Intelligent driving function test system and method based on four-motor test bench

Abstract

The present invention provides a system and method for testing intelligent driving functions based on a four-motor test bench, including: a test bench system, a main control system, and an intelligent test system; the intelligent test system is used to create and manage virtual models and driving scenarios; the main control system is used to set and receive operating signals of the test bench system based on virtual driving scenarios; the test bench system is used to operate the test vehicle based on the operating signals of the test bench system. The present invention combines the test bench system and the intelligent test system to achieve closed-loop simulation of scenarios of drivers, vehicles, steering, and high-precision simulation software.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent driving function testing, and in particular, to an intelligent driving function testing system and method based on a four-motor test bench. Background Art

[0002] The autonomous driving controller tests the intelligent driving function in the loop HIL, and the physical model of the whole vehicle is realized through virtual simulation, which has lower accuracy than the real vehicle VIL. The real vehicle road test of the intelligent driving function cannot be combined with rich virtual scenes to test various environments and traffic;

[0003] Patent document CN116909260B (application number: 202311172970.5) discloses a test and verification method for an intelligent driving domain controller simulating a HIL bench, which includes: step S1, building a simulation scene through simulation software; step S2, the simulation software outputs a video file and a CSV file; step S3, playing the video file through a video player, and then the video signal is converted by a converter and input into the camera interface of the system under test; step S4, using a CAN tool to read the CSV file through the CAN tool programming language, generate a CAN signal and transmit it periodically; step S5, configuring the Client client and building a video injection test environment. Summary of the invention

[0004] In view of the defects in the prior art, the object of the present invention is to provide an intelligent driving function testing system and method based on a four-motor test bench.

[0005] According to the present invention, a smart driving function test system based on a four-motor test bench is provided, characterized in that it includes: a test bench system, a main control system and an intelligent test system;

[0006] The intelligent testing system is used to create and manage virtual models and driving scenarios;

[0007] The main control system is used to set and receive operating signals of the test bench system based on the virtual driving scene;

[0008] The test bench system is used to enable the test vehicle to operate based on the operating signal of the test bench system.

[0009] Preferably, the intelligent testing system comprises: a vehicle dynamics model, a sensor model and a virtual environment construction model;

[0010] simulating various vehicle behaviors and perception effects based on the vehicle dynamics model and sensor model;

[0011] A plurality of virtual driving scenarios are created based on the virtual environment construction model, and different scenarios are used to simulate real-world driving conditions.

[0012] Preferably, the vehicle dynamics model includes: vehicle body, suspension, steering, braking, and powertrain;

[0013] The sensor model includes: GNSS sensor, camera sensor, millimeter wave radar sensor, ultrasonic radar sensor and lidar sensor;

[0014] The virtual environment construction model includes: a scene construction model and a traffic construction model.

[0015] Preferably, the main control system includes: real-time monitoring of network data, clock synchronization of each received network data, and real-time display and storage of the clock-synchronized network data.

[0016] Preferably, the system further comprises: a driving robot and a steering simulator.

[0017] Based on the operating signal of the test bench system, the driving robot is used to realize the operation of the test vehicle;

[0018] Based on the steering simulator, the test vehicle can achieve rotational movement to a certain extent.

[0019] According to the present invention, a method for testing an intelligent driving function based on a four-motor test bench includes:

[0020] Step S1: Create and manage virtual models and driving scenarios using an intelligent testing system;

[0021] Step S2: using the main control system to set and receive the operating signal of the test bench system based on the virtual driving scene;

[0022] Step S3: Using the test bench system to operate the test vehicle based on the operation signal of the test bench system.

[0023] Preferably, the intelligent testing system comprises: a vehicle dynamics model, a sensor model and a virtual environment construction model;

[0024] simulating various vehicle behaviors and perception effects based on the vehicle dynamics model and sensor model;

[0025] A plurality of virtual driving scenarios are created based on the virtual environment construction model, and different scenarios are used to simulate real-world driving conditions.

[0026] Preferably, the vehicle dynamics model includes: vehicle body, suspension, steering, braking, and powertrain;

[0027] The sensor model includes: GNSS sensor, camera sensor, millimeter wave radar sensor, ultrasonic radar sensor and lidar sensor;

[0028] The virtual environment construction model includes: a scene construction model and a traffic construction model.

