Simulation test system and method for vehicle control HIL rack

Abstract

The invention discloses a simulation test system and method for a vehicle control HIL rack, and relates to the technical field of vehicle simulation test. The simulation test system for the vehicle control HIL rack comprises a scene dynamics simulation module, the scene dynamics simulation module is in communication connection with a cluster control module and a scene display module, the cluster control module is in communication connection with a vehicle control HIL rack module, and the scene display module is in communication connection with the scene display module. The scene display module is in communication connection with the graphic workstation module and the vehicle control HIL rack module, and the graphic workstation module is in communication connection with the vehicle control HIL rack module. According to the invention, the problems that in an actual test, a complex driving environment and an emergency need a higher simulation capability, which proposes a higher requirement for the real-time performance and the processing capability of the system, and the data synchronization and transmission mode in the system is not described in detail are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle simulation testing, and in particular to a simulation testing system and method for a whole vehicle control HIL bench. Background Art

[0002] With the rapid development of the automobile industry, smart cars have become an important direction for future automobile technology. Smart cars achieve perception, decision-making and control of the vehicle environment by integrating multiple sensors, advanced driver assistance systems (ADAS), autonomous driving systems (AD), etc. This not only improves driving safety and convenience, but also puts higher requirements on the testing technology of the whole vehicle.

[0003] Traditional vehicle testing methods mainly include: real vehicle road testing and test bench testing; real vehicle road testing is costly, long-term and difficult to ensure safety, while test bench testing can simulate the actual operating state of the vehicle in a laboratory environment and accurately test and evaluate the various systems of the vehicle; in order to further improve the efficiency and accuracy of vehicle testing, hardware-in-the-loop (HIL) simulation testing technology has emerged. HIL simulation testing technology combines part or all of the hardware systems of the tested vehicle with the simulation environment, simulates real driving conditions without the need for the whole vehicle to be on the road, and comprehensively tests the performance and reliability of the vehicle. This testing method is highly flexible and repeatable, which can significantly reduce testing costs and improve testing efficiency.

[0004] Patent No. CN113759880B proposes an intelligent vehicle in-the-loop test system, which realizes the simulation of the physical state of the vehicle, and simulates complex driving environment and traffic conditions through virtual scene simulation system, background vehicle simulation system and background pedestrian simulation system; the test process includes the steps of vehicle model resistance model calibration, steering angle relationship calibration, test scene selection, parameter assignment, generation of test case library and real-time presentation of test scene; finally, the test result data is evaluated by the test evaluation system and output in digital or image form.

[0005] Although the invention provides a virtual scene simulation system and a background simulation system, the diversity and complexity of its scene generation still have certain limitations. In actual testing, complex driving environments and emergencies require higher simulation capabilities, which puts higher requirements on the real-time and processing capabilities of the system. The invention does not describe in detail the data synchronization and transmission methods within the system; when multiple modules work together, how to ensure data synchronization and rapid transmission between modules is an important factor in ensuring the accuracy of test results; the lack of an effective data synchronization and transmission mechanism will lead to inconsistent test data and affect the reliability of test evaluation; although the evaluation function module and test evaluation index library integrated in the test evaluation system can evaluate the test result data, the accuracy and reliability of its evaluation results still need to be improved, especially when it comes to complex driving assistance systems and automatic driving systems, how to quantify and evaluate their performance. No effective solution has been proposed for the above-mentioned problems. Summary of the invention

[0006] Purpose of the invention: To provide a simulation test system and method for a vehicle control HIL test bench to at least solve one of the problems existing in the above-mentioned prior art.

[0007] Technical solution: A simulation test system for a vehicle control HIL bench, comprising: a scene dynamics simulation module, the scene dynamics simulation module is respectively connected to a cluster control module and a scene display module, the cluster control module is connected to a vehicle control HIL bench module, the scene display module is respectively connected to a graphic workstation module and the vehicle control HIL bench module, the graphic workstation module is connected to the vehicle control HIL bench module;

[0008] The scenario dynamics simulation module is configured to generate vehicle driving scenarios and dynamics simulation data;

[0009] The cluster control module is configured to receive and process the vehicle driving scene and dynamics simulation data, and control the operation of each subsystem of the vehicle according to the processed simulation data;

[0010] The scene display module is configured to display and update the vehicle driving scene in real time;

[0011] The vehicle control HIL test bench module is configured to simulate the operating status of each subsystem of the vehicle;

[0012] The graphic workstation module is configured to operate and manage the entire simulation test system and provide a graphic user interface.

