Automatic driving formation hardware-in-loop simulation platform based on satellite position simulation platform and medium

Abstract

The invention provides an automatic driving formation hardware-in-the-loop simulation platform based on a satellite position simulation platform and a medium, and relates to the technical field of automatic driving and car networking simulation. The platform comprises a satellite position simulation module, a traffic simulation platform, a hardware verification platform, a simulation bus and a clock synchronization module. The satellite position simulation module generates satellite data with a timestamp; the traffic simulation platform constructs a formation driving scene and operates a formation control algorithm; the hardware verification platform comprises a real phased-array antenna module and a PC5 communication device. The modules exchange data through a simulation bus, and the clock synchronization module unifies the time reference to form a closed-loop verification environment of simulation hardware simulation. The problems that space-based data and ground simulation are separated and real communication characteristics are difficult to quantitatively evaluate in the prior art are solved, the satellite-ground cooperation and formation control strategy can be efficiently and reliably verified in a laboratory environment, and the real vehicle test cost and risk are remarkably reduced.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving and vehicle-to-everything (V2X) simulation technology. Specifically, it relates to an autonomous driving platooning hardware-in-the-loop simulation platform based on a satellite position simulation platform, and more particularly to a hardware-in-the-loop (HIL) simulation platform that integrates satellite position simulation, vehicle traffic simulation, and communication hardware verification. It is suitable for research and verification of fleet control driven by platooning, satellite-ground cooperation, and spatial situational data. Background Technology

[0002] Current autonomous driving platooning verification largely relies on software-in-the-loop (SIL) or pure simulation environments, resulting in insufficient coupling between real communication links and external spatial situational data. Furthermore, spatial situational data (such as satellite positions) is often disconnected from road traffic simulations, making it impossible to conduct closed-loop verification of strategies based on satellite-to-ground links on a unified platform. On the other hand, direct vehicle-to-vehicle communication is crucial for platooning maintenance and emergency coordination, but its latency, packet loss, and anti-interference characteristics driven by multi-source spatiotemporal data lack joint evaluation with real hardware.

[0003] To address the aforementioned issues, there is an urgent need for a HIL platform that can run on ordinary hardware and can consistently couple satellite position simulation with traffic simulation and communication hardware, in order to form a closed loop of "simulation → hardware → control" and improve the realism and reproducibility of formation strategies. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide an autonomous driving formation hardware-in-the-loop simulation platform and medium based on a satellite position simulation platform.

[0005] According to the present invention, an autonomous driving formation hardware-in-the-loop simulation platform based on a satellite position simulation platform is provided, comprising: The satellite position simulation module is used to generate timestamped satellite position and status data based on the orbit propagation model. A traffic simulation platform is used to construct traffic scenarios for autonomous driving platooning, which includes a lead vehicle equipped with a satellite phased array antenna board and platooning vehicles equipped with PC5 communication modules. The hardware verification platform includes the phased array antenna module corresponding to the satellite phased array antenna board, the PC5 communication module, and the hardware-in-the-loop interface host; The satellite position data generated by the satellite position simulation module is sent to the traffic simulation platform via the simulation bus. The traffic simulation platform performs formation control calculations based on the satellite position data and the link status reported by the PC5 communication module, and generates control commands. The control commands and satellite position data are sent to the hardware verification platform via the hardware-in-the-loop interface host for hardware-in-the-loop verification. The hardware verification platform feeds back the link quality data generated during the verification process to the traffic simulation platform via the hardware-in-the-loop interface host, forming a closed-loop simulation verification.

[0006] Preferably, it further includes: The simulation bus is connected to the satellite position simulation module, the traffic simulation platform, and the hardware-in-the-loop interface host, respectively, and is used to transmit position, control, and link data. A clock synchronization module is connected to the simulation bus and the hardware-in-the-loop interface host to provide a unified time reference for the platform. Preferably, the satellite position simulation module adopts a browser-based computing framework, generates satellite position, velocity, and visibility status data through parallel processing of WebWorker thread pool and SGP4 or SDP4 orbit propagation model, and pushes the timestamp-aligned data to the simulation bus through WebSocket or HTTP protocol.

[0007] Preferably, the traffic simulation platform is constructed using VTD and uses the SCP interface for configuration file distribution and simulation result feedback. The satellite phased array antenna board installed on the lead vehicle is used to calculate link pointing and beam parameters or receive simulated satellite signals based on the satellite position data. The vehicles in the platoon communicate directly between each other through the PC5 communication module based on the LTE-V2X or NR-V2X protocol.

