Vehicle chassis test simulation method, device, apparatus, storage medium and vehicle

Abstract

The application discloses a kind of vehicle chassis test simulation method, system, device, storage medium and vehicle, wherein method includes constructing simulation vehicle chassis test system;The simulation vehicle chassis test system includes several vehicle parts controllers and several loading devices;In current simulation period, first driving parameter is sent to several loading devices, and the vehicle parts controller is controlled to control vehicle parts operation, so that several loading devices generate feedback parameter;The feedback parameter is obtained;According to the first driving parameter and the feedback parameter, the second driving parameter of next simulation period is determined;In next simulation period, the second driving parameter is sent to several loading devices, and the vehicle parts controller is controlled to control vehicle parts operation, so that several loading devices generate vehicle actual simulation parameter.The application can be widely applied to vehicle design technical field.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle design, and in particular to a vehicle chassis test simulation method, device, apparatus, storage medium and vehicle. BACKGROUND

[0002] In the related art, the vehicle chassis simulation test of a traditional vehicle usually tests a single vehicle part in turn. During the simulation test, except for the tested vehicle part, other parts usually use the theoretical parameters of the vehicle during operation to replace the actual parameters of the vehicle parts in operation, so that the other parts of the vehicle chassis can simulate the actual situation of the vehicle operation, and finally the simulation test of the tested vehicle part can be successfully performed. Moreover, during the simulation test, the designer directly inputs the given simulation parameters to complete the corresponding simulation test. However, this simulation test cannot completely simulate all the actual parameters of all the vehicle parts in operation, resulting in a tedious vehicle chassis simulation test, and the designer directly inputs the given simulation parameters without considering the error generated by the actual operation of the corresponding vehicle part, resulting in low accuracy of the simulation test. Therefore, there are still technical problems to be solved in the related art. SUMMARY

[0003] The present application aims to at least partially solve one of the problems of the prior art.

[0004] To this end, an object of an embodiment of the present application is to provide a vehicle chassis test simulation method, device, apparatus, storage medium and vehicle, which can improve the accuracy of the simulation test.

[0005] In order to achieve the above technical purpose, the technical solution adopted by the embodiment of the present application comprises: a vehicle chassis test simulation method, comprising: constructing a simulation vehicle chassis test system; the simulation vehicle chassis test system comprises a plurality of vehicle part controllers and a plurality of loading devices; in a current simulation period, a first driving parameter is sent to a plurality of the loading devices, and the vehicle part is controlled to operate through the vehicle part controller, so that a plurality of the loading devices generate a feedback parameter; the feedback parameter is obtained; according to the first driving parameter and the feedback parameter, a second driving parameter of the next simulation period is determined; in the next simulation period, the second driving parameter is sent to a plurality of the loading devices, and the vehicle part is controlled to operate through the vehicle part controller, so that a plurality of the loading devices generate a vehicle actual simulation parameter.

[0006] In addition, the vehicle chassis test simulation method according to the above-mentioned embodiment of the present application can have the following additional technical features:

[0007] Further, in the embodiment of the present application, the determining the second driving parameter of the next simulation period according to the first driving parameter and the feedback parameter comprises:

[0008] determining a deviation threshold according to the first driving parameter and the feedback parameter;

[0009] determining the second driving parameter of the next simulation period according to the deviation threshold.

[0010] Further, in the embodiment of the present application, the determining the second driving parameter of the next simulation period according to the deviation threshold comprises:

[0011] when the deviation threshold is less than or equal to a preset threshold, taking the feedback parameter as the second driving parameter of the next simulation period;

[0012] when the deviation threshold is greater than the preset threshold, taking a third driving parameter as the second driving parameter of the next simulation period; wherein the third driving parameter and the first driving parameter satisfy the relationship: C / D≤120%, wherein C is the third driving parameter and D is the first driving parameter.

[0013] Further, in the embodiment of the present application, the determining the deviation threshold according to the first driving parameter and the feedback parameter comprises:

[0014] determining a first difference value by subtracting the feedback parameter from the first driving parameter;

[0015] taking the first difference value as the deviation threshold.

[0016] Further, in the embodiment of the present application, the sending the first driving parameter to the plurality of loading devices in the current simulation period and controlling the vehicle parts to operate by the vehicle parts controller to make the plurality of loading devices generate the feedback parameter comprises:

[0017] sending the first driving parameter with a value of 0 to the plurality of loading devices in the current simulation period and controlling the vehicle parts to operate by the vehicle parts controller to make the plurality of loading devices generate a first feedback parameter;

[0018] or, sending the first driving parameter with a value of a first preset value to the plurality of loading devices in the current simulation period and controlling the vehicle parts to operate by the vehicle parts controller to make the plurality of loading devices generate a second feedback parameter.

[0019] Further, in the embodiment of the present application, the second feedback parameter and the first preset value satisfy the relationship: A / B≥80%, wherein A is the second feedback parameter, and B is the first preset value.

[0020] In another aspect, the embodiment of the present application also provides a vehicle chassis test simulation device, comprising:

[0021] The first processing unit is configured to construct a simulation vehicle chassis test system, wherein the simulation vehicle chassis test system comprises a plurality of vehicle component controllers and a plurality of loading devices; the second processing unit is configured to send a first driving parameter to the plurality of loading devices in a current simulation period, and control the operation of vehicle components through the vehicle component controllers, so that the plurality of loading devices generate feedback parameters; the acquisition unit is configured to acquire the feedback parameters; the third processing unit is configured to determine a second driving parameter of a next simulation period according to the first driving parameter and the feedback parameters; and the fourth processing unit is configured to send the second driving parameter to the plurality of loading devices in the next simulation period, and control the operation of vehicle components through the vehicle component controllers, so that the plurality of loading devices generate actual simulation parameters of the vehicle.

[0022] In another aspect, the present application also provides a vehicle chassis test simulation device, comprising:

[0023] at least one processor;

[0024] at least one memory configured to store at least one program;

[0025] When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle chassis test simulation method as described above.