[0013] Preferably, the scene dynamics simulation module comprises:

[0014] By simulating real-world roads and vehicle movements, the dynamic behavior of the test vehicle is provided; wherein the dynamic behavior includes: vehicle driving scenarios, road information, and vehicle coordinate instructions.

[0015] Preferably, the cluster control module includes:

[0016] Receive and process the data transmitted from the scenario dynamics simulation module, and control the operation of each subsystem of the vehicle to ensure the execution and synchronization of the simulation data.

[0017] Preferably, the scene display module comprises:

[0018] The status of the vehicle in the simulation environment is presented in a visual way.

[0019] Preferably, the vehicle control HIL test bench module comprises: a data acquisition system, a body domain test system, a chassis domain test system and a power domain test system, wherein the body domain test system, the chassis domain test system and the power domain test system are connected in sequence through a reflective memory and an external clock;

[0020] Among them, several systems communicate collected simulation data in real time through the reflective memory;

[0021] Several systems are synchronized via an external clock to ensure synchronization of data transmission and processing.

[0022] Preferably, the vehicle body domain test system is used to simulate the operating state of the vehicle body control system; data is shared with other subsystems through reflective memory to ensure synchronous operation of each subsystem;

[0023] The chassis domain test system is used to simulate the operating state of the vehicle chassis system, and to perform data exchange with the body domain test system and the power domain test system to ensure accurate control of the chassis system;

[0024] The power domain test system is used to simulate the operating state of the vehicle power system. Through reflective memory and clock synchronization technology, it works in coordination with other subsystems to achieve efficient simulation of the vehicle power system.

[0025] Preferably, the vehicle control HIL test bench module further comprises: four host computers, which are respectively connected to the data acquisition system, the body domain test system, the chassis domain test system and the power domain test system for communication;

[0026] The host computer is composed of test management software and automated test software, and the corresponding systems are controlled by the test management software and the automated test software to ensure the coordinated work and data synchronization of each system.

[0027] Preferably, the graphics workstation module comprises:

[0028] Provides a graphical user interface for operating and managing the entire simulation test system to enable data interaction and information transfer.

[0029] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a simulation test method for a whole vehicle control HIL test bench is provided.

[0030] The simulation test method for the vehicle control HIL bench according to the present application includes the following steps:

[0031] Initialization and configuration: Initialize and configure the system through the graphic workstation module, including: setting clock synchronization parameters, configuring reflective memory parameters; entering the basic information of the tested vehicle and test requirements into the cluster control module;

[0032] Scenario generation and simulation: Generate vehicle driving scenarios and dynamics simulation data in the scenario dynamics simulation module, including road information and vehicle coordinate instructions; transmit the generated data to the cluster control module and scenario display module via Ethernet;

[0033] Data processing and control: The cluster control module receives the simulation data transmitted by the scene dynamics simulation module, and controls the operation of each subsystem of the vehicle according to the vehicle coordinate instructions and vehicle status information;

[0034] The vehicle control HIL test bench module simulates the operating status of each subsystem, shares data through reflective memory technology, and ensures the synchronization of data transmission and processing through clock synchronization;

[0035] Scene display and monitoring: The scene display module displays and updates the vehicle driving scene in real time, including vehicle status and road information; the graphic workstation module provides an operation interface, and users can monitor the simulation test process in real time and intervene and handle abnormal situations;

[0036] Data acquisition and evaluation: The data acquisition system collects the simulation data of each subsystem in real time and feeds it back to the cluster control module for processing; through the test management software and automated testing software, the test data is analyzed and evaluated to generate a test report.

[0037] In order to achieve the above-mentioned purpose, according to another aspect of the present application, an electronic device is provided, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the simulation test method for the vehicle control HIL bench described in any one of the present invention.

[0038] Beneficial effect: In the embodiment of the present application, a simulation test method for the whole vehicle control HIL bench is adopted, through the scene dynamics simulation module, the scene dynamics simulation module is communicated with the cluster control module and the scene display module respectively, the cluster control module is communicated with the whole vehicle control HIL bench module, the scene display module is communicated with the graphic workstation module and the whole vehicle control HIL bench module respectively, and the graphic workstation module is communicated with the whole vehicle control HIL bench module, so as to achieve the purpose of real-time data sharing and synchronous transmission between the modules, thereby realizing the technical effect of providing an efficient and reliable whole vehicle simulation test platform, thereby solving the complex driving environment and Emergencies require higher simulation capabilities, which puts higher demands on the real-time and processing capabilities of the system. The invention does not describe in detail the data synchronization and transmission methods within the system; when multiple modules work together, how to ensure data synchronization and rapid transmission between modules is an important factor in ensuring the accuracy of test results; the lack of an effective data synchronization and transmission mechanism will lead to inconsistent test data and affect the reliability of test evaluation; although the evaluation function module and test evaluation index library integrated in the test evaluation system can evaluate the test result data, the accuracy and reliability of the evaluation results still need to be improved, especially when it comes to complex driving assistance systems and autonomous driving systems, how to quantify and evaluate their performance. Technical issues.

