A test platform and test method for predictive cruise control system

Abstract

The present invention provides a test platform and a test method for a predictive cruise control system. A road data acquisition module in the test platform obtains the current position information of a vehicle and the road ahead information; a map reconstruction module reconstructs the current vehicle offset and the road ahead offset to obtain the current road spectrum and the road ahead spectrum; a wheel hub test module determines the mileage of the wheel hub, determines the target current position information of the vehicle based on the mileage and the current road spectrum, and sends the current position information to a vehicle with a built-in predictive cruise control system and a message simulation sending module; the message simulation sending module receives the target current position information, determines the target map data from the road ahead spectrum based on the target current offset, and sends the target map data in the form of a message to the vehicle with a built-in predictive cruise control system. The present invention tests the predictive cruise control system using the reconstructed road ahead spectrum and the current road spectrum, thereby improving the test accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile testing, and in particular to a testing platform and a testing method for a predictive cruise control system. Background Art

[0002] At present, predictive cruise control systems with the goal of energy conservation and emission reduction have been widely studied. Driving technology based on road foresight can effectively avoid braking behavior on slope sections. According to the information of the ramp ahead of the vehicle provided by the navigation map, the vehicle dynamics and fuel consumption characteristics are comprehensively considered to optimize the vehicle driving strategy, adjust the vehicle speed and power output in the best way, and achieve reasonable acceleration and deceleration control. While ensuring driving safety and comfort, it can not only relieve driving fatigue, but also achieve higher fuel economy and reduce exhaust emissions. However, there are currently more studies on how to implement predictive cruise control systems, but there are few studies on the testing methods of subsequent systems.

[0003] The prior art (publication number CN115307930A) establishes a set of test site maps simulating uphill and downhill driving in the software system based on the route of the standard closed test site, and divides the entire standard closed test site into several sections, wherein the lengths and angles of the uphill and downhill sections are set, forming a set of simulated test site maps with the same route and different slopes. On this basis, in the uphill section, the vehicle's own weight plus the compensation weight is used as the vehicle weight input parameter when simulating uphill driving; in the downhill section, the vehicle's own weight minus the compensation weight is used as the vehicle weight input parameter when simulating downhill driving. The above vehicle weight input parameters are input into the software system to test a set of test fuel consumption data including the standard closed test site and multiple test sites simulating uphill and downhill driving.

[0004] The existing technology converts the slope into the weight of the vehicle by converting the vehicle mass equivalent, thereby achieving a comprehensive test of the vehicle's predictive cruise control system. On the one hand, when the vehicle is driving uphill or downhill, in addition to the influence of weight, there are many factors such as inertia, friction, temperature, and vehicle weight distribution that affect the vehicle's driving performance. Simply simulating the slope information by converting the slope into the weight of the vehicle cannot fully reflect the actual situation, and may cause errors in some cases. On the other hand, the slope on the actual road is often variable and complex. It is not just a single slope value. When driving, the vehicle will encounter roads of various slopes and shapes, such as long uphills, steep downhills, and undulating roads. Simplifying the slope to the weight of the vehicle cannot accurately simulate this variable situation.

[0005] Therefore, there is an urgent need to provide a test platform and test method for a predictive cruise control system to solve the above technical problems. Summary of the invention

[0006] In view of this, it is necessary to provide a test platform and test method for a predictive cruise control system to solve the technical problem in the prior art that it is unable to accurately simulate variable road slope information, resulting in inaccurate testing of the vehicle's predictive cruise system.