[0026] In addition, the present application also provides a storage medium, wherein the storage medium stores processor-executable instructions, and the processor-executable instructions are used to execute the vehicle chassis test simulation method as described above when executed by a processor.

[0027] In addition, the present application also provides a vehicle, which is obtained by simulation and design through the vehicle chassis test simulation method as described above.

[0028] The advantages and beneficial effects of the present application will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present application:

[0029] The application can first construct a simulation vehicle chassis test system comprising a plurality of vehicle part controllers and a plurality of vehicle parts; then in the current simulation period, send first driving parameters to the plurality of loading devices, and control the vehicle parts to operate through the vehicle part controllers, so that the plurality of loading devices generate feedback parameters; obtain the feedback parameters; determine second driving parameters of the next simulation period according to the first driving parameters and the feedback parameters; and in the next simulation period, send the second driving parameters to the plurality of loading devices, and control the vehicle parts to operate through the vehicle part controllers, so that the plurality of loading devices generate actual simulation parameters of the vehicle. The application can send driving parameters to the plurality of loading devices, and at the same time, simulate the actual situation of the vehicle operation through the plurality of vehicle part controllers controlling the operation of the vehicle parts, and present the actual error of the vehicle part operation through the feedback parameters, so that the controller can determine the simulation parameters of the final vehicle part operation according to the feedback parameters in the next simulation period test. The application can improve the accuracy of simulation test. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 A step schematic diagram of a vehicle chassis test simulation method in one embodiment of the application;

[0031] Figure 2 A step schematic diagram of determining second driving parameters of the next simulation period according to the first driving parameters and the feedback parameters in one embodiment of the application;

[0032] Figure 3 A step schematic diagram of a vehicle chassis test simulation method in one embodiment of the application;

[0033] Figure 4 A step schematic diagram of determining a deviation threshold according to the first driving parameters and the feedback parameters in one embodiment of the application;

[0034] Figure 5 A step schematic diagram of sending first driving parameters to the plurality of loading devices and controlling the vehicle parts to operate through the vehicle part controllers in the current simulation period in one embodiment of the application, so that the plurality of loading devices generate feedback parameters;

[0035] Figure 6 A model schematic diagram of software used by the simulation system in one embodiment of the application;

[0036] Figure 7 A flowchart schematic diagram of a vehicle chassis test simulation method in another embodiment of the application;

[0037] Figure 8A data transmission schematic diagram for vehicle chassis test simulation in an embodiment of the present application;

[0038] Figure 9 A structure schematic diagram of a vehicle chassis test simulation device in an embodiment of the present application;

[0039] Figure 10 A structure schematic diagram of a vehicle chassis test simulation device in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The principles and processes of the vehicle chassis test simulation method, system, device, storage medium and vehicle in the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0041] The present application can provide a vehicle chassis test simulation method. Referring to Figure 1 , Figure 1 is a step schematic diagram of the vehicle chassis test simulation method in the present application. In Figure 1 , the vehicle chassis test simulation method can include but is not limited to steps S101-S105.

[0042] S101, constructing a simulation vehicle chassis test system; the simulation vehicle chassis test system includes a plurality of vehicle part controllers and a plurality of loading devices.

[0043] It can be understood that the vehicle part can be a steering part, a suspension part, a brake part, etc. The vehicle part controller can be a controller corresponding to the vehicle part. The vehicle part controller is a part that can send a control signal to the vehicle part. The loading device is a device that can apply or input various types of operating parameters to the vehicle part. The operating parameters can include but are not limited to vertical load, turning angle or vertical displacement of the vehicle part when the vehicle turns, or vertical load, vertical displacement or horizontal displacement of the suspension, etc. The vehicle part can perform corresponding operations after receiving the control signal of the vehicle part controller. For example, the steering part can receive the steering signal of the controller, and then the steering part will perform steering. At the same time, the loading device will apply various types of operating parameters to the steering part to simulate the actual scene when the vehicle turns, and the loading device can generate a feedback signal while the steering part performs steering in this scene.

[0044] In some possible embodiments of the present application, the designer can first input the simulation software into the host computer or the integrated circuit with the processor and the input display. The simulation software can simulate the running status of the vehicle, the processor can receive the motion feedback of the vehicle parts, and the display can display the motion feedback. Then the designer can connect the host computer or the processor with the simulation software to the station with the vehicle part controllers and the vehicle parts through the hardware circuit, and finally obtain the simulation vehicle chassis test system. Specifically, the simulation software can be CarSim, Simulink, LabVIEV or other simulation software for vehicle design.

[0045] S102、In the current simulation cycle, the first driving parameter is sent to the plurality of loading devices, and the vehicle part controller is used to control the running of the vehicle parts, so that the plurality of loading devices generate the feedback parameter.

[0046] It can be understood that the current simulation cycle can be a simulation cycle before the formal simulation, or a simulation cycle in which each vehicle part starts from an input parameter of 0. It can also be a current simulation cycle of a plurality of continuous simulation cycles. The first driving parameter can be any parameter, and usually can be a parameter close to the value of the theoretical parameter, for example, a parameter with a difference of less than 5% from the value of the theoretical parameter. It can also be a parameter with the same value as the theoretical parameter. The driving parameter can include the rotation angle, the vertical displacement, the load and the like. For different vehicle parts, the driving parameter can be different during simulation, for example, for the suspension part, the driving parameter can include but is not limited to the vertical displacement, the vertical load or the horizontal displacement and the like, and for the steering part, the driving parameter can include but is not limited to the vertical displacement and the load and the like. The theoretical value can be obtained according to the theoretical value obtained by the designer through previous simulation experiments. The feedback parameter can be the actual parameter generated by the loading device during actual operation. The actual parameter can have a certain difference from the driving parameter, that is, the actual parameter can usually be smaller than the driving parameter. The feedback parameter can be a parameter of the same type as the driving parameter, for example, the driving parameter can be the vertical displacement, and the feedback parameter can also be the vertical displacement.

