Vehicle-in-the-loop test device based on vehicle dynamics model

Abstract

The application discloses a kind of based on vehicle dynamics model whole vehicle in loop test device, including dynamometer, dynamometer host computer, look-around system, steering load simulation equipment, install high-precision vehicle dynamics model simulation equipment;The dynamometer host computer is in communication with dynamometer, high-precision vehicle dynamics model;The look-around system is in communication with high-precision vehicle dynamics model;The steering load simulation equipment is in communication with high-precision vehicle dynamics model;High-precision vehicle dynamics model is calculated with the simulation signal of test car feedback to whole vehicle controller, realizes the closed-loop test of test car electric control function.The application is combined by real vehicle and high-precision vehicle dynamics model, virtual scene, constructs a virtual closed-loop test environment of fusion, can safely, quickly, efficiently, low-costly reproduce various complex, extreme even dangerous test working condition in laboratory, greatly expands the boundary and depth of test scene library.

Description

Technical Field

[0001] This invention relates to the field of automotive testing technology, and in particular to a vehicle-in-the-loop testing device based on a vehicle dynamics model. Background Technology

[0002] In the wave of automotive intelligence and electrification, traditional real-vehicle testing faces severe bottlenecks in terms of extreme operating condition risks, testing costs and efficiency, comprehensive scenario coverage, and repeatability, in the face of highly integrated drive-by-wire chassis, intelligent driving systems and their complex multi-ECU collaboration and sensor fusion logic.

[0003] Therefore, it is necessary and important to develop a new testing technology to overcome the aforementioned problems in testing. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings and defects of the prior art and to provide a vehicle-in-the-loop testing device based on a vehicle dynamics model.

[0005] This invention is implemented as follows:

[0006] A vehicle-in-the-loop testing device based on a vehicle dynamics model includes a dynamometer, a dynamometer host computer, a surround view system, a steering load simulation device, and a simulation device equipped with vehicle dynamics simulation software. The vehicle dynamics simulation software is used to construct a high-precision vehicle dynamics model. The dynamometer host computer communicates with the dynamometer and the vehicle dynamics simulation software. The dynamometer is used to simulate road loads and inertia during vehicle operation in real time, collects wheel-end torque and speed data, and transmits the signals to the high-precision vehicle dynamics model via the dynamometer host computer. The dynamometer host computer performs closed-loop speed control of the dynamometer based on the wheel speed calculated by the high-precision vehicle dynamics model for the next moment. The surround view system communicates with the vehicle dynamics simulation software and is used for real-time synchronous projection display of the vehicle. The virtual scene output by the vehicle dynamics simulation software presents the driver with a real-world driving scenario and various operating conditions, providing an immersive visual experience. The driver performs driving operations in the virtual scene based on the surround view system prompts and test procedures. The steering load simulation device communicates with the high-precision vehicle dynamics model to simulate the load force of the test vehicle's steering system at the next moment, based on the load force of the test vehicle's steering system calculated by the high-precision vehicle dynamics model. It collects the steering force and tie rod displacement of the test vehicle's steering system, and simultaneously collects the driver's steering operation signals in real time and transmits them to the high-precision vehicle dynamics model. The high-precision vehicle dynamics model feeds back the calculated simulation signals of the test vehicle to the vehicle controller, realizing closed-loop testing of the test vehicle's electronic control functions.

[0007] Preferably, the surround view system includes a 210° panoramic screen and a projector. The projector synchronously projects the virtual scene output by the high-precision vehicle dynamics model onto the 210° panoramic screen, so as to present the driver with real-world driving scenarios and various working conditions in real time and provide an immersive visual experience.

[0008] Preferably, the steering load simulation device includes a front steering component and a rear steering component, which operate independently. The front steering component and the rear steering component are two independent steering load simulation devices, each connected to the ends of the front and rear steering tie rods of the test vehicle.

[0009] Preferably, the high-precision vehicle dynamics model calculates the overall dynamic behavior of the test vehicle in real time based on the current driver operation input signal and vehicle state, including vehicle body movement, tire force, suspension response and steering system load force, and outputs the wheel speed and steering system load force at the next moment.

[0010] Preferably, the test vehicle does not contain wheels, and the connection between the tie rod and the steering knuckle of the steering system is disconnected. The suspension system of the test vehicle does not bear actual road surface excitation, and the steering, suspension and tire characteristics of the test vehicle are simulated in real time by a high-precision vehicle dynamics model.

[0011] Preferably, the high-precision vehicle dynamics model is based on vehicle dynamics simulation software, combined with modeling and constructing the chassis, engine or motor, aerodynamics, steering system, braking system, transmission system, tires, and suspension of the test vehicle, and has a preset scene model constructed according to test cases, and configured with road attributes and environmental conditions.

