of the simulation model is formed.

[0089] When the tested AEB system is triggered, the tested AEB system outputs the target braking pressure, and the underlying brake-by-wire system in the tested AEB system starts to work. Sensors monitor the operating status of the underlying brake-by-wire system in the tested AEB system and acquire operating status parameter signals, such as the piston displacement signal of the drive cylinder, the control current signal of the drive motor, the pressure signal of the drive cylinder and the pressure signal of the wheel cylinder. These signals are transmitted to the first simulation platform 201. The first simulation platform 201 performs joint real-time simulation (Simulink-Carsim joint real-time simulation) based on the operating status parameter signals and outputs the real status of the underlying brake-by-wire system 101 to the first data transceiver unit 204.

[0090] The operating status parameter signal is transmitted to the first simulation platform 201. After the first simulation platform 201 performs joint real-time simulation (Simulink-Carsim joint real-time simulation) based on the operating status parameter signal, it also outputs the actual motion state change information of the vehicle.

[0091] When the tested AEB system is triggered, the underlying brake-by-wire system 101 starts to work. Sensor 301 monitors the operating status signal of the underlying brake-by-wire system 101 in the tested AEB system and performs joint real-time simulation based on the operating status signal. The physical test of the corresponding underlying brake-by-wire system runs on the first simulation platform 201. At this time, the real state of the underlying brake-by-wire system is obtained, and the information on the change of the vehicle's motion state can also be obtained. This information is used as the basis for subsequent judgment on whether the tested AEB system passes the test.

[0092] When the tested AEB system is triggered, the trigger signal (such as the simulated obstacle, relative distance, etc. signals output by the AEB system development unit to the tested AEB system) is synchronously transmitted to the second simulation platform 202. The second simulation platform 202 reads and runs the simulation model, and outputs the underlying target pressure control signal corresponding to the trigger signal. Here, the Simulink model part directly outputs the underlying target pressure control signal corresponding to the trigger signal based on the input of the trigger signal. The hardware digital twin outputs the actual braking pressure based on the target pressure control signal. Here, the hardware digital twin is the underlying brake-by-wire system corresponding to the virtual tested AEB system. The underlying controller of the underlying brake-by-wire system will drive the underlying driver according to the target pressure control signal. The underlying driver generates a driving current, which drives the actuator of the underlying brake-by-wire system to act and output the actual braking pressure. The second simulation platform performs joint real-time simulation (Simulink-Carsim joint real-time simulation) based on the actual braking pressure output by the hardware digital twin and outputs the virtual state of the underlying brake-by-wire system to the first data transceiver unit.

[0093] When the tested AEB system is triggered, the trigger signal (simulated obstacle, relative distance, etc.) is directly and synchronously transmitted to the second simulation platform 202. The trigger signal corresponds to the underlying target pressure control signal. The hardware digital twin outputs the actual braking pressure according to the target pressure control signal. The second simulation platform is equivalent to running the test of the hardware digital twin. At this time, the virtual state of the underlying brake-by-wire system is obtained, and the virtual motion state change information of the vehicle can also be obtained. This information is used as the basis for subsequent judgment on whether the tested AEB system passes the test.

[0094] In this embodiment, the parameter optimization unit includes a second data transceiver unit 401, a data storage unit 402, a data parsing unit 403, a data comparison module 404, and a system parameter correction module 405. The input terminal of the second data transceiver unit 401 is connected to the output terminal of the first data transceiver unit 204. The first data transceiver unit 204 transmits the real state information and virtual state information of the underlying brake-by-wire system 101 to the second data transceiver unit 204. The output terminal of the second data transceiver unit 204 is connected to the input terminal of the data storage unit 402 and the input terminal of the data parsing unit 403, respectively. The data parsing unit 403, the data comparison module 404, and the system parameter correction module 405 are connected in sequence. The system parameter correction module 405 is connected to the second simulation platform 202.