[0039] Compared with the related prior art, the present invention has at least the following main technical advantages, and the beneficial effects of the present invention are:

[0040] The present invention realizes high-speed data sharing and real-time transmission between modules by introducing reflective memory technology, ensuring the consistency and synchronization of simulation data. Compared with the prior art, the present invention has significantly improved the delay and bandwidth of data transmission, ensuring the real-time performance and accuracy during the test process.

[0041] The present invention uses an external clock source (specifically a BNC interface connection) for clock synchronization to ensure that each module runs under the same time reference. Compared with the clock drift and asynchronous problems that may exist in the prior art, the present invention provides a more reliable time synchronization mechanism and improves the overall coordination and accuracy of the simulation test.

[0042] The present invention provides a complete and flexible vehicle simulation test platform through the organic combination of scene dynamics simulation module, cluster control module, scene display module, vehicle control HIL bench module and graphic workstation module. The connection mode between each module is clear, the data flow is clear, and the system expansion and maintenance are convenient.

[0043] The present invention can generate complex and diverse driving scenarios, including road information, vehicle coordinate instructions and vehicle status, and comprehensively evaluate the performance of the vehicle under different working conditions. Compared with the prior art, the scenario simulation of the present invention is more detailed and comprehensive, and can better simulate the actual driving environment.

[0044] The present invention is equipped with test management software and automated testing software, and operates and manages the subsystems of the vehicle control HIL test bench module through multiple host computers, realizing automated management of data collection, processing and testing processes. Compared with the prior art, the present invention improves the automation level and efficiency of the testing process and reduces manual intervention and operation errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a connection diagram of a simulation test system for a vehicle control HIL bench according to an embodiment of the present application;

[0046] Figure 2 Demonstration diagram of a scene display system according to an embodiment of the present application;

[0047] Figure 3 Demonstration diagram of the vehicle control HIL bench according to an embodiment of the present application; and

[0048] Figure 4 It is a schematic diagram of the structure of an electronic device of a simulation test system for a whole vehicle control HIL bench according to an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0050] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0051] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0053] like Figure 1-3 As shown, the present application relates to a simulation test system and method for a vehicle control HIL test bench. Figure 1 As shown, the simulation test system for the whole vehicle control HIL bench includes: a scene dynamics simulation module, the scene dynamics simulation module is communicated with the cluster control module and the scene display module respectively, the cluster control module is communicated with the whole vehicle control HIL bench module, the scene display module is communicated with the graphic workstation module and the whole vehicle control HIL bench module respectively, and the graphic workstation module is communicated with the whole vehicle control HIL bench module; it can achieve good electrical signal transmission effect between modules, thereby ensuring good data transmission and exchange effect.

[0054] The scene dynamics simulation module is connected to the cluster control module and the scene display module respectively, wherein the scene dynamics simulation module transmits vehicle coordinate instructions to the cluster control module and the scene display module, and transmits road information to the scene display module at the same time.

[0055] The cluster control module is respectively connected to the scene dynamics simulation module and the vehicle control HIL bench module, wherein the cluster control module transmits the vehicle status to the scene dynamics simulation module.

[0056] The scene display module is connected to the scene dynamics simulation module and the vehicle control HIL bench module respectively. There is also an image workstation module between the scene display module and the vehicle control HIL bench module for information transfer. Among them, the scene display module transmits vehicle status and road information to the scene dynamics simulation module, and at the same time packages the simulation data and transmits it to the vehicle control HIL bench module.

[0057] The scenario dynamics simulation module is configured to generate vehicle driving scenarios and dynamics simulation data, specifically including road information and vehicle coordinate instructions.

[0058] The cluster control module is configured to receive and process the vehicle driving scene and dynamic simulation data, and control the operation of each subsystem of the whole vehicle according to the processed simulation data; the simulation data specifically includes the vehicle status.