[0007] On the one hand, the present invention provides a test platform for a predictive cruise control system, including a road data acquisition module, a map reconstruction module, a wheel hub test module, and a message simulation sending module;

[0008] The road data acquisition module is used to obtain the current position information of the vehicle and the road ahead information; the current position information includes the current vehicle offset and the current road slope, and the road ahead information includes the front road offset and the front road slope;

[0009] The map reconstruction module is used to reconstruct the current vehicle offset and the front road offset to obtain the current road spectrum and the front road spectrum;

[0010] The wheel hub test module is used to determine the mileage of the wheel hub, determine the target current position information of the vehicle based on the mileage and the current road spectrum, and send the current position information in the form of a message to the vehicle with a built-in predictive cruise control system and the message simulation sending module; the target current position information includes the target current offset and the target current road slope;

[0011] The message simulation sending module is used to receive the target current position information, and determine the target map data from the road spectrum ahead based on the target current offset, and send the target map data in the form of a message to a vehicle with a built-in predictive cruise control system.

[0012] In some possible implementations, the road data collection module includes a current position information collection unit and a front road information collection unit;

[0013] The current location information acquisition unit is used to obtain the current location information based on real-time positioning technology;

[0014] The road ahead information acquisition unit is used to obtain a high-precision map and determine the road ahead information from the high-precision map based on a preset range.

[0015] In some possible implementations, the map reconstruction module includes a protocol acquisition unit, a current offset reconstruction unit, and a front road offset reconstruction unit;

[0016] The protocol acquisition unit is used to acquire the communication protocol between the map reconstruction module and the road data acquisition module, and determine the offset cycle value based on the communication protocol;

[0017] The current offset reconstruction unit is used to reconstruct the current vehicle offset based on the offset cycle value to obtain the reconstructed current offset, and the reconstructed current offset and the current road slope constitute the current road spectrum;

[0018] The road ahead offset reconstruction unit is used to reconstruct the road ahead offset based on the offset cycle value to obtain the reconstructed road ahead offset, and the reconstructed road ahead offset and the road ahead slope constitute the road ahead spectrum.

[0019] In some possible implementations, the reconstructed current offset is:

[0020]

[0021] The reconstructed front road offset is:

[0022]

[0023] In the formula, To reconstruct the current offset; m dq is the current offset; Δ treshold is the tolerance value; k is the offset cycle value; m last is the offset received last time; x last For the cycle; To reconstruct the offset of the road ahead; m qf is the offset of the road ahead.

[0024] In some possible implementations, the wheel hub test module includes a host computer and a wheel hub data processing unit;

[0025] The host computer is used to issue wheel hub drive instructions to control the operation of the wheel hub;

[0026] The wheel hub data processing unit is used to obtain the wheel hub rotation speed of the wheel hub, and determine the wheel hub mileage based on the wheel hub rotation speed.

[0027] In some possible implementations, the host computer is also used to receive the current road spectrum, determine the target current offset and the target current road slope from the current road spectrum based on the wheel hub mileage, and send the target current offset and the target current road slope in the form of a message to the vehicle with a built-in predictive cruise control system and the message simulation sending module.

[0028] In some possible implementations, the message simulation sending module includes a first message simulation transceiver unit and a second message simulation receiving unit;

[0029] The first message simulation transceiver unit is used to receive the current location information of the target;

[0030] The second message simulation receiving unit is used to receive the road spectrum ahead, and determine the road spectrum ahead of the target from the road spectrum ahead based on the target current position information and the preset road range;

[0031] The first message simulation transceiver unit is also used to receive the target road spectrum ahead, and send the target road spectrum ahead in the form of a message to a vehicle with a built-in predictive cruise control system.

[0032] In some possible implementations, the map reconstruction module, the wheel test module, the message simulation sending module, and the vehicle with a built-in predictive cruise control system are communicatively connected via a controller area network bus.

[0033] In some possible implementations, the predictive cruise control system test platform further includes a performance evaluation module;

[0034] The performance evaluation module is used to receive test data of a vehicle with a built-in predictive cruise control system, and obtain a performance evaluation result based on the test data and preset evaluation indicators.