[0012] Preferably, the dynamometer is a shaft-coupled dynamometer. The host computer of the dynamometer receives the wheel speed at the next moment calculated by the high-precision vehicle dynamics model, and adjusts the motor speed through a PID control algorithm to control the dynamometer speed to match the wheel speed.

[0013] Preferably, the host computer of the dynamometer includes a display screen, which provides a graphical control interface, processes and analyzes the data collected in the experiment, and outputs and displays the experimental target parameter curve in real time.

[0014] Preferably, the simulated signals of the test vehicle include signals of vehicle acceleration, angular velocity, and ABS control system, and the testing of the electronic control functions of the test vehicle includes testing of VSC / ESP.

[0015] Preferably, the steering load simulation device provides load simulation for the vehicle steering system during the test. At the same time, the host computer of the steering load simulation device collects steering input signals that represent the driver's steering intention in real time through sensors, including two signals: the steering wheel angle input by the driver and the rack displacement of the steering system, and transmits the data to the high-precision vehicle dynamics model in the form of electrical signals.

[0016] This invention relates to a vehicle-in-the-loop testing device based on vehicle dynamics models. By combining real vehicles with high-precision vehicle dynamics models and virtual scenarios, a closed-loop testing environment integrating virtual and real elements is constructed. This environment can safely, quickly, efficiently, and cost-effectively reproduce various complex, extreme, and even dangerous test conditions in the laboratory, greatly expanding the boundaries and depth of the test scenario library.

[0017] This invention, a vehicle-in-the-loop testing device based on vehicle dynamics models, can not only significantly reduce R&D costs, shorten development cycles, and ensure testing safety for vehicle manufacturers, but is also a core infrastructure for addressing the verification challenges of drive-by-wire chassis and high-level autonomous driving systems in the era of intelligent electric vehicles. It is of vital importance for enhancing the core technological competitiveness of enterprises and promoting technological innovation and safety standard upgrades throughout the automotive industry. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the vehicle-in-the-loop testing device based on the vehicle dynamics model of the present invention. Detailed Implementation

[0019] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0020] See Figure 1As shown in the exemplary embodiment of this application, the vehicle-in-the-loop testing device based on the vehicle dynamics model includes a dynamometer, a dynamometer host computer, a surround view system, a steering load simulation device, and a simulation device equipped with vehicle dynamics simulation software. The vehicle dynamics simulation software is used to construct a high-precision vehicle dynamics model. The dynamometer is used to simulate road loads and inertia during the test, collect the output torque and speed at the test wheel end in real time, and transmit the data to the high-precision vehicle dynamics model in the form of electrical signals through the dynamometer host computer. Simultaneously, the dynamometer host computer performs closed-loop control of the dynamometer's speed based on the wheel speed calculated by the high-precision vehicle dynamics model for the next moment, ensuring rapid response and avoiding control lag. The surround view system communicates with the vehicle dynamics simulation software, using... The system projects a virtual scene output by the vehicle dynamics simulation software in real time, providing the driver with an immersive visual experience by presenting real-world driving scenarios and various operating conditions. The driver performs driving operations based on the virtual scene, following the prompts from the surround view system and the test procedures. The steering load simulation device communicates with the vehicle dynamics simulation software to simulate the load force of the test vehicle's steering system at the next moment, calculated by the high-precision vehicle dynamics model. It collects the steering force and tie rod displacement of the test vehicle's steering system and simultaneously collects the driver's steering operation signals in real time, transmitting them to the high-precision vehicle dynamics model. The high-precision vehicle dynamics model feeds back the calculated simulation signals of the test vehicle to the vehicle controller, realizing closed-loop testing of the test vehicle's electronic control functions.

[0021] In this embodiment, the dynamometer is preferably a shaft-coupled dynamometer, which is equipped with an air flotation device at its bottom and can move freely along a flat marble floor to adapt to vehicles with different wheelbases and track widths. It is connected to the vehicle axle end through a flange and has an automatic centering function.

[0022] In this embodiment of the application, preferably, the host computer of the dynamometer includes a display screen, which provides a graphical control interface, and can process and analyze the data collected in the experiment, and output and display the experimental target parameter curve in real time.

[0023] In this embodiment of the application, the surround view system includes a 210° panoramic screen and a projector. The projector synchronously projects the virtual scene output by the vehicle dynamics simulation software onto the 210° panoramic screen, so as to present the real-world driving scene and various working conditions to the driver in real time and provide an immersive visual experience.

