An emulation testing method, system, device and storage medium

Abstract

The embodiment of the application discloses a simulation test method, system, device and storage medium, relates to the technical field of simulation test, and the method comprises the following steps: acquiring vehicle motion parameters of a driving simulator in a simulation test scene, determining a vehicle motion state according to the vehicle motion parameters; generating first motion feedback information of the driving simulator according to the vehicle motion state; generating second motion feedback information of a steer-by-wire unit according to the vehicle motion parameters; acquiring a first test score determined based on the first motion feedback information and the second motion feedback information; determining a second test score according to the vehicle motion parameters and the vehicle motion state; and determining a simulation test result of the steer-by-wire unit according to the first test score and the second test score. The simulation test result of the steer-by-wire unit can be comprehensively realized through the first test score and the second test score, and the accuracy and reliability of the simulation test on the steer-by-wire unit are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of simulation testing, and in particular to a simulation testing method, system, device and storage medium. BACKGROUND

[0002] With the development of the automobile industry and the gradual maturity of intelligent driving and intelligent chassis technologies, driving simulators, as an important tool, have been widely used. Driving simulators usually have multiple functions, such as simulating vehicle driving under different road conditions, including various extreme situations and special scenarios, such as emergency braking, sharp turns, road surfaces with different friction coefficients, etc., and will not cause actual harm to the driver and the vehicle in dangerous driving conditions. In driving simulators, a steer-by-wire system can improve driving characteristics and enhance maneuverability, but in related technologies, there is often a lack of simulation testing of the steer-by-wire system in driving simulators.

[0003] SUMMARY

[0004] Therefore, one of the purposes of the present application is to provide a simulation testing method, system, device and storage medium, which can simulate and improve the accuracy and reliability of the simulation testing of the steer-by-wire system in the driving simulator.

[0005] To achieve the above purpose, the technical solution of the present application is as follows:

[0006] In a first aspect, the embodiments of the present application provide a simulation testing method applied to a simulation testing system, wherein the simulation testing system comprises a driving simulator and a steer-by-wire unit connected thereto, and the simulation testing method comprises:

[0007] obtaining vehicle motion parameters of the driving simulator in a simulation testing scenario;

[0008] determining a vehicle motion state according to the vehicle motion parameters;

[0009] generating first motion feedback information of the driving simulator according to the vehicle motion state;

[0010] generating second motion feedback information of the steer-by-wire unit according to the vehicle motion parameters;

[0011] obtaining a first test score determined based on the first motion feedback information and the second motion feedback information;

[0012] determining a second test score according to the vehicle motion parameters and the vehicle motion state;

[0013] determining a simulation testing result of the steer-by-wire unit according to the first test score and the second test score.

[0014] In a possible implementation, the first motion feedback information comprises at least one of a pitch angle, a yaw angle and a side slip angle, the second motion feedback information comprises a feedback torque, the first test score determined based on the first motion feedback information and the second motion feedback information is obtained by:

[0015] obtaining a first initial attitude of the driving simulator and a second initial attitude of the steer-by-wire unit;

[0016] controlling the driving simulator to transition from the first initial attitude to a first target attitude according to at least one of the pitch angle, the yaw angle and the side slip angle;

[0017] obtaining a first test sub-score determined based on that the driving simulator is in the first target attitude;

[0018] controlling the steer-by-wire unit to transition from the second initial attitude to a second target attitude according to the feedback torque;

[0019] obtaining a second test sub-score determined based on that the steer-by-wire unit is in the second target attitude;

[0020] determining the first test score according to the first test sub-score and the second test sub-score.

[0021] In a possible implementation, determining the simulation test result of the steer-by-wire unit according to the first test score and the second test score comprises:

[0022] determining a first weight value of the first test score and a second weight value of the second test score according to the simulation test scenario;

[0023] determining a first target score according to the first test score and the first weight value;

[0024] determining a second target score according to the second test score and the second weight value;

[0025] determining the simulation test result of the steer-by-wire unit according to the first target score and the second target score.

[0026] In a possible implementation, the first weight value is greater than the second weight value in a condition that the simulation test scenario comprises any one of a rainy day, a snowy day and a foggy day;

[0027] In a case that the simulation test scenario comprises a sunny day, the first weight value is less than the second weight value.

[0028] In a possible implementation, the second motion feedback information of the steer-by-wire unit is generated according to the vehicle motion parameter, comprising:

[0029] the driving simulator sends the vehicle motion parameter to the steer-by-wire unit;

[0030] The steer-by-wire unit determines the second motion feedback information according to the vehicle motion parameter.

[0031] In a possible implementation, the simulation test system further comprises a first connecting member, the driving simulator comprises a cockpit, and a steering wheel and a steering wheel steering column fixed in the cockpit;

[0032] The steer-by-wire unit comprises a steer-by-wire actuator;

[0033] The steering wheel is fixed at a first end of the steering wheel steering column, a second end of the steering wheel steering column is fixedly connected to a first end of the first connecting member by a bolt, and a second end of the first connecting member is detachably connected to the steer-by-wire actuator by a spline.