[0047] In some possible embodiments of the present application, in the current simulation cycle, the processor can send the first driving parameter to the plurality of loading devices, and control the running of the vehicle parts through the vehicle part controller, so that the plurality of loading devices generate the feedback parameter.

[0048] S103、Obtain the feedback parameter.

[0049] In some possible embodiments of the present application, the processor of the hybrid test control system can obtain the feedback parameters from the plurality of loading devices through wired or wireless connection with the plurality of loading devices and then through signal transmission.

[0050] It can be understood that the feedback parameters can be one or more or all of the feedback parameters sent by the plurality of loading devices, and the feedback parameters of each loading device can also be one or more. When there are more than two feedback parameters, the processor of the hybrid test control system can process them simultaneously. Exemplarily, for the steering component of the vehicle, the feedback parameters of the loading device can at least include the rotation angle and the vertical displacement.

[0051] It should be noted that the above wired connection mode can include the connection between the mobile device and the processing module, and can also include the connection between the processing module and the hardware device and other now known or future developed devices and the processing module. The above wireless connection mode can include but is not limited to 3G / 4G / 5G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB (Ultra Wide Band) connection and other now known or future developed wireless connection modes. The energy management module and the battery detection module can be an integrated system, or two systems that separately realize the corresponding functions.

[0052] S104, determining the second driving parameter of the next simulation cycle according to the first driving parameter and the feedback parameter.

[0053] It can be understood that the second driving parameter can be a driving parameter for the operation of the vehicle parts in the vehicle chassis test simulation process. When the vehicle parts are running, the designer can monitor whether other parameters of the vehicle are the same as the actual running parameters of the vehicle through the simulation software, so that the simulation test can be normally carried out.

[0054] In some possible embodiments of the present application, the processor of the hybrid test control system can determine the second driving parameter of the next simulation cycle according to the first driving parameter and the feedback parameter.

[0055] S105, in the next simulation cycle, the second driving parameter is sent to the plurality of loading devices, and the vehicle parts are controlled to run through the vehicle parts controller, so that the plurality of loading devices generate the actual simulation parameters of the vehicle.

[0056] In some possible embodiments of the present application, in the next simulation cycle, the processor of the hybrid test control system sends the second driving parameter to the plurality of loading devices after obtaining the second driving parameter, and the loading devices operate normally after receiving the second driving parameter, while the vehicle part controllers control the vehicle parts to operate and make the loading devices generate the actual simulation parameters of the vehicle. It should be noted that the second driving parameter input later is of the same type as the first driving parameter input earlier.

[0057] To sum up, the present application can first construct a simulation vehicle chassis test system comprising a plurality of vehicle part controllers and a plurality of vehicle parts; then in the current simulation cycle, send the first driving parameter to the plurality of loading devices, and control the vehicle parts to operate through the vehicle part controllers, so that the plurality of loading devices generate the feedback parameters; obtain the feedback parameters; determine the second driving parameter of the next simulation cycle according to the first driving parameter and the feedback parameters; and in the next simulation cycle, send the second driving parameter to the plurality of loading devices, and control the vehicle parts to operate through the vehicle part controllers, so that the plurality of loading devices generate the actual simulation parameters of the vehicle. The present application can send the driving parameter to the plurality of loading devices, and at the same time, simulate the actual situation of the vehicle operation through the plurality of vehicle part controllers controlling the vehicle parts to operate, and also present the actual error of the vehicle part operation through the feedback parameters, so that the controller can determine the final simulation parameters of the vehicle part operation according to the feedback parameters in the next simulation cycle test. The present application can improve the accuracy of the simulation test.

[0058] Further, with reference to Figure 2 , Figure 2 is a schematic diagram of the step of determining the second driving parameter of the next simulation cycle according to the first driving parameter and the feedback parameter in the present application. In Figure 2 , the step can include but is not limited to steps S201 to S202.

[0059] S201, determine the deviation threshold according to the first driving parameter and the feedback parameter.

[0060] S202, determine the second driving parameter of the next simulation cycle according to the deviation threshold.

[0061] It can be understood that the first driving parameter can be greater than the specific value of the feedback parameter. The deviation threshold can be a specific value.

[0062] In some possible embodiments of the present application, the processor of the hybrid test control system can calculate the deviation threshold between the first driving parameter and the feedback parameter. Then the processor can compare the deviation threshold with the preset threshold, and determine the driving parameter of the next simulation cycle according to the comparison result.

[0063] It should be noted that the processor calculates the deviation threshold between the first driving parameter and the feedback parameter. Specifically, the processor can directly obtain the deviation threshold between the first driving parameter and the feedback parameter by subtracting the first driving parameter from the feedback parameter. Alternatively, the processor can obtain a difference value by subtracting the first driving parameter from the feedback parameter, and then multiply the difference value by a weight coefficient to obtain the deviation threshold between the first driving parameter and the feedback parameter.

[0064] Further, referring to Figure 3 , Figure 3 is a schematic diagram of the step of determining the second driving parameter of the next simulation cycle according to the deviation threshold in the present application. In Figure 3 , the step can include but is not limited to step S301 or step S302.

[0065] S301, when the deviation threshold is less than or equal to a preset threshold, the feedback parameter is taken as the second driving parameter of the next simulation cycle.

[0066] S302, when the deviation threshold is greater than the preset threshold, the third driving parameter is taken as the second driving parameter of the next simulation cycle; wherein the third driving parameter and the first driving parameter satisfy the relationship: C / D≤120%, wherein C is the third driving parameter and D is the first driving parameter.

[0067] It can be understood that the preset threshold can be a threshold obtained by a designer according to experience value or according to big data statistics. The third driving parameter is a corrected parameter for inputting the simulation vehicle chassis test system in the next simulation cycle.

