V2X test system based on whole vehicle in-loop simulation test

Abstract

The invention relates to the technical field of whole vehicle testing, and particularly discloses a V2X testing system based on whole vehicle in-loop simulation testing, and the system comprises a tested V2X device and a sensor which are disposed on a tested vehicle, and the tested vehicle is an intelligent network connection vehicle; the V2X test environment comprises a virtual simulation environment and a load simulation environment; the virtual simulation environment is used for providing a virtual simulation scene and a cloud database for a tested object; and the load simulation environment comprises a real-time simulation model and a road load simulation system, the real-time simulation model is used for operating a vehicle dynamics model, and the vehicle dynamics model is used for calculating the transverse and longitudinal load control instruction to obtain a load instruction of the tested object. According to the invention, a complete application layer function test environment is constructed for the V2X component, so that the output and execution effect of the V2X component can be fully tested and verified; and meanwhile, the test complexity and the operation complexity of the V2X component in a vehicle equipment environment are reduced, and the test efficiency and the test process safety are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle testing, and particularly relates to a V2X test system based on vehicle-in-the-loop simulation testing. Background Art

[0002] V2X technology is one of the key technologies for vehicle intelligent networking. Through modern communication and network technologies, it realizes information exchange and sharing among vehicles, people, roads, and the background, etc., to improve travel safety and efficiency. Among them, C-V2X is a vehicle wireless communication technology based on cellular network communication technology and is the mainstream V2X technology route. V2X technology is in a rapid development stage, with endless product solutions emerging. Full and comprehensive testing and verification of V2X products are an important guarantee for the marketization of V2X.

[0003] Currently, the V2X testing and verification means mainly include the communication performance testing of V2X terminal devices, the consistency testing of the V2X terminal network layer and application layer, and the function testing of the V2X terminal application layer. However, the existing V2X testing and verification means cannot take into account the extreme working condition testing involving personal safety. At the same time, this part of the testing and verification cannot be achieved by real vehicle road site testing.

[0004] Based on this technical background, the present invention has studied a V2X test system based on vehicle-in-the-loop simulation testing. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a V2X test system based on vehicle-in-the-loop simulation testing, which constructs a complete application layer function test environment (i.e., vehicle equipment environment) for V2X components (objects to be tested), enabling the output and execution effects of V2X components to be fully tested and verified; at the same time, reducing the complexity and operation cumbersome of testing V2X components in the vehicle equipment environment, improving the testing efficiency and the safety of the testing process; and enhancing the scalability of the V2X test solution to cope with the rapid development of V2X technology.

[0006] To achieve the above object, the present invention provides a V2X test system based on vehicle-in-the-loop simulation testing, including:

[0007] The V2X device to be tested and sensors are installed on the vehicle to be tested, and the vehicle to be tested is an intelligent networked vehicle;

[0008] A V2X test environment, including a virtual simulation environment and a load simulation environment;

[0009] The virtual simulation environment is used to provide a virtual simulation scenario and a cloud database for the object to be tested;

[0010] The load simulation environment includes a real-time simulation model and a road load simulation system. The real-time simulation model is used to run a vehicle dynamics model, and the vehicle dynamics model is used to calculate the load command of the object under test based on the lateral and longitudinal load control commands.

[0011] The beneficial effects of the present invention include:

[0012] (1) The V2X test system based on vehicle-in-the-loop simulation testing proposed by the present invention constructs a complete application layer functional test environment (i.e., vehicle equipment environment) for V2X components (objects under test), enabling the output and execution effects of V2X components to be fully tested and verified; at the same time, reducing the complexity and cumbersome operation of testing V2X components in the vehicle equipment environment, improving the test efficiency and the safety of the test process; and enhancing the scalability of the V2X test solution to cope with the rapid development of V2X technology.

[0013] (2) The V2X test system based on vehicle-in-the-loop simulation testing proposed by the present invention provides a test solution for integrating laboratory-level V2X components on a real vehicle. Based on this system, it can fully verify the co-perception of external environment information by V2X components and other sensors and the perception information fusion effect, further verify the planning and decision-making algorithms under perception conditions, and the functions and performance of the control execution components, solving the problem in the existing solutions that the functional strategies of intelligent verification planning and decision-making algorithms and the performance of whether the execution components are activated cannot be effectively tested.