[0029] Preferably, the main control system includes: real-time monitoring of network data, clock synchronization of each received network data, and real-time display and storage of the clock-synchronized network data.

[0030] Preferably, the method further comprises:

[0031] Based on the operating signal of the test bench system, the driving robot is used to realize the operation of the test vehicle;

[0032] Based on the steering simulator, the test vehicle can achieve rotational movement to a certain extent.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The present invention combines the test bench system with the intelligent test system to achieve closed-loop simulation of the driver, vehicle, steering, and high-precision simulation software scenes;

[0035] 2. The vehicle-in-the-loop integrated simulation system can realize the data closed loop between the whole vehicle, the steering simulation system and the simulation scenario, realize the torque loading of the whole vehicle steering system, and feed back the steering information to the vehicle dynamics model in the simulation system, update the vehicle operation status, and realize the vehicle-in-the-loop simulation test of EURO-NCAP and CHINA-NCAP scenarios, and the vehicle-in-the-loop simulation test of the regulatory scenarios related to autonomous driving and assisted driving functions (LKA, AEB, ACC). BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0037] Figure 1 Schematic diagram of the intelligent driving function test system based on the four-motor test bench. DETAILED DESCRIPTION

[0038] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0039] Example 1

[0040] According to the present invention, a smart driving function test system based on a four-motor test bench is provided. Figure 1 As shown, including:

[0041] A high-performance shaft-coupled four-motor test bench with efficient software and hardware collaboration has been built, integrating different types of dynamic simulation models and scenario software to achieve a combination of real vehicle and virtual simulation, which can cover complex driving conditions and meet the needs of higher dynamic testing for high-precision vehicle-in-the-loop intelligent driving function testing, and improve system verification efficiency. The present invention integrates and communicates with the test bench master control software through the models and scenarios of the intelligent driving software to achieve test bench control and test of the test piece.

[0042] The intelligent driving function test system based on the four-motor test bench includes five parts: test bench system, main control system, intelligent test system and auxiliary equipment.

[0043] The bench system includes a dynamometer system, a frequency converter, a torque flange, etc. The dynamometer system consists of a dynamometer, a CV transmission shaft, a dynamometer vibration temperature flow pressure monitoring system, a dynamometer base, an axle protection cover, and a wheel hub connector. The absorption, driving power, torque, and speed of the dynamometer meet the basic parameters of the vehicle under test, and realize the operation of various working condition curves of the vehicle.

[0044] The main control system includes an industrial computer, MORPHEE software, xMOD software, etc. MORPHEE software is based on the RTX64 real-time operating system, which can monitor network data in real time and synchronize the clock of each network data received. The synchronized network data is displayed and stored in real time. It can control the power-on and idle speed of the dynamometer and the switching of road load simulation / throttle modes. The xMOD software can simulate road load simulation, customize the input of vehicle parameters, set the slope, throttle or speed, simulate rolling resistance, wind resistance, slope resistance, and conduct NEDC or customized driving cycle tests; the road adhesion coefficient can be set to simulate the slipping conditions of the four tires separately.

[0045] The intelligent testing system includes vehicle dynamics model, sensor model, driving scenario development software, traffic simulation software, etc. The vehicle dynamics model includes vehicle body, suspension, steering, braking, and powertrain. The sensor model supports GNSS sensors, camera sensors, millimeter wave radar sensors, ultrasonic radar sensors, lidar sensors, etc. Scenario editing supports manual construction, map import, and road data import. Traffic modeling supports manual construction, random traffic flow, and joint simulation with third-party tools.

[0046] In this embodiment, the intelligent test system is used to implement vehicle-in-the-loop simulation tests for EURO-NCAP and CHINA-NCAP scenarios, and vehicle-in-the-loop simulation tests for regulatory scenarios related to autonomous driving and assisted driving functions (LKA, AEB, ACC). The model is built and simulated based on vehicle information. The test scenario is defined based on test requirements. It is equivalent to the vehicle running in a virtual environment, and the real part is the vehicle on the test bench running, controlling the speed of the test bench and the throttle of the vehicle.

