Vehicle simulation system, method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle simulation system, method and device, electronic equipment and a storage medium, and relates to the field of simulation testing, and the system comprises a computer module and a rack module; the computer module is used for operating a whole vehicle power model; the rack module is used for operating all or partial parts of a real vehicle; according to the rack module, running all or local parts of the real vehicle to simulate the running state of the real vehicle, collecting data of the state of all or local parts of the real vehicle, and sending the data to the computer module; running a whole vehicle power model according to the computer module, and outputting instruction data for driving the rack module; according to the collected state data of all or local parts of the real vehicle and the output instruction data for driving the rack module, the whole vehicle power model is operated to form a closed loop; the real vehicle running state is simulated according to the real vehicle local part running of the rack module, the data of the real vehicle local part state is collected and sent to the computer module, and the whole vehicle dynamic model simulates other local parts.

Description

Technical Field

[0001] The present application relates to the field of simulation testing, and in particular to a vehicle simulation system, a vehicle simulation method, a vehicle simulation device, an electronic device, a storage medium and a simulation platform. Background Art

[0002] During vehicle design or testing, simulation is required, and two methods are mostly used. One is software simulation based on CAE, and the other is physical simulation based on a test bench. Based on software simulation such as CAE, the verification method after being separated from the physical object involves a large amount of model calculation, and the test results deviate greatly from the actual situation. Although the physical simulation based on the test bench is close to the actual vehicle status and the test results are accurate, the simulation construction flexibility is poor and the data is not comprehensive.

[0003] Therefore, a vehicle simulation solution is needed to combine the above two simulation tests, give full play to the advantages of the two simulation solutions and make up for their respective shortcomings. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle simulation system, a vehicle simulation method, a vehicle simulation device, an electronic device, a storage medium and a simulation platform, which at least solve the problem of low data accuracy when relying on CAE software simulation, and solve one of the technical problems of lack of flexibility when relying on a test bench to build a test environment.

[0005] The present invention provides the following scheme:

[0006] According to one aspect of the present invention, there is provided a vehicle simulation system, the vehicle simulation system comprising: a computer module and a test bench module;

[0007] The computer module is used to run the vehicle power model;

[0008] The test bench module is used to operate all or part of the components of the actual vehicle;

[0009] Wherein, according to the test bench module running all or part of the actual vehicle components to simulate the actual vehicle running state, the data of the state of all or part of the actual vehicle components are collected and sent to the computer module;

[0010] Running the vehicle power model according to the computer module, outputting instruction data for driving the test bench module;

[0011] According to the data collected on the status of all or some components of the actual vehicle and the command data output to drive the test bench module, the whole vehicle power model is operated to form a closed loop;

[0012] Wherein, according to the test bench module, the actual vehicle local components are run to simulate the actual vehicle running state, the data of the actual vehicle local component state is collected and sent to the computer module, and the whole vehicle power model simulates other local components;

[0013] According to the test bench module, local components of the actual vehicle are run to simulate the actual vehicle running status, and the whole vehicle power model simulates other local components, and a simulation data report of all or local components of the actual vehicle running under the whole vehicle power model is output.

[0014] Furthermore, the test bench module includes: a gantry module, a real vehicle component module and a simulation driver module;

[0015] The gantry module is used to construct a mechanical assembly framework that simulates the operation of a real vehicle;

[0016] The real vehicle component module is used to simulate the functional status of the real vehicle component in the real vehicle;

[0017] The simulation driver module is used to execute the instruction data for driving the gantry module;

[0018] The real vehicle component module is mechanically mounted on a mechanical assembly skeleton constructed by the gantry module to simulate the operation of the real vehicle;

[0019] The corresponding real vehicle component module is mechanically mounted on a mechanical assembly skeleton constructed by the gantry module to simulate the operation of the real vehicle, and the simulation driver module is mounted on the gantry module or / and on the real vehicle component module;

[0020] Wherein, the output end of the simulation driver module corresponds to the input end of the real vehicle component module;

[0021] The input end of the driver module receives instruction data for driving the gantry module;

[0022] The driver module receives instruction data for driving the test bench module according to an input end, and the output end of the driver module outputs a signal for driving the actual vehicle component module;

[0023] The real vehicle component module outputs a signal driving the real vehicle component module according to the output end of the driver module, so as to simulate the functional state of the real vehicle component in the real vehicle.

[0024] Furthermore, the platform module further includes: a sensor module;

[0025] The sensor module is used to collect the state data of the driver module driving the platform module and the state data of the platform module;

[0026] The sensor module sends and collects the state data of the driver module driving the platform module and the state data of the platform module;

[0027] The computer module receives the data from the sensor module and inputs it into the vehicle power model;

[0028] The computer module receives data from the sensor module and inputs the whole vehicle power model, and the computer module runs the whole vehicle power model to output instruction data for driving the test bench module, thereby forming a closed loop formed by running the whole vehicle power model.

[0029] According to two aspects of the present invention, a vehicle simulation method is provided. Based on the vehicle simulation system, the vehicle simulation method comprises:

[0030] Obtain vehicle design parameter data;

[0031] Constructing a vehicle power model according to the vehicle design parameter data;

[0032] Constructing a vehicle simulation bench system according to the vehicle design parameter data;

[0033] Outputting vehicle performance test instruction data according to the vehicle power model;

[0034] Executing the vehicle performance test instruction data according to the vehicle simulation bench system and feeding back vehicle performance test status data;

[0035] Among them, the vehicle power model imports vehicle performance test status data;

[0036] Importing vehicle performance test state data according to the vehicle power model, and outputting a simulation data report of executing the vehicle performance test instruction data;

[0037] Among them, the vehicle simulation bench system includes a bench system that simulates the performance of all or some components of a real vehicle;

[0038] Among them, the performance of local components of the actual vehicle is simulated according to the vehicle simulation bench, and the performance of other local components is simulated by the whole vehicle power model, thus forming a mixed simulation of the performance of all components of the actual vehicle.

[0039] Furthermore, it also includes:

[0040] Obtain vehicle performance target data;

[0041] According to the vehicle performance target data, generating performance test instruction data corresponding to the vehicle performance target under the vehicle power model;

[0042] According to the performance test instruction data corresponding to the vehicle performance target, the vehicle simulation bench simulates the performance data of all or some components of the real vehicle;

[0043] According to the data of the performance of all or some components of the real vehicle simulated by the vehicle simulation bench and the vehicle performance target data, the performance test instruction data is corrected or / and the whole vehicle power model is corrected;

[0044] A vehicle performance control strategy model is constructed based on the modified performance test instruction data and / or modified vehicle power model.