[0035] On the other hand, the present invention further provides a test method for a predictive cruise control system, which is applicable to the test system for the predictive cruise control system described in any one of the possible implementations above, and the test method for the predictive cruise control system comprises:

[0036] Acquire the current position information of the vehicle and the road ahead information; the current position information includes the current vehicle offset and the current road slope, and the road ahead information includes the front road offset and the front road slope;

[0037] Reconstructing the current vehicle offset and the road ahead offset to obtain a current road spectrum and a road ahead road spectrum;

[0038] Determine the mileage of the wheel hub, determine the target current position information of the vehicle based on the mileage and the current road spectrum, and send the current position information to the vehicle with a built-in predictive cruise control system in the form of a message; the target current position information includes a target current offset and a target current road slope;

[0039] The target current position information is received, and target map data is determined from the road spectrum ahead based on the target current offset, and the target map data is sent in the form of a message to a vehicle with a built-in predictive cruise control system.

[0040] The beneficial effect of adopting the above-mentioned implementation method is: the test platform of the predictive cruise control system provided by the present invention obtains the current position information of the vehicle and the road ahead information by setting up a road data acquisition module. Compared with the method of simulating slope information by converting the slope into the weight of the vehicle in the prior art, the predictive cruise control system can be tested by the road ahead information containing the actual slope information of the road, and the roads with different slope degrees and shapes can be truly tested, thereby improving the test accuracy.

[0041] Furthermore, by setting a map reconstruction module to reconstruct the current vehicle offset and the road ahead offset, the technical problem of inaccurate current vehicle offset and road ahead offset caused by insufficient byte number of the road data acquisition module can be eliminated, thereby further improving the accuracy of the obtained current road spectrum and road ahead road spectrum, thereby further improving the test accuracy of the predictive cruise control system.

[0042] Furthermore, the present invention realizes the testing of the predictive cruise control system on the wheel hub by setting up a wheel hub test module. Compared with conducting predictive cruise tests on actual roads, conducting this test on a rotating hub does not require a lot of manpower, material resources and time resources, which greatly reduces the test cost and improves the test efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A schematic diagram of the structure of an embodiment of a test platform for a predictive cruise control system provided by the present invention;

[0045] Figure 2 A schematic diagram of an embodiment of reconstructing the offset of the road ahead provided by the present invention;

[0046] Figure 3 A schematic diagram of an embodiment of obtaining a road spectrum of a target ahead provided by the present invention;

[0047] Figure 4 A schematic diagram of the fuel saving principle of the predictive cruise control system provided by the present invention;

[0048] Figure 5 A schematic flow chart of an embodiment of a method for testing a predictive cruise control system provided by the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0050] It should be understood that the schematic drawings are not drawn to scale. The flow chart used in the present invention shows the operations implemented according to some embodiments of the present invention. It should be understood that the operations of the flow chart can be implemented out of order, and the steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flow chart under the guidance of the content of the present invention, and can also remove one or more operations from the flow chart.

[0051] Some of the blocks shown in the accompanying drawings are functional entities, which do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor systems and / or controller systems.

[0052] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in several embodiments of the invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0053] The present invention provides a test platform and a test method for a predictive cruise control system, which are respectively described below.

[0054] Before presenting the embodiments, a predictive cruise control system is described.

[0055] The Predictive Cruise Control (PCC) system integrates road slope, curvature and speed limit information to automatically output gear and torque to achieve optimal control of the vehicle's own speed. It can effectively reduce fuel consumption of commercial vehicles in multi-slope and curved scenarios, while avoiding vehicle loss of control or untimely braking caused by the driver's failure to foresee blind spots ahead and fatigue driving, reducing the occurrence of traffic accidents and ensuring the driving safety of commercial vehicles.