[0034] In a possible implementation, the simulation test system further comprises a second connecting member, the driving simulator comprises a cockpit, and a steering wheel and a steering wheel steering column fixed in the cockpit;

[0035] The steer-by-wire unit comprises a steer-by-wire actuator;

[0036] The steering wheel is fixed at a first end of the steering wheel steering column, a second end of the steering wheel steering column is fixedly connected to a first end of the first connecting member by a bolt, and a second end of the first connecting member is detachably connected to the steer-by-wire actuator by a spline.

[0037] In a possible implementation, the simulation test system further comprises a second connecting member, the driving simulator comprises a cockpit, and a steering wheel and a steering wheel steering column fixed in the cockpit;

[0038] The first acquisition module is configured to acquire a vehicle motion parameter of the driving simulator in a simulation test scene.

[0039] The first determination module is configured to determine a vehicle motion state according to the vehicle motion parameter.

[0040] The first generation module is configured to generate first motion feedback information of the driving simulator according to the vehicle motion state.

[0041] The second generation module is configured to generate second motion feedback information of the steer-by-wire unit according to the vehicle motion parameter.

[0042] The second acquisition module is configured to acquire a first test score determined based on the first motion feedback information and the second motion feedback information.

[0043] The second determination module is configured to determine a second test score according to the vehicle motion parameter and the vehicle motion state.

[0044] The third determining module is configured to determine the simulation test result of the steer-by-wire unit according to the first test score and the second test score.

[0045] In a third aspect, an electronic device is provided, which includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the simulation test method in the first aspect is implemented.

[0046] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program. When the computer program is executed by one or more processors, the simulation test method in the first aspect is implemented.

[0047] The simulation test method provided in the embodiments of the present application can obtain the vehicle motion parameters of the driving simulator in the simulation test scene, determine the vehicle motion state according to the vehicle motion parameters, generate the first motion feedback information of the driving simulator according to the vehicle motion state, generate the second motion feedback information of the steer-by-wire unit according to the vehicle motion parameters, obtain the first test score determined based on the first motion feedback information and the second motion feedback information, determine the second test score according to the vehicle motion parameters and the vehicle motion state, and determine the simulation test result of the steer-by-wire unit according to the first test score and the second test score. The simulation test method provided in the embodiments of the present application can comprehensively implement the simulation test of the steer-by-wire unit, and improve the accuracy and reliability of the simulation test of the steer-by-wire unit. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. It should be understood that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0049] Figure 1 A flowchart of a simulation test method provided in the embodiments of the present application;

[0050] Figure 2 A structural schematic diagram of a simulation test system related to a simulation test method provided in the embodiments of the present application;

[0051] Figure 3 An enlarged schematic diagram of a first connecting piece related to a simulation test method provided in the embodiments of the present application;

[0052] Figure 4 A communication principle diagram related to a simulation test method provided in the embodiments of the present application;

[0053] Figure 5 A functional module schematic diagram of a simulation test system provided for an embodiment of the present application;

[0054] Figure 6 An internal structure diagram of an electronic device provided for an embodiment of the present application.

[0055] Explanation of reference signs:

[0056] The simulation test system 100, the first acquisition module 101, the first determination module 102, the first generation module 103, the second generation module 104, the second acquisition module 105, the second determination module 106, the third determination module 107, the first connecting piece 1010, the driving simulator motion platform 1020;

[0057] The driving simulator 200, the cockpit 210, the steering wheel 220, the steering wheel steering column 230;

[0058] The steer-by-wire unit 300, the steer-by-wire actuator 310. DETAILED DESCRIPTION

[0059] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application but not all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0060] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application.

[0061] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0062] In various embodiments of the present application, the expression “or” or “at least one of A or / and B” includes any combination or all combinations of the listed terms. For example, the expression “A or B” or “at least one of A or / and B” can include A, can include B, or can include both A and B.

[0063] In the description of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, only for the convenience of describing the present application and simplifying the description, and it is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0064] In addition, if the terms "first", "second" and the like appear, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0065] It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0066] And in the embodiments of the present application, the term "connection" can mean "electrical connection", and can also mean "direct connection". The "electrical connection" can mean that the two components are directly electrically connected, or that the two components are electrically connected via one or more other components such as normally open tubes.

[0067] In order to better understand the scheme of the embodiments of the present application, first, the related art will be introduced.

[0068] The driving simulator is a kind of teaching equipment for driving training. It can create a virtual driving training environment by using virtual reality simulation technology, and the driver interacts with the virtual environment through the operation components of the simulator to perform driving training in a broad sense.

[0069] The simulator includes a car driving simulator, an airplane driving simulator, a ship driving simulator, a real car intelligent driving simulator, etc. Any simulation device used for "driving" can be called a driving simulator. Of course, compared with other driving simulators, the car driving simulator is the most widely used. In modern society, cars have become a very common means of transportation and transportation, so the car driving simulator is more widely used. The driving simulator 200 in the embodiments of the present application can be understood as a car driving simulator, which can be applied to car simulation driving.

[0070] In order to solve the technical problems in the background art, the embodiments of the present application provide a simulation test method, system, device and storage medium. First, the simulation test method provided by the embodiments of the present application will be introduced.