[0008] Preferably, in the hardware verification platform: The phased array antenna module is used to provide programmable beamforming, angle and gain control, and link quality measurement. The PC5 communication module is used to provide direct communication based on LTE-V2X or NR-V2X, and to report link statistics including RSSI, latency and packet loss rate. The hardware-in-the-loop interface host is used to realize clock synchronization and data routing between the simulation bus and the hardware verification platform, map simulation data into hardware I / O signals, and return hardware response data to the simulation environment.

[0009] Preferably, the clock synchronization module uses PTP, NTP or GPS-PPS protocols to provide a unified time reference to ensure the consistency of the temporal order of events and the reproducibility of the simulation phase in the satellite position simulation module, the traffic simulation platform and the hardware verification platform.

[0010] Preferably, the simulation bus defines at least three types of data topics: Location topic, used to publish satellite status data generated by the satellite location simulation module; The control topic is used to publish fleet control commands generated by the traffic simulation platform. Link topics are used to publish communication link quality data reported by the hardware verification platform.

[0011] Preferably, the platform's workflow includes: Initialization steps: Load satellite orbit parameters, traffic scenario, and initialize computing resources; Parallel computing steps: Perform satellite position calculations and formation control strategy calculations in parallel; Data synchronization and rendering steps: Update the simulation status and perform visualization rendering or data playback; Hardware-in-the-loop interaction steps: Send control commands and simulation data to the hardware verification platform and receive its feedback; Analysis and processing steps: Scenario analysis is performed based on feedback data, and a deep analysis algorithm is triggered when an anomaly is detected.

[0012] According to the present invention, a computer-readable storage medium is provided thereon storing a computer program, which, when executed by a processor, implements the aforementioned workflow.

[0013] Compared with the prior art, the present invention has the following beneficial effects: This invention achieves efficient coupling of satellite position data and vehicle simulation on ordinary hardware; incorporates real PC5 equipment into a closed loop to quantify protocol stack latency and packet loss; loads simulated satellite signals through a phased array antenna module to verify satellite link strategies; and ensures consistency and repeatability of different modules with a unified simulation bus and clock synchronization, significantly improving the realism of formation simulation and the efficiency of engineering implementation.

[0014] This invention achieves closed-loop verification of satellite position-traffic simulation-communication hardware on a regular consumer PC; quantifies the stability and response of formation strategies under different link qualities using real PC5 devices; evaluates the feasibility of satellite-ground cooperative strategies through phased array antenna modules, reducing the cost and risk of real vehicle road testing. Attached Figure Description

[0015] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the overall platform architecture in an embodiment of the present invention; Figure 2 This is a schematic diagram of hardware-in-the-loop connections in an embodiment of the present invention; Figure 3 This is a simulation flowchart in an embodiment of the present invention; Figure 4 This is a formation communication topology diagram in an embodiment of the present invention. Detailed Implementation

[0016] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0017] Glossary (Chinese-English): Satellite Position Simulation Module (keeptrack.space) Traffic Simulation Platform (VTD) Phased-Array Antenna Module Workshop communication (PC5): V2X Direct Communication (PC5 Interface) Hardware-in-the-Loop Interface Host Simulation / Event Bus Clock Synchronization Module (PTP / NTP / GPS-PPS) SCP communication: Secure Copy for Configuration / Result Transfer Orbit Propagation Model: Orbit Propagation (SGP4 / SDP4) This invention provides an autonomous driving formation hardware-in-the-loop (HIL) simulation platform based on a satellite position simulation platform. It aims to solve the problem of the separation between satellite position simulation, vehicle traffic simulation and real communication hardware verification in the prior art, and achieve efficient coupling and closed-loop verification of the three, thereby improving the authenticity and reliability of autonomous driving formation strategy testing.

[0018] The following combination Figures 1 to 4 The platform architecture, module functions, data flow and workflow of the present invention are described in detail.

[0019] 1. Platform Overall Architecture like Figure 1 As shown, the hardware-in-the-loop simulation platform of the present invention mainly includes a satellite position simulation module 101, a traffic simulation platform 102, a hardware verification platform (including a phased array antenna module 103, a PC5 communication module 104, and a HIL interface host 106), a simulation bus 110, and a clock synchronization module 114.