[0068] In some feasible embodiments of the present application, when the deviation threshold is less than or equal to the preset threshold, the processor can directly take the feedback parameter as the driving parameter of the next simulation cycle. When the deviation threshold is greater than the preset threshold, the feedback parameter has a certain deviation, and the processor can take the third driving parameter as the driving parameter of the next simulation cycle; wherein the third driving parameter and the first driving parameter satisfy the relationship: C / D≤120%, wherein C is the third driving parameter and D is the first driving parameter.

[0069] Further, referring to Figure 4 , Figure 4 is a schematic diagram of the step of determining the deviation threshold according to the first driving parameter and the feedback parameter in the present application. In Figure 4 , the step can include but is not limited to step S401 to step S402.

[0070] S401, subtracting the first driving parameter and the feedback parameter to determine a first difference value.

[0071] S402、take the first difference value as the deviation threshold.

[0072] In some embodiments of the present application, the processor can take the first driving parameter and the feedback parameter, get a difference value, and take the difference value as the deviation threshold. The deviation threshold can be used for the next comparison process.

[0073] Further, with reference to Figure 5 , Figure 5 is a schematic diagram of the step of sending the first driving parameter to the plurality of loading devices and controlling the vehicle parts to operate by the vehicle parts controller to make the plurality of loading devices generate the feedback parameter in the current simulation cycle in the present application. In Figure 5 , the step can include but is not limited to step S501 or step S502.

[0074] S501, in the current simulation cycle, send the first driving parameter with a value of 0 to the plurality of loading devices, and control the vehicle parts to operate by the vehicle parts controller to make the plurality of loading devices generate the first feedback parameter.

[0075] S502, in the current simulation cycle, send the first driving parameter with a value of the first preset value to the plurality of loading devices, and control the vehicle parts to operate by the vehicle parts controller to make the plurality of loading devices generate the second feedback parameter.

[0076] It can be understood that the first preset value is a value other than 0. The first preset value can be different from the second feedback parameter. The first preset value can also form a certain proportional relationship with the second feedback parameter. The first feedback parameter value can be a fixed value.

[0077] In some feasible embodiments of the present application, in the current simulation cycle, the processor can send the first driving parameter with a value of 0 to the plurality of loading devices, and control the vehicle parts to operate by the vehicle parts controller to make the plurality of loading devices generate the first feedback parameter. In the current simulation cycle, the processor can also send the first driving parameter with a value of the first preset value to the plurality of loading devices, and control the vehicle parts to operate by the vehicle parts controller to make the plurality of loading devices generate the second feedback parameter.

[0078] It can be understood that the first driving parameter of 0 can be a simulation process of simulating the vehicle starting from 0 speed.

[0079] Further, in some feasible embodiments of the present application, the second feedback parameter and the first preset value satisfy the relationship: A / B≥80%, wherein A is the second feedback parameter and B is the first preset value.

[0080] In the embodiment, the second feedback parameter can be less than the first preset value. Specifically, the second feedback parameter can be more than 80% of the first preset value.

[0081] The specific implementation principles of the present application are described below with reference to the accompanying drawings:

[0082] First, with reference to Figure 6 , Figure 7 and Figure 8 , the simulation vehicle chassis test system includes not only a plurality of vehicle component controllers and a plurality of loading devices, but also a control system and vehicle components. The hardware of the control system includes a high-performance processor, various types of boards, a programmable direct-current power supply, a signal conditioning module, and a host computer, etc. The various types of boards can specifically include an I / O board, a communication board, a fault injection board, a sensor data acquisition board, and a loading device driving board.

[0083] The high-performance processor supports real-time operation of the test, and is used for model calculation of the controlled object, control of the loading device, control of the simulation hardware, etc. The I / O board, which can also be called an input-output board, can be used for signal acquisition of various types of sensors required by the test and sending of simulation signals. The communication board includes various types of communication boards such as CAN and PSI5, which are used for receiving signals of various types of controllers of the real vehicle and sending simulation signals of various types of controllers. For example, the CAN communication board is used for signal transmission and reception of various types of controllers required by the controlled object; the PSI5 communication board is used for signal transmission and reception of PSI5 communication protocol sensors (vehicle height, acceleration, etc.). The fault injection board is used for fault injection in the signal line to perform fault injection testing of the controlled object. The loading device driving board is a general term for driving hardware required for controlling the operation of the loading device, and the driving hardware is configured according to the driving requirements of the loading device of the test object. If the loading device is a hydraulic device, it should include a two-stage / three-stage solenoid valve driver and an oil distributor control interface, etc. The signal conditioning module can be used for isolation, conversion, amplification, etc. of various types of signals. The sensor data acquisition board is used for acquisition of signals such as resistance sensors, capacitance sensors, inductance sensors, voltage sensors, current sensors, photoelectric sensors, thermocouple sensors, current, solenoid valves, etc. The programmable direct-current power supply is used for power supply of the controlled object. The host computer is used for running of the control system software including simulation software, including a computer host and a display.

[0084] The maximum update frequency of the entire test system is not less than 10,000 Hz, supporting a vehicle dynamics model simulation with a simulation step of not more than 1 ms.

[0085] Secondly, the software of the control system can include resource configuration software, model building software, and test execution software. These software can be configured on the host computer. The resource configuration software manages the configuration state of the hardware resources of the control system, including a channel configuration module, a communication configuration module, and a sensor calibration module. The model building software is a design and management software for the test control model. According to the test requirements, the parameters of each module in the resource configuration software are set and called to realize real-time simulation and loading device control functions, including a simulation model control module, a loading device control module, and a synchronization control module. The test execution software is the calling and setting of each functional module in the test control software, which executes specific test actions, manages test program writing and running, data acquisition, system safety, and the like.

[0086] After running the resource configuration software, the channel configuration module configures the functions of the IO board card, various communication board cards, fault injection board cards, loading device drive board cards, signal conditioning modules, and programmable power supplies in the control system. According to the test requirements, the hardware resources of the system are configured, such as the resource management of the hardware required for real-time simulation and loading device control functions, station setting, channel setting, hardware allocation, and parameter calibration. The control station of the loading device of different components can be set, and the number of loading channels can be set according to the input and output signals of the components.