[0045] Furthermore, it also includes:

[0046] Obtain preset working condition scenario information;

[0047] Extracting vehicle performance target data according to the preset operating condition scenario information;

[0048] The vehicle performance target data includes target data of actual vehicle component performance;

[0049] According to the target data of the actual vehicle component performance, the vehicle simulation bench simulates the performance of all or part of the actual vehicle components corresponding to the target data of the actual vehicle component performance;

[0050] Wherein, according to the performance of all or some components of the real vehicle corresponding to the performance target data of the components of the real vehicle simulated by the vehicle simulation bench, the performance test instruction data corresponding to the performance of all or some components of the real vehicle under the vehicle power model are generated;

[0051] According to the performance test instruction data of all or some components of the real vehicle, the vehicle simulation bench is driven to collect the performance data of all or some components of the real vehicle corresponding to the performance target of the components of the real vehicle;

[0052] Optimizing the performance of all or some of the components of the actual vehicle under the preset working condition scenario according to the performance data of all or some of the components of the actual vehicle corresponding to the performance target of the components of the actual vehicle;

[0053] Among them, the vehicle simulation bench simulates the performance of local components of the actual vehicle corresponding to the performance target data of the actual vehicle components, and the whole vehicle power model simulates the performance of other local components.

[0054] According to three aspects of the present invention, a vehicle simulation device is provided, the vehicle simulation device comprising:

[0055] Parameter setting module, used to obtain vehicle design parameter data;

[0056] A model building module, used to build a vehicle power model according to the vehicle design parameter data;

[0057] A test bench construction module is used to construct a vehicle simulation test bench system according to the vehicle design parameter data;

[0058] An instruction data module, used for outputting vehicle performance test instruction data according to the vehicle power model;

[0059] A status data module, used for executing the vehicle performance test instruction data according to the vehicle simulation bench system, and feeding back vehicle performance test status data;

[0060] Data import module, used to import vehicle performance test status data into the vehicle power model;

[0061] A simulation report module, used to import vehicle performance test state data according to a vehicle power model, and output a simulation data report of executing the vehicle performance test instruction data;

[0062] A simulation bench module, used for a vehicle simulation bench system, includes a bench system for simulating the performance of all or some components of a real vehicle;

[0063] The performance simulation module is used to simulate the performance of local components of the actual vehicle based on the vehicle simulation bench, and to simulate the performance of other local components with the whole vehicle dynamic model, thus forming a mixed simulation of the performance of all components of the actual vehicle.

[0064] According to four aspects of the present invention, there is provided an electronic device, comprising: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0065] A computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the vehicle simulation method.

[0066] According to five aspects of the present invention, there is provided a computer-readable storage medium, comprising: a computer program executable by an electronic device is stored therein, and when the computer program runs on the electronic device, the electronic device executes the steps of the vehicle simulation method.

[0067] According to six aspects of the present invention, a simulation platform is provided, comprising:

[0068] An electronic device, used to implement the steps of the vehicle simulation method;

[0069] A processor, the processor runs a program, and when the program runs, the steps of the vehicle simulation method are executed from the data output from the electronic device;

[0070] The storage medium is used to store a program, and when the program is running, the steps of the vehicle simulation method are executed for the data output from the electronic device.

[0071] Through the above scheme, the following beneficial technical effects are obtained:

[0072] This application adopts a hybrid testing method that combines a CAE model on a computer with a physical model on a simulation bench to compensate for the defects of low test accuracy and inflexible construction, thereby improving test accuracy while maintaining a high efficiency of simulation testing.

[0073] The present application reduces the difficulty of bench construction by adopting bench testing for local components, and improves the simulation accuracy in a targeted manner for running CAE models (such as vehicle power models).

[0074] Through simulation testing, this application purposefully adjusts the test environment, model, objectives, etc. according to the vehicle operation scenarios and performance requirements to form a control strategy for vehicle performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 is a structural diagram of a vehicle simulation system provided by one or more embodiments of the present invention.

[0076] Figure 2 is a flow chart of a vehicle simulation method provided by one or more embodiments of the present invention.

[0077] Figure 3 is a structural diagram of a vehicle simulation device provided by one or more embodiments of the present invention.

[0078] Figure 4 Schematic diagram of a stand system for a shock absorber according to a specific embodiment of the present invention Figure 1 .

[0079] Figure 5 Schematic diagram of a stand system for a shock absorber according to a specific embodiment of the present invention Figure 2 .

[0080] Figure 6 Schematic diagram of a closed-loop control test of a shock absorber according to a specific embodiment of the present invention Figure 1 .

[0081] Figure 7 Schematic diagram of a closed-loop control test of a shock absorber according to a specific embodiment of the present invention Figure 2 .

[0082] Figure 8 It is a schematic diagram of the electrical characteristic surface data of a shock absorber according to a specific embodiment of the present invention.

[0083] Fig. 9 It is a schematic diagram of collecting electrical characteristic data of a shock absorber according to a specific embodiment of the present invention.

[0084] Fig.10 It is a structural block diagram of an electronic device of a vehicle simulation method provided by one or more embodiments of the present invention.

[0085] Figure Number:

[0086] 1. Crossbeam; 2. Gantry; 3. Left front actuator; 4. Right front actuator; 5. Left rear actuator; 6. Right rear actuator; 7. Left front electronically controlled CDC shock absorber; 8. Right front electronically controlled CDC shock absorber; 9. Left rear electronically controlled CDC shock absorber; 10. Right rear electronically controlled CDC shock absorber; 11. Left front force sensor; 12. Right front force sensor; 13. Left rear force sensor; 14. Right rear force sensor; 15. U-shaped guide bracket; 16. Upper loading fork; 17. Lower loading fork. DETAILED DESCRIPTION

[0087] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0088] Figure 1 is a structural diagram of a vehicle simulation system provided by one or more embodiments of the present invention.

[0089] like Figure 1 The vehicle simulation system shown includes: a computer module and a bench module;

[0090] Computer module, used to run the vehicle power model;

[0091] Test bench module, used to run all or part of the actual vehicle components;

[0092] Wherein, according to the test bench module running all or part of the actual vehicle components to simulate the actual vehicle running state, collect the data of the state of all or part of the actual vehicle components and send it to the computer module;

[0093] Run the vehicle power model according to the computer module and output the instruction data of the drive test bench module;

[0094] Among them, according to the data collected on the status of all or some components of the actual vehicle and the command data of the output drive test bench module, the whole vehicle power model is operated to form a closed loop;

[0095] Among them, according to the test bench module, the actual vehicle local components are run to simulate the actual vehicle running state, the data of the actual vehicle local component state is collected and sent to the computer module, and the whole vehicle power model simulates other local components;

[0096] The test bench module runs the actual vehicle's local components to simulate the actual vehicle's operating status, and the whole vehicle's dynamic model simulates other local components, and outputs a simulation data report of all or some parts of the actual vehicle running under the whole vehicle's dynamic model.