[0047] Auxiliary equipment: including driving robots, steering simulators, visual simulation systems, lifts, oncoming fans, etc. The driving robot can replace the real driver to drive, improving the accuracy, sensitivity and consistency of the test. It can calculate or receive the execution of the throttle, brake pedal position, and steering wheel angle to achieve the following of the expected vehicle speed and the actual vehicle speed. The steering simulator is installed under the chassis of the test vehicle, and the actuator is driven by a rotary motor to make the output end rotate. The real-time system collects the force sensor of the steering simulator and directly measures the force applied by the actuator to the steering rod at the end, and receives the force or position signal movement given by the vehicle dynamics model and the steering rod force conversion program, applies tension or pressure to the steering rod and drives it to move. The hardware of the visual simulation system is composed of a triple screen and its mounting bracket.

[0048] The present invention also provides an intelligent driving function testing system based on a four-motor test bench. The intelligent driving function testing system based on the four-motor test bench can be implemented by executing the process steps of the intelligent driving function testing method based on the four-motor test bench, that is, those skilled in the art can understand the intelligent driving function testing method based on the four-motor test bench as a preferred implementation mode of the intelligent driving function testing system based on the four-motor test bench.

[0049] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0050] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An intelligent driving function test system based on a four-motor test bench, characterized in that: include: Test bench system, main control system and intelligent test system; The intelligent testing system is used to create and manage virtual models and driving scenarios; The main control system is used to set and receive operating signals of the test bench system based on the virtual driving scene; The test bench system is used to enable the test vehicle to operate based on the operating signal of the test bench system.

2. The intelligent driving function test system based on a four-motor test bench according to claim 1 is characterized in that: The intelligent testing system includes: a vehicle dynamics model, a sensor model and a virtual environment construction model; simulating various vehicle behaviors and perception effects based on the vehicle dynamics model and sensor model; A plurality of virtual driving scenarios are created based on the virtual environment construction model, and different scenarios are used to simulate real-world driving conditions.

3. The intelligent driving function test system based on the four-motor test bench according to claim 2 is characterized in that: The vehicle dynamics model includes: body, suspension, steering, braking, and powertrain; The sensor model includes: GNSS sensor, camera sensor, millimeter wave radar sensor, ultrasonic radar sensor and lidar sensor; The virtual environment construction model includes: a scene construction model and a traffic construction model.

4. The intelligent driving function test system based on a four-motor test bench according to claim 1 is characterized in that: The main control system includes: real-time monitoring of network data, clock synchronization of each received network data, and real-time display and storage of the clock-synchronized network data.

5. The intelligent driving function test system based on a four-motor test bench according to claim 1 is characterized in that: The system also includes: a driving robot and a steering simulator. Based on the operating signal of the test bench system, the driving robot is used to realize the operation of the test vehicle; Based on the steering simulator, the test vehicle can achieve rotational movement.

6. A method for testing intelligent driving functions based on a four-motor test bench, characterized in that: include: Step S1: Create and manage virtual models and driving scenarios using an intelligent testing system; Step S2: using the main control system to set and receive the operating signal of the test bench system based on the virtual driving scene; Step S3: Using the test bench system to operate the test vehicle based on the operation signal of the test bench system.

7. The intelligent driving function test method based on a four-motor test bench according to claim 6 is characterized in that: The intelligent testing system includes: a vehicle dynamics model, a sensor model and a virtual environment construction model; simulating various vehicle behaviors and perception effects based on the vehicle dynamics model and sensor model; A plurality of virtual driving scenarios are created based on the virtual environment construction model, and different scenarios are used to simulate real-world driving conditions.

8. The intelligent driving function test method based on a four-motor test bench according to claim 7 is characterized in that: The vehicle dynamics model includes: body, suspension, steering, braking, and powertrain; The sensor model includes: GNSS sensor, camera sensor, millimeter wave radar sensor, ultrasonic radar sensor and lidar sensor; The virtual environment construction model includes: a scene construction model and a traffic construction model.

9. The intelligent driving function test method based on a four-motor test bench according to claim 6 is characterized in that: The main control system includes: real-time monitoring of network data, clock synchronization of each received network data, and real-time display and storage of the clock-synchronized network data.

10. The intelligent driving function test method based on a four-motor test bench according to claim 6 is characterized in that: The method further comprises: Based on the operating signal of the test bench system, the driving robot is used to realize the operation of the test vehicle; Based on the steering simulator, the test vehicle can achieve rotational movement.

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