[0071] Please refer to Figure 1 , Figure 1A flowchart of a simulation test method provided by an embodiment of the present application is shown in FIG. 1. The simulation test method can be applied to a simulation test system or an electronic device in the following embodiments, and the electronic device includes a personal computer, a server, a mobile device, a cloud computing platform, a supercomputer, etc. The simulation test method will be introduced from the application to the simulation test system. The simulation test system includes a connected driving simulator 200 and a steer-by-wire unit 300. The method specifically includes the following steps:

[0072] In step 110, vehicle motion parameters of the driving simulator in the simulation test scene are obtained.

[0073] In step 120, a vehicle motion state is determined according to the vehicle motion parameters.

[0074] In step 130, first motion feedback information of the driving simulator is generated according to the vehicle motion state.

[0075] In step 140, second motion feedback information of the steer-by-wire unit is generated according to the vehicle motion parameters.

[0076] In step 150, a first test score determined based on the first motion feedback information and the second motion feedback information is obtained.

[0077] In step 160, a second test score is determined according to the vehicle motion parameters and the vehicle motion state.

[0078] In step 170, a simulation test result of the steer-by-wire unit 300 is determined according to the first test score and the second test score.

[0079] The simulation test method provided by the embodiment of the present application can obtain the vehicle motion parameters of the driving simulator in the simulation test scene, determine the vehicle motion state according to the vehicle motion parameters, generate the first motion feedback information of the driving simulator according to the vehicle motion state, generate the second motion feedback information of the steer-by-wire unit according to the vehicle motion parameters, obtain the first test score determined based on the first motion feedback information and the second motion feedback information, determine the second test score according to the vehicle motion parameters and the vehicle motion state, and determine the simulation test result of the steer-by-wire unit according to the first test score and the second test score. The first test score and the second test score can be used to comprehensively implement the simulation test of the steer-by-wire unit, and improve the accuracy and reliability of the simulation test of the steer-by-wire unit.

[0080] The following will describe each step of the method in detail. Figure 1

[0081] ​In step 110, the simulation test scene can be a scene generated by simulating a real driving environment for simulation test. For example, the simulation test scene can include various scenes, such as rain and snow, hail, and sunny weather based on weather dimensions, wet and slippery road, bumpy road, or normal road based on road conditions, and sharp turns or sudden braking based on custom dimensions.

[0082] In some embodiments, the simulation test scene further includes at least two of the weather dimension, the road condition dimension, and the custom dimension, such as in simulation test scene A, which can include a rainy day, a bumpy road, and a sudden braking.

[0083] The vehicle motion parameter can be a parameter of the driving simulator 200 in the simulation test scene. For example, the vehicle motion parameter can include speed, acceleration, turn angle signal, and the like. Generally, the vehicle motion parameter in different simulation test scenes is different, but specific cases such as the same vehicle motion parameter in different simulation test scenes are not excluded.

[0084] The vehicle motion parameter of the driving simulator 200 in the simulation test scene can be obtained by the simulation test system in the following embodiments.

[0085] In some embodiments, different simulation test scenes are stored in the simulation system. If the simulation test system detects a simulation test instruction, it can determine the simulation test scene corresponding to the simulation test instruction, and then load the simulation test scene into the driving simulator 200.

[0086] In some embodiments, the simulation test system loads the simulation test scene into the driving simulator 200, and after receiving the loading completion information fed back by the driving simulator 200, the simulation test can be started.

[0087] In some embodiments, the simulation test system can record a first timestamp when the driving simulator 200 is loaded with the simulation test scene, and a second timestamp when the loading completion information fed back by the driving simulator 200 is received. If the interval between the first timestamp and the second timestamp is greater than a preset time length, the simulation test system can determine that the driving simulator 200 has loaded for too long and needs to be repaired by relevant personnel. If the simulation test system has not received the loading completion information fed back by the driving simulator 200, it can still determine that the driving simulator 200 has failed to load.

[0088] In the case where the simulation test system determines that the driving simulator 200 has loaded for too long, the driving simulator 200 can operate normally, and relevant personnel can perform maintenance before or after the driving simulator 200 operates.

[0089] In the case that the simulation test system judges that the driving simulator 200 is loaded with a fault, the driving simulator 200 cannot be operated, and the relevant staff needs to timely maintain the driving simulator 200 to ensure the normal simulation test in the future.

[0090] In step 120, the vehicle motion state includes any one of a static state, an acceleration state, a deceleration state, a uniform straight driving state, a turning state, an emergency braking state, a coasting state, a reversing state, a climbing state, and a downhill state, and of course can also be at least two of these states, such as an acceleration state and a climbing state.

[0091] The vehicle motion state can be determined by the simulation test system based on the vehicle motion parameters, and the driver in the driving simulator 200 can experience a driving environment close to reality through the determined vehicle motion state.

[0092] For example, in the case that the vehicle motion parameters include a speed and an acceleration, and the speed is 100 KM / H and the acceleration is 0, the simulation test system can determine that the corresponding vehicle motion state is a uniform straight driving state. Other vehicle motion states can correspond to different vehicle motion parameters, which are not exemplified one by one here.

[0093] In some embodiments, a plurality of display screens can be provided in the driving simulator 200, which can be used to display road conditions, weather, and driving parameters, so that the driver in the driving simulator 200 can further experience a realistic driving environment.

