Simulation test system and method
By combining scene simulation and data recharge technology in the vehicle simulation test system, the problems of low testing efficiency and poor accuracy of existing vehicle domain controllers are solved, and an efficient and automated test process is realized, which improves the reliability and efficiency of the test .
Patent Information
- Application Number
- CN202411372164.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-29
- Publication Date
- 2024-12-13
AI Technical Summary
The existing on-board domain controller testing methods rely on inefficient manual detection and are susceptible to environmental factors, resulting in unstable and inaccurate test results, and human errors, reducing the reliability of the test.
Provide a simulation test system, including scene simulation module, vehicle simulation module, controller module and data analysis module, to create simulated vehicles and scenarios in a virtual environment, generate control instructions and conduct real-time analysis, to realize an automated test process, and Receive real-vehicle data through multiple CAN buses for data recharge and real-time monitoring.
It improves the testing efficiency and accuracy of the on-board domain controller, reduces manual errors, reduces test costs, and realizes system performance testing and optimization without real vehicles.
Smart Images
Figure CN119126589A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle simulation, and in particular, to a simulation test system and method. Background Art
[0002] Existing vehicle domain controller testing methods usually rely on inefficient manual detection methods, mainly for data collection and verification in a real vehicle environment. This method is not only time-consuming, but also easily affected by environmental factors, resulting in instability and inaccuracy in test results. In addition, manual detection may also be prone to human errors, further reducing the reliability of the test. Therefore, the industry is in urgent need of more efficient and automated testing solutions to improve the efficiency and accuracy of vehicle domain controller testing. Summary of the invention
[0003] In view of the above problems, the following technical solutions are provided.
[0004] A simulation test system of the present application includes: a scenario simulation module for establishing a simulation environment; a vehicle simulation module for establishing a simulated vehicle; a controller module for generating control instructions for controlling the simulated vehicle based on inputs from the scenario simulation module and the vehicle simulation module in a first operating mode; and a data analysis module for performing real-time analysis and real-time monitoring of status data of the simulated vehicle in the first operating mode.
[0005] Optionally, the simulation test system also includes a bench test module, the controller module is used to: receive real vehicle data in a second operating mode, and generate control instructions for controlling the bench test module based on the real vehicle data, and the data analysis module is used to: perform real-time analysis and real-time monitoring of status data of the bench test module in the second operating mode.
[0006] Optionally, receiving the real vehicle data further includes receiving the real vehicle data via multiple CAN buses, wherein the multiple CAN buses include: CAN2, CAN3, CAN8 and CAN3 IMU.
[0007] Optionally, the CAN3 IMU is used to simulate a private CAN bus.
[0008] Optionally, receiving the real vehicle data via multiple CAN buses further includes: receiving the real vehicle data via multiple CAN buses in the form of a trigger.
[0009] Optionally, the state data of the simulated vehicle includes lateral movement data of the simulated vehicle.
[0010] Optionally, the bench test module includes: a braking unit, a steering unit and an intelligent cockpit unit.
[0011] A simulation test method of the present application includes: in a first operating mode: establishing a simulation environment and a simulated vehicle; generating control instructions for controlling the simulated vehicle based on the simulation environment and the simulated vehicle; and performing real-time analysis and real-time monitoring of status data of the simulated vehicle; in a second operating mode: receiving real vehicle data; generating control instructions for controlling a bench test module based on the real vehicle data, and performing real-time analysis and real-time monitoring of status data of the bench test module.
[0012] The computer-readable storage medium of the present application stores a computer program thereon, and the computer program implements the above-mentioned simulation test method when executed by a processor.
[0013] The computer device of the present application includes a storage module, a processor, and a computer program stored in the storage module and executable on the processor, wherein the above-mentioned simulation test method is implemented when the processor executes the computer program.