[0014] (3) The V2X test system based on vehicle-in-the-loop simulation testing proposed by the present invention greatly improves the test efficiency by means of a virtual simulation environment, and at the same time can take into account the testing of extreme working conditions related to personal safety, solving the technical problem that this part of the test verification cannot be achieved in real vehicle road site testing, and providing a complete solution for the testing of V2X components under vehicle equipment conditions.

[0015] Other features and advantages of the present invention will be described in detail in the following specific implementation section. Brief Description of the Drawings

[0016] By describing the exemplary embodiments of the present invention in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present invention will become more apparent.

[0017] Figure 1 It is a schematic diagram of the architecture of the V2X test system based on vehicle-in-the-loop simulation testing proposed by the present invention.

[0018] Figure 2 It is a schematic diagram of the V2X test environment structure in a specific implementation of the V2X test system based on vehicle-in-the-loop simulation testing proposed by the present invention. Detailed Embodiments

[0019] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0020] The present invention provides a V2X test system based on vehicle-in-the-loop simulation testing, as Figure 1 shown, including:

[0021] A V2X device under test and sensors, which are installed on a vehicle under test, and the vehicle under test is an intelligent connected vehicle;

[0022] A V2X test environment, including a virtual simulation environment and a load simulation environment;

[0023] The virtual simulation environment is used to provide a virtual simulation scenario and a cloud database for the object under test;

[0024] The load simulation environment includes a real-time simulation model and a road load simulation system. The real-time simulation model is used to run a vehicle dynamics model, and the vehicle dynamics model is used to calculate the load command of the object under test by calculating the lateral and longitudinal load control commands.

[0025] In the present invention, a complete application layer function test environment (i.e., a vehicle equipment environment) is constructed for V2X components (objects under test), so that the output and execution effects of V2X components can be fully tested and verified; at the same time, the complexity and operation tediousness of testing V2X components in the vehicle equipment environment are reduced, the testing efficiency and the safety of the testing process are improved; and the scalability of the V2X test solution is improved to cope with the rapid development of V2X technology.

[0026] According to the present invention, the sensors include cameras, millimeter-wave radars, lidars, and ultrasonic radars;

[0027] The virtual simulation environment sends the sensor perception information to the perception system of the vehicle under test through a V2X simulation device and a sensor simulation device;

[0028] The vehicle dynamics model loads the load command of the object under test onto the vehicle under test through the road load simulation system.

[0029] According to the present invention, the V2X simulation device includes a comprehensive tester and a GNSS simulator;

[0030] The comprehensive tester is a V2X radio frequency signal simulation device, and the GNSS simulator is a navigation satellite positioning information simulation device;

[0031] The technical means adopted by the sensor simulation device include:

[0032] Video dark box simulation, video injection device simulation, camera bus signal simulation, and data backflow simulation for camera testing;

[0033] Millimeter-wave radar simulator simulation, millimeter-wave radar raw signal simulation, millimeter-wave radar target object bus simulation, and data backflow simulation for millimeter-wave radar;

[0034] Point cloud simulation and data backflow simulation for lidar;

[0035] Echo simulation or hardwire simulation and data backflow simulation for ultrasonic radar.

[0036] In the present invention, a test solution for integrating laboratory-level V2X components on a real vehicle is provided. Based on this system, it can fully verify the co-perception of external environment information by V2X components and other sensors and the perception information fusion effect, further verify the planning and decision-making algorithms under perception conditions, and the functions and performance of the control execution components, solving the problem in the existing solutions that the functional strategies of the intelligent verification planning and decision-making algorithms and the performance of whether the execution components are activated cannot be effectively tested.

[0037] According to the present invention, the simulation signals received by the V2X simulation device for application layer function testing include the information of the test vehicle itself, the navigation and positioning information of the remote vehicle, and the information of other facilities.

[0038] According to the present invention, the information of the test vehicle itself is sent by the computing platform to the V2X simulation device through the CAN bus signal, including vehicle speed, acceleration, and chassis information;

[0039] The navigation and positioning information of the remote vehicle is simulated by the virtual scene software for the navigation and positioning information of the GPS and Beidou navigation systems and sent to the GNSS simulator through the Ethernet, or played back by the cloud database to the GNSS simulator through the Ethernet, and then the GNSS simulator simulates the radio frequency signal of the navigation and positioning information and sends it to the V2X simulation device;

[0040] The information of other facilities includes the V2X device of the remote vehicle, roadside devices, base stations, and pedestrian portable devices with real-time communication functions;

[0041] The information of other facilities is simulated by the virtual scene software and sent to the comprehensive tester through the Ethernet, and the comprehensive tester converts it into a radio frequency signal and sends it to the V2X simulation device.