[0020] Each module exchanges data loosely via the simulation bus 110, and the clock synchronization module 114 ensures a unified time base for the entire system, thus forming a closed-loop verification environment of "simulation-hardware-simulation". The external SCP interface 105 is used for lightweight data exchange with external analysis tools or data storage systems.

[0021] 2. Functions and Implementation Details of Each Module Satellite Position Simulation Module 101 The core function of this module is to generate high-precision satellite orbit and status data with accurate timestamps in real time or offline, providing space situation input for space-ground collaborative simulation.

[0022] In a preferred embodiment, a web-based satellite location simulation tool (such as keeptrack.space) is used as the core. This tool utilizes WebGL and parallel computing technology to run efficiently on the user's browser.

[0023] Orbit Calculation: The module loads standard two-line orbit data and uses orbit propagation models such as SGP4 / SDP4 to calculate position and velocity. It supports batch processing of a large number of space targets.

[0024] Data Output: The calculated satellite states (including position, velocity, etc.) are encapsulated in a structured data format (such as JSON or FlatBuffer). Each data entry is accompanied by a timestamp aligned with the simulated world time.

[0025] Interface and transmission: Timestamp-aligned status data is pushed to the simulation bus 110 via WebSocket or HTTP. To handle large-scale scenarios, an incremental update strategy can be adopted, publishing only satellite data whose status has changed.

[0026] Furthermore, WebWorkers can be enabled to achieve multi-threaded parallel computing, or it can be compiled into a WebAssembly module to further improve computing performance and ensure that a high refresh rate can still be maintained when simulating complex space scenarios.

[0027] Traffic Simulation Platform 102 This module is responsible for building and running road traffic simulation scenarios for autonomous driving formations, and is the core of vehicle dynamics, formation strategies and interaction with the external environment.

[0028] In a preferred embodiment, professional-grade traffic simulation software VTD is used. A simulation scenario including road networks, traffic signals, and other traffic participants is constructed in VTD.

[0029] The scenario defines a convoy consisting of a lead vehicle 108 and multiple follower vehicles 107. The lead vehicle 108 is configured to be equipped with a satellite phased array antenna board (corresponding to hardware module 103), enabling it to receive or simulate satellite communication links. All vehicles in the convoy are equipped with PC5 communication capabilities (corresponding to hardware module 104).

[0030] The VTD runs user-defined formation control algorithms (such as Cooperative Adaptive Cruise Control, CACC). This algorithm receives not only sensor simulation data from the vehicle itself, but also two types of key information via the simulation bus 110: first, satellite visibility / geometric data from the satellite position simulation module 101, used for satellite-to-ground link analysis; and second, link quality data (such as latency and packet loss rate) reported by the hardware verification platform and measured by the PC5 communication module 104. The control algorithm integrates this information to dynamically adjust the spacing and speed of vehicles in the platoon, and controls the antenna beam pointing of the lead vehicle.

[0031] The platform provides interface 105 to the outside world through the SCP (Secure Copy) protocol, which is used to distribute scene configuration files and vehicle parameters before the simulation starts, and to collect integrated logs and results data after the simulation ends, so as to facilitate integration with external analysis pipelines.

[0032] Hardware verification platform This platform integrates real communication hardware into a simulation closed loop to quantitatively evaluate the performance of simulation strategies on actual hardware. This includes: Phased array antenna module 103: This module is a real radio frequency hardware device capable of receiving beam control commands from a satellite signal simulator or directly from simulation software. It can perform beamforming, scanning, and pointing control, and measure link quality indicators such as received signal strength and signal-to-noise ratio. In HIL simulation, its control commands originate from the traffic simulation platform 102 (calculated based on satellite positions), and its measurement results are fed back to the simulation bus via the HIL interface host 106.

[0033] PC5 Communication Module 104: This module is a real vehicle-to-everything (V2X) communication terminal (such as an OBU) compliant with 3GPP LTE-V2X or NR-V2X standards. In simulation, it is configured to correspond one-to-one with the simulated vehicles in the VTD and conducts direct vehicle-to-vehicle communication in a real radio frequency environment, exchanging BSM, CAM, and other messages. The module will collect and report key performance indicators such as received signal strength, end-to-end latency, and packet loss rate in real time.