[0094] Considering that a specific vehicle motion state can be determined by vehicle motion parameters, such as in the case that the speed, acceleration, and turning angle are certain, the turning direction is different, and the corresponding vehicle motion state can be divided into a first vehicle motion state and a second vehicle motion state, the embodiment does not limit the vehicle motion state.

[0095] In step 130, the first motion feedback information can include one or more of a pitch angle, a yaw angle, and a side slip angle. The first motion feedback information can be determined by the simulation test system based on the vehicle motion state. Generally, the first motion feedback information determined based on different vehicle motion states is different.

[0096] For example, if the vehicle motion state is a uniform straight driving state, and the vehicle is driven along the center axis of the road in the simulation test scene, the simulation test system can determine that the first motion feedback information includes a pitch angle, a yaw angle, and a side slip angle, and the pitch angle, the yaw angle, and the side slip angle are all 0. In this case, the driver in the driving simulator 200 is in a smooth driving state.

[0097] For example, if the vehicle motion state is climbing and the vehicle is driving along the centerline of the road in the simulation test scene, the simulation test system can determine that the first motion feedback information includes a pitch angle, a yaw angle and a roll angle, the yaw angle and the roll angle are both 0, and the pitch angle is greater than 0. The driving simulator 200 can further include a level sensor, and the specific pitch angle can be further determined by the level sensor.

[0098] Based on the first motion feedback information, the driver in the driving simulator 200 can further experience a simulation test scene close to reality.

[0099] In step 140, the second motion feedback information can include a feedback torque. The simulation test system can determine the second motion feedback information based on the vehicle motion state. Generally, the second motion feedback information determined based on different vehicle motion parameters is different.

[0100] For example, if the vehicle motion parameter includes a steering angle signal such as a clockwise rotation of 180 degrees, the simulation test system can determine that the feedback torque of the steer-by-wire unit is 15 newton-meters based on the steering angle signal.

[0101] In combination with the first motion feedback information and the second motion feedback information in steps 130 and 140, the driver in the driving simulator 200 can experience the simulation test scene from multiple aspects such as the driving simulator 200 and the steer-by-wire unit 300, and the driver can have a driving experience close to reality.

[0102] In step 150, the simulation test system can determine the first test score by combining the subjective experience of the driver in the driving simulator 200 based on the first motion feedback information and the second motion feedback information determined in steps 130 and 140, respectively.

[0103] In some embodiments, after the driver in the driving simulator 200 experiences the first motion feedback information through the driving simulator 200 and the second motion feedback information through the steer-by-wire unit 300, the driver can directly obtain the first test score according to the subjective experience and feed back the first test score to the simulation test system.

[0104] In some embodiments, after the driver in the driving simulator 200 experiences the first motion feedback information through the driving simulator 200 and the second motion feedback information through the steer-by-wire unit 300, the driver can input the subjective experience or the score corresponding to the subjective experience of the driver in the form of selection and filling. The simulation test system can comprehensively analyze the form to determine the first test score.

[0105] For example, the subjective feelings of the driver can be reflected in terms of driving operation sensitivity and vibration feedback feeling. For example, the subjective feeling evaluation of the driving operation sensitivity and the vibration feedback feeling is respectively excellent, good, general, and low. The simulation test system can comprehensively analyze the subjective feeling evaluation, and then determine the first test score.

[0106] For example, the subjective feelings of the driver can be reflected in terms of driving operation sensitivity and vibration feedback feeling. For example, the subjective feeling evaluation of the driving operation sensitivity and the vibration feedback feeling is respectively 10 points, 7.5 points, 5 points, and 2.5 points. The simulation test system can comprehensively analyze the subjective score evaluation, and then determine the first test score.

[0107] The excellent, good, general, and low can be respectively represented by 10 points, 7.5 points, 5 points, and 2.5 points.

[0108] In steps 160 and 170, the second test score determined by the simulation test system is independent of the first test score, and is not affected by each other. If the first test score in the above embodiment is understood as a subjective score made by the driver in the driving simulator 200, the second test score can be understood as an objective score made by the simulation test system based on the vehicle motion parameters and the vehicle motion state.

[0109] In some embodiments, the simulation test system can determine the corresponding vehicle standard motion state from the preset table based on the vehicle motion parameters, calculate the test similarity between the vehicle standard motion state and the vehicle motion state based on a conventional similarity calculation method, and then determine the second test score based on the deviation range between the test similarity and the standard similarity.

[0110] The preset table includes vehicle test motion parameters obtained by testing a real vehicle in a real environment, and vehicle standard motion states corresponding to the vehicle test motion parameters.

[0111] For example, the standard similarity is 100%, if the test similarity is 90%, the deviation range is within 25%, and the simulation test system can determine the second test score as 10 points. Correspondingly, if the test similarity is 60%, the deviation range is between 25% and 50%, and the simulation test system can determine the second test score as 7.5 points.

[0112] The simulation test result of the steer-by-wire unit 300 can be comprehensively determined by combining the subjective score of the first test score and the objective score of the second test score. The simulation test result can be represented by 1 point to 10 points. The greater the score, the better the simulation test result, the better the simulation effect of the steer-by-wire unit 300, and vice versa.