[0097] Specifically, in one embodiment, a computer runs a CAE model (full vehicle power model) and combines it with a physical simulation model of a test bench to build a hybrid vehicle simulation system. Among them, a portion of vehicle components can be selected to make actual physical models to make up for the inaccurate data caused by simulation tests performed purely by CAE models. The test bench is controlled according to the instructions issued by the CAE model corresponding to the physical simulation model of the test bench; the test bench feeds back status information to the CAE model to form a closed loop of signals, and the operating status of the complete simulation vehicle under preset working conditions is realized.

[0098] In one embodiment, a bench test system for automobile suspension is established with an electronically controlled CDC shock absorber as a vehicle component. The displacement and speed states of the bench's CDC shock absorber are controlled in real time by the vehicle dynamics model, and a closed loop is formed through sensor feedback data. The driving current state of the bench's CDC shock absorber is controlled in real time by the control strategy model. At the same time, the compression and restoring damping force data fed back by the shock absorber are transmitted to the vehicle dynamics model in real time to calculate the vehicle's motion state.

[0099] In this embodiment, the electronically controlled CDC shock absorber is used as a component of the vehicle, and the data of the compression and restoring damping force fed back by the CDC shock absorber is transmitted to the whole vehicle dynamics model in real time, forming a data closed loop for running the whole vehicle dynamics model. For example, by simulating the change of the vehicle's motion state, the control strategy model is triggered to continuously change the magnitude of the output current, thereby adjusting the magnitude of the damping force fed back by the shock absorber, and the change of the damping force of the shock absorber reacts on the whole vehicle dynamics model, thus forming a real-time closed loop of the test system.

[0100] Based on the above embodiments, the design of ECU can be assisted. For example, before the ECU hardware is fully finalized, the rationality of the control strategy and the control parameters of the electronic control unit can be verified to support the rapid finalization of the ECU controller, and at the same time, the control strategy can be verified to improve the smoothness and comfort indicators of the whole vehicle; in the middle of product development, after the mature ECU controller hardware is available, the operating stability of the ECU controller can be verified. Among them, ECU is used to control the actual vehicle, corresponding to the control parameters of the electronic control unit, and running the control strategy. Through the testing and verification of the vehicle simulation system, the control strategy is corrected, and the results are solidified in the ECU hardware and applied to the actual vehicle.

[0101] In this embodiment, the test bench module includes: a gantry module, a real vehicle component module and a simulation driver module;

[0102] Gantry module, used to build a mechanical assembly skeleton that simulates the operation of a real vehicle;

[0103] Real vehicle component module, used to simulate the functional status of real vehicle components in real vehicles;

[0104] A simulation driver module is used to execute the instruction data of the driving platform module;

[0105] The real vehicle component modules are mechanically mounted on a mechanical assembly skeleton constructed by the gantry module to simulate the operation of the real vehicle;

[0106] The corresponding real vehicle component module is mechanically installed on the mechanical assembly skeleton of the simulated real vehicle operation constructed by the gantry module, and the simulation driver module is installed on the gantry module or / and on the real vehicle component module;

[0107] Among them, the output end of the simulation driver module corresponds to the input end of the real vehicle component module;

[0108] The input end of the driver module receives the instruction data of the driving platform module;

[0109] The driver module receives the instruction data of the driving test bench module according to the input end, and the output end of the driver module outputs the signal of driving the actual vehicle component module;

[0110] The real vehicle component module outputs a signal to drive the real vehicle component module according to the output end of the driver module, simulating the functional state of the real vehicle component in the real vehicle.

[0111] Specifically, in vehicle simulation systems, there are various reasons for inaccurate data caused by simulation tests based purely on CAE models, including inaccurate simulated vehicle models and lack of detection of the vehicle's operating status.

[0112] The gantry module can be used to build an environment for accommodating vehicle components, and the components can be installed in the gantry module so that the components can function in the same way as in actual vehicle operation. The simulation driver module can serve as a servo mechanism for vehicle components (real vehicle components), execute the command data output by the ECU system or computer system, drive the real vehicle component module in the test bench module, and form the functional state of the components in the real vehicle.

[0113] In one embodiment, a test bench for CDC shock absorber simulation is built on a ground platform using a crossbeam and a gantry. The U-shaped guide bracket, upper loading fork, lower loading fork, etc. on the test bench constitute installation positions or support points, and multiple installation holes are formed on the crossbeam and the gantry to form a gantry module.

[0114] The left front electronically controlled CDC shock absorber, the right front electronically controlled CDC shock absorber, the left rear electronically controlled CDC shock absorber, and the right rear electronically controlled CDC shock absorber are installed on the gantry module as real vehicle component modules.

[0115] The left front actuator, right front actuator, left rear actuator, and right rear actuator are used as simulation driver modules, and drive the left front electronically controlled CDC shock absorber, right front electronically controlled CDC shock absorber, left rear electronically controlled CDC shock absorber, and right rear electronically controlled CDC shock absorber respectively. The whole vehicle dynamic model is run, and the left front actuator, right front actuator, left rear actuator, and right rear actuator are driven to form a vehicle model in a certain operating condition.

[0116] It also includes a left front force sensor, a right front force sensor, a left rear force sensor, and a right rear force sensor, which respectively correspond to the left front electronically controlled CDC shock absorber, the right front electronically controlled CDC shock absorber, the left rear electronically controlled CDC shock absorber, and the right rear electronically controlled CDC shock absorber, and the left front actuator, the right front actuator, the left rear actuator, and the right rear actuator, to collect status data of vehicle components and also collect status data of driving vehicle components.

[0117] In this embodiment, the platform module further includes: a sensor module;

[0118] The sensor module is used to collect the status data of the driver module driving the bench module and the status data of the bench module;

[0119] The sensor module sends the state data of the acquisition driver module driving the platform module and the state data of the platform module;

[0120] The computer module receives the data from the sensor module and inputs it into the vehicle power model;

[0121] The computer module receives data from the sensor module and inputs the vehicle power model, and the computer module runs the vehicle power model to output instruction data for the drive test bench module, thus forming a closed loop of running the vehicle power model.

[0122] Specifically, in this embodiment, the sensor module sends the state data of the acquisition driver module driving the gantry module and the state data of the gantry module, which is equivalent to sending the state data of the vehicle component, and also sends the state data of the driving vehicle component.

[0123] In open-loop control, the data collected by the sensor module does not need to be re-input into the vehicle power model. In closed-loop control, the data collected by the sensor module needs to be re-input into the vehicle power model to form a negative feedback correction to the output command data, ensuring that the entire simulation data has stable, reliable and clear boundaries.