[0034] HIL interface host 106 and clock synchronization module 114: HIL interface host 106 runs dedicated interface software responsible for: a) subscribing to control commands (such as antenna beam angle and vehicle control commands) from emulation bus 110 and converting them into low-level control signals (such as GPIO, CAN messages, and network packets) that can be recognized by hardware devices; b) collecting status data (such as antenna measurement reports and PC5 link statistics) from hardware devices, packaging them, timestamping them, and publishing them to the corresponding topics on emulation bus 110.

[0035] The clock synchronization module 114 employs a high-precision clock synchronization protocol (such as PTP-1588, NTP, or PPS pulses combined with GPS) to ensure that the internal clock of the simulation software (VTD, satellite simulation), the system clock of the HIL interface host 106, and the time of all hardware devices remain highly synchronized. This guarantees the correct sequence of simulation events, clear causal relationships in the data, and the repeatable playback of the simulation process.

[0036] Simulation bus 110 The simulation bus 110 serves as an event-driven data pipeline, employing a publish-subscribe model. It carries three types of data topics: location, control, and link. Location topic: Published by Satellite Position Simulation Module 101.

[0037] Control topic: Published by the controller in traffic simulation platform 102.

[0038] Link topic: Released after data from the hardware verification platform is collected by HIL interface host 106.

[0039] In a preferred embodiment, the simulation bus 110 can be implemented using ROS (Robot Operating System) middleware, DDS (Data Distribution Service), or a high-performance message queue (such as ZeroMQ or Kafka). All modules subscribe to and publish messages on relevant topics according to their roles, achieving asynchronous and decoupled data flow.

[0040] 3. Platform Workflow Combination Figure 3 The flowchart shows a typical simulation run of the platform: Step A (Initialization): Start the platform and load the satellite orbit data, VTD road scene file, platoon vehicle model, and control algorithm parameters required for this simulation. Initialize the various components of the simulation bus 110 and establish connections. The HIL interface host 106 completes self-tests and connections with all hardware devices.

[0041] Step B (Parallel Computing): Step B1 (Satellite Position Calculation): The satellite position simulation module 101 starts running. Based on the current simulation time, it uses the orbital model to calculate the position and status of all relevant satellites in the future period and continuously publishes them through the simulation bus 110.

[0042] Step B2 (Formation Control Calculation): VTD Simulation Step-by-Step Progression. The formation control algorithm begins operation. It first subscribes to and acquires the latest PC5 link status and satellite visibility data. Then, based on vehicle dynamics, the status of the preceding vehicle, and measured communication link quality, the algorithm calculates the acceleration / deceleration control commands for each vehicle. Simultaneously, it calculates the antenna beam pointing angle required for the lead vehicle to respond to the current satellite geometry.

[0043] Step C (Data Synchronization and Rendering): The VTD publishes the calculated vehicle control commands to the control topic. Simultaneously, the VTD's graphics engine updates the vehicle position and renders the 3D scene. The satellite position simulation module 101 also updates its visualization interface synchronously.

[0044] Step D (Interaction and Analysis): Operators can monitor in real time through the interface of VTD or satellite simulation tools, performing operations such as switching perspectives, focusing on specific vehicles, and viewing link quality curves. All interactions and simulation data are recorded.

[0045] Step E (Deep Analysis Triggered by Anomalies): When the system detects an anomaly (such as a continuous interruption of the communication link or a serious overrun of the formation spacing), it can automatically trigger more detailed data recording or call additional analysis scripts to perform joint deep analysis of multi-source data during the anomaly period to assist in problem localization.

[0046] Those skilled in the art will understand that various modifications and substitutions can be made to the above embodiments without departing from the core concept of the present invention.

[0047] The satellite position simulation module 101 is not limited to browser-based tools; it can also be replaced with locally deployed high-precision satellite simulation software (such as STK's API service).

[0048] The traffic simulation platform 102 is not limited to VTD; it can also use simulation environments that can interface with hardware, such as CarSim, PreScan, and Carla.

[0049] The specific technology selection for the emulation bus 110 can be chosen based on the requirements for real-time performance, reliability, and ease of development.

[0050] The clock synchronization module 114 can use software NTP in scenarios with low requirements, but must use hardware PTP or GPS-PPS for high-precision requirements.

[0051] The data interface format can be selected from various serialization methods such as Protobuf and JSON, depending on the system integration requirements.