[0113] In some embodiments, a vehicle dynamics solver can be integrated in the driving simulator 200, and after starting the simulation test, the operations of the driver in the driving simulator 200, such as turning the steering wheel 220, stepping on the accelerator pedal or brake pedal, etc., can be converted into vehicle motion parameters by the driving simulator 200. For example, the opening and closing degree of the accelerator pedal corresponding to stepping on the accelerator pedal is converted into the speed or acceleration of the vehicle by the vehicle dynamics solver.

[0114] In a possible implementation, the first motion feedback information includes at least one of a pitch angle, a yaw angle and a roll angle, the second motion feedback information includes a feedback torque, the first test score determined based on the first motion feedback information and the second motion feedback information is obtained, including:

[0115] The first initial attitude of the driving simulator 200 and the second initial attitude of the steer-by-wire unit 300 are obtained;

[0116] The driving simulator 200 is controlled to be converted from the first initial attitude to a first target attitude according to at least one of the pitch angle, the yaw angle and the roll angle;

[0117] The first test sub-score determined based on the driving simulator 200 being in the first target attitude is obtained;

[0118] The steer-by-wire unit 300 is controlled to be converted from the second initial attitude to a second target attitude according to the feedback torque;

[0119] The second test sub-score determined based on the steer-by-wire unit 300 being in the second target attitude is obtained;

[0120] The first test score is determined according to the first test sub-score and the second test sub-score.

[0121] In this embodiment, the driving simulator 200 is adjusted to the first target attitude according to the specific first motion feedback information, and the steer-by-wire unit 300 is adjusted to the second target attitude according to the specific second motion feedback information, and the first test sub-score determined when the driving simulator 200 is in the first target attitude and the second test sub-score determined when the steer-by-wire unit 300 is in the second target attitude are obtained, and then the first test score is determined according to the first test sub-score and the second test sub-score. Not only the simulation test of the steer-by-wire unit 300 is realized according to the subjective feeling of the driver through the first test score, but also the simulation test of the steer-by-wire unit 300 is realized according to the subjective feeling of the driver through the driving simulator 200 and the steer-by-wire unit 300, and the test authenticity is high.

[0122] The pitch angle can represent whether the driving simulator 200 is in a downhill state or a uphill state in the corresponding simulation test scene. The yaw angle can represent the distance of the driving simulator 200 from the center line of the simulation road in the simulation test scene. The side slip angle can represent the level or inclination of the simulation road where the driving simulator 200 is located.

[0123] After the simulation test starts, the vehicle motion state determined according to the vehicle motion parameters can act on the steer-by-wire unit 300, and the steer-by-wire unit 300 can be converted to the second target posture and convert the reaction information into a feedback torque and transmit it to the driver.

[0124] In some embodiments, the average of the first test sub-score and the second test sub-score can be taken as the first test score.

[0125] In some embodiments, before the driving simulator 200 is controlled to be converted from the first initial posture to the first target posture, the first motion feedback information including at least one of the pitch angle, the yaw angle and the side slip angle can also be subjected to a low-pass filtering process, which can eliminate high-frequency signals therein, thereby improving the accuracy and reliability of the simulation test.

[0126] The control of the steer-by-wire unit 300 to be converted from the second initial posture to the second target posture according to the feedback torque can also be subjected to a low-pass filtering process on the second motion feedback information including the feedback torque, which can also eliminate high-frequency signals in the feedback torque, thereby improving the accuracy and reliability of the simulation test.

[0127] In some embodiments, the low-pass filtering process in the above embodiments can be implemented by a Butterworth filter.

[0128] In one possible implementation, according to the first test score and the second test score, the simulation test result of the steer-by-wire unit 300 is determined, including:

[0129] According to the simulation test scene, a first weight value of the first test score and a second weight value of the second test score are determined;

[0130] According to the first test score and the first weight value, a first target score is determined;

[0131] According to the second test score and the second weight value, a second target score is determined;

[0132] According to the first target score and the second target score, the simulation test result of the steer-by-wire unit 300 is determined.

[0133] The embodiment can determine the weight values of the first test score and the second test score according to the simulation test scene, and then determine the simulation test result of the steer-by-wire unit 300 according to the first target score and the second target score, thereby improving the accuracy and reliability of the simulation test on the steer-by-wire unit 300.

[0134] In some embodiments, the first target score and the second target score can be added to determine the simulation test result of the steer-by-wire unit 300. For example, the first test score and the second test score are both 5 points, and in a certain simulation test scene, the simulation test system assigns the first test score a first weight value of 0.8 and the second test score a second weight value of 0.4, and then the simulation test result is 5*0.8+5*0.4=6.

[0135] In some embodiments, the average of the first target score and the second target score can be taken as the simulation test result of the steer-by-wire unit 300. For example, the first test score and the second test score are both 5 points, and in a certain simulation test scene, the simulation test system assigns the first test score a first weight value of 0.8 and the second test score a second weight value of 0.4, and then the simulation test result is (5*0.8+5*0.4) / 2=3.

[0136] In a possible implementation, in the condition that the simulation test scene includes any one of rain, snow, and fog, the first weight value is greater than the second weight value.