[0124] Compared with open-loop control, it is difficult to make corrections to the control strategy. Through closed-loop control, the control strategy can be gradually optimized, and the development transition of ECU matching vehicle component performance, architecture performance, etc. can be completed to prevent the collapse of the control strategy.

[0125] Figure 2is a flow chart of a vehicle simulation method provided by one or more embodiments of the present invention.

[0126] like Figure 2 The vehicle simulation method shown is based on a vehicle simulation system, and the vehicle simulation method includes:

[0127] Step S1, obtaining vehicle design parameter data;

[0128] Step S2, constructing a vehicle power model according to vehicle design parameter data;

[0129] Step S3, constructing a vehicle simulation bench system according to the vehicle design parameter data;

[0130] Step S4, outputting vehicle performance test instruction data according to the vehicle power model;

[0131] Step S5, executing the vehicle performance test instruction data according to the vehicle simulation bench system, and feeding back the vehicle performance test status data;

[0132] Step S6, the vehicle power model imports the vehicle performance test status data;

[0133] Step S7, importing vehicle performance test state data according to the vehicle power model, and outputting a simulation data report of executing the vehicle performance test instruction data;

[0134] Step S8, the vehicle simulation bench system includes a bench system for simulating the performance of all or some components of a real vehicle;

[0135] Step S9, simulating the performance of local components of the actual vehicle according to the vehicle simulation bench, and simulating the performance of other local components according to the whole vehicle power model, thus forming a mixed simulation of the performance of all components of the actual vehicle.

[0136] Specifically, the vehicle design parameter data is used as the original data for vehicle simulation, and the vehicle power model is constructed based on the original data. The vehicle components are selected and used in the form of a simulation bench as the physical simulation model in the vehicle simulation process. The vehicle power model includes the performance data of all vehicle components. Vehicle components outside the vehicle simulation bench system can be simulated by software, and virtual components and physical components are mixed as inputs to the vehicle power model. As needed, vehicle components that are severely distorted by the vehicle power model alone can be simulated in the bench system using physical objects, and vehicle components that need to be flexibly adjusted and have little effect on the simulation results can be generated as virtual components with the help of the vehicle power model.

[0137] In one embodiment, a commercial vehicle semi-active suspension (CDC) simulation test involves two types of test objects: virtual models and physical components. The vehicle design parameter data is input into the test plan, and matching virtual models and physical components are selected.

[0138] In the early stage of vehicle development, before the ECU hardware product is formed, the verification method of vehicle dynamics model (model) + control strategy (model) + electronically controlled CDC shock absorber (physical) can be adopted; in the middle stage of vehicle development, after the mature ECU controller hardware is available, the verification method of vehicle dynamics model (model) + real vehicle ECU controller (physical) + electronically controlled CDC shock absorber (physical) can be adopted. The final ECU hardware product is installed on the vehicle corresponding to the vehicle dynamics model (model) + control strategy (model) + electronically controlled CDC shock absorber (physical), and the control strategy is run in the ECU hardware.

[0139] In one embodiment, based on the vehicle body's own performance data such as frame height and weight, performance parameter data of the suspension or suspension is formed in the vehicle dynamics model, and the acceleration, deceleration, steering, braking and other control data of the vehicle in actual scenarios are used to form input data for the performance test of the suspension or suspension in the vehicle dynamics model.

[0140] In this embodiment, it also includes:

[0141] Obtain vehicle performance target data;

[0142] According to the vehicle performance target data, generating performance test instruction data corresponding to the vehicle performance target under the vehicle power model;

[0143] According to the performance test instruction data corresponding to the vehicle performance target, the vehicle simulation bench simulates the performance data of all or some components of the real vehicle;

[0144] According to the performance data of all or some components of the real vehicle simulated by the vehicle simulation bench and the vehicle performance target data, the performance test instruction data or / and the whole vehicle power model are corrected;

[0145] A vehicle performance control strategy model is constructed based on the modified performance test instruction data and / or modified vehicle power model.

[0146] Specifically, in the first step, the vehicle performance target data is obtained, and the vehicle system is built based on the vehicle performance target data. The built vehicle system includes the vehicle design parameter data. Based on the goal of verifying whether it can achieve the vehicle performance target, the simulation test of the vehicle design is started.

[0147] Among them, the key performance targets and key performance targets in the vehicle performance targets are mapped to the vehicle design parameter data and the division of test objects, such as the division of virtual models and physical components.

[0148] Based on the vehicle design parameter data, a test bench and a vehicle power model are built. During the simulation test, in addition to restoring the operating status of the actual vehicle as much as possible, the vehicle performance data is also fed back to determine whether the vehicle performance goals are achieved. With the help of the simulation data report, the parameters, components, structure, processing, etc. in the vehicle design are modified.

[0149] In this embodiment, it also includes:

[0150] Obtain preset working condition scenario information;

[0151] Extract vehicle performance target data based on preset working condition scenario information;

[0152] Vehicle performance target data include target data of actual vehicle component performance;

[0153] According to the target data of the performance of the components of the actual vehicle, the vehicle simulation bench simulates the performance of all or part of the components of the actual vehicle corresponding to the target data of the performance of the components of the actual vehicle;

[0154] Wherein, according to the performance of all or some components of the real vehicle corresponding to the performance target data of the components of the real vehicle simulated by the vehicle simulation bench, the performance test instruction data corresponding to the performance of all or some components of the real vehicle under the vehicle power model are generated;

[0155] According to the performance test instruction data of all or some components of the real vehicle, the vehicle simulation bench is driven to collect the performance data of all or some components of the real vehicle corresponding to the performance target of the components of the real vehicle;

[0156] Optimize the performance of all or some of the components of the actual vehicle under the preset working condition scenario according to the performance data of all or some of the components of the actual vehicle corresponding to the performance target of the components of the actual vehicle;

[0157] Among them, the vehicle simulation bench simulates the performance of local components of the actual vehicle corresponding to the performance target data of the actual vehicle components, and the whole vehicle power model simulates the performance of other local components.

[0158] Specifically, different working conditions require vehicles with different performances to provide services. According to the preset working condition scenario information, the vehicle performance target data is set.

[0159] In addition to building a vehicle system based on vehicle performance target data and verifying whether it can achieve the vehicle performance target, data from preset operating scenarios are input to simulate the test of the vehicle design.