[0014] The computer program product of the present application includes a computer program, and the computer program implements the above-mentioned simulation test method when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] The above and / or other aspects and advantages of the present application will become clearer and easier to understand through the following description of various aspects in conjunction with the accompanying drawings, in which the same or similar units are represented by the same reference numerals. In the accompanying drawings:
[0016] Figure 1 A schematic block diagram of a simulation test system 100 according to an embodiment of the present application is shown;
[0017] Figure 2 A schematic block diagram of another simulation test system 200 according to an embodiment of the present application is shown. DETAILED DESCRIPTION
[0018] The description of the following specific embodiments is merely exemplary in nature and is not intended to limit the disclosed technology or the application and use of the disclosed technology. In addition, it is not intended to be bound by any express or implied theory presented in the aforementioned technical field, background technology or the following specific embodiments.
[0019] In the following detailed description of the embodiments, many specific details are set forth in order to provide a more thorough understanding of the disclosed technology. However, it is apparent to one of ordinary skill in the art that the disclosed technology can be practiced without these specific details. In other instances, well-known features are not described in detail to avoid unnecessarily complicating the description.
[0020] Terms such as “comprise” and “include” indicate that in addition to the units and steps directly and explicitly stated in the specification, the technical solution of the present application does not exclude the situation where there are other units and steps that are not directly or explicitly stated.
[0021] Hereinafter, various exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings.
[0022] Reference now Figure 1 , Figure 1 is a schematic block diagram of a simulation test system 100 according to an embodiment of the present application.
[0023] like Figure 1 As shown, the simulation test system 100 includes a scene simulation module 110 , a vehicle simulation module 120 , a controller module 130 and a data analysis module 140 .
[0024] The scene simulation module 110 can be configured to establish a simulation environment. In some embodiments, an environment model can be built in a scene simulation software (such as VTD, Prescan, etc.) in a personal computer to simulate the surrounding environment of the vehicle. For example, different road parameters, such as the curvature, length, number of lanes, lane line markings, etc. of the road can be set in the scene simulation software, or necessary environmental information, such as buildings, infrastructure, weather models (such as rain, snow, fog, etc.) and light sources (such as traffic lights, sunlight, street lights, etc.) can be added. In addition, the program interface of the scene simulation software can be open, so that the simulation environment can be edited and controlled at the software level.
[0025] The vehicle simulation module 120 is configured to build a simulated vehicle. Specifically, in a test environment, obtaining real information about the vehicle's response to the control logic requires building a reliable vehicle model that can calculate the state and displacement of the vehicle based on the input conditions of the simulated driver and update the virtual scene in real time. As an example, the vehicle dynamics model (i.e., the simulated vehicle) can be run in a real-time machine (such as an autobox).
[0026] The controller module 130 is configured to generate control instructions for controlling the simulated vehicle in the first operation mode according to the inputs of the scenario simulation module 110 and the vehicle simulation module 130. Specifically, the controller module 130 (i.e., ADAS (Advanced Driver Assistance Systems) on-board domain controller) receives the environment model from the scenario simulation software and the vehicle dynamics model from the real-time machine in the first operation mode (i.e., virtual calibration mode), and generates corresponding control instructions according to the environment model and the vehicle dynamics model, and then sends the generated control instructions to the vehicle dynamics model in the real-time machine, and the real-time machine controls the operation of the vehicle dynamics model according to these control instructions, thereby realizing closed-loop simulation.
[0027] The data analysis module 140 is configured to perform real-time analysis and real-time monitoring of the status data of the simulated vehicle in the first operating mode. In some embodiments, the Control Desk software (i.e., the data analysis module) can perform real-time monitoring and analysis of the status data of the vehicle dynamics model in the real-time machine (which may include the lateral and longitudinal movement data of the vehicle dynamics) in the virtual calibration mode. For example, the status data of the vehicle dynamics model can be monitored and analyzed through the Bus Navigator function of the Control Desk software. In the virtual calibration mode, the Control Desk software allows engineers to adjust and optimize the parameters of the ADAS vehicle domain controller. Through the above steps, the Control Desk software can realize the virtual calibration of the ADAS vehicle domain controller, so as to perform system performance testing and optimization without a real vehicle.