[0087] After running the resource configuration software, the communication configuration module can also configure the channel, parameter, and verification of the CAN, CANFD, PSI5, and other communication board cards in the control system. The receiving and sending of various signals are realized.

[0088] The sensor calibration module can calibrate the external sensors connected to the controller to ensure the accuracy of the data collected by various sensors and support test operation.

[0089] Finally, the test simulation is implemented. Referring to Figure 8 , the simulation process takes two automobile components or two loading devices as an example. The loading device can simulate some operating parameters when performing actual operations on the corresponding vehicle components, such as the vertical load of the component.

[0090] The processor or host computer of the simulation vehicle chassis test system can send driving parameters and control instructions to the two loading devices at the same time. The driving parameters include the steering angle of the steering component, the vertical displacement of the steering component, the vertical displacement of the suspension component, and the lateral load of the suspension component. At the same time, the vehicle component controller receives the control instructions and controls the operation of the vehicle component. The loading device generates feedback parameters during the operation of the vehicle component. At this time, the processor or host computer of the simulation vehicle chassis test system can receive the feedback parameters generated by the loading device during the operation of the vehicle component.

[0091] When the driving parameter of the current simulation cycle is greater than the feedback parameter and the difference between the driving parameter and the feedback parameter is greater than the set threshold, in the next simulation cycle, the processor can adjust the driving parameter of the next cycle of the current cycle to be greater than the driving parameter of the current cycle by 0-20%. Specifically, the steering angle of the steering component applied or input by the loading device after adjustment can be 115% of the adjustment, the vertical displacement of the steering component after adjustment can be 112% of the adjustment, the vertical displacement of the suspension component after adjustment can be 110% of the adjustment, and the lateral load of the suspension component after adjustment can be 107% of the adjustment; after adjustment, the processor of the simulation vehicle chassis test system can send the adjusted driving parameters to the plurality of loading devices, and the vehicle component controller can control the vehicle component to operate and generate the actual simulation parameters of the vehicle.

[0092] When the driving parameter of the current simulation cycle is greater than the feedback parameter and the difference between the driving parameter and the feedback parameter is less than or equal to the set threshold, in the next simulation cycle, the processor can still use the driving parameter of the current cycle as the driving parameter of the next simulation cycle. The processor of the simulation vehicle chassis test system can send the adjusted driving parameters to the plurality of loading devices, and the loading devices can control the vehicle component to operate and generate the actual simulation parameters of the vehicle.

[0093] In other embodiments, taking the four-corner shock absorber as an example, the four-corner shock absorber test system is a set of integrated mechanical hardware-in-the-loop four-channel test bench suitable for passenger car electronically controlled suspension systems, including but not limited to damper continuous control shock absorber assembly, active shock absorber assembly, damper continuous control shock absorber with air spring assembly, active shock absorber with air spring assembly, etc. The development and verification of the system can realize the basic performance test of the shock absorber, the m-HIL test of the system, the system function test, etc.

[0094] The four-corner shock absorber test system includes four sets of shock absorber loading systems and control and simulation systems, and has basic shock absorber performance test function, fault injection function, automatic test function, test data processing function, I / O model configuration function, sample fault diagnosis function, sample calibration function, model modeling function, etc.

[0095] The four-corner shock absorber test system can realize high-speed transmission of command and feedback signals between numerical simulation and physical test, form a real-time closed-loop test system containing numerical subsystem and physical test subsystem at the same time, and the closed-loop control refresh rate is not less than 2 kHz, and the time delay of the test system should not be more than 6 ms.

[0096] The shock absorber loading device can realize the following functions:

[0097] 1. The maximum dynamic output force of the shock absorber test system is not less than 25 kN @ 2 m / s;

[0098] 2. The maximum static load in the compression direction is not less than 10 kN with pneumatic preloading;

[0099] 3. The maximum speed is not less than 4 m / s, and the minimum linear speed is ≤ 0.001 m / s;

[0100] 4. The maximum displacement is not less than 200 mm;

[0101] 5. The surface temperature of the shock absorber can be measured, with a measurement error of ± 2°C, and the measurement range should cover -40°C to 150°C;

[0102] 6. The ambient temperature of the shock absorber can be simulated, with a low temperature not higher than -40°C and a high temperature not lower than 120°C;

[0103] 7. The measurement accuracy of force and displacement is within ± 0.5% F.S;

[0104] 8. Displacement and acceleration limits should be set, with functions to avoid damage caused by excessive system output (including software control limits and hardware limits); safety protection design should be configured for sudden power failure or emergency stop operation.

[0105] The simulation system can include the following functions:

[0106] 1) It can realize damping force test, friction force test, gas rebound force test, temperature characteristic test, spring static stiffness test, etc.; it can draw shock absorber indicator curves (F-V curve, F-S curve, etc.), temperature characteristic curves (F-T curve); it can reproduce historical data, compare and analyze; original test data output (in one of txt, excel, csv formats) can automatically generate test reports.

[0107] 2) It can generate sine wave, sine superposition, square wave, triangular wave, half-sine wave, half-triangular wave, ramp wave, frequency-weighted random wave, and user-defined waveforms, as well as sine sweep function with controllable phase.

[0108] 3) It can use various waveforms to write programs, complete periodic tests, and ensure that test execution and logical operations are performed in parallel (conditions if / then, time domain while). Test programs can be defined, saved, and executed, and test data can be edited and analyzed.

[0109] 4) It has road spectrum iteration and road spectrum playback functions, which can automatically adapt to changes in sample characteristics during iteration; it compensates for non-linear behavior.

[0110] 5) The control accuracy is within ± 1%.

[0111] The simulation system can implement real-time simulation functions, and the real-time simulation can include the following functions:

[0112] 11) Basic test functions: real-time data access and experiment management can be performed through high-speed bus connection (100 Mbit / s) in a real-time environment

[0113] 12) Fault injection function: fault injection on specified pins can be implemented, and the types of faults that can be implemented include open circuit, short circuit to power supply with load, short circuit to power supply without load, short circuit to ground with load, short circuit to ground without load, mutual short circuit, and poor contact.