[0160] For example, the preset working condition of the vehicle is a mining area. Due to the bumpy road conditions in the mining area and the heavy load working environment of the vehicle, the vehicle is basically in a low-speed high-torque control state, and the loss of shock-absorbing and buffering components (such as shock absorbers) is extremely large. Based on the above working conditions, the vehicle performance target data is extracted, including the target data of the shock-absorbing and buffering components are marked, and in the simulation test, based on the predetermined reasons such as the purchase, assembly, and inventory of shock-absorbing accessories, a physical simulation platform is built around the shock-absorbing components, and other components are virtually simulated in the vehicle power model.

[0161] Figure 3 is a structural diagram of a vehicle simulation device provided by one or more embodiments of the present invention.

[0162] like Figure 3 The vehicle simulation device shown includes: a parameter setting module, a model building module, a bench building module, an instruction data module, a status data module, a data import module, a simulation report module, a simulation bench module, and a performance simulation module;

[0163] Parameter setting module, used to obtain vehicle design parameter data;

[0164] Model building module, used to build a vehicle power model based on vehicle design parameter data;

[0165] The bench construction module is used to construct a vehicle simulation bench system according to the vehicle design parameter data;

[0166] The command data module is used to output vehicle performance test command data according to the vehicle power model;

[0167] A status data module is used to execute vehicle performance test instruction data according to the vehicle simulation bench system and feed back vehicle performance test status data;

[0168] Data import module, used to import vehicle performance test status data into the vehicle power model;

[0169] A simulation report module, used to import vehicle performance test status data according to the vehicle power model, and output a simulation data report of executing vehicle performance test instruction data;

[0170] A simulation bench module, used for a vehicle simulation bench system, includes a bench system for simulating the performance of all or some components of a real vehicle;

[0171] The performance simulation module is used to simulate the performance of local components of the actual vehicle based on the vehicle simulation bench, and to simulate the performance of other local components with the whole vehicle dynamic model, thus forming a mixed simulation of the performance of all components of the actual vehicle.

[0172] It is worth noting that although the present system only discloses a parameter setting module, a model building module, a bench building module, a command data module, a status data module, a data import module, a simulation report module, a simulation bench module, and a performance simulation module, it does not mean that the present device is limited to the above-mentioned basic functional modules. Rather, what the present invention wants to express is that, based on the above-mentioned basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with the prior art to form an infinite number of embodiments or technical solutions. In other words, the present system is open rather than closed. Just because the present embodiment only discloses individual basic functional modules, it cannot be considered that the scope of protection of the claims of the present invention is limited to the above-mentioned basic functional modules.

[0173] Through the above scheme, the following beneficial technical effects are obtained:

[0174] This application adopts a hybrid testing method that combines a CAE model on a computer with a physical model on a simulation bench to compensate for the defects of low test accuracy and inflexible construction, thereby improving test accuracy while maintaining a high efficiency of simulation testing.

[0175] The present application reduces the difficulty of bench construction by adopting bench testing for local components, and improves the simulation accuracy in a targeted manner for running CAE models (such as vehicle power models).

[0176] Through simulation testing, this application purposefully adjusts the test environment, model, objectives, etc. according to the vehicle operation scenarios and performance requirements to form a control strategy for vehicle performance.

[0177] Figure 4 Schematic diagram of a stand system for a shock absorber according to a specific embodiment of the present invention Figure 1 .

[0178] Figure 5 Schematic diagram of a stand system for a shock absorber according to a specific embodiment of the present invention Figure 2 .

[0179] Figure 6 Schematic diagram of a closed-loop control test of a shock absorber according to a specific embodiment of the present invention Figure 1 .

[0180] Figure 7 Schematic diagram of a closed-loop control test of a shock absorber according to a specific embodiment of the present invention Figure 2 .

[0181] Figure 8 It is a schematic diagram of the electrical characteristic surface data of a shock absorber according to a specific embodiment of the present invention.

[0182] Fig. 9It is a schematic diagram of collecting electrical characteristic data of a shock absorber according to a specific embodiment of the present invention.

[0183] In a specific embodiment, Figure 4 , 5 The shock absorber stand system shown includes a crossbeam 1; a gantry 2; a left front actuator 3; a right front actuator 4; a left rear actuator 5; a right rear actuator 6; a left front electronically controlled CDC shock absorber 7; a right front electronically controlled CDC shock absorber 8; a left rear electronically controlled CDC shock absorber 9; a right rear electronically controlled CDC shock absorber 10; a left front force sensor 11; a right front force sensor 12; a left rear force sensor 13; a right rear force sensor 14; a U-shaped guide bracket 15; an upper loading fork 16; and a lower loading fork 17.

[0184] In this embodiment, the left front actuator 3 pushes the left front electronically controlled CDC shock absorber 7 to move, and the left front force sensor 11 feeds back information on the action state. The other three groups of electronically controlled CDC shock absorbers are the same.

[0185] In another specific embodiment, Figure 6 , 7 In the closed-loop control test of the shock absorber shown in the figure, in a commercial vehicle semi-active suspension (CDC) hybrid test system, the objects involved in the test are divided into two states: virtual model and physical component. In the early stage of vehicle development, before the ECU hardware product is formed, the verification method of the whole vehicle dynamics model (model) + control strategy (model) + electronically controlled CDC shock absorber (physical) can be adopted; in the middle stage of vehicle development, after the mature ECU controller hardware is available, the verification method of the whole vehicle dynamics model (model) + physical vehicle ECU controller (physical) + electronically controlled CDC shock absorber (physical) can be adopted. The overall test ideas of the closed-loop control test of the two shock absorbers are similar, and the difference lies in the proportion of physical objects connected to the test system. The former focuses on verifying the rationality and effectiveness of the control strategy; the latter focuses on verifying the stability of the ECU controller.

[0186] In this embodiment, the vehicle dynamics model is used to provide a real-time vehicle operating environment, and the vehicle operating conditions (such as double lane change, emergency braking, fixed radius rotation, etc.) are also downloaded to the simulator together with the dynamics model. The simulator has the ability to perform real-time calculations, and has a large number of I / O interfaces and communication interfaces. It can obtain external sensor signals through the I / O interfaces, and communicate with other hardware (ECU, rapid prototype controller) through the communication interface to transmit signals. The control strategy model is used to calculate the input current of the electronically controlled CDC shock absorber and adjust the soft and hard state of the corresponding suspension. The functions of the real vehicle ECU controller and the rapid prototype controller are the same, both of which run the control strategy in the hardware environment. The actuator controller receives the displacement command signals of the four CDC shock absorbers from the simulator, and drives the actuator to drive the CDC shock absorber to move according to the displacement command. At the same time, the force sensor tests the real-time damping force of the shock absorber and transmits it to the simulator through the actuator controller.