[0052] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A hardware-in-the-loop simulation platform for autonomous driving formation based on a satellite position simulation platform, characterized in that, include: The satellite position simulation module (101) is used to generate timestamped satellite position and status data based on the orbit propagation model; Traffic simulation platform (102) is used to construct traffic scenarios for autonomous driving platooning, the traffic scenarios including a lead vehicle (108) equipped with a satellite phased array antenna board and platooning vehicles (107) equipped with PC5 communication modules. The hardware verification platform includes the phased array antenna module (103) corresponding to the satellite phased array antenna board, the PC5 communication module (104), and the hardware-in-the-loop interface host (106). The satellite position data generated by the satellite position simulation module (101) is sent to the traffic simulation platform (102) via the simulation bus (110); the traffic simulation platform (102) performs formation control calculations based on the satellite position data and the link status reported by the PC5 communication module (104) and generates control commands; the control commands and satellite position data are sent to the hardware verification platform via the hardware-in-the-loop interface host (106) for hardware-in-the-loop verification; the hardware verification platform feeds back the link quality data generated during the verification process to the traffic simulation platform (102) via the hardware-in-the-loop interface host (106) to form a closed-loop simulation verification.

2. The autonomous driving formation hardware-in-the-loop simulation platform based on a satellite position simulation platform according to claim 1, characterized in that, Also includes: The simulation bus (110) is connected to the satellite position simulation module (101), the traffic simulation platform (102) and the hardware-in-the-loop interface host (106) respectively, and is used to transmit position, control and link data; The clock synchronization module (114) is connected to the simulation bus (110) and the hardware-in-the-loop interface host (106) to provide a unified time reference for the platform.

3. The autonomous driving formation hardware-in-the-loop simulation platform based on a satellite position simulation platform according to claim 2, characterized in that, The satellite position simulation module (101) adopts a browser-based computing framework, generates satellite position, velocity and visibility status data through parallel processing of WebWorker thread pool and orbit propagation model, and pushes the timestamp-aligned data to the simulation bus (110) through WebSocket or HTTP protocol.

4. The autonomous driving formation hardware-in-the-loop simulation platform based on a satellite position simulation platform according to claim 1, characterized in that, The traffic simulation platform (102) is built using VTD and uses the SCP interface (105) to distribute configuration files and transmit simulation results. The satellite phased array antenna board (103) installed on the lead vehicle (108) is used to calculate the link pointing and beam parameters or receive simulated satellite signals based on the satellite position data. The vehicles in the formation (107) communicate directly between each other through the PC5 communication module (104) based on the LTE-V2X or NR-V2X protocol.

5. The autonomous driving formation hardware-in-the-loop simulation platform based on a satellite position simulation platform according to claim 2, characterized in that, In the hardware verification platform: The phased array antenna module (103) is used to provide programmable beamforming, angle and gain control, and link quality measurement; The PC5 communication module (104) is used to provide direct communication based on LTE-V2X or NR-V2X and to report link statistics including RSSI, latency and packet loss rate. The hardware-in-the-loop interface host (106) is used to realize clock synchronization and data routing between the simulation bus (110) and the hardware verification platform, map simulation data into hardware I / O signals, and return hardware response data to the simulation environment.

6. The autonomous driving formation hardware-in-the-loop simulation platform based on a satellite position simulation platform according to claim 2, characterized in that, The clock synchronization module (114) uses PTP, NTP or GPS-PPS protocols to provide a unified time reference to ensure the consistency of the time sequence of events and the reproducibility of the simulation phase in the satellite position simulation module (101), the traffic simulation platform (102) and the hardware verification platform.

7. The autonomous driving formation hardware-in-the-loop simulation platform based on a satellite position simulation platform according to claim 2, characterized in that, The simulation bus (110) defines at least three types of data topics: Location topic, used to publish satellite status data generated by the satellite location simulation module (101); A control topic is used to publish fleet control commands generated by the traffic simulation platform (102); Link topics are used to publish communication link quality data reported by the hardware verification platform.

8. The autonomous driving formation hardware-in-the-loop simulation platform based on a satellite position simulation platform according to claim 1, characterized in that, The platform's workflow includes: Initialization steps: Load satellite orbit parameters, traffic scenario, and initialize computing resources; Parallel computing steps: Perform satellite position calculations and formation control strategy calculations in parallel; Data synchronization and rendering steps: Update the simulation status and perform visualization rendering or data playback; Hardware-in-the-loop interaction steps: Send control commands and simulation data to the hardware verification platform and receive its feedback; Analysis and processing steps: Scenario analysis is performed based on feedback data, and a deep analysis algorithm is triggered when an anomaly is detected.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the workflow as described in claim 8.

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