[0059] The scene display module is configured to display and update the vehicle driving scene in real time, including vehicle status and road information.

[0060] The vehicle control HIL test bench module is configured to simulate the operating status of each subsystem of the vehicle;

[0061] The graphic workstation module is configured to operate and manage the entire simulation test system and provide a graphic user interface.

[0062] Specifically, the scene dynamics simulation module is communicatively connected with the cluster control module: the simulation data (including road information and vehicle coordinate instructions) generated by the scene dynamics simulation module is transmitted to the cluster control module through communication, and the cluster control module controls various subsystems of the vehicle based on these data to ensure that the simulation environment and vehicle operation remain synchronized.

[0063] The scene dynamics simulation module is communicatively connected with the scene display module: the data of the scene dynamics simulation module is also transmitted to the scene display module for real-time updating and displaying the vehicle's driving scene, so that the user can observe the vehicle's performance in the simulation through the visual interface.

[0064] The cluster control module is connected to the vehicle control HIL bench module: The cluster control module is responsible for receiving the simulation data from the scenario dynamics simulation module and passing the data to the vehicle control HIL bench module. The vehicle control HIL bench module simulates the operation of each subsystem of the vehicle (body domain, chassis domain, power domain) through real hardware. The cluster control module also monitors the operation of these subsystems to ensure that the simulation data is consistent with the actual status of the subsystem.

[0065] The scene display module is connected to the graphic workstation module in communication: the scene display module transmits the displayed simulation scene to the graphic workstation module, and the graphic workstation module provides a user operation interface. The user can monitor and operate the simulation scene through P5.

[0066] The scene display module is connected to the vehicle control HIL bench module: The scene display module also maintains communication with the vehicle control HIL bench module, and displays the status information of each subsystem from P4 in real time. This ensures that users can not only see the simulation scene, but also understand the actual operating status of the vehicle system in the hardware simulation.

[0067] The graphic workstation module is connected to the vehicle control HIL bench module: The graphic workstation module communicates directly with the vehicle control HIL bench module. Users can manage and control the vehicle control HIL bench in the vehicle control HIL bench module in real time through the graphic workstation module. This allows users to directly debug or intervene in the hardware during the simulation process.

[0068] The present invention also has the following beneficial effects:

[0069] The simulation test system of the present invention ensures real-time data sharing and synchronous transmission between modules by introducing reflective memory technology and clock synchronization technology, thus overcoming the data synchronization and transmission problems in the prior art. At the same time, through the organic combination of scene and dynamic simulation modules, cluster control modules, scene display modules, vehicle control HIL bench modules and graphic workstation modules, an efficient and reliable vehicle simulation test platform is provided. The system can generate diverse and complex driving scenarios, comprehensively test the performance and reliability of the vehicle under various working conditions, and improve the accuracy and reliability of the test results.

[0070] The present invention proposes a simulation test system for a vehicle control HIL test bench, which aims to achieve high efficiency, accuracy and reliability of vehicle simulation test by comprehensively applying multiple technologies. Specifically, the system introduces reflective memory technology to ensure high-speed data sharing and real-time transmission between modules, overcoming problems in data synchronization and transmission. At the same time, clock synchronization is performed through an external clock to ensure the time consistency of the operation of each module in the system and improve the overall coordination of the simulation test.

[0071] It is important to know that hardware-in-the-loop (HIL) simulation technology is one of the important means in the field of modern automobile testing. The HIL simulation system realizes real-time interaction between hardware and software by connecting the hardware under test (such as ECU, sensors, etc.) with the virtual simulation environment. The simulation system generates various simulation signals and inputs them into the hardware under test, and receives the output signals of the hardware in real time for analysis. In this way, the hardware can be fully tested in a laboratory environment to simulate various complex driving conditions and fault conditions. The bench test system is an important part of the whole vehicle test. The vehicle under test is fixed on the bench through mechanical connection to simulate the running state of the vehicle under different working conditions. The bench test system can accurately control the vehicle's load, speed, acceleration and other parameters, and conduct detailed tests on the vehicle's power system, transmission system, braking system, etc. Common bench test systems include dynamometer benches, steering angle benches, vibration benches, etc. Reflective memory technology is a technology for high-real-time data transmission, which is widely used in distributed simulation and control systems. Through the reflective memory module, high-speed data sharing and real-time transmission can be achieved between various system modules. The core features of reflective memory are low latency and high bandwidth, and it is suitable for application scenarios with high requirements for data synchronization and real-time performance. In HIL simulation systems, reflective memory technology ensures that data transmission and processing between subsystems remain synchronized. In complex simulation test systems, clock synchronization technology is crucial. By synchronizing the clocks of each system module through an external clock source (such as GPS, atomic clock, etc.), the time base of the entire system can be kept consistent. The implementation of clock synchronization technology usually relies on BNC interface connection. Through high-precision clock signal transmission, each module can interact and process data under the same time base, thereby ensuring the accuracy of the simulation test results.