[0187] In this embodiment, after the vehicle dynamics model and operating conditions are downloaded to the simulator (equivalent to a computer module), the simulator starts to run in real time. The simulator transmits the real-time displacement signal instruction of the shock absorber's up and down movement to the actuator controller through an analog signal. The actuator controller receives the displacement signal instruction and controls the actuator movement in real time. The actuator drives the electronically controlled CDC shock absorber to move. The damping force sensor collects the damping force signal in real time and transmits it to the simulator through the actuator controller. Under the action of the damping force, the vehicle state changes in real time. The vehicle state is transmitted to the rapid prototype controller / ECU controller through the CAN bus. The rapid prototype controller / ECU controller receives the vehicle state signal and continuously runs the control strategy to change the target damping force and the shock absorber input current, thereby adjusting the shock absorber damping force. The adjusted shock absorber damping force continues to be transmitted to the simulator, forming a closed-loop feedback.

[0188] In another specific embodiment, the step of establishing a vehicle dynamics model. The host computer software Trucksim is used to establish a vehicle simulation model, which includes a body model, an aerodynamic model, a tire model, a suspension system model, a steering system model, a brake system model, a power transmission system model, and a driver road model. The key parameter characteristics of the vehicle are described by each simulation model, such as the center of mass, inertia characteristics, aerodynamic coefficient, KC characteristics of the suspension, tire mechanical characteristics, etc. of the vehicle. It should be noted that since the physical component in the above embodiment is a shock absorber, the damping force characteristics of the four shock absorbers are not included in the vehicle simulation model. Under the control strategy, the real-time damping force of the shock absorber is provided by the test bench, not calculated by the simulation model, to ensure the accuracy of the shock absorber damping force signal. The vehicle simulation model established by Trucksim needs to be converted into a code file that can be recognized by the simulation machine and downloaded to the simulation machine.

[0189] In another specific embodiment, the step of testing the 3D surface of the electrical characteristics of the CDC damper. Figure 8 The electrical characteristic surface data of the shock absorber is shown. The 3D surface of the electrical characteristic of the CDC shock absorber expresses the relationship between the damping force of the shock absorber and the two parameters of speed and current. For traditional hydraulic shock absorbers, the movement speed of the shock absorber determines the damping force in this state, while the electronically controlled CDC shock absorber can adjust the damping force by adjusting the current, thereby adjusting the soft and hard state of the corresponding suspension. Therefore, it is necessary to test the 3D surface of the electrical characteristic of the electronically controlled CDC shock absorber and provide it to the control strategy. The control strategy calculates the target shock absorber damping force through the current shock absorber speed state, and obtains the input current of the shock absorber by looking up the table.

[0190] In another specific embodiment, the step of establishing a control strategy model. Fig. 9 The electrical characteristic data of the shock absorber is collected as shown. The control strategy model is established in Matlab / Simulink software. The purpose of the control strategy model is to collect the state of the input signal in real time and calculate the real-time output signal under the action of the control strategy. The control model has multiple input quantities, including vehicle speed, steering wheel angle, frame height, frame acceleration, etc.; there are 4 output quantities: left front shock absorber target damping force, right front shock absorber target damping force, left rear shock absorber target damping force, right rear shock absorber target damping force. The target damping force calculated by the control strategy model needs to be achieved by adjusting the current according to the real-time speed of the shock absorber. The control strategy model established by Matlab / Simulink is converted into a code file that can be recognized by the lower-level rapid prototype controller through the code generator, and then downloaded to the rapid prototype controller. If you already have mature ECU controller hardware, you can also burn the control strategy directly into the ECU.

[0191] In another specific embodiment, the step of scaffolding.

[0192] Mechanical part: The upper ends of the four shock absorbers (left front, right front, left rear, right rear) are connected to the lower ends (driving ends) of the four actuators (left front, right front, left rear, right rear) through the upper loading fork, and the connection form is a bolt connection between the upper bushing of the shock absorber and the upper loading fork; the lower ends of the four shock absorbers (left front, right front, left rear, right rear) are connected to the four force sensors (left front, right front, left rear, right rear) through the lower loading fork, and the connection form is a bolt connection between the lower bushing of the shock absorber It is connected to the lower loading fork by bolts; 4 force sensors (left front, right front, left rear, right rear) are fixed on the ground; the upper ends of the cylinders of 4 actuators (left front, right front, left rear, right rear) are fixed to the crossbeam through ball joints, and the lower ends of the cylinders of 4 actuators (left front, right front, left rear, right rear) are fixed to the gantry through bolts and U-shaped guide brackets; the actuators extend and retract under the command of the actuator controller, driving the shock absorber to move and generate damping force.

[0193] Control part: The vehicle dynamics model is built in the host computer software Trucksim, and communicates with the simulator through Ethernet; the control strategy model is built in the host computer software Matlab / Simulink, and communicates with the rapid prototype controller through Ethernet; the simulator and the rapid prototype controller / EUC are connected and communicated through the CAN line; the simulator and the actuator controller are connected and communicated through the analog input (ADC) and analog output (DAC) signal lines; the rapid prototype controller and the programmable power supply are connected and communicated through the analog output (DAC) signal line.

[0194] In another specific embodiment, the steps of the mixed test. After the vehicle dynamics model and the operating conditions are downloaded to the simulator, the simulator starts to run in real time. The simulator transmits the real-time displacement signal instructions of the upper and lower hard points of the shock absorber to the actuator controller through analog output. The actuator controller receives the displacement signal instructions and controls the actuator movement in real time. The actuator drives the electronically controlled CDC shock absorber to move. The force sensor collects the damping force signal in real time and transmits it to the simulator through the actuator controller. Under the action of the damping force, the vehicle state changes in real time. The vehicle state is transmitted to the rapid prototype controller / ECU controller through CAN communication. The rapid prototype controller / ECU controller receives the vehicle state signal and continuously runs the control strategy to change the target damping force and the shock absorber input current, thereby adjusting the shock absorber damping force. The adjusted shock absorber damping force continues to be transmitted to the simulator to form a closed-loop feedback.

[0195] In order to evaluate the improvement effect of the semi-active suspension (CDC) system on the vehicle performance, the CDC shock absorber is first installed in the test system to test the key indicators of the vehicle performance under controlled conditions (such as roll angle, pitch angle, braking distance, etc.); then the CDC shock absorber is replaced by the traditional hydraulic shock absorber. The traditional hydraulic shock absorber does not have the function of current regulating damping force, so the key indicators of the vehicle performance under uncontrolled conditions can be tested. By comparing the two, the optimization effect of the semi-active suspension (CDC) system on the vehicle performance can be objectively evaluated.