[0056] Figure 1 A schematic diagram of an embodiment of a test platform for a predictive cruise control system provided by the present invention is shown in FIG. Figure 1 As shown, the test platform 10 of the predictive cruise control system includes: a road data acquisition module 100, a map reconstruction module 200, a wheel hub test module 300 and a message simulation sending module 400;

[0057] The road data acquisition module 100 is used to obtain the current position information of the vehicle 20 and the road ahead information; the current position information includes the current vehicle offset and the current road slope, and the road ahead information includes the road ahead offset and the road ahead slope;

[0058] The map reconstruction module 200 is used to reconstruct the current vehicle offset and the front road offset to obtain the current road spectrum and the front road spectrum;

[0059] The wheel test module 300 is used to determine the mileage of the wheel, determine the target current position information of the vehicle based on the mileage and the current road spectrum, and send the current position information in the form of a message to the vehicle with a built-in predictive cruise control system and the message simulation sending module; the target current position information includes a target current offset and a target current road slope;

[0060] The message simulation sending module 400 is used to receive the current position information of the target, and determine the target map data from the road spectrum ahead based on the current offset of the target, and send the target map data in the form of a message to the vehicle 20 with a built-in predictive cruise control system.

[0061] Compared with the prior art, the predictive cruise control system test platform 10 provided in the embodiment of the present invention obtains the current position information of the vehicle 20 and the road ahead information by setting the road data acquisition module 100. Compared with the prior art method of simulating the slope information by converting the slope into the weight of the vehicle, the predictive cruise control system can be tested by the road ahead information containing the actual slope information of the road, and the roads with different slope degrees and shapes can be truly tested, thereby improving the test accuracy.

[0062] Furthermore, by setting up a map reconstruction module 200 to reconstruct the current vehicle offset and the road ahead offset, the technical problem of inaccurate current vehicle offset and road ahead offset caused by insufficient byte bits of the road data acquisition module can be eliminated, thereby further improving the accuracy of the obtained current road spectrum and road ahead road spectrum, thereby further improving the test accuracy of the predictive cruise control system.

[0063] Furthermore, the embodiment of the present invention realizes testing of the predictive cruise control system on the wheel hub by setting up the wheel hub test module 300. Compared with conducting predictive cruise tests on actual roads, conducting this test on a rotating hub does not require a lot of manpower, material resources and time resources, which greatly reduces the test cost and improves the test efficiency.

[0064] In some embodiments of the present invention, Figure 1 As shown, the road data collection module 100 includes a current position information collection unit 110 and a front road information collection unit 120;

[0065] The current location information acquisition unit 110 is used to obtain the current location information based on real-time positioning technology;

[0066] The front road information acquisition unit 120 is used to obtain a high-precision map and determine the front road information from the high-precision map based on a preset range.

[0067] The embodiment of the present invention sets a road ahead information collection unit 120 to determine the road ahead information based on a high-precision map, and can combine with the wheel hub test module 300 to simulate the driving conditions of the vehicle 20 in different road scenarios, thereby providing a diverse testing environment for the predictive cruise control system.

[0068] In a specific embodiment of the present invention, the real-time positioning technology in the current position information acquisition unit 110 is the Global Positioning System (GPS) technology.

[0069] It should be noted that the current location information acquisition unit 110 is specifically a T-box, which has a built-in GPS positioning device, and obtains the current location information through the GPS positioning device.

[0070] In some embodiments of the present invention, Figure 1 As shown, the map reconstruction module 200 includes a protocol acquisition unit 210, a current offset reconstruction unit 220, and a front road offset reconstruction unit 230;

[0071] The protocol acquisition unit 210 is used to acquire the communication protocol between the map reconstruction module 200 and the road data acquisition module 100, and determine the offset cycle value based on the communication protocol;

[0072] The current offset reconstruction unit 220 is used to reconstruct the current vehicle offset based on the offset cycle value to obtain a reconstructed current offset, and the reconstructed current offset and the current road slope form a current road spectrum;

[0073] The front road offset reconstruction unit 230 is used to reconstruct the front road offset based on the offset cycle value to obtain a reconstructed front road offset. The reconstructed front road offset and the front road slope constitute a front road spectrum.