[0072] From the above description, it can be seen that the present application achieves the following technical effects:

[0073] In the embodiment of the present application, a simulation test method for the whole vehicle control HIL bench is adopted, through the scene dynamics simulation module, the scene dynamics simulation module is communicated with the cluster control module and the scene display module respectively, the cluster control module is communicated with the whole vehicle control HIL bench module, the scene display module is communicated with the graphic workstation module and the whole vehicle control HIL bench module respectively, and the graphic workstation module is communicated with the whole vehicle control HIL bench module, so as to achieve the purpose of real-time data sharing and synchronous transmission between the modules, thereby realizing the technical effect of providing an efficient and reliable whole vehicle simulation test platform, thereby solving the complex driving environment and sudden situations in actual testing. The invention does not describe in detail the data synchronization and transmission method within the system; when multiple modules work together, how to ensure data synchronization and rapid transmission between modules is an important factor in ensuring the accuracy of the test results; the lack of an effective data synchronization and transmission mechanism will lead to inconsistent test data and affect the reliability of test evaluation; although the evaluation function module and test evaluation index library integrated in the test evaluation system can evaluate the test result data, the accuracy and reliability of the evaluation results still need to be improved, especially when it comes to complex driving assistance systems and autonomous driving systems, how to quantify and evaluate their performance.

[0074] Furthermore, the scenario dynamics simulation module includes: providing dynamic behavior of the test vehicle by simulating the road and vehicle movement in reality; wherein the dynamic behavior includes: the vehicle's driving scene, road information and vehicle coordinate instructions. It can be understood that by simulating the road and vehicle movement in reality, a dynamic simulation environment is provided for the test vehicle. Specifically, it generates dynamic behavior close to the real environment to support the simulation test of the whole vehicle.

[0075] For example: Vehicle driving scenarios: Simulate the driving status of the vehicle in various scenarios, including speed, acceleration, steering and other parameters. This information is used to simulate the performance of the vehicle under different driving conditions, such as urban roads, highways, mountain roads, etc.

[0076] Road information: simulates real-world road conditions, such as road type (flat, ramp, curve, etc.), road friction, slope, obstacles, traffic signs, and traffic flow, etc. This information is used to create the external environment in which the vehicle travels, thereby realistically simulating vehicle behavior.

[0077] Vehicle coordinate instructions: Generate the position and motion trajectory of the vehicle in the simulation environment, and provide the vehicle's spatial coordinates and motion path instructions. This includes the vehicle's real-time position, direction, distance, etc., so that the vehicle can drive according to the set path or scene.

[0078] Furthermore, the cluster control module includes: receiving and processing data transmitted from the scenario dynamics simulation module, and controlling the operation of various subsystems of the entire vehicle to ensure the execution and synchronization of the simulation data.

[0079] Specifically, receiving simulation data: The cluster control module receives important simulation data from the scene dynamics simulation module, including the vehicle's driving scene, road information, and vehicle coordinate instructions. The module generates corresponding control signals based on these data to guide the behavior of each subsystem of the vehicle.

[0080] Processing data: This module analyzes and processes the received simulation data, and calculates the control commands that need to be passed to each subsystem based on the vehicle's status information (such as speed, direction, acceleration or deceleration, etc.). This process ensures that the simulation data matches the vehicle's operating status.

[0081] Control the operation of each subsystem: The cluster control module sends the processed data to each subsystem of the vehicle (such as the body domain, chassis domain, and power domain, etc.) to control the operating status of these systems. For example, it can instruct the power system to accelerate, the chassis system to adjust the steering angle, and the body system to adjust the suspension.

[0082] Ensure the execution and synchronization of simulation data: In order to maintain a high degree of system consistency, the cluster control module uses clock synchronization and other technologies to ensure that all subsystems run according to the same time base to avoid delays or data inconsistencies between different subsystems. This ensures that simulation data can be accurately executed in the vehicle system, ensuring the real-time and reliability of the simulation process.

[0083] Furthermore, the scene display module includes:

[0084] The status of the vehicle in the simulation environment is presented in a visual way.