[0095] After the data parsing unit 403 parses the real state information and virtual state information of the underlying brake-by-wire system 101, the parsing extracts some important content contained in the real state information and virtual state information of the underlying brake-by-wire system 101. Then, the parsing result is transmitted to the data comparison module 404. The data comparison module 404 compares the real state and virtual state of the underlying brake-by-wire system 101 and outputs the comparison result to the system parameter correction module 405. The system parameter correction module 405 determines the parameter update weight based on the comparison result and updates the component parameters of the underlying brake-by-wire system 101 corresponding to the basic hardware digital twin.

[0096] In this embodiment, the parameter update weights determined by the system parameter correction module 405 based on the comparison results satisfy the following formula:

[0097]

[0098] Where α represents the update weight of a component parameter of the underlying brake-by-wire system; ε represents the error between the actual state and the virtual state of the underlying brake-by-wire system for a component parameter; ε0 represents the allowable error threshold, ε1 represents the fast iteration threshold, and f(ε) represents the update weight of a component parameter of the underlying brake-by-wire system when the error is between the allowable error threshold and the fast iteration threshold, which is designed by the developer; the component parameter includes: the piston area of ​​the drive cylinder, the piston area of ​​the wheel cylinder, and the control current of the steer-by-wire motor; in this embodiment, the component parameter corresponding to the above parameter update weight can be any one of the piston area of ​​the drive cylinder, the piston area of ​​the wheel cylinder, and the control current of the steer-by-wire motor.

[0099] The process of updating the component parameters of the underlying brake-by-wire system corresponding to the basic hardware digital twin satisfies the formula:

[0100] p(k+1)=(1-α)p(k)+α[p'(k)-p(k)]

[0101] Where p(k) and p(k+1) represent the values ​​of a component parameter of the underlying brake-by-wire system corresponding to the basic hardware digital twin at the k-th and k+1-th updates, respectively; p'(k) represents the derivative of a component parameter of the underlying brake-by-wire system corresponding to the basic hardware digital twin at the k-th update.

[0102] When the error ε reaches the set error threshold range, the update stops, and the final hardware digital twin is obtained, realizing the optimization and update of component parameters required for the control of the underlying brake-by-wire system during the AEB system testing process.

[0103] like Figure 2 As shown, this embodiment also proposes a method for constructing a digital twin platform, including the following steps:

[0104] S1011. Construct the basic hardware digital twin of the subject's AEB system;

[0105] S1012. Trigger the subject's AEB system;

[0106] S1013. Monitor the operating status of the subject's AEB system in real time and obtain operating status parameter signals;

[0107] S1014. The first simulation platform receives the operating status parameter signals of the tested AEB system, performs joint real-time simulation, and outputs the true state of the tested AEB system.

[0108] S1015. The second simulation platform receives the signal that triggers the subject's AEB system, runs the basic hardware digital twin, performs joint real-time simulation, and outputs the virtual state of the subject's AEB system.

[0109] S1016. Compare the real state of the subject's AEB system with the virtual state of the subject's AEB system, determine the parameter update weights based on the comparison results, update the component parameters of the underlying wire-controlled braking system corresponding to the basic hardware digital twin, and obtain the final hardware digital twin.

[0110] In the above process, a basic hardware digital twin of the test AEB system is constructed using digital twin technology. The test AEB system is then jointly simulated in real time using a first simulation platform and a second simulation platform. The actual state of the test AEB system and the virtual state of the test AEB system are compared to update the component parameters of the underlying wire-controlled braking system corresponding to the basic hardware digital twin, so as to obtain the final hardware digital twin for safe and reliable AEB testing.