[0114] 13) Automated testing function: through graphical operation, the design, writing and management of the test process can be realized, and through the link with the test management system, the automatic operation and management of the test process can be realized.

[0115] 14) I / O configuration function: based on the Matlab Simulink module environment, calling, configuration and compilation are performed, each signal of the I / O model needs to have a manually set interface, and the hardware devices of the whole vehicle load test system can be viewed and configured, including board card ID, board card signal, and IO signal channel information.

[0116] 15) Sample calibration function: reading or calibrating ECU internal variables is supported; ASAM A2L calibration database files are supported; CCP and XCP standards based on CAN communication protocol are supported; and third-party CAN interface boards such as Vector are supported.

[0117] 16) Modeling function: the modeling capability of the whole vehicle model, the driver model and the driving scene model can be performed, and the whole vehicle dynamics model at least includes the following components: engine model, MT / AT transmission model, steering system model, brake system model, suspension model with nonlinear spring and damping characteristics, vehicle body dynamics model, aerodynamics model, and tire model. The tire model interface should at least include Magic Formula and TMEasy. The driver model provides the usual operation of the driver, including steering, braking, throttle, gear shifting and clutch control, and lateral and longitudinal control. The road surface model is composed of several road sections, different road sections can define their road surface shape, slope and other parameters, and the height, inclination and road conditions can be applied through road coordinates independent of the road section, and convex, longitudinal section and local smooth area can be defined. The road surface model can build road condition scenes and model simulation; the road surface model can provide different observation angles such as bird's eye view, side view and driver's view, and support the creation of various 3D scenes.

[0118] The hardware requirements of the simulation system can include:

[0119] 11. Power supply requirement: 4 sets of shock absorber test systems can be powered at the same time, the power supply is a bidirectional DC output type, the maximum output voltage is not less than 80V, the maximum output current is not less than 240A, and the power is not less than 12kW.

[0120] 12. Communication requirement: at least 8 PSI5 communication interfaces; at least 10 CAN communication interfaces supporting CAN2.0A, CAN2.0B, and CAN_FD standard protocols; at least 4 vehicle-mounted Ethernet communication interfaces; and at least 4 LIN interfaces supporting LINl.3, LIN2.0, and LIN2.I standard protocols.

[0121] 13. Real-time processor requirement: at least four cores, each with a frequency of not less than 3.8GHz, RAM memory (DDR4) of not less than 16GB, communication rate between the processor board and the IO board of ≥1.25Gbit / s to ensure the real-time performance of I / O updates, and running step of not more than lms.

[0122] 14. I / O board requirement (additional available configuration): I / O board analog input: input voltage range: -10-10(V); I / O board channel number: at least 32; resolution: ≥16 bits; sampling rate: ≥4MHz; maximum error: ≤±2mV. I / O board analog output: output voltage range: -10-10(V); I / O board channel number: at least 32; resolution: ≥16 bits; update frequency: ≥200kHz; maximum output error: ≤±2mV. Digital and PMW signal input requirements can include: channel number: at least 20; input voltage range: 0-10(V); frequency measurement range: 0.03-300k(Hz); duty cycle measurement range: 0-100%; time resolution: ≤80ns. Digital and PMW output requirements can include: channel number: at least 20; at least 4 channels supporting SENT protocol; output can be set to PWM, high side, low side, or push-pull function output form; each channel can be configured as Digital_Output or PWM_Output; output voltage range: 0-12(V); output frequency range: 0.03-300k(Hz); output duty cycle range: 0-100%; time resolution: ≤80ns.

[0123] 15. Resistance output board requirement in the system: channel number: at least 8; working voltage range: -3-18V; maximum output error: ≤2% of resistance measurement value; resistance range: 20Ω-1MΩ; output current range: 80mA.

[0124] 16. The system needs an uninterrupted power supply (UPS), which should be designed to provide power to the servo controller for 30min after power failure, and is equipped with input power failure detection output and low voltage alarm output, both of which should be connected to the servo controller.

[0125] 17. The system's current output type sensor signal collection channel number is at least 8, and the current output range is 4-20 mA.

[0126] It can be understood that due to the diversity of parts, other parts can still exist during the whole vehicle simulation test, and the adjustment of the driving parameters of the other parts in two consecutive simulation cycles also meets the above method. Similarly, when the driving parameter corresponding to the other parts not mentioned in the above embodiment in the current simulation cycle is greater than the feedback parameter, and the difference between the driving parameter and the feedback parameter is greater than the set threshold, the driving parameters before and after the adjustment still meet the requirement that the driving parameter adjustment of the next cycle is greater than 0-20% of the driving parameter of the current cycle; when the driving parameter corresponding to the other parts not mentioned in the above embodiment in the current simulation cycle is greater than the feedback parameter, and the difference between the driving parameter and the feedback parameter is less than or equal to the set threshold, the driving parameter is not adjusted in value.

[0127] In summary, the present application has the following advantages:

[0128] The present application can first construct a simulation vehicle chassis test system comprising a plurality of vehicle part controllers and a plurality of vehicle parts; then in the current simulation cycle, send the first driving parameter to the plurality of loading devices, and control the vehicle parts to run through the vehicle part controllers, so that the plurality of loading devices generate the feedback parameter; obtain the feedback parameter; determine the second driving parameter of the next simulation cycle according to the first driving parameter and the feedback parameter; and in the next simulation cycle, send the second driving parameter to the plurality of loading devices, and control the vehicle parts to run through the vehicle part controllers, so that the plurality of loading devices generate the actual simulation parameter of the vehicle. The present application can send the driving parameter to the plurality of loading devices, and at the same time, control the vehicle parts to run through the plurality of vehicle part controllers to simulate the actual situation of the vehicle running, and also present the actual error of the vehicle part running through the feedback parameter, so that the controller can determine the final simulation parameter of the vehicle part running according to the feedback parameter in the next simulation cycle test. The present application can improve the accuracy of the simulation test.