[0074] The embodiment of the present invention first obtains the communication protocol between the map reconstruction module 200 and the road data acquisition module 100 through the protocol acquisition unit 210, and then determines the offset cycle value based on the communication protocol, which can improve the accuracy of the offset cycle value, thereby improving the accuracy of the reconstructed current offset and the reconstructed front road offset.

[0075] In a specific embodiment of the present invention, the communication protocol between the map reconstruction module 200 and the road data acquisition module 100 is ADASIS v2. The road offset defined in the ADASIS v2 message occupies 13 bits and can be used to store 0-8191m. Therefore, in order to achieve an infinite offset, the offset is wrapped from 8191 to 0 at the end of the maximum offset range.

[0076] In a specific embodiment of the present invention, the current offset is reconstructed as:

[0077]

[0078] The reconstructed front road offset is:

[0079]

[0080] In the formula, To reconstruct the current offset; m dq is the current offset; Δ treshold is the tolerance value; k is the offset cycle value; m last is the offset received last time; x last For the cycle; To reconstruct the offset of the road ahead; m qf is the offset of the road ahead.

[0081] The embodiment of the present invention can prevent frequent map reconstruction caused by vehicle offset jumps by setting a tolerance value.

[0082] In a specific embodiment of the present invention, the reconstruction of the front road offset is taken as an example. Figure 2As shown in FIG. 1 , ADAS_PROFSHORT_Offset indicates the message name of the forward road offset when being transmitted, and ADAS_PROFSHORT_OffsetLong indicates the message name of the reconstructed forward road offset when being transmitted. Figure 2 It can be seen that by reconstructing the front road offset, the discontinuous front road offset can be converted into a continuous reconstructed front road offset.

[0083] It should be noted that the map reconstruction module 200 can implement a reconstruction algorithm with the help of data processing software such as MATLAB, that is, the current position information and the road ahead information are imported into MATLAB, and MATLAB performs data processing according to the above reconstruction algorithm, automatically converting discontinuous road offsets into continuous offsets, so that the offset of the vehicle on the road is continuous.

[0084] In a specific embodiment of the present invention, Figure 2 As shown, the reconstructed front road offset is stored in a table form, and similarly, the reconstructed current offset is also stored in a table form.

[0085] In some embodiments of the present invention, Figure 1 As shown, the wheel hub test module 300 includes a host computer 310 and a wheel hub data processing unit 320;

[0086] The host computer 310 is used to issue wheel hub driving instructions to control the operation of the wheel hub;

[0087] The wheel hub data processing unit 320 is used to obtain the wheel hub speed of the wheel hub, and determine the wheel hub mileage based on the wheel hub speed.

[0088] In order to improve the integration of the wheel hub test module 300 , in a specific embodiment of the present invention, the wheel hub test module 300 is a wheel hub test bench in which a host computer 310 and a wheel hub data processing unit 320 are integrated.

[0089] In a specific embodiment of the present invention, the calculation formula of the wheel hub mileage S is:

[0090] S=∫(n×2πr)dt

[0091] Where n is the wheel speed; r is the wheel radius; t is time.

[0092] The specific method of obtaining the wheel hub speed is as follows: determining the wheel hub speed based on an encoder.

[0093] In a specific embodiment of the present invention, the calculation formula of the hub speed is:

[0094] n=q / p*T

[0095] Where p is the resolution of the encoder; q is the number of pulses per second measured in the time period T.

[0096] In some embodiments of the present invention, the host computer 310 is also used to receive the current road spectrum, determine the target current offset and the target current road slope from the current road spectrum based on the wheel mileage, and send the target current offset and the target current road slope in the form of a message to the vehicle 20 with a built-in predictive cruise control system and the message simulation sending module 400.

[0097] In some embodiments of the present invention, Figure 1 As shown, the message simulation sending module 400 includes a first message simulation transceiver unit 410 and a second message simulation receiver unit 420;

[0098] The first message simulation transceiver unit 410 is used to receive the current location information of the target;

[0099] The second message simulation receiving unit 420 is used to receive a road spectrum of the road ahead, and determine a road spectrum of the road ahead of the target from the road spectrum of the road ahead based on the current position information of the target and the preset road range;

[0100] The first message simulation transceiver unit 410 is also used to receive a road spectrum of a target road ahead, and send the road spectrum of the target road ahead in the form of a message to the vehicle 20 with a built-in predictive cruise control system.