[0111] like Figure 3As shown, this embodiment proposes an AEB testing device, see [link to documentation]. Figure 3 This includes the aforementioned digital twin platform construction system and AEB system development unit; the AEB development unit includes a trajectory analysis module 502 and a display module 503. The display module 503 includes: a first simulation scene rendering module 504 corresponding to the first simulation platform 201, a second simulation scene rendering module 505 corresponding to the second simulation platform 202, and a display 506. A parameter optimization unit is connected to the input terminals of the first simulation scene rendering module 504 and the second simulation scene rendering module 505, respectively. The output terminals of the first simulation scene rendering module 504 and the second simulation scene rendering module 505 are also connected to the display 506. The outputs of module 505 are all connected to display 506. The output of the second simulation scene rendering module 505 is also connected to trajectory analysis module 502. After the second simulation platform 202 performs joint real-time simulation based on hardware digital twin, it also outputs information on the virtual motion state changes of the vehicle. The trajectory analysis module 502 determines whether the vehicle has collided or made contact based on the information on the virtual motion state changes of the vehicle to confirm whether the tested AEB system has passed the test. If the tested AEB system fails the test, the test parameters of the tested AEB system are adjusted based on the virtual trajectory of the vehicle formed by the virtual motion state information of the vehicle.

[0112] See Figure 3 The AEB testing device proposed in this embodiment further includes: a virtual traffic scene generation module 507 and a trigger module 501. The virtual traffic scene generation module 507 is connected to the trigger module 501 and the subject's AEB system respectively. The trigger module 501 sets a trigger signal in the virtual traffic scene generated by the virtual traffic scene generation module 507. The virtual traffic scene with the trigger signal set is loaded into the subject's AEB system to trigger the subject's AEB system.

[0113] Specifically, the developers load the Carsim virtual traffic scenario required for testing the AEB system under test into the AEB system. The AEB system determines the trigger based on trigger signals such as the current vehicle speed, acceleration, and distance from obstacles in the virtual traffic scenario, and outputs the target braking pressure to the underlying brake-by-wire system digital twin. The digital twin calculates the actual braking pressure based on the target braking pressure and performs joint real-time simulation, analyzing and obtaining the virtual motion trajectory of the vehicle, including longitudinal and lateral displacements. This trajectory is then transmitted to the trajectory analysis module 502 to determine whether the vehicle has made contact or collided. The virtual trajectory is then displayed on the display 506 via the second simulation scene rendering module 505. If the vehicle makes contact or collided, the AEB system fails the test. The developers can adjust the test parameters of the AEB system by reducing the reaction time, increasing the braking force establishment speed, and increasing the minimum braking distance, based on the vehicle's virtual trajectory. Furthermore, if the tested AEB system fails the test, the developers can update and adjust the test parameters of the tested AEB system based on the vehicle's virtual trajectory, such as reducing the reaction time of the tested AEB system, increasing the braking force build-up speed, and increasing the minimum interval for triggering braking. If the tested AEB system still fails the test even after adjusting the test parameters to their limits; or if increasing the target braking pressure build-up speed does not effectively increase the pressure in the brake-by-wire system's wheel cylinder, then it is necessary to optimize the component parameters of the underlying brake-by-wire system 101, such as the piston area of ​​the drive cylinder, the piston area of ​​the wheel cylinder, and the control current of the brake-by-wire motor.

[0114] In this embodiment, on the one hand, the AEB system development unit is used to trigger the tested AEB system. On the other hand, the AEB system development unit receives information transmitted by the parameter optimization unit to realize the actual vehicle motion state and the virtual vehicle motion state formed by the simulation process on the first simulation platform and the second simulation platform, respectively. At the same time, the simulation process on the second simulation platform is analyzed to obtain the virtual motion trajectory of the vehicle containing longitudinal and lateral displacements. The trajectory analysis module analyzes the virtual motion state of the vehicle to determine whether the vehicle has collided or made contact, and to confirm whether the tested AEB system has passed the test. If it is confirmed that the tested AEB system has failed the test, the test parameters of the tested AEB system are adjusted according to the virtual trajectory of the vehicle formed by the virtual motion state information of the vehicle.

[0115] This embodiment also proposes an AEB testing method; the overall process is described in [link to documentation]. Figure 4 It includes two main steps:

[0116] The first main step S101: Construction of the digital twin of the underlying brake-by-wire system of the subject's AEB system; the second main step S102: Online development and testing of the software layer algorithm based on the digital twin.