[0129] In addition, with reference to Figure 9 , with Figure 1The method corresponds to the embodiment of the application, and the vehicle chassis test simulation device is also provided. The device can include a first processing unit 1001, a second processing unit 1002, an acquisition unit 1003, a fourth processing unit, and a fifth processing unit. The first processing unit 1001 can be used to construct a simulation vehicle chassis test system, and the simulation vehicle chassis test system includes a plurality of vehicle component controllers and a plurality of loading devices. The second processing unit 1002 can send a first driving parameter to the plurality of loading devices in a current simulation period, and control the vehicle components to operate through the vehicle component controllers, so that the plurality of loading devices generate feedback parameters. The acquisition unit 1003 can be used to acquire the feedback parameters. The third processing unit 1004 can be used to determine a second driving parameter of a next simulation period according to the first driving parameter and the feedback parameters. The fourth processing unit 1005 can be used to send the second driving parameter to the plurality of loading devices in the next simulation period, and control the vehicle components to operate through the vehicle component controllers, so that the plurality of loading devices generate actual simulation parameters of the vehicle.

[0130] It should be noted that the acquisition unit can be any integrated circuit unit or microprocessor unit obtained by integrating a processing function chip and its peripheral circuit through existing integrated technology. The first processing unit and the second processing unit can also be any integrated circuit module or microprocessor module obtained by integrating a processing function chip and its peripheral circuit through existing integrated technology. The first processing unit and the second processing unit can further include one or more memories. The one or more memories can be used to store specific algorithms for vehicle chassis test simulation in the application.

[0131] In some embodiments of the application, the acquisition unit 1003 and the third processing unit 1004 can be arranged in the same device with a processor. The acquisition unit 1003 can transmit the acquired data to the processor through wired or wireless connection with the processor of the third processing unit 1004. In addition, the specific device connection mode and device arrangement between the first processing unit 1001 and the second processing unit 1002, and between the second processing unit 1002 and the acquisition unit 1003 are not limited.

[0132] It should be noted that the contents of the above vehicle chassis test simulation method embodiments are applicable to the vehicle chassis test simulation device embodiments, the vehicle chassis test simulation device embodiments specifically realize the same functions as the above vehicle chassis test simulation method embodiments, and achieve the same beneficial effects as the above vehicle chassis test simulation method embodiments.

[0133] With Figure 1Corresponding to the method, this embodiment of the invention also provides a vehicle chassis test simulation device, the specific structure of which can be referred to Figure 10 ,include:

[0134] At least one processor 1011;

[0135] At least one memory 1012 is used to store at least one program;

[0136] When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle chassis test simulation method.

[0137] The content of the above method embodiments is applicable to the device embodiments. The specific functions implemented by the device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0138] and Figure 1 Corresponding to the method described above, this embodiment of the invention also provides a computer-readable storage medium storing processor-executable instructions, which, when executed by a processor, are used to perform the vehicle chassis test simulation method.

[0139] The contents of the above vehicle chassis test simulation method embodiments are all applicable to this storage medium embodiment. The specific functions implemented by this storage medium embodiment are the same as those of the above vehicle chassis test simulation method embodiments, and the beneficial effects achieved are also the same as those achieved by the above vehicle chassis test simulation method embodiments.

[0140] Furthermore, this invention also provides a vehicle that can be simulated and designed using the vehicle chassis test simulation method described above. Specifically, the vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. The vehicle can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle can be a gasoline-powered vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0141] The contents of the above-described vehicle chassis test simulation device or system embodiments are all applicable to this vehicle embodiment. The specific functions implemented in this vehicle embodiment are the same as those in the above-described vehicle chassis test simulation device or system embodiments, and the beneficial effects achieved are also the same as those achieved in the above-described vehicle chassis test simulation device or system embodiments.

[0142] In some alternative embodiments, the function / operations mentioned in the block diagrams can not occur in the order mentioned in the operational illustrations. For example, depending on the involved function / operation, two blocks shown in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in reverse order, depending upon the functionality / operations involved. Furthermore, embodiments presented and described in the flowcharts are only examples of implementing the present application. Alternative embodiments are possible where some of the steps are omitted, wherein additional steps are added, or wherein some of the steps are performed in a different order. Additionally, the disclosed methods are not limited to the order of operations presented in the flowcharts.

[0143] Furthermore, although the present application is described in the context of functional modules, it is to be understood that one or more of the functions and / or features can be integrated in a single physical device and / or software module, or one or more functions and / or features can be implemented in separate physical devices or software modules. It is also to be understood that detailed discussion of the actual implementation of each module is unnecessary to an understanding of the present application. Rather, the actual implementation is within the routine skill of engineers familiar with the attributes, functions, and internal relationships of the various functional modules disclosed herein. Accordingly, the present application is not limited to the details of the implementation as set forth in the following description. Further, the disclosed subject matter is intended to be illustrative, and not limiting, of the scope of the present application, as defined by the appended claims, the full scope of which is to be determined by the full breadth of equivalents, of which the claims attached hereto arc entitled to.

[0144] The functions described can be implemented in software, firmware, or hardware. The functions can be created in or transferred to a computer-readable storage medium (or media) without unduly compromising the security of the information belonging to the users and the providers. The orders of the operations described are merely examples and the actual implementation can be different from those described. The actual implementation is within the routine skill of engineers familiar with the attributes, functions, and internal relationships of the various functional modules disclosed herein. Accordingly, the present application is not limited to the details of the implementation as set forth in the following description. Further, the disclosed subject matter is intended to be illustrative, and not limiting, of the scope of the present application, as defined by the appended claims, the full scope of which is to be determined by the full breadth of equivalents, of which the claims attached hereto arc entitled to.

[0145] The logic and / or steps represented in the flow diagrams or otherwise described herein, for example, can be embodied in non-transitory computer- readable media, executed by a program executing system, apparatus, or device, such as a computer-based system, a processor-based system, or other system that can fetch the program (from the system, apparatus, or device) and execute the program, or in conjunction with such a program executing system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the program executing system, apparatus, or device.