[0024] In this embodiment of the application, the simulated signals of the test vehicle include signals of vehicle acceleration, angular velocity and ABS control system, and the test of the electronic control function of the test vehicle includes the test of VSC and ESP.

[0025] In this embodiment, the high-precision vehicle dynamics model calculates the overall dynamic behavior of the test vehicle in real time based on the current driver operation input signal and vehicle state, including vehicle body movement, tire force, suspension response and steering reaction force, and outputs the wheel speed and steering system load force at the next moment.

[0026] In this embodiment of the application, the steering load simulation device provides load simulation for the vehicle steering system during the test. At the same time, the host computer of the steering load simulation device collects the driver's steering intention, i.e., the steering input signal, in real time through sensors. This includes two signals: the steering wheel angle input by the driver and the rack displacement of the steering system. The data is then transmitted to the high-precision vehicle dynamics model in the form of electrical signals.

[0027] The steering load simulation device includes a front steering component and a rear steering component, which operate independently of each other. The front steering component and the rear steering component are two independent steering load simulation devices, each connected to the ends of the front and rear steering tie rods of the test vehicle.

[0028] The steering load simulation device is fixed to the ground and has ball-jointed connecting arms at both ends, which are connected to the ends of the steering tie rods of the test vehicle. These connecting arms move along a preset trajectory under the drive of a driving mechanism (such as an electric cylinder), generating steering force feedback and providing resistance torque. Additionally, the base of the steering load simulation device is equipped with guide rails, allowing for adjustment of the overall fixed position to accommodate different wheelbase vehicle models.

[0029] The steering load simulation device also integrates a displacement sensor and a force sensor: the displacement sensor is used to detect the displacement of the tie rod, and the force sensor collects the load force of the steering system.

[0030] The testing device of this application can simulate lateral motion testing. Its steering load simulation device is driven by an electric cylinder. The overall steering system has a small inertia when it moves, and the steering response speed is fast. It can realize high-frequency steering simulation. Moreover, the vehicle steering wheel will not have any play due to the meshing accuracy between the gears and racks when it swings slightly.

[0031] In this embodiment, the high-precision vehicle dynamics model possesses powerful road scene generation capabilities, efficiently constructing test conditions covering complex, extreme, and dangerous scenarios to achieve high-precision simulation and hardware-in-the-loop closed-loop testing across multiple scenarios. Specifically, in road environment modeling, the high-precision vehicle dynamics model supports the import and reconstruction of high-precision digital roads. Users can customize parameters such as road geometry, slope, curvature, and adhesion coefficient to simulate complex road conditions including low-adhesion surfaces, uneven road surfaces with potholes, and impact loads. In environmental condition simulation, the high-precision vehicle dynamics model can generate various extreme weather conditions, such as heavy rain, heavy snow, and dense fog. These elements not only affect visual perception but also act on the vehicle dynamics model in real time. Furthermore, the high-precision vehicle dynamics model supports the construction of intelligent transportation scenarios, simulating the sudden behaviors of traffic participants such as vehicles, pedestrians, and non-motorized vehicles, providing a rich and reliable scenario foundation for intelligent connected vehicle testing. Users can customize key event sequences to achieve repeatable closed-loop testing of high-risk scenarios.

[0032] In this embodiment, with the help of a surround view system, a high-precision vehicle dynamics model can project a virtual scene synchronously in real time, providing the driver with a highly immersive visual experience. It can also combine dynamic feedback to safely and reliably reproduce extreme and dangerous working conditions that are difficult to implement in the real world in a laboratory environment, significantly expanding the test coverage and verification depth.

[0033] During simulation, the high-precision vehicle dynamics model receives driving intentions and wheel-end output data in real time. Based on the high-precision vehicle dynamics model, the vehicle state is calculated, and the simulated wheel speeds for the next moment are fed back to the dynamometer's host computer. Simultaneously, key signals such as triaxial acceleration, angular acceleration, and ABS activation are output to the vehicle control system. In bench testing, since the tires of the test vehicle have been removed and the vehicle is stationary, the suspension system of the test vehicle does not experience actual road surface excitation. Therefore, the steering, suspension, and tire characteristics of the test vehicle are simulated in real time by the high-precision vehicle dynamics model.

[0034] In this embodiment, the high-precision vehicle dynamics model is based on vehicle dynamics simulation software, combined with modeling and constructing the chassis, engine or motor, aerodynamics, steering system, braking system, transmission system, tires, and suspension of the test vehicle. It also has a preset scene model built according to test cases, and is configured with road attributes and environmental conditions.