[0117] The first main step includes: S1011. The Simulink model of the underlying brake-by-wire system is copied to the comparison simulation platform through the storage interface to construct the basic hardware digital twin of the test AEB system; S1012. The AEB system development unit sends simulated obstacle and relative distance signals to trigger the test AEB system; S1013. The test AEB system is triggered to run on the first simulation platform; S1014. The operating status of the test AEB system is monitored by sensors, and the first simulation platform receives the operating status parameter signals of the test AEB system, performs joint real-time simulation, and outputs the real state of the test AEB system; S1015. The first simulation platform receives the operating status parameter signals of the test AEB system, performs joint real-time simulation, and outputs the real state of the test AEB system; S1016. Iteration to obtain the final hardware digital twin.

[0118] For more detailed procedures, please refer to Figure 4 Step S4 involves simultaneously performing simulations on both the first and second simulation platforms, and includes the following steps:

[0119] S1. Construct the basic hardware digital twin of the subject's AEB system;

[0120] S2. Trigger the subject's AEB system;

[0121] S3. Monitor the operating status of the subject's AEB system in real time and obtain operating status parameter signals;

[0122] S4. The first simulation platform receives the operating status parameter signals of the tested AEB system, performs joint real-time simulation, and outputs the true state of the tested AEB system.

[0123] The second simulation platform receives the signal that triggers the subject's AEB system, runs the basic hardware digital twin, performs joint real-time simulation, and outputs the virtual state of the subject's AEB system.

[0124] S5. Compare the real state of the test AEB system with the virtual state of the test AEB system, determine the parameter update weights based on the comparison results, update the test parameters of the underlying wire control braking system corresponding to the basic hardware digital twin, and obtain the final hardware digital twin.

[0125] S6. Test the subject's AEB system based on the final hardware digital twin.

[0126] The process of testing the subject's AEB system using the final hardware digital twin is as follows:

[0127] The second simulation platform receives the signal that triggers the subject's AEB system, runs the final hardware digital twin, performs joint real-time simulation, and outputs the virtual state of the subject's AEB system.

[0128] Based on the virtual state of the subject's AEB system, determine whether the subject's AEB system passes the test. If it does, the test parameters of the subject's AEB system are not adjusted; otherwise, the test parameters of the subject's AEB system are adjusted.

[0129] In this embodiment, the first simulation platform and the second simulation platform respectively read the simulation model of the tested AEB system and perform joint real-time simulation to construct a basic hardware digital twin of the underlying brake-by-wire system in the tested AEB system. The basic hardware digital twin is obtained when the tested AEB system is not yet triggered; both the first and second simulation platforms read the simulation model and perform joint real-time simulation at this point. At this time, the underlying brake-by-wire system in the tested AEB system has not yet started working, forming the initial digital twin corresponding to the virtual state of the simulation model.

[0130] The updated weights based on the parameters determined by the comparison results satisfy the following formula:

[0131]

[0132] Where α represents the update weight of a component parameter in the underlying brake-by-wire system; ε represents the error between the actual state and the virtual state of the underlying brake-by-wire system; ε0 represents the allowable error threshold; ε1 represents the fast iteration threshold; f(ε) represents the update weight of a component parameter in the underlying brake-by-wire system when the error is between the allowable error threshold and the fast iteration threshold, which is designed by the developer; the component parameter includes: the piston area of ​​the drive cylinder, the piston area of ​​the wheel cylinder, and the control current of the drive-by-wire motor;

[0133] The process of updating the component parameters of the underlying brake-by-wire system corresponding to the basic hardware digital twin satisfies the formula:

[0134] p(k+1)=(1-α)p(k)+α[p'(k)-p(k)]

[0135] Where p(k) and p(k+1) represent the values ​​of a component parameter of the underlying brake-by-wire system corresponding to the basic hardware digital twin at the k-th and k+1-th updates, respectively; p'(k) represents the derivative of a component parameter of the underlying brake-by-wire system corresponding to the basic hardware digital twin at the k-th update.