[0101] Since there is no GPS positioning in the test environment of the wheel hub test module 300, it is impossible to directly obtain the road spectrum ahead through the T-box. By establishing a communication connection through the first message simulation transceiver unit 410 and the second message simulation receiving unit 420, the target current position information can be received, and the real-time position of the vehicle can be located based on the target current position information, thereby simulating the sending of the target road spectrum ahead within a certain range ahead of the current position. No other additional equipment is required, which is convenient, fast and low-cost.

[0102] It should be understood that the preset road range can be set or adjusted according to the actual application scenario. In a specific embodiment of the present invention, the preset road range is 3000m.

[0103] In a specific embodiment of the present invention, the first message simulation transceiver unit 410 is Vehicle Spy (VSpy), and the second message simulation receiver unit 420 is Visual Studio Code (VSCode).

[0104] In some embodiments of the present invention, the map reconstruction module 200, the wheel test module 300, the message simulation sending module 400 and the vehicle 20 with a built-in predictive cruise control system are connected through a controller area network (CAN) bus.

[0105] In a specific embodiment of the present invention, Figure 3 As shown, the message received by VSpy from the CAN bus includes the current position information message ADAS_POSN and the front road information message ADAS_PROFSHORT, the reconstructed current offset ADAS_POSN_OffsetLong in the target current position information, and VSCode looks up the table from the reconstructed front road offset ADAS_PROFSHORT_OffsetLong column in the front road spectrum to locate the data row of the target front road spectrum that needs to be sent; then the data content in the data row is sent to the CAN bus through the VSpy message simulation sending function. Starting from the first receipt of the valid reconstructed current offset ADAS_POSN_OffsetLong position, the front road spectrum before the current position of the vehicle is sent at the fastest cycle until the position of ADAS_POSN_OffsetLong+m meters, where m represents the preset road range.

[0106] Depend on Figure 3 It can be seen that: starting from the reconstruction of the current offset of 300 meters, until the reconstructed current offset of 1000 meters is received at the 1010th ms, the preset road range meets the requirements, that is, the reconstructed front road offset within the preset road range is obtained.

[0107] To verify the effectiveness of the test platform 10 for predictive cruise control system, in some embodiments of the present invention, Figure 1 As shown, the test platform 10 of the predictive cruise control system further includes a performance evaluation module 500;

[0108] The performance evaluation module 500 is used to receive test data of the vehicle 20 with a built-in predictive cruise control system, and obtain a performance evaluation result based on the test data and preset evaluation indicators.

[0109] In some embodiments of the present invention, the preset evaluation indicators include but are not limited to vehicle dynamics characteristics and fuel consumption characteristics.

[0110] Specifically: The embodiment of the present invention comprehensively considers the vehicle dynamics and fuel consumption characteristics, optimizes the vehicle driving strategy, and achieves the purpose of reasonable acceleration and deceleration. At the same time, the predictive cruise control system sends the vehicle's real-time dynamic information such as vehicle speed, torque, engine speed, gearbox gear, etc. to the CAN bus, which is convenient for subsequent extraction, analysis and evaluation of the vehicle's power, stability, fuel economy, etc.

[0111] In a preferred embodiment of the present invention, Figure 4 As shown, after receiving the road spectrum of the target ahead and the target's current position information, the predictive cruise system controller controls the vehicle to accelerate in advance before going uphill and decelerate in advance before going downhill, thereby realizing predictive cruise. Compared with ordinary cruise control, it can accelerate in advance when going uphill to improve climbing ability, maintain a higher gear when going uphill to save fuel, restore cruising speed on the horizontal section after going uphill, accelerate in advance when going downhill to avoid over-acceleration, avoid using brakes when going downhill, thereby avoiding energy waste, and perform transmission braking when it is necessary to stop after going downhill, thereby achieving higher fuel economy and reducing exhaust emissions.