[0196] In another specific embodiment, a test of a commercial vehicle semi-active suspension (CDC) hybrid test system adopts a test method that combines a model with a physical object, and specifically includes the following steps: Step 1: Establish a vehicle dynamics model of the entire vehicle, specifically using the host computer TruckSim software to establish a real-time simulation model, and download it to the simulator; Step 2: Test the CDC shock absorber electrical characteristic 3D surface to provide the control strategy model with query parameters of the damping force versus current; Step 3: Establish a control strategy model, using Matlab / Simulink software to establish the control strategy model, and download it to the rapid prototype controller / ECU; Step 4: Build a bench, and build a four-corner shock absorber hybrid test system through a linear actuator; Step 5: Hybrid test, the model and the physical object are synchronized and participate in closed-loop test in real time, and the key parameters are fed back to the host computer.

[0197] The test system is modularly designed, including vehicle dynamics module, simulator module, control strategy module, actuator controller module, actuator module, CDC shock absorber (sample) module, etc. Different verification strategies are formulated according to the progress of vehicle development. In the early stage of vehicle development, before the ECU hardware product is formed, the verification method of vehicle dynamics model (model) + control strategy (model) + electronically controlled CDC shock absorber (physical) can be adopted; in the middle stage of vehicle development, after mature ECU controller hardware is available, the verification method of vehicle dynamics model (model) + real vehicle ECU controller (physical) + electronically controlled CDC shock absorber (physical) can be adopted. Regardless of the verification method used, the composition principle of the test system is the same.

[0198] CAN communication is used between the simulator and the rapid prototype controller / ECU. The simulator needs to pass the input signals required by multiple control models to the control strategy. Almost all real vehicle ECUs have CAN communication modules, so this test system also uses CAN communication. Regardless of whether the control strategy is executed by the rapid prototype controller or the ECU, the communication form can remain consistent. For example, only two communication wires (CAN high and CAN low) are required, and the communication form is universal and reliable.

[0199] The linear actuator has built-in displacement sensor and force sensor. The displacement sensor is connected to the actuator piston rod (moving end) to test the displacement change of the actuator piston rod and CDC shock absorber in real time; the force sensor is not connected to the actuator piston rod, but is directly fixed on the ground to eliminate the influence of the inertial force of the actuator piston rod, ensuring that the tested force signal only contains the damping force of the CDC shock absorber.

[0200] The function of the rapid prototype controller is to run the control strategy in real time, calculate the target damping force and output current, but it itself does not have the ability to carry a large load. The test system can use a programmable power supply to power the CDC shock absorber, that is, the programmable power supply receives the calculated current signal from the rapid prototype controller through the analog input module, and outputs current to the CDC shock absorber through its own power module.

[0201] The realization of CDC shock absorber movement speed includes: the actuator controller receives the shock absorber displacement instruction from the simulator in real time, and controls the actuator and CDC shock absorber to move according to the displacement instruction, so as to ensure that the actual movement speed of the shock absorber is equal to the shock absorber movement speed calculated by the simulator, because the speed is equal to the derivative of the displacement with respect to time.

[0202] The fixing forms of the four actuators include: the upper end of the actuator housing is fixed to the crossbeam through a ball hinge, and the lower end of the housing is fixed to the gantry through a U-shaped guide bracket. The U-shaped guide bracket adopts a thin plate structure with low rigidity and allows slight deformation. This structure ensures that the actuator will not become unstable during the loading process, and at the same time, the vertical deviation of the shock absorber installation will not generate lateral force on the actuator, which will accelerate the wear of the actuator, thereby increasing the service life of the actuator.

[0203] Fig.10 A structural block diagram of an electronic device of a vehicle simulation method provided by one or more embodiments of the present invention.

[0204] like Fig.10 As shown, the present application provides an electronic device, including: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus;

[0205] A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the steps of a vehicle simulation method.

[0206] The present application also provides a computer-readable storage medium storing a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of a vehicle simulation method.

[0207] The present application also provides a simulation platform, including:

[0208] An electronic device for implementing the steps of the vehicle simulation method;

[0209] A processor, the processor runs a program, and when the program runs, the steps of the vehicle simulation method are executed from the data output by the electronic device;

[0210] The storage medium is used to store a program, and when the program is running, the steps of the vehicle simulation method are executed for the data output from the electronic device.

[0211] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0212] The electronic device includes a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and a memory. The operating system can be any one or more computer operating systems that implement electronic device control through a process, such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a Windows operating system. In addition, in an embodiment of the present invention, the electronic device can be a handheld device such as a smart phone or a tablet computer, or can be an electronic device such as a desktop computer or a portable computer, which is not particularly limited in the embodiment of the present invention.

[0213] The execution subject of the electronic device control in the embodiment of the present invention may be an electronic device, or a functional module in the electronic device that can call and execute a program. The electronic device may obtain the firmware corresponding to the storage medium. The firmware corresponding to the storage medium is provided by the supplier. The firmware corresponding to different storage media may be the same or different, which is not limited here. After the electronic device obtains the firmware corresponding to the storage medium, the firmware corresponding to the storage medium may be written into the storage medium, specifically, the firmware corresponding to the storage medium may be burned into the storage medium. The process of burning the firmware into the storage medium may be implemented using existing technology, which will not be described in detail in the embodiment of the present invention.

[0214] The electronic device may also obtain a reset command corresponding to the storage medium. The reset command corresponding to the storage medium is provided by the supplier. The reset commands corresponding to different storage media may be the same or different, and are not limited here.

[0215] At this time, the storage medium of the electronic device is a storage medium in which the corresponding firmware is written, and the electronic device can respond to the reset command corresponding to the storage medium in the storage medium in which the corresponding firmware is written, so that the electronic device resets the storage medium in which the corresponding firmware is written according to the reset command corresponding to the storage medium. The process of resetting the storage medium according to the reset command can be implemented by the existing technology and will not be described in detail in the embodiments of the present invention.

[0216] For the convenience of description, the above devices are described in terms of functions and are divided into various units and modules. Of course, when implementing the present application, the functions of each unit and module can be implemented in the same or multiple software and / or hardware.

[0217] Those skilled in the art will appreciate that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined.

[0218] For the method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0219] It can be known from the description of the above implementation modes that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute the methods described in the various implementation modes of the present application or certain parts of the implementation modes.

[0220] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle simulation system, characterized in that: The vehicle simulation system comprises: a computer module and a test bench module; The computer module is used to run the vehicle power model; The test bench module is used to operate all or part of the components of the actual vehicle; Wherein, according to the test bench module running all or part of the actual vehicle components to simulate the actual vehicle running state, the data of the state of all or part of the actual vehicle components are collected and sent to the computer module; Running the vehicle power model according to the computer module, outputting instruction data for driving the test bench module; According to the data collected on the status of all or some components of the actual vehicle and the instruction data output to drive the test bench module, the whole vehicle power model is operated to form a closed loop; Wherein, according to the test bench module, the actual vehicle local components are run to simulate the actual vehicle running state, the data of the actual vehicle local component state is collected and sent to the computer module, and the whole vehicle power model simulates other local components; According to the test bench module, local components of the actual vehicle are run to simulate the actual vehicle running status, and the whole vehicle power model simulates other local components, and a simulation data report of all or local components of the actual vehicle running under the whole vehicle power model is output.