[0042] Preferably, the sending of the sensor perception information to the perception system of the test vehicle through the V2X simulation device and the sensor simulation device includes:

[0043] The V2X simulation device forwards the navigation and positioning information of the remote vehicle and the information of other facilities simulated from the scene simulation software to the automatic driving computing platform of the test vehicle;

[0044] The automatic driving computing platform of the vehicle under test outputs the vehicle control instructions to the actuators of the vehicle through the decision-making and planning algorithm and the control algorithm, and then the actuators of the vehicle make corresponding actions.

[0045] Preferably, the vehicle control instructions include forward / backward driving, acceleration / deceleration, steering, and braking;

[0046] The actuators of the vehicle include a steering system, a braking system, and a drive system.

[0047] According to the present invention, the road load simulation system is used for loading the drive system and the steering system of the vehicle under test;

[0048] The information collected by the road load simulation system includes the actual wheel speed, torque, wheel rotation angle, and wheel steering speed.

[0049] According to the present invention, the vehicle dynamics model calculates the load command of the object under test for the longitudinal and lateral load control commands, and loads the load command of the object under test to the vehicle under test through the road load simulation system, including:

[0050] Performing longitudinal and lateral load calculations through the vehicle dynamics model, and sending the target wheel torque, speed, wheel rotation angle, and wheel steering speed to the dynamometer and the steering mechanism for longitudinal and lateral loading of the vehicle;

[0051] Calculating the parameter information of the virtual vehicle under test through the vehicle dynamics model, and transmitting it to the platform where the scenario simulation software runs through the Ethernet bus, thereby triggering changes in V2X navigation and positioning information, other facility information, and other sensor simulation information;

[0052] The parameter information of the vehicle under test includes the body attitude, vehicle speed / acceleration, and wheel position information.

[0053] According to the present invention, the scenario information of the scenario simulation software includes the road surface adhesion coefficient and the vehicle altitude information;

[0054] The scenario information is transmitted back to the real-time simulation model in the load simulation environment through the Ethernet bus, participates in the road load simulation calculation, and forms a signal closed-loop between the test system and the object under test.

[0055] In the present invention, with the help of the virtual simulation environment, the test efficiency is greatly improved, and at the same time, the extreme condition tests involving personal safety can be taken into account, solving the technical problems that cannot be achieved in the real vehicle road site tests for this part of the test verification, and providing a complete solution for the V2X component tests of the vehicle under equipped conditions.

[0056] The present invention will be described in more detail below through embodiments.

[0057] Embodiment 1:

[0058] This embodiment proposes a V2X test system based on vehicle-in-the-loop simulation testing. As Figure 1 shown, the V2X device under test is installed on a real vehicle, and the real vehicle under test is an intelligent connected vehicle. The perception system, in addition to the V2X device, also includes sensors such as cameras, millimeter-wave radars, lidars, and ultrasonic radars. The test environment constructed with the vehicle under test mainly includes two parts: a virtual simulation environment and a load simulation environment;

[0059] The main function of the virtual simulation environment is to provide rich virtual simulation scenarios for the object under test and a large-scale database stored in the cloud, and send the sensor perception information to the perception system of the vehicle under test through V2X simulation devices and sensor simulation devices; The devices involved in V2X simulation technology means, such as Figure 2 shown, include a comprehensive tester (V2X radio frequency signal simulation device), a GNSS simulator (navigation satellite positioning information simulation device); The sensor simulation technology means include: a video dark box, a video injection device, camera bus signal simulation, and data backfilling simulation for camera testing; a millimeter-wave radar simulator, millimeter-wave radar raw signal simulation, millimeter-wave radar target object bus simulation, and data backfilling simulation for millimeter-wave radar; point cloud simulation and data backfilling simulation for lidar; echo simulation or hard wire simulation and data backfilling simulation for ultrasonic radar, etc.;