[0112] The embodiment of the present invention further provides a test method for a predictive cruise control system, which is applicable to the test platform 10 of the predictive cruise control system in any of the above embodiments, such as Figure 5 As shown, the test method of the predictive cruise control system includes:

[0113] S501, obtaining the current position information of the vehicle and the road ahead information; the current position information includes the current vehicle offset and the current road slope, and the road ahead information includes the road ahead offset and the road ahead slope;

[0114] S502, reconstructing the current vehicle offset and the road ahead offset to obtain the current road spectrum and the road ahead spectrum;

[0115] S503, determining the mileage of the wheel hub, determining the target current position information of the vehicle based on the mileage and the current road spectrum, and sending the current position information in the form of a message to a vehicle with a built-in predictive cruise control system; the target current position information includes a target current offset and a target current road slope;

[0116] S504, receiving the target current position information, and determining the target map data from the road spectrum ahead based on the target current offset, and sending the target map data in the form of a message to a vehicle with a built-in predictive cruise control system.

[0117] The test method for the predictive cruise control system provided in the above embodiment can implement the technical solution described in the test platform embodiment of the above predictive cruise control system. The specific implementation principles of the above processes can refer to the corresponding contents in the test platform embodiment of the above predictive cruise control system, which will not be repeated here.

[0118] The test platform and test method of the predictive cruise control system proposed in the embodiment of the present invention are based on high-precision road map information and combined with a rotating hub test bench to simulate the driving conditions of the vehicle in different road scenes, thereby providing a diversified test environment for the predictive cruise system. The performance of the predictive cruise system is evaluated by observing and recording the decision-making and execution of the vehicle in different scenes, and the corresponding system improvements and adjustments are made by analyzing and evaluating the feedback data to optimize the performance of the system. On the one hand, problems or defects in the predictive cruise control algorithm can be discovered early, and the risks brought by testing under actual road conditions can be avoided, thereby improving safety; on the other hand, a controllable experimental environment can be provided, and by controlling the test conditions, such as weather, traffic flow and other environmental factors, the test results can be made more comparable and repeatable, and the effects of different parameters in the algorithm on the performance of the whole vehicle can be compared and evaluated, with good reproducibility; at the same time, compared with the predictive cruise test on the actual road, the test on the rotating hub does not require a lot of manpower, material resources and time resources, which greatly reduces the test cost and improves efficiency. The embodiments of the present invention make up for the limitations of actual road tests to a certain extent, complement each other with other testing methods, form a comprehensive testing system, and provide a reference for the development and improvement of predictive cruise control systems.

[0119] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0120] The test platform and test method of the predictive cruise control system provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A test platform for predictive cruise control system, characterized in that: include: Road data collection module, map reconstruction module, wheel hub test module and message simulation sending module; The road data acquisition module is used to obtain the current position information of the vehicle and the road ahead information; the current position information includes the current vehicle offset and the current road slope, and the road ahead information includes the front road offset and the front road slope; The map reconstruction module is used to reconstruct the current vehicle offset and the front road offset to obtain the current road spectrum and the front road spectrum; The wheel hub test module is used to determine the mileage of the wheel hub, determine the target current position information of the vehicle based on the mileage and the current road spectrum, and send the target current position information in the form of a message to the vehicle with a built-in predictive cruise control system and the message simulation sending module; The target current position information includes the target current offset and the target current road slope; The message simulation sending module is used to receive the target current position information, and determine the target map data from the road spectrum ahead based on the target current offset, and send the target map data in the form of a message to a vehicle with a built-in predictive cruise control system.