[0136] When the error ε reaches the set error threshold range, the update stops, and the final hardware digital twin is obtained, realizing the optimization and update of the component parameters of the underlying brake-by-wire system during the AEB system testing process.

[0137] When a vehicle collides or makes contact, the tested AEB system fails the test; otherwise, it passes. When the tested AEB system fails the test, the test parameters are adjusted based on the vehicle's virtual trajectory formed by the vehicle's virtual motion state information. In practice, if the tested AEB system fails the test, developers can update and adjust the test parameters based on the vehicle's virtual trajectory, such as reducing the AEB system's reaction time, increasing the braking force build-up speed, and increasing the minimum braking distance. If the tested AEB system still fails the test even when its test parameters are adjusted to the limit; or if increasing the target braking pressure build-up speed does not effectively increase the pressure in the brake-by-wire system's wheel cylinder, then the component parameters of the underlying brake-by-wire system 101 need to be optimized, such as the piston area of ​​the drive cylinder, the piston area of ​​the wheel cylinder, and the control current of the brake-by-wire motor.

[0138] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. A system for constructing a digital twin platform, characterized in that, include: The status monitoring unit is used to monitor the operating status of the subject's AEB system in real time and acquire operating status parameter signals. Digital twin unit, used to construct the basic hardware digital twin of the subject's AEB system; A first simulation platform and a second simulation platform are provided. The first simulation platform receives the operating status parameter signals of the tested AEB system, performs joint real-time simulation, and outputs the real state of the tested AEB system. The second simulation platform receives the signal that triggers the subject's AEB system, runs the basic hardware digital twin, performs joint real-time simulation, and outputs the virtual state of the subject's AEB system. The parameter optimization unit is used to compare the real state of the subject's AEB system with the virtual state of the subject's AEB system, determine the parameter update weights based on the comparison results, update the component parameters of the underlying wire-controlled braking system corresponding to the basic hardware digital twin, and obtain the final hardware digital twin, that is, the required digital twin platform.

2. The system for constructing a digital twin platform according to claim 1, characterized in that, The tested AEB system includes: the underlying brake-by-wire system and the corresponding simulation model of the underlying brake-by-wire system.

3. The system for constructing a digital twin platform according to claim 2, characterized in that, The operating status parameter signals of the tested AEB system include the working control response signals of the underlying brake-by-wire system.

4. The system for constructing a digital twin platform according to claim 2, characterized in that, The status monitoring unit includes at least one sensor for monitoring the operating status of the subject's AEB system. The input of the sensor is connected to the underlying wire-controlled braking system, and the output of the sensor is connected to the first simulation platform.

5. The system for constructing a digital twin platform according to claim 4, characterized in that, The status monitoring unit also includes a display console and a digital display, with sensors, the display console, and the digital display connected in sequence.

6. The system for constructing a digital twin platform according to claim 4, characterized in that, The digital twin unit also includes a model storage disk for storing models and a first data transceiver unit. The input end of the model storage disk is connected to the test AEB system, and the simulation model in the test AEB system is stored in the model storage disk. The output end of the model storage disk is connected to the input end of the first simulation platform and the input end of the second simulation platform, respectively. The first simulation platform and the second simulation platform read the simulation model in the model storage disk and perform joint real-time simulation to construct the basic hardware digital twin of the underlying brake-by-wire system in the test AEB system. The output end of the first simulation platform and the output end of the second simulation platform are connected to the first data transceiver unit, respectively transmitting the model information after joint real-time simulation to the first data transceiver unit.