[0137] In the case that the simulation test scene includes sunny weather, the first weight value is less than the second weight value.

[0138] The embodiment determines the sizes of the first weight value and the second weight value according to specific simulation test scenes, for example, in extreme bad weather such as rain, snow, and fog, the first test score obtained subjectively can be considered as the main one among the first test score and the second test score obtained objectively. That is, the first test score is assigned the largest first weight value, which can fully consider the feelings of the driver in the simulation test scene, thereby improving the accuracy and reliability of the simulation test on the steer-by-wire unit 300.

[0139] Considering that the above embodiment divides the simulation test scene from the weather dimension, in some embodiments, the simulation test scene can also be divided according to the complexity of the road conditions. When the complexity of the road conditions is high, such as the existence of multiple sharp turns, the first weight value in the above embodiment can still be determined to be greater than the second weight value.

[0140] The simulation test scene can also be divided from other dimensions, which are not listed here.

[0141] In a possible implementation, the second motion feedback information of the steer-by-wire unit 300 is generated according to the vehicle motion parameters, including:

[0142] The driving simulator 200 sends the vehicle motion parameters to the steer-by-wire unit 300.

[0143] The steer-by-wire unit 300 determines the second motion feedback information according to the vehicle motion parameters.

[0144] The embodiment can directly determine the second motion feedback information including the feedback torque by the steer-by-wire unit 300.

[0145] In some embodiments, after the steering angle signal is determined, the Butterworth filter in the above embodiment can also be used for low-pass filtering processing to filter out high-frequency signals, thereby improving the accuracy and reliability of the simulation test.

[0146] In some embodiments, the driving simulator 200 and the steer-by-wire unit 300 can be connected in communication through a preset bus, which includes any one of a CAN bus, a FlexRay bus, and an Ethernet bus. Taking the CAN bus as an example, through the real-time bidirectional communication mechanism of the CAN bus protocol, real-time bidirectional communication between the driving simulator 200 and the steer-by-wire unit 300 can be realized, and the steering angle information and the feedback torque can be synchronized.

[0147] Please refer to Figure 2 , Figure 2 A structure diagram of a simulation test system involved in a simulation test method provided by the embodiment of the application.

[0148] In a possible implementation, the simulation test system further includes a first connecting piece 1010, the driving simulator 200 includes a cockpit 210, and a steering wheel 220 and a steering wheel 220 steering column fixed in the cockpit 210;

[0149] The steer-by-wire unit 300 includes a steer-by-wire actuator 310.

[0150] The steering wheel 220 is fixed to the first end of the steering wheel steering column 230, the second end of the steering wheel steering column 230 is fixedly connected to the first end of the first connecting piece 1010 through a bolt, and the second end of the first connecting piece 1010 is detachably connected to the steer-by-wire actuator 310 through a spline.

[0151] The embodiment fixes the steering wheel steering column 230 and the steer-by-wire actuator 310 through the first connecting piece 1010, simplifies the installation process of the steer-by-wire actuator 310, can realize quick connection, is conducive to accurate transmission of the feedback torque, and can further improve the accuracy and reliability of the simulation test.

[0152] In Figure 2 In the simulation test system, the driving simulator 200 is fixed on the driving simulator motion platform 1020.

[0153] Please refer to Figure 3 , Figure 3 An enlarged schematic view of the first connecting piece 1010 involved in the simulation test method provided by the embodiment.

[0154] In a possible implementation, the simulation test system further comprises a second connecting piece, and the driving simulator 200 comprises a cockpit 210, a steering wheel 220 fixed in the cockpit 210, and a steering wheel steering column 230 fixed on the cockpit 210;

[0155] The steer-by-wire unit 300 comprises a steer-by-wire actuator 310.

[0156] The steering wheel 220 is fixed on a first end of the steering wheel steering column 230, a second end of the steering wheel steering column 230 is magnetically connected to a first end of the second connecting piece, and a second end of the second connecting piece is magnetically connected to the steer-by-wire actuator 310.

[0157] The embodiment can also achieve rapid connection through the second connecting piece, and is conducive to accurate transmission of feedback torque, and can further improve the accuracy and reliability of simulation test.

[0158] To clarify the communication principle involved in the simulation test method in the above embodiment, taking the vehicle dynamics solver that can be integrally arranged in the driving simulator 200 as an example, please refer to Figure 4 , Figure 4 A communication principle diagram involved in the simulation test method provided by the embodiment.

[0159] As Figure 4 In the simulation test system, the driving simulator 200 is fixed on the driving simulator motion platform 1020.

[0160] In some embodiments, after the simulation test system determines the simulation test result of the steer-by-wire unit 300 according to the first test score and the second test score, the simulation test system further comprises:

[0161] Under the condition of obtaining the initial working parameters of the steer-by-wire unit 300, determining the target adjustment parameters according to the simulation test result;

[0162] The initial working parameter is updated as the target adjustment parameter, and the initial working parameter includes at least one of a steering system transmission ratio, a basic torque parameter, a return torque, and a road feeling feedback parameter.

[0163] The target adjustment parameter is determined according to the simulation test result. The target adjustment parameter can be selected according to the score in the simulation test result. There are multiple selection methods according to different scores, which are not illustrated here.