[0085] Specifically, the vehicle's state in the simulation environment is visualized: this module will render the simulation data received from the scene dynamics simulation module and the cluster control module in real time, and display the vehicle's driving state in the simulation scene in a graphical interface; the visualized content may include the vehicle's movement, speed, direction, position and other information under different road conditions.

[0086] Display vehicle status information: The scene display module can present various operating states of the vehicle, such as current speed, steering angle, acceleration, braking status, etc.; it can help users understand the vehicle status changes during the simulation at any time.

[0087] Display simulation scenes: In addition to the vehicle status, the scene display module also displays the simulation environment, such as road information, road condition changes, obstacles, traffic signs, etc., so that users can fully understand the driving environment of the vehicle through a visual interface.

[0088] Real-time update and monitoring: The scene display module updates data in real time, ensuring that users can see the latest status of the vehicle and simulation environment. Users can monitor through the graphic workstation module and intervene or adjust when necessary.

[0089] Furthermore, the vehicle control HIL test bench module includes: a data acquisition system, a body domain test system, a chassis domain test system and a power domain test system, and the body domain test system, the chassis domain test system and the power domain test system are connected in sequence through a reflective memory and an external clock;

[0090] Among them, several systems communicate collected simulation data in real time through the reflective memory;

[0091] Several systems are synchronized via an external clock to ensure synchronization of data transmission and processing.

[0092] The system achieves clock synchronization through an external clock, which is specifically connected through a BNC interface; the system shares data through reflective memory technology, which specifically transmits data through optical fiber.

[0093] like Figure 3 As shown, the vehicle body domain test system is used to simulate the operating state of the vehicle body control system; it shares data with other subsystems through reflective memory to ensure the synchronous operation of each subsystem;

[0094] The chassis domain test system is used to simulate the operating state of the vehicle chassis system, and to perform data exchange with the body domain test system and the power domain test system to ensure accurate control of the chassis system;

[0095] The power domain test system is used to simulate the operating state of the vehicle power system. Through reflective memory and clock synchronization technology, it works in coordination with other subsystems to achieve efficient simulation of the vehicle power system.

[0096] Furthermore, the vehicle control HIL test bench module also includes: four host computers, which are respectively connected to the data acquisition system, the body domain test system, the chassis domain test system and the power domain test system in communication;

[0097] The host computer is composed of test management software and automated test software, and the corresponding systems are controlled by the test management software and the automated test software to ensure the coordinated work and data synchronization of each system.

[0098] Furthermore, the graphic workstation module includes:

[0099] Provides a graphical user interface for operating and managing the entire simulation test system to enable data interaction and information transfer.

[0100] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a simulation test method for a vehicle control HIL bench is also provided. The simulation test method for a vehicle control HIL bench comprises the following steps:

[0101] Initialization and configuration: Initialize and configure the system through the graphic workstation module, including: setting clock synchronization parameters, configuring reflective memory parameters; entering the basic information of the tested vehicle and test requirements into the cluster control module;

[0102] Scenario generation and simulation: Generate vehicle driving scenarios and dynamics simulation data in the scenario dynamics simulation module, including road information and vehicle coordinate instructions; transmit the generated data to the cluster control module and scenario display module via Ethernet;

[0103] Data processing and control: The cluster control module receives the simulation data transmitted by the scene dynamics simulation module, and controls the operation of each subsystem of the vehicle according to the vehicle coordinate instructions and vehicle status information;

[0104] The vehicle control HIL test bench module simulates the operating status of each subsystem, shares data through reflective memory technology, and ensures the synchronization of data transmission and processing through clock synchronization;

[0105] Scene display and monitoring: The scene display module displays and updates the vehicle driving scene in real time, including vehicle status and road information; the graphic workstation module provides an operation interface, and users can monitor the simulation test process in real time and intervene and handle abnormal situations;

[0106] Data acquisition and evaluation: The data acquisition system collects the simulation data of each subsystem in real time and feeds it back to the cluster control module for processing; through the test management software and automated testing software, the test data is analyzed and evaluated to generate a test report.