[0060] As Figure 2 shown, the V2X component application layer function test needs to receive three types of simulation signals, namely the vehicle information of the vehicle under test, the navigation and positioning information of the far vehicle, and the information of other facilities; The vehicle information of the V2X vehicle under test is sent to the V2X device by the computing platform through the CAN bus signal. The vehicle information includes chassis information such as vehicle speed and acceleration (in the real road, the chassis and positioning information of the vehicle will be transmitted to the far vehicle or roadside equipment by radio waves through the OBU to achieve information sharing; in this test solution, it is not necessary to transmit and analyze the vehicle information); The navigation and positioning information can be sent in such a way that the scene software simulates the navigation and positioning information of navigation systems such as GPS and Beidou and sends it to the GNSS simulator through Ethernet, and then the GNSS simulator simulates the radio frequency signal of the above navigation signal and sends it to the V2X component, or it can be played back to the GNSS simulator through the cloud database through Ethernet; The information of other facilities includes, but is not limited to, the V2X device of the far vehicle, roadside equipment, base stations, and portable devices carried by pedestrians with real-time communication functions, etc. This part of the simulation is also carried out in the scene software, and this information is sent to the comprehensive tester through Ethernet, and the comprehensive tester converts this part of the information into a radio frequency signal and sends it to the V2X component to be tested;

[0061] In this embodiment, the signals generated by the working condition scenarios simulated by the scenario simulation software and the stored signals in the cloud database are sent to the V2X components and sensor components of the vehicle under test through V2X simulation technology means and other sensor simulation technology means to provide the information required by the perception algorithm of the vehicle under test. Among them, the V2X components forward the remote vehicle navigation and positioning information and other facility information simulated from the scenario simulation software to the automatic driving computing platform of the vehicle under test. The automatic driving computing platform of the vehicle under test outputs the vehicle control instructions (including forward / backward driving, acceleration / deceleration, steering, braking, etc.) to the actuators of the vehicle through the decision-making and planning algorithm and the control algorithm, and the actual actuators (steering system, braking system, drive system) of the vehicle perform corresponding actions. In the laboratory, it is necessary to provide load simulation for the actual actuators of the vehicle, that is, the load simulation environment in the vehicle-in-the-loop system.

[0062] In this embodiment, the load simulation environment includes a real-time simulation system and a road load simulation system. The real-time simulation system is used to run the vehicle dynamics model, which is mainly used for the calculation of transverse and longitudinal load control instructions. The calculated load instructions of the object under test are loaded onto the vehicle under test through the road load simulation system. The road load simulation system is used for the loading of the drive system and steering system of the vehicle under test. The technical solution of this embodiment adopts a movable shaft-coupled dynamometer. The road load simulation system collects the actual wheel speed, torque, wheel angle, and wheel steering speed information. On the one hand, through the road load simulation model in the vehicle dynamics, the transverse and longitudinal loads are calculated, and the target wheel-side torque, speed, wheel angle, and wheel steering speed are sent to the dynamometer and steering mechanism for vehicle transverse and longitudinal loading. On the other hand, through the vehicle simulation model, the virtual vehicle parameters information such as the body attitude, vehicle speed / acceleration, and wheel position information of the virtual vehicle under test is calculated and transmitted to the platform where the scenario simulation software runs through the Ethernet bus, so that the virtual vehicle under test running in the scenario simulation software runs in the established scenario, triggering changes in V2X navigation and positioning information, other facility information, and other sensor simulation information. At the same time, the scenario information of the scenario simulation software, including road adhesion coefficient, vehicle altitude information, etc., is transmitted back to the real-time simulation model in the load simulation environment through the Ethernet bus to participate in the road load simulation calculation, forming a signal closed-loop between the test system and the object under test.

[0063] The V2X test system based on vehicle-in-the-loop simulation testing proposed in the embodiment of the present invention constructs a complete application layer function test environment (i.e., vehicle equipment environment) for the V2X components (objects under test), enabling the output and execution effects of the V2X components to be fully tested and verified. At the same time, it reduces the complexity and cumbersome operation of testing the V2X components in the vehicle equipment environment, improves the test efficiency and test process safety, and enhances the scalability of the V2X test solution to cope with the rapid development of V2X technology.

[0064] The embodiments of the present invention have been described above. The above description is exemplary and not exhaustive, and is also not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A V2X test system based on vehicle-in-the-loop simulation test, characterized in that: include: The V2X device and sensor under test are installed on the vehicle under test, and the vehicle under test is an intelligent connected vehicle; V2X test environment, including virtual simulation environment and load simulation environment; The virtual simulation environment is used to provide a virtual simulation scene and a cloud database for the object under test; The load simulation environment includes a real-time simulation model and a road load simulation system. The real-time simulation model is used to run a vehicle dynamics model. The vehicle dynamics model is used to calculate lateral and longitudinal load control instructions to obtain load instructions for the object under test.