2. The predictive cruise control system test platform according to claim 1, characterized in that: The road data collection module includes a current position information collection unit and a front road information collection unit; The current location information acquisition unit is used to obtain the current location information based on real-time positioning technology; The road ahead information acquisition unit is used to obtain a high-precision map and determine the road ahead information from the high-precision map based on a preset range.

3. The predictive cruise control system test platform according to claim 1, characterized in that: The map reconstruction module includes a protocol acquisition unit, a current offset reconstruction unit and a front road offset reconstruction unit; The protocol acquisition unit is used to acquire the communication protocol between the map reconstruction module and the road data acquisition module, and determine the offset cycle value based on the communication protocol; The current offset reconstruction unit is used to reconstruct the current vehicle offset based on the offset cycle value to obtain a reconstructed current offset, wherein the reconstructed current offset and the current road slope constitute the current road spectrum; The road ahead offset reconstruction unit is used to reconstruct the road ahead offset based on the offset cycle value to obtain a reconstructed road ahead offset, and the reconstructed road ahead offset and the road ahead slope constitute the road ahead spectrum.

4. The predictive cruise control system test platform according to claim 3, characterized in that: The reconstructed current offset is: The reconstructed front road offset is: In the formula, To reconstruct the current offset; is the current offset; is the tolerance value; is the offset loop value; The offset received last time; For the cycle; To reconstruct the offset of the road ahead; is the front road offset.

5. The predictive cruise control system test platform according to claim 1, characterized in that: The wheel hub test module includes a host computer and a wheel hub data processing unit; The host computer is used to issue wheel hub drive instructions to control the operation of the wheel hub; The wheel hub data processing unit is used to obtain the wheel hub rotation speed of the wheel hub, and determine the wheel hub mileage based on the wheel hub rotation speed.

6. The predictive cruise control system test platform according to claim 5, characterized in that: The host computer is also used to receive the current road spectrum, determine the target current offset and the target current road slope from the current road spectrum based on the wheel hub mileage, and send the target current offset and the target current road slope in the form of a message to the vehicle with a built-in predictive cruise control system and the message simulation sending module.

7. The predictive cruise control system test platform according to claim 1, characterized in that: The message simulation sending module includes a first message simulation transceiver unit and a second message simulation receiving unit; The first message simulation transceiver unit is used to receive the current location information of the target; The second message simulation receiving unit is used to receive the road spectrum ahead, and determine the road spectrum ahead of the target from the road spectrum ahead based on the target current position information and the preset road range; The first message simulation transceiver unit is also used to receive the target road spectrum ahead, and send the target road spectrum ahead in the form of a message to a vehicle with a built-in predictive cruise control system.

8. The predictive cruise control system test platform according to claim 1, characterized in that: The map reconstruction module, the wheel test module, the message simulation sending module and the vehicle with a built-in predictive cruise control system are connected in communication via a controller area network bus.

9. The predictive cruise control system test platform according to claim 1, characterized in that: The test platform of the predictive cruise control system also includes a performance evaluation module; The performance evaluation module is used to receive test data of a vehicle with a built-in predictive cruise control system, and obtain a performance evaluation result based on the test data and preset evaluation indicators.

10. A method for testing a predictive cruise control system, characterized in that: A test platform for a predictive cruise control system according to any one of claims 1 to 9, wherein the test method for the predictive cruise control system comprises: Acquire the current position information of the vehicle and the road ahead information; the current position information includes the current vehicle offset and the current road slope, and the road ahead information includes the front road offset and the front road slope; Reconstructing the current vehicle offset and the road ahead offset to obtain a current road spectrum and a road ahead spectrum; Determine the mileage of the wheel hub, determine the target current position information of the vehicle based on the mileage and the current road spectrum, and send the target current position information to the vehicle with a built-in predictive cruise control system in the form of a message; the target current position information includes a target current offset and a target current road slope; The target current position information is received, and target map data is determined from the road spectrum ahead based on the target current offset, and the target map data is sent in the form of a message to a vehicle with a built-in predictive cruise control system.

Images