[0164] Corresponding to the method embodiments, the simulation test system is provided in the embodiments of the present application. Please refer to Figure 5 , Figure 5 The functional module schematic diagram of the simulation test system provided in the embodiments of the present application is shown in the figure. The simulation test system 100 includes a connected driving simulator 200 and a steer-by-wire unit 300. The simulation test system 100 further includes:

[0165] The first acquisition module 101 is configured to acquire vehicle motion parameters of the driving simulator 200 in a simulation test scene.

[0166] The first determination module 102 is configured to determine a vehicle motion state according to the vehicle motion parameters.

[0167] The first generation module 103 is configured to generate first motion feedback information of the driving simulator 200 according to the vehicle motion state.

[0168] The second generation module 104 is configured to generate second motion feedback information of the steer-by-wire unit 300 according to the vehicle motion parameters.

[0169] The second acquisition module 105 is configured to acquire a first test score determined based on the first motion feedback information and the second motion feedback information.

[0170] The second determination module 106 is configured to determine a second test score according to the vehicle motion parameters and the vehicle motion state.

[0171] The third determination module 107 is configured to determine a simulation test result of the steer-by-wire unit 300 according to the first test score and the second test score.

[0172] The simulation test system provided in the embodiments of the present application can realize the processes of the method embodiments and achieve similar or the same technical effects. To avoid repetition, details are not described here. Figure 1

[0173] In a possible implementation, the first motion feedback information includes at least one of a pitch angle, a yaw angle, and a side slip angle, and the second motion feedback information includes a feedback torque. The second acquisition module 105 is specifically configured to: ​

[0174] obtain a first initial pose of the driving simulator 200, and a second initial pose of the steer-by-wire unit 300;

[0175] control the driving simulator 200 to transform from the first initial pose to a first target pose according to at least one of a pitch angle, a yaw angle and a side slip angle;

[0176] obtain a first test sub-score determined based on that the driving simulator 200 is in the first target pose;

[0177] control the steer-by-wire unit 300 to transform from the second initial pose to a second target pose according to a feedback torque;

[0178] obtain a second test sub-score determined based on that the steer-by-wire unit 300 is in the second target pose;

[0179] determine a first test score according to the first test sub-score and the second test sub-score.

[0180] In a possible implementation, the third determining module 107 is specifically configured to:

[0181] determine a first weight value of the first test score and a second weight value of the second test score according to the simulation test scenario;

[0182] determine a first target score according to the first test score and the first weight value;

[0183] determine a second target score according to the second test score and the second weight value;

[0184] determine a simulation test result of the steer-by-wire unit 300 according to the first target score and the second target score.

[0185] In a possible implementation, the first weight value is greater than the second weight value in a condition that the simulation test scenario includes any one of a rainy day, a snowy day and a foggy day;

[0186] In a case that the simulation test scenario includes a sunny day, the first weight value is less than the second weight value.

[0187] In a possible implementation, the driving simulator 200 sends vehicle motion parameters to the steer-by-wire unit 300;

[0188] The steer-by-wire unit 300 determines the second motion feedback information according to the vehicle motion parameters.

[0189] In a possible implementation, the simulation test system 100 further includes a first connector 1010, the driving simulator 200 includes a cockpit 210, and a steering wheel 220 and a steering wheel 220 steering column fixed in the cockpit 210;

[0190] The steer-by-wire unit 300 includes a steer-by-wire actuator 310;

[0191] The steering wheel 220 is fixed to the first end of the steering column of the steering wheel 220, the second end of the steering column of the steering wheel 220 is fixedly connected to the first end of the first connector 1010 by bolts, and the second end of the first connector 1010 is detachably connected to the steer-by-wire actuator 310 by splines.

[0192] In one possible implementation, the simulation test system 100 further includes a second connector, and the driving simulator 200 includes a cockpit 210, a steering wheel 220 fixed in the cockpit 210 and a steering column of the steering wheel 220.

[0193] The steer-by-wire unit 300 includes a steer-by-wire actuator 310;

[0194] The steering wheel 220 is fixed to the first end of the steering column of the steering wheel 220, the second end of the steering column of the steering wheel 220 is magnetically connected to the first end of the second connector, and the second end of the second connector is magnetically connected to the steer-by-wire actuator 310.

[0195] This application also provides an electronic device. Please refer to [link to previous application]. Figure 6 , Figure 6 This is a structural diagram of an electronic device provided in an embodiment of this application. The electronic device includes a processor, a memory, and a network interface connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When the processor executes the computer program, it enables the processor to implement the simulation testing method applied to the electronic device in the above embodiment. The internal memory may also store a computer program, which, when executed by the processor, enables the processor to perform the simulation testing method. Those skilled in the art will understand that... Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0196] This application also discloses a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the simulation testing method as described in the method embodiment.

[0197] The embodiments of the present application provide a computer program product stored in a storage medium, which is executed by at least one processor to implement various processes of the above-mentioned simulation test method, and achieve similar or same technical effects. To avoid repetition, details are not described herein.