[0107] From the above description, it can be seen that the present application achieves the following technical effects:

[0108] In the embodiment of the present application, a simulation test method for the whole vehicle control HIL bench is adopted, through the scene dynamics simulation module, the scene dynamics simulation module is communicated with the cluster control module and the scene display module respectively, the cluster control module is communicated with the whole vehicle control HIL bench module, the scene display module is communicated with the graphic workstation module and the whole vehicle control HIL bench module respectively, and the graphic workstation module is communicated with the whole vehicle control HIL bench module, so as to achieve the purpose of real-time data sharing and synchronous transmission between the modules, thereby realizing the technical effect of providing an efficient and reliable whole vehicle simulation test platform, thereby solving the complex driving environment and sudden situations in actual testing. The invention does not describe in detail the data synchronization and transmission method within the system; when multiple modules work together, how to ensure data synchronization and rapid transmission between modules is an important factor in ensuring the accuracy of the test results; the lack of an effective data synchronization and transmission mechanism will lead to inconsistent test data and affect the reliability of test evaluation; although the evaluation function module and test evaluation index library integrated in the test evaluation system can evaluate the test result data, the accuracy and reliability of the evaluation results still need to be improved, especially when it comes to complex driving assistance systems and autonomous driving systems, how to quantify and evaluate their performance.

[0109] Specifically, further explanation is given by the following examples;

[0110] Embodiment 1:

[0111] like Figure 1 As shown, the simulation test system for the vehicle control HIL bench of the present invention includes the following modules: scene dynamics simulation module, cluster control module, scene display module, vehicle control HIL bench module and graphic workstation module. The connection and specific functions between the modules are as follows:

[0112] Scenario dynamics simulation module: This module is used to generate vehicle driving scenarios and dynamics simulation data, including road information and vehicle coordinate instructions.

[0113] The scene dynamics simulation module is connected to the cluster control module and the scene display module via Ethernet to transmit vehicle coordinate instructions and road information.

[0114] Cluster control module: This module is used to receive and process the simulation data generated by the scenario dynamics simulation module and control the operation of each subsystem of the vehicle. The simulation data specifically includes the vehicle status.

[0115] The cluster control module is connected to the scenario dynamics simulation module and the vehicle control HIL bench module via Ethernet to transmit vehicle status information.

[0116] Scene display module: This module is used to display and update the vehicle driving scene in real time, including vehicle status and road information.

[0117] The scene display module is connected to the scene dynamics simulation module and the vehicle control HIL bench module via Ethernet, and information is transferred through the graphic workstation module.

[0118] Vehicle control HIL test bench module: This module includes the body domain test system, chassis domain test system and power domain test system, which are used to simulate the operating status of each subsystem of the vehicle.

[0119] The vehicle control HIL test bench module shares data with the data acquisition system, body domain test system, chassis domain test system and power domain test system through reflective memory (optical fiber) technology, and performs clock synchronization through the clock (BNC) interface.

[0120] Graphic workstation module: This module is used to operate and manage the entire simulation test system and provides a graphical user interface.

[0121] The graphic workstation module is connected to the scene display module and the vehicle control HIL bench module (P4) via Ethernet to achieve data interaction and information transfer.

[0122] Embodiment 2:

[0123] like Figure 2 As shown in the figure, the scenario display module is connected to the scenario dynamics simulation module and the vehicle control HIL bench module via Ethernet to receive simulation data. The vehicle status and road information are displayed in real time to ensure that the tester can intuitively observe the performance of the vehicle in different scenarios. The graphic workstation module provides a graphical user interface for testers to operate and monitor. Through the graphic workstation module, users can select and configure different test scenarios, monitor the test progress, and record and analyze test data. The graphic workstation module is the control center of the entire simulation test system.

[0124] In actual applications, the scene display system receives a variety of complex driving environments, including urban roads, highways, rural roads, etc., and displays the vehicle's operating status in these scenarios in real time. This helps testers discover the vehicle's performance and potential problems under different driving conditions.

[0125] like Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0126] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0127] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a simulation test system for a vehicle control HIL bench.

[0128] In some embodiments, the simulation test system for the whole vehicle control HIL bench can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the simulation test system for the whole vehicle control HIL bench described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the simulation test system for the whole vehicle control HIL bench in any other appropriate manner (for example, by means of firmware).

[0129] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0130] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0131] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0132] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0133] The systems and techniques described herein may be implemented in a computing system that includes a backend component (e.g., as a data server), or a computing system that includes a middleware component (e.g., an application server), or a computing system that includes a frontend component (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LA), a wide area network (WA), a blockchain network, and the Internet.