7. The system for constructing a digital twin platform according to claim 4, characterized in that, When the tested AEB system is triggered, the tested AEB system outputs the target braking pressure, and the underlying brake-by-wire system in the tested AEB system starts to work. The sensor monitors the operating status of the underlying brake-by-wire system in the tested AEB system, acquires the operating status parameter signal and transmits it to the first simulation platform. The first simulation platform performs joint real-time simulation based on the operating status parameter signal and outputs the real status of the underlying brake-by-wire system to the first data transceiver unit.

8. The system for constructing a digital twin platform according to claim 7, characterized in that, The operating status parameter signal is transmitted to the first simulation platform. After the first simulation platform performs joint real-time simulation based on the operating status parameter signal, it also outputs the actual motion state change information of the vehicle.

9. The system for constructing a digital twin platform according to claim 7, characterized in that, When the test AEB system is triggered, the trigger signal is synchronously transmitted to the second simulation platform. The second simulation platform reads and runs the simulation model, and outputs the underlying target pressure control signal corresponding to the trigger signal. The hardware digital twin outputs the actual braking pressure according to the target pressure control signal. The second simulation platform performs joint real-time simulation based on the actual braking pressure output by the hardware digital twin, and outputs the virtual state of the underlying brake-by-wire system to the first data transceiver unit.

10. The system for constructing a digital twin platform according to any one of claims 1 to 9, characterized in that, The parameter optimization unit includes a second data transceiver unit, a data storage unit, a data parsing unit, a data comparison module, and a system parameter correction module. The input end of the second data transceiver unit is connected to the output end of the digital twin unit. The digital twin unit transmits the real state information and virtual state information of the underlying brake-by-wire system to the second data transceiver unit. The output end of the second data transceiver unit is connected to the input end of the data storage unit and the input end of the data parsing unit, respectively. The data parsing unit, the data comparison module, and the system parameter correction module are connected in sequence. The system parameter correction module is connected to the second simulation platform. The data parsing unit parses the real state information and virtual state information of the underlying brake-by-wire system and transmits the parsing results to the data comparison module. The data comparison module compares the real state and virtual state of the underlying brake-by-wire system and outputs the comparison results to the system parameter correction module. The system parameter correction module determines the parameter update weights based on the comparison results and updates the component parameters of the underlying brake-by-wire system corresponding to the basic hardware digital twin.

11. The system for constructing a digital twin platform according to claim 10, characterized in that, The system parameter correction module updates the parameter weights based on the comparison results, satisfying the following formula: Where α represents the update weight of a component parameter in the underlying brake-by-wire system; ε represents the error between the actual state and the virtual state of the underlying brake-by-wire system; ε0 represents the allowable error threshold; ε1 represents the fast iteration threshold; f(ε) represents the update weight of a component parameter in the underlying brake-by-wire system when the error is between the allowable error threshold and the fast iteration threshold, which is designed by the developer; the component parameter includes: the piston area of ​​the drive cylinder, the piston area of ​​the wheel cylinder, and the control current of the drive-by-wire motor; When the error ε reaches the set error threshold range, the update stops, and the final hardware digital twin is obtained.

12. A method for constructing a digital twin platform, characterized in that, Includes the following steps: Construct a basic hardware digital twin of the subject's AEB system; Triggering the subject's AEB system; Real-time monitoring of the operating status of the subject's AEB system to obtain operating status parameter signals; The first simulation platform receives the operating status parameter signals of the tested AEB system, performs joint real-time simulation, and outputs the real state of the tested AEB system. The second simulation platform receives the signal that triggers the subject's AEB system, runs the basic hardware digital twin, performs joint real-time simulation, and outputs the virtual state of the subject's AEB system. The actual state of the subject's AEB system is compared with the virtual state of the subject's AEB system. Based on the comparison results, the parameter update weights are determined, and the component parameters of the underlying wire-controlled braking system corresponding to the basic hardware digital twin are updated to obtain the final hardware digital twin, which is the required digital twin platform.