[0028] In summary, in the virtual calibration mode, the test system simulates the vehicle environment at the software level, realizes the simulation input and internal node acquisition of the ADAS vehicle domain controller, and then conducts subsequent data analysis. This optimizes the test process of the ADAS vehicle domain controller, saves test time and improves the efficiency and accuracy of the test through virtual calibration. In the virtual calibration mode, it combines the virtual environment with the vehicle dynamics model to simulate road test scenarios, which is suitable for custom scenario library writing and extreme condition analysis. This allows the data simulation process to customize the simulation environment in terms of vehicle kinematic trajectory planning and real-time control, thereby examining the performance of the ADAS vehicle domain controller in a custom environment.
[0029] Reference now Figure 2 , Figure 2 A schematic block diagram of another simulation test system 200 according to an embodiment of the present application is shown.
[0030] like Figure 2As shown, the simulation test system 200 includes a bench test module 210 , a controller module 220 and a data analysis module 230 .
[0031] The bench test module 210 may include: a brake unit, a steering unit, and an intelligent cockpit unit. In some embodiments, the brake unit, the steering unit, and the intelligent cockpit unit all use CAN channels as back-end node connections of the ADAS vehicle domain controller (i.e., the controller module 220). In addition, the above CAN channels can also be applied to other domain controllers, thereby facilitating transplantation applications.
[0032] The controller module 220 is used to receive real vehicle data in the second operation mode, and generate control instructions for the console test module 210 according to the real vehicle data. Specifically, the ADAS vehicle-mounted domain controller (i.e., the controller module 220) receives the real vehicle bus signal in the second operation mode (i.e., the data re-injection mode). Specifically, receiving the real vehicle data further includes receiving the real vehicle data via multiple CAN buses, wherein the multiple CAN buses include: CAN2, CAN3, CAN8, and CAN3 IMU. The data re-injection mode is an important technical means. In this mode, the real vehicle bus signal is used as input, including Private CAN (for high-precision sensor data), CAN2 (related to the whole vehicle status), CAN3 (related to airbags and acceleration sensors), and CAN8 (related to sensor data). Since the real vehicle bus cannot capture the data of Private CAN during the recording process, the IMU (Inertial Measurement Unit) data in CAN3 can be used to simulate the Private CAN to achieve data re-injection.
[0033] This process mainly solves the problem of not being able to obtain Private CAN data in bus recording by building a simulation program. By analyzing the data of the IMU in the bus, the acceleration sensor information in the Private CAN can be simulated more accurately. This simulation method not only improves the flexibility and accuracy of the test, but also helps to test and verify the system without a real vehicle, thereby saving test costs and improving test efficiency.
[0034] In addition, the controller module 220 receives the real vehicle data via multiple CAN buses further including: receiving the real vehicle data via multiple CAN buses in the form of triggers. Sensors of different manufacturers and models differ in data calculation and transmission time, which makes it complicated to achieve accurate time synchronization. In order to solve this problem, a trigger mechanism can be used to achieve time synchronization and validity verification of sensor data in data re-injection mode. The trigger mechanism can be applied to time synchronization at the software level. By setting the trigger conditions in the software, when the conditions are met, the trigger will start data collection, thereby ensuring that the collection time points of different sensor data are consistent.
[0035] The control instructions of the controller module 220 are output to the bench test module 210 (i.e., the braking unit, steering unit, and smart cockpit unit) through the CAN channel, enabling various ADAS functions such as Honda lane keeping assist, adaptive cruise control, automatic emergency braking, and lane keeping assist.
[0036] In addition, the combination of the steering unit and the brake unit can realize the joint debugging of the actuator function. And the combination of the intelligent cockpit unit can realize the fault injection and failure analysis on the ADAS vehicle domain controller side.
[0037] The data analysis module 230 is used to perform real-time analysis and real-time monitoring of the status data of the bench test module 210 in the second operation mode. In some embodiments, the Control desk software (i.e., the data analysis module 230) can perform real-time monitoring and analysis of the status data of the bench test module 210 (i.e., the response data of the braking unit, steering unit, and intelligent cockpit unit) in the data re-injection mode (i.e., the second operation mode), which is suitable for playback analysis of large quantities of road test data, and can realize automatic recording and real-time display, helping users to replicate actual vehicle problem data and monitor the operation of internal data in real time.