2. The vehicle simulation system according to claim 1, characterized in that: The test bench module includes: a gantry module, a real vehicle component module and a simulation driver module; The gantry module is used to construct a mechanical assembly framework that simulates the operation of a real vehicle; The real vehicle component module is used to simulate the functional status of the real vehicle component in the real vehicle; The simulation driver module is used to execute the instruction data for driving the gantry module; The real vehicle component module is mechanically mounted on a mechanical assembly skeleton constructed by the gantry module to simulate the operation of the real vehicle; The corresponding real vehicle component module is mechanically mounted on a mechanical assembly skeleton constructed by the gantry module to simulate the operation of the real vehicle, and the simulation driver module is mounted on the gantry module or / and on the real vehicle component module; Wherein, the output end of the simulation driver module corresponds to the input end of the real vehicle component module; The input end of the driver module receives instruction data for driving the gantry module; The driver module receives instruction data for driving the test bench module according to an input end, and the output end of the driver module outputs a signal for driving the actual vehicle component module; The real vehicle component module outputs a signal driving the real vehicle component module according to the output end of the driver module, so as to simulate the functional state of the real vehicle component in the real vehicle.

3. The vehicle simulation system according to claim 2, characterized in that: The bench module also includes: a sensor module; The sensor module is used to collect the state data of the driver module driving the platform module and the state data of the platform module; The sensor module sends and collects the state data of the driver module driving the platform module and the state data of the platform module; The computer module receives the data from the sensor module and inputs it into the vehicle power model; The computer module receives data from the sensor module and inputs the whole vehicle power model, and the computer module runs the whole vehicle power model to output instruction data for driving the test bench module, thereby forming a closed loop formed by running the whole vehicle power model.

4. A vehicle simulation method, characterized in that: Based on the vehicle simulation system according to any one of claims 1 to 3, the vehicle simulation method comprises: Obtain vehicle design parameter data; Constructing a vehicle power model according to the vehicle design parameter data; Constructing a vehicle simulation bench system according to the vehicle design parameter data; Outputting vehicle performance test instruction data according to the vehicle power model; Executing the vehicle performance test instruction data according to the vehicle simulation bench system and feeding back vehicle performance test status data; Among them, the vehicle power model imports vehicle performance test status data; Importing vehicle performance test state data according to the vehicle power model, and outputting a simulation data report of executing the vehicle performance test instruction data; Among them, the vehicle simulation bench system includes a bench system that simulates the performance of all or some components of a real vehicle; Among them, the performance of local components of the actual vehicle is simulated according to the vehicle simulation bench, and the performance of other local components is simulated by the whole vehicle power model, thus forming a mixed simulation of the performance of all components of the actual vehicle.

5. The vehicle simulation method according to claim 4, characterized in that: Also includes: Obtain vehicle performance target data; According to the vehicle performance target data, generating performance test instruction data corresponding to the vehicle performance target under the vehicle power model; According to the performance test instruction data corresponding to the vehicle performance target, the vehicle simulation bench simulates the performance data of all or some components of the real vehicle; According to the data of the performance of all or some components of the real vehicle simulated by the vehicle simulation bench and the vehicle performance target data, the performance test instruction data is corrected or / and the whole vehicle power model is corrected; A vehicle performance control strategy model is constructed based on the modified performance test instruction data and / or modified vehicle power model.

6. The vehicle simulation method according to claim 5, characterized in that: Also includes: Obtain preset working condition scenario information; Extracting vehicle performance target data according to the preset operating condition scenario information; The vehicle performance target data includes target data of actual vehicle component performance; According to the target data of the actual vehicle component performance, the vehicle simulation bench simulates the performance of all or part of the actual vehicle components corresponding to the target data of the actual vehicle component performance; Wherein, according to the performance of all or some components of the real vehicle corresponding to the performance target data of the components of the real vehicle simulated by the vehicle simulation bench, the performance test instruction data corresponding to the performance of all or some components of the real vehicle under the vehicle power model are generated; According to the performance test instruction data of all or some components of the real vehicle, the vehicle simulation bench is driven to collect the performance data of all or some components of the real vehicle corresponding to the performance target of the components of the real vehicle; Optimizing the performance of all or some of the components of the actual vehicle under the preset working condition scenario according to the performance data of all or some of the components of the actual vehicle corresponding to the performance target of the components of the actual vehicle; Among them, the vehicle simulation bench simulates the performance of local components of the actual vehicle corresponding to the performance target data of the actual vehicle components, and the whole vehicle power model simulates the performance of other local components.

7. A vehicle simulation device, characterized in that: The vehicle simulation device comprises: Parameter setting module, used to obtain vehicle design parameter data; A model building module, used to build a vehicle power model according to the vehicle design parameter data; A test bench construction module is used to construct a vehicle simulation test bench system according to the vehicle design parameter data; An instruction data module, used for outputting vehicle performance test instruction data according to the vehicle power model; A status data module, used for executing the vehicle performance test instruction data according to the vehicle simulation bench system, and feeding back vehicle performance test status data; Data import module, used to import vehicle performance test status data into the vehicle power model; A simulation report module, used to import vehicle performance test state data according to a vehicle power model, and output a simulation data report of executing the vehicle performance test instruction data; A simulation bench module, used for a vehicle simulation bench system, includes a bench system for simulating the performance of all or some components of a real vehicle; The performance simulation module is used to simulate the performance of local components of the actual vehicle based on the vehicle simulation bench, and to simulate the performance of other local components with the whole vehicle dynamic model, thus forming a mixed simulation of the performance of all components of the actual vehicle.

8. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; A computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the vehicle simulation method according to any one of claims 4 to 6.

9. A computer-readable storage medium, characterized in that: include: It stores a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of the vehicle simulation method according to any one of claims 4 to 6.

10. A simulation platform, characterized in that: include: An electronic device, used to implement the steps of the vehicle simulation method according to any one of claims 4 to 6; A processor, the processor runs a program, and when the program runs, data output from the electronic device executes the steps of the vehicle simulation method according to any one of claims 4 to 6; A storage medium is used to store a program, and when the program is running, it executes the steps of the vehicle simulation method according to any one of claims 4 to 6 for data output from the electronic device.

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