13. An AEB testing device, characterized in that, The system includes the construction system of the digital twin platform as described in claim 10, and also includes an AEB system development unit. The AEB development unit is equipped with a trajectory analysis module. After the second simulation platform performs joint real-time simulation based on the hardware digital twin, it also outputs the virtual motion state change information of the vehicle. The trajectory analysis module determines whether the vehicle has collided or made contact based on the virtual motion state change information of the vehicle to confirm whether the tested AEB system has passed the test. If the tested AEB system fails the test, the test parameters of the tested AEB system are adjusted based on the virtual trajectory of the vehicle formed by the virtual motion state information of the vehicle.

14. The AEB testing apparatus according to claim 13, characterized in that, The AEB development unit also includes a display module, which includes a first simulation scene rendering module corresponding to the first simulation platform, a second simulation scene rendering module corresponding to the second simulation platform, and a display. The parameter optimization unit is connected to the input end of the first simulation scene rendering module and the input end of the second simulation scene rendering module, respectively. The output end of the first simulation scene rendering module and the output end of the second simulation scene rendering module are both connected to the display. The output end of the second simulation scene rendering module is also connected to the trajectory analysis module.

15. The AEB testing apparatus according to claim 13, characterized in that, The AEB testing device further includes a virtual traffic scene generation module and a triggering module. The virtual traffic scene generation module is connected to the triggering module and the subject's AEB system. The triggering module sets a trigger signal in the virtual traffic scene generated by the virtual traffic scene generation module. The virtual traffic scene with the trigger signal is loaded into the subject's AEB system to trigger the subject's AEB system.

16. The AEB testing apparatus according to claim 13, characterized in that, The adjusted test parameters for the subject's AEB system include: the subject's AEB system reaction time, braking force build-up speed, and minimum braking distance.

17. An AEB testing method, characterized in that, Includes the following steps: Construct a basic hardware digital twin of the subject's AEB system; Triggering the subject's AEB system; Real-time monitoring of the operating status of the subject's AEB system to obtain operating status parameter signals; The first simulation platform receives the operating status parameter signals of the tested AEB system, performs joint real-time simulation, and outputs the real state of the tested AEB system. The second simulation platform receives the signal that triggers the subject's AEB system, runs the basic hardware digital twin, performs joint real-time simulation, and outputs the virtual state of the subject's AEB system. The actual state of the subject's AEB system is compared with the virtual state of the subject's AEB system. Based on the comparison results, the parameter update weights are determined, and the component parameters of the underlying wire-controlled braking system corresponding to the basic hardware digital twin are updated to obtain the final hardware digital twin. The subject's AEB system was tested based on the final hardware digital twin.

18. The AEB testing method according to claim 17, characterized in that, The process of testing the subject's AEB system based on the final hardware digital twin is as follows: The second simulation platform receives the signal that triggers the subject's AEB system, runs the final hardware digital twin, performs joint real-time simulation, and outputs the virtual state of the subject's AEB system. Based on the virtual state of the subject's AEB system, determine whether the subject's AEB system passes the test. If it does, the test parameters of the subject's AEB system are not adjusted; otherwise, the test parameters of the subject's AEB system are adjusted.

19. The AEB test method according to claim 17, characterized in that, The first and second simulation platforms respectively read the simulation model of the tested AEB system and perform joint real-time simulation to construct the basic hardware digital twin of the underlying brake-by-wire system in the tested AEB system.

20. The AEB testing method according to claim 17, characterized in that, The updated weights based on the parameters determined by the comparison results satisfy the following formula: Where α represents the update weight of a component parameter in the underlying brake-by-wire system; ε represents the error between the actual state and the virtual state of the underlying brake-by-wire system; ε0 represents the allowable error threshold; ε1 represents the fast iteration threshold; f(ε) represents the update weight of a component parameter in the underlying brake-by-wire system when the error is between the allowable error threshold and the fast iteration threshold, which is designed by the developer; the component parameter includes: the piston area of ​​the drive cylinder, the piston area of ​​the wheel cylinder, and the control current of the drive-by-wire motor; When the error ε reaches the set error threshold range, the update stops, and the final hardware digital twin is obtained.

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