[0038] To sum up, the test system in this embodiment includes functions such as data re-injection, comparison and virtual calibration, which can realize one-click operation, greatly reduce the workload of ADAS vehicle-mounted domain controller testing and calibration and the demand for actual vehicle testing, can be synchronized with the production rhythm, greatly improve labor efficiency, and can efficiently and accurately complete the tasks of vehicle environment simulation and virtual calibration, thereby realizing the automation of ADAS vehicle-mounted domain controller testing tasks.
[0039] The present application also provides a simulation test method, which includes:
[0040] In the first operation mode: establishing a simulation environment and a simulated vehicle; generating control instructions for controlling the simulated vehicle based on the simulation environment and the simulated vehicle; and performing real-time analysis and real-time monitoring of status data of the simulated vehicle;
[0041] In the second operation mode: receiving real vehicle data; generating control instructions for controlling the bench test module according to the real vehicle data, and performing real-time analysis and real-time monitoring of status data of the bench test module.
[0042] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the simulation test method of the present application is implemented.
[0043] The present application also provides a computer device, including a storage module, a processor, and a computer program stored on the storage module and executable on the processor, wherein the processor implements the above-mentioned simulation test method of the present application when executing the computer program.
[0044] The present application also provides a computer program product, including a computer program, which implements the simulation test method of the present application when executed by a processor.
[0045] The specific embodiments described above in this application are only for more clearly describing the principles of this application, wherein each component is clearly shown or described to make the principles of this application easier to understand. Without departing from the scope of this application, those skilled in the art can easily make various modifications or changes to this application. Therefore, it should be understood that these modifications or changes should be included in the scope of patent protection of this application.
Claims
1. A simulation test system, characterized in that: The simulation test system comprises: Scenario simulation module, used to establish simulation environment; Vehicle simulation module, used to build simulated vehicles; a controller module, configured to generate a control instruction for controlling the simulated vehicle according to inputs from the scenario simulation module and the vehicle simulation module in a first operation mode; and The data analysis module is used to perform real-time analysis and real-time monitoring on the status data of the simulated vehicle in the first operation mode.
2. The simulation test system according to claim 1, characterized in that: The simulation test system also includes a bench test module, the controller module is used to: receive real vehicle data in a second operating mode, and generate control instructions for controlling the bench test module based on the real vehicle data, and the data analysis module is used to: perform real-time analysis and real-time monitoring of status data of the bench test module in the second operating mode.
3. The simulation test system according to claim 2, characterized in that: The receiving of the real vehicle data further includes receiving the real vehicle data via a plurality of CAN buses, wherein the plurality of CAN buses include: CAN2, CAN3, CAN8 and CAN3IMU.
4. The simulation test system according to claim 3, characterized in that: The CAN3 IMU is used to emulate a private CAN bus.
5. The simulation test system according to claim 4, characterized in that: Receiving the real vehicle data via multiple CAN buses further includes: receiving the real vehicle data via multiple CAN buses in the form of a trigger.
6. The simulation test system according to claim 1, characterized in that: The state data of the simulated vehicle includes lateral movement data of the simulated vehicle.
7. The simulation test system according to claim 2, characterized in that: The bench test module includes: a braking unit, a steering unit and an intelligent cockpit unit.
8. A simulation test method, characterized in that: The simulation test method comprises: In the first operating mode: Establish simulation environment and simulate vehicles; generating a control instruction for controlling the simulated vehicle based on the simulation environment and the simulated vehicle; and Performing real-time analysis and real-time monitoring on the status data of the simulated vehicle; In the second operating mode: Receive real vehicle data; generating control instructions for controlling the frame test module according to the real vehicle data, and The status data of the bench test module is analyzed and monitored in real time.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the simulation test method according to claim 8 is implemented.
10. A computer device comprising a storage module, a processor, and a computer program stored in the storage module and executable on the processor, characterized in that: When the processor executes the computer program, the simulation test method according to claim 8 is implemented.
11. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the simulation test method according to claim 8 is implemented.