[0134] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0135] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0136] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The simulation test system for vehicle control HIL bench is characterized by: include: A scene dynamics simulation module, wherein the scene dynamics simulation module is respectively connected to the cluster control module and the scene display module, wherein the cluster control module is connected to the vehicle control HIL bench module, wherein the scene display module is respectively connected to the graphic workstation module and the vehicle control HIL bench module, wherein the graphic workstation module is connected to the vehicle control HIL bench module; The scenario dynamics simulation module is configured to generate vehicle driving scenarios and dynamics simulation data; The cluster control module is configured to receive and process the vehicle driving scene and dynamics simulation data, and control the operation of each subsystem of the vehicle according to the processed simulation data; The scene display module is configured to display and update the vehicle driving scene in real time; The vehicle control HIL test bench module is configured to simulate the operating status of each subsystem of the vehicle; The graphic workstation module is configured to operate and manage the entire simulation test system and provide a graphic user interface.

2. The simulation test system for vehicle control HIL bench according to claim 1 is characterized in that: The scene dynamics simulation module includes: By simulating real-world roads and vehicle movements, the dynamic behavior of the test vehicle is provided; wherein the dynamic behavior includes: vehicle driving scenarios, road information, and vehicle coordinate instructions.

3. The simulation test system for vehicle control HIL bench according to claim 1 is characterized in that: The cluster control module includes: Receive and process the data transmitted from the scenario dynamics simulation module, and control the operation of each subsystem of the vehicle to ensure the execution and synchronization of the simulation data.

4. The simulation test system for vehicle control HIL bench according to claim 1 is characterized in that: The scene display module comprises: The status of the vehicle in the simulation environment is presented in a visual way.

5. The simulation test system for vehicle control HIL bench according to claim 1 is characterized in that: The vehicle control HIL test bench module includes: a data acquisition system, a body domain test system, a chassis domain test system and a power domain test system, wherein the body domain test system, the chassis domain test system and the power domain test system are connected in sequence through a reflective memory and an external clock; Among them, several systems communicate collected simulation data in real time through the reflective memory; Several systems are synchronized via an external clock to ensure synchronization of data transmission and processing.

6. The simulation test system for vehicle control HIL bench according to claim 5 is characterized in that: The vehicle body domain test system is used to simulate the operating state of the vehicle body control system; it shares data with other subsystems through reflective memory to ensure the synchronous operation of each subsystem; The chassis domain test system is used to simulate the operating state of the vehicle chassis system, and to perform data exchange with the body domain test system and the power domain test system to ensure accurate control of the chassis system; The power domain test system is used to simulate the operating state of the vehicle power system. Through reflective memory and clock synchronization technology, it works in coordination with other subsystems to achieve efficient simulation of the vehicle power system.

7. The simulation test system for vehicle control HIL bench according to claim 5, characterized in that: The vehicle control HIL test bench module also includes: four host computers, which are respectively connected to the data acquisition system, the body domain test system, the chassis domain test system and the power domain test system for communication; The host computer is composed of test management software and automated test software, and the corresponding systems are controlled by the test management software and the automated test software to ensure the coordinated work and data synchronization of each system.

8. The simulation test system for vehicle control HIL bench according to claim 1 is characterized in that: The graphics workstation module includes: Provides a graphical user interface for operating and managing the entire simulation test system to enable data interaction and information transfer.

9. A simulation test method for a vehicle control HIL bench, characterized in that: The following steps are involved: Initialization and configuration: Initialize and configure the system through the graphic workstation module, including: setting clock synchronization parameters, configuring reflective memory parameters; entering the basic information of the tested vehicle and test requirements into the cluster control module; Scenario generation and simulation: Generate vehicle driving scenarios and dynamics simulation data in the scenario dynamics simulation module, including road information and vehicle coordinate instructions; transmit the generated data to the cluster control module and scenario display module via Ethernet; Data processing and control: The cluster control module receives the simulation data transmitted by the scene dynamics simulation module, and controls the operation of each subsystem of the vehicle according to the vehicle coordinate instructions and vehicle status information; The vehicle control HIL test bench module simulates the operating status of each subsystem, shares data through reflective memory technology, and ensures the synchronization of data transmission and processing through clock synchronization; Scene display and monitoring: The scene display module displays and updates the vehicle driving scene in real time, including vehicle status and road information; the graphic workstation module provides an operation interface, and users can monitor the simulation test process in real time and intervene and handle abnormal situations; Data acquisition and evaluation: The data acquisition system collects the simulation data of each subsystem in real time and feeds it back to the cluster control module for processing; through the test management software and automated testing software, the test data is analyzed and evaluated to generate a test report.

10. An electronic device, characterized in that The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the simulation test method for the vehicle control HIL bench described in claim 9.

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