2. The system according to claim 1, characterized in that The sensors include cameras, millimeter wave radars, laser radars, and ultrasonic radars; The virtual simulation environment sends the sensor perception information to the perception system of the vehicle under test through the V2X simulation device and the sensor simulation device; The vehicle dynamics model loads the measured object load instruction to the measured vehicle through the road load simulation system.

3. The system according to claim 2, characterized in that The V2X simulation equipment includes a comprehensive tester and a GNSS simulator; The comprehensive tester is a V2X radio frequency signal simulation device, and the GNSS simulator is a navigation satellite positioning information simulation device; The technical means adopted by the sensor simulation device include: Video dark box simulation, video injection device simulation, camera bus signal simulation, and data re-injection simulation for the camera test; Millimeter-wave radar simulator simulation, millimeter-wave radar original signal simulation, millimeter-wave radar target bus simulation, and data feedback simulation for millimeter-wave radar; Point cloud simulation and data re-injection simulation for the laser radar; Echo simulation or hard-line simulation, data re-injection simulation for the ultrasonic radar.

4. The system according to claim 3, characterized in that The simulation signal received by the V2X simulation device for application layer function testing includes the test vehicle's own vehicle information, remote vehicle navigation positioning information and other facility information.

5. The system according to claim 4, characterized in that The vehicle information of the test vehicle is sent to the V2X simulation device by the computing platform through the CAN bus signal, including vehicle speed, acceleration chassis information; The remote vehicle navigation and positioning information is simulated by the virtual scene software as the navigation and positioning information of the GPS and Beidou navigation systems, and is sent to the GNSS simulator via Ethernet, or is played back to the GNSS simulator via Ethernet by the cloud database, and then the GNSS simulator simulates the radio frequency signal of the navigation and positioning information and sends it to the V2X simulation device; The other facility information includes remote vehicle V2X equipment, roadside equipment, base stations, and pedestrian-carried equipment with real-time communication functions; The other facility information is simulated by virtual scene software, sent to the comprehensive tester via Ethernet, and converted into a radio frequency signal by the comprehensive tester and sent to the V2X simulation device.

6. The system according to claim 5, characterized in that Sending sensor perception information to the perception system of the vehicle under test through the V2X simulation device and the sensor simulation device includes: The remote vehicle navigation positioning information and other facility information obtained from the scenario simulation software are forwarded to the autonomous driving computing platform of the vehicle under test through the V2X simulation device; The autonomous driving computing platform of the vehicle under test outputs the vehicle control instructions to the actuator of the vehicle through the decision-making planning algorithm and the control algorithm, and the actuator of the vehicle then takes corresponding actions.

7. The system according to claim 6, characterized in that The vehicle control instructions include forward / reverse driving, acceleration / deceleration, steering, and braking; The actuator of the vehicle includes a steering system, a braking system, and a driving system.

8. The system according to claim 7, characterized in that The road load simulation system is used to load the driving system and steering system of the vehicle under test; The information collected by the road load simulation system includes actual wheel speed, torque, wheel angle and wheel steering speed.

9. The system according to claim 8, characterized in that The vehicle dynamics model calculates the lateral and longitudinal load control instructions to obtain the load instructions of the object under test, and loads the load instructions of the object under test to the vehicle under test through the road load simulation system, including: The lateral and longitudinal loads are calculated by the vehicle dynamics model, and the target wheel torque, rotation speed, wheel angle, and wheel steering speed are sent to the dynamometer and steering mechanism to load the vehicle lateral and longitudinally; Calculate the parameter information of the virtual vehicle under test through the vehicle dynamics model and transmit it to the platform where the scenario simulation software runs through the Ethernet bus, thereby triggering changes in V2X navigation positioning information, other facility information, and other sensor simulation information; The measured vehicle parameter information includes vehicle body posture, vehicle speed / acceleration and wheel position information.

10. The system according to claim 8, characterized in that The scenario information of the scenario simulation software includes road adhesion coefficient and vehicle altitude information; The scenario information is transmitted back to the real-time simulation model in the load simulation environment through the Ethernet bus, participates in the road load simulation calculation, and forms a signal closed loop between the test system and the object under test.

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