[0198] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware, and the program can be stored in a non-volatile computer readable storage medium. When the program is executed, the processes of the above-mentioned embodiments can be included. Any reference to memory, storage, database or other medium used in the embodiments of the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0199] The technical features of the above embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

Claims

1. A method of emulation testing, characterized by, The method is applied to a simulation test system including a connected driving simulator and a steer-by-wire unit, and the method comprises: obtaining vehicle motion parameters of the driving simulator in a simulation test scenario; determining a vehicle motion state according to the vehicle motion parameters; generating first motion feedback information of the driving simulator according to the vehicle motion state; generating second motion feedback information of the steer-by-wire unit according to the vehicle motion parameters; obtaining a first test score determined based on the first motion feedback information and the second motion feedback information; determining a second test score according to the vehicle motion parameters and the vehicle motion state; determining a simulation test result of the steer-by-wire unit according to the first test score and the second test score; wherein the first motion feedback information includes at least one of a pitch angle, a yaw angle and a side slip angle, the second motion feedback information includes a feedback torque, and the obtaining of the first test score determined based on the first motion feedback information and the second motion feedback information comprises: obtaining a first initial attitude of the driving simulator and a second initial attitude of the steer-by-wire unit; controlling the driving simulator to transition from the first initial attitude to a first target attitude according to at least one of the pitch angle, the yaw angle and the side slip angle; obtaining a first test sub-score determined based on the driving simulator being in the first target attitude; controlling the steer-by-wire unit to transition from the second initial attitude to a second target attitude according to the feedback torque; obtaining a second test sub-score determined based on the steer-by-wire unit being in the second target attitude; determining the first test score according to the first test sub-score and the second test sub-score.

2. The method of claim 1, wherein, The determining of the simulation test result of the steer-by-wire unit according to the first test score and the second test score comprises: determining a first weight value of the first test score and a second weight value of the second test score according to the simulation test scenario; determining a first target score according to the first test score and the first weight value; determining a second target score according to the second test score and the second weight value; determining the simulation test result of the steer-by-wire unit according to the first target score and the second target score.

3. The method of claim 2, wherein, In a condition that the simulation test scenario includes any one of a rainy day, a snowy day and a foggy day, the first weight value is greater than the second weight value; in a case that the simulation test scenario includes a sunny day, the first weight value is less than the second weight value.

4. The method of claim 1, wherein, The generating of the second motion feedback information of the steer-by-wire unit according to the vehicle motion parameters comprises: the driving simulator sending the vehicle motion parameters to the steer-by-wire unit; the steer-by-wire unit determining the second motion feedback information according to the vehicle motion parameters.

5. The method of claim 1, wherein, The simulation test system further comprises a first connector, the driving simulator comprises a cockpit and a steering wheel and a steering column fixed in the cockpit, and the steer-by-wire unit comprises a steer-by-wire actuator. ​ The steering wheel is fixed at a first end of the steering wheel steering column, a second end of the steering wheel steering column is fixedly connected with a first end of the first connecting piece through a bolt, and a second end of the first connecting piece is detachably connected with the steer-by-wire actuator through a spline.

6. The method of claim 1, wherein, The simulation test system further comprises a second connecting piece, the driving simulator comprises a cockpit and a steering wheel and a steering wheel steering column fixed in the cockpit; The steer-by-wire unit comprises a steer-by-wire actuator; The steering wheel is fixed at a first end of the steering wheel steering column, a second end of the steering wheel steering column is fixedly connected with a first end of the first connecting piece through a bolt, and a second end of the first connecting piece is detachably connected with the steer-by-wire actuator through a spline.

7. An emulation test system, comprising: The simulation test system comprises a connected driving simulator and a steer-by-wire unit, and further comprises: A first acquisition module configured to acquire vehicle motion parameters of the driving simulator in a simulation test scenario; A first determination module configured to determine a vehicle motion state according to the vehicle motion parameters; A first generation module configured to generate first motion feedback information of the driving simulator according to the vehicle motion state; A second generation module configured to generate second motion feedback information of the steer-by-wire unit according to the vehicle motion parameters; A second acquisition module configured to acquire a first test score determined based on the first motion feedback information and the second motion feedback information; A second determination module configured to determine a second test score according to the vehicle motion parameters and the vehicle motion state; A third determination module configured to determine a simulation test result of the steer-by-wire unit according to the first test score and the second test score. The first motion feedback information comprises at least one of a pitch angle, a yaw angle and a side slip angle, and the second motion feedback information comprises a feedback torque; the second acquisition module is further configured to: acquire a first initial attitude of the driving simulator and a second initial attitude of the steer-by-wire unit; control the driving simulator to transition from the first initial attitude to a first target attitude according to at least one of the pitch angle, the yaw angle and the side slip angle; acquire a first test sub-score determined based on the driving simulator being in the first target attitude; control the steer-by-wire unit to transition from the second initial attitude to a second target attitude according to the feedback torque; acquire a second test sub-score determined based on the steer-by-wire unit being in the second target attitude; determine the first test score according to the first test sub-score and the second test sub-score.

8. An electronic device, comprising: The electronic device comprises a memory and a processor, the memory has a computer program stored thereon, and the computer program, when executed by the processor, implements the method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium has a computer program stored thereon, and the computer program, when executed by one or more processors, implements the method of any one of claims 1 to 6.

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