[0146] More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection (electronic) having one or more wires, a portable computer diskette (magnetic), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can also be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and stored in a computer memory.

[0147] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above described embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable program executing system. For example, if implemented in hardware, and as in another embodiment, any of the following technologies known in the art, or combinations thereof, can be used: discrete logic circuitry having logic gates for implementing logic functions upon an application of data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0148] In the above description of the present specification, reference to the description of the terms "one embodiment / implementation", "another embodiment / implementation" or "some embodiments / implementations" and the like means that a particular feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. The illustrative appearances of the above- described terms in the description are not necessarily referred to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0149] While the embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary and are not to be taken as limiting the scope of the application. The scope of the application is defined by the claims and their equivalents.

[0150] The above is a specific description of the preferred embodiment of the present application, but the present application is not limited to the described embodiment, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application, and these equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. A method of vehicle chassis test simulation, characterized by, The method comprises the following steps: constructing a simulation vehicle chassis test system; the simulation vehicle chassis test system comprises a control system, a plurality of vehicle component controllers and a plurality of loading devices, the control system is configured with a high-performance processor, supports test implementation operation, is used for model calculation of a controlled object and control of a loading device; the simulation vehicle chassis test system supports a whole vehicle dynamics model simulation with a maximum update frequency of not less than 10000 Hz and a simulation step of not higher than 1 ms, the loading device is configured to simulate operating parameters of vehicle components and is provided with displacement and acceleration limiting functions to avoid damage caused by excessive output of the simulation vehicle chassis test system; in a current simulation cycle, a first driving parameter is sent to the plurality of loading devices, and the vehicle component controllers are used to control the operation of vehicle components, so that the plurality of loading devices generate feedback parameters; the feedback parameters are obtained; a deviation threshold is determined according to the first driving parameter and the feedback parameter, comprising: the first driving parameter and the feedback parameter are subtracted to determine a first difference value; the first difference value is used as the deviation threshold; a second driving parameter of a next simulation cycle is determined according to the deviation threshold, comprising: when the deviation threshold is less than or equal to a preset threshold, the feedback parameter is used as the second driving parameter of the next simulation cycle; when the deviation threshold is greater than the preset threshold, a third driving parameter is used as the second driving parameter of the next simulation cycle; wherein the third driving parameter and the first driving parameter satisfy the relationship: C / D≤120%, wherein C is the third driving parameter and D is the first driving parameter; in the next simulation cycle, the second driving parameter is sent to the plurality of loading devices, and the vehicle component controllers are used to control the operation of vehicle components, so that the plurality of loading devices generate actual simulation parameters of the vehicle.

2. The vehicle chassis test simulation method according to claim 1, characterized by, The first driving parameter is sent to the plurality of loading devices in the current simulation cycle, and the vehicle component controllers are used to control the operation of vehicle components, so that the plurality of loading devices generate feedback parameters, comprising: in the current simulation cycle, the first driving parameter with a value of 0 is sent to the plurality of loading devices, and the vehicle component controllers are used to control the operation of vehicle components, so that the plurality of loading devices generate first feedback parameters; or, in the current simulation cycle, the first driving parameter with a value of a first preset value is sent to the plurality of loading devices, and the vehicle component controllers are used to control the operation of vehicle components, so that the plurality of loading devices generate second feedback parameters.

3. The vehicle chassis test simulation method according to claim 2, characterized in that, The second feedback parameter and the first preset value satisfy the relationship: A / B≥80%, wherein A is the second feedback parameter and B is the first preset value.

4. A vehicle chassis test simulation apparatus characterized by comprising: comprise: The first processing unit is configured to construct a simulation vehicle chassis test system, wherein the simulation vehicle chassis test system comprises a control system, a plurality of vehicle component controllers and a plurality of loading devices, the control system is configured with a high-performance processor, supports test implementation operation, and is used for model calculation of a controlled object and control of the loading devices; the simulation vehicle chassis test system supports whole vehicle dynamics model simulation with a maximum update frequency of not less than 10000 Hz and a simulation step of not higher than 1 ms, the loading devices are configured to simulate operating parameters of vehicle components, and are provided with displacement and acceleration limiting functions to avoid damage caused by excessive output of the simulation vehicle chassis test system; The second processing unit is configured to send a first driving parameter to the plurality of loading devices in a current simulation period, and control vehicle component operation through the vehicle component controllers, so that the plurality of loading devices generate feedback parameters. The acquisition unit is configured to acquire the feedback parameters. The third processing unit is configured to determine a deviation threshold value according to the first driving parameter and the feedback parameters, including: determining a first difference value by subtracting the first driving parameter from the feedback parameters; taking the first difference value as the deviation threshold value; determining a second driving parameter of a next simulation period according to the deviation threshold value, including: when the deviation threshold value is less than or equal to a preset threshold value, taking the feedback parameter as the second driving parameter of the next simulation period; when the deviation threshold value is greater than the preset threshold value, taking a third driving parameter as the second driving parameter of the next simulation period; wherein the third driving parameter and the first driving parameter satisfy the relationship: C / D≤120%, wherein C is the third driving parameter and D is the first driving parameter. The fourth processing unit is configured to send the second driving parameter to the plurality of loading devices in the next simulation period, and control vehicle component operation through the vehicle component controllers, so that the plurality of loading devices generate actual simulation parameters of the vehicle.

5. A vehicle chassis test simulation apparatus characterized by comprising: Comprise: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle chassis test simulation method according to any one of claims 1-3.

6. A computer-readable storage medium having stored therein instructions that are executable by a processor, the instructions comprising: The processor executable instructions when executed by the processor are used to execute the vehicle chassis test simulation method according to any one of claims 1-3.

7. A vehicle characterized by comprising: Simulation and design are obtained by the vehicle chassis test simulation method according to any one of claims 1-3.

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