[0035] To ensure the reliability of the high-precision vehicle dynamics model, detailed modeling of each subsystem is required during the modeling process, and thorough model verification and parameter calibration must be completed in the early stages of testing. By comparing simulation results with real-vehicle road test data, the model accuracy can be systematically evaluated and continuously improved.

[0036] The vehicle dynamics model constructed by this invention can be quickly matched with real vehicles, and can safely, quickly, efficiently and cost-effectively reproduce various complex, extreme and even dangerous test conditions in the laboratory, such as extreme weather, special road conditions, sudden behavior of traffic participants and intelligent connected scenarios, greatly expanding the boundaries and depth of the test scenario library.

[0037] Specifically, in this application, the high-precision vehicle dynamics model can be achieved through the following steps:

[0038] Based on the SCANER simulation software, the prototype vehicle chassis, engine or motor, aerodynamics, steering system, braking system, transmission system, tires, and suspension are modeled to construct a high-precision vehicle dynamics model. Then, in the TERRAIN scenario module, a scenario model is created based on test cases. After modeling, the scenario model is selected, and longitudinal and lateral simulation tests under the same conditions as road tests are conducted in the SCANER simulation software.

[0039] The longitudinal simulation test includes: ① acceleration, recording the speed-time curves under different accelerator pedal travel; ② braking, recording the vehicle speed and pedal opening / force under different pedal forces; ③ coasting, recording the coasting time under different gears or driving modes.

[0040] Lateral simulation tests include: ① Stationary turning, recording the steering wheel torque-steering wheel angle curve; ② Idle turning, recording the steering wheel torque-steering wheel angle curve; ③ Driving turning, recording the steering wheel torque-steering wheel angle curve at different vehicle speeds during driving turning; ④ Double lane change, recording the yaw rate, vehicle speed, steering wheel angle, and lateral acceleration curves; ⑤ Steady-state turning, recording the yaw rate, vehicle speed, steering wheel angle, and lateral acceleration curves.

[0041] After the simulation test is completed, the simulation test results of key indicators are compared with the road test results. When the error is greater than the specified value, the model is optimized and adjusted until the error is less than the specified value. The model optimization is then completed and it can be used for subsequent simulations.

[0042] In this embodiment, the test vehicle is a vehicle with its wheels removed and the connection between the steering system tie rod and the steering knuckle disconnected, making it unsuitable for actual road driving. During the experiment, the test vehicle is connected to a dynamometer via a flange, and the ball joint connecting arm of the steering load simulation mechanism is connected to the steering system tie rod of the test vehicle. During the test, the vehicle's steering gear drives the steering system tie rod, which in turn moves the guide plate along the guide rail via the ball joint connecting arm. Simultaneously, an electric cylinder at the other end of the guide plate provides a reaction force to simulate the steering load. During the steering load simulation of the test vehicle, the dynamometer and wheels remain stationary. The steering stroke of the steering load simulation mechanism is calibrated.

[0043] During the experiment, the driver drove the test vehicle according to the test case requirements. The dynamometer collected the torque and speed at the wheel ends of the vehicle and transmitted the signals to the vehicle dynamics model through the dynamometer's host computer. The steering load simulation device collected the steering force of the vehicle's steering system and the travel / displacement of the steering tie rods, and transmitted them to the vehicle dynamics model through its host computer. The vehicle dynamics model calculated the vehicle's wheel speed at the next moment and transmitted it to the dynamometer's host computer, thereby controlling the dynamometer's speed to reach the target wheel speed value. The vehicle dynamics model then transmitted the obtained steering load force at the next moment to the steering load simulation device's host computer.

[0044] During the in-loop testing process, the dynamometer, steering load simulation device, and surround view system are first started to complete system initialization and self-checks. The vehicle dynamics model is then initiated, and system communication verification is performed to ensure smooth data links between devices. Sensor signals are checked for normality, including the initial states of key parameters such as force, displacement, torque, and speed. In the SCANER simulation software, the preset scenario model required by the test case is selected, and road attributes and environmental conditions are configured through the TERRAIN module. The surround view system's projector projects the virtual scene onto a 210° panoramic screen, providing the driver with an immersive visual environment. The driver performs driving operations inside the vehicle according to the surround view prompts and test procedures. The dynamometer collects torque and speed signals at the vehicle's wheel ends in real time, and the steering load simulation device collects the tie rod displacement and steering force signals of the test vehicle. All data is transmitted to the vehicle dynamics model via a high-speed bus. Based on the current driver's input signals and vehicle state, the vehicle dynamics model calculates the overall vehicle dynamics behavior in real time at high frequency, including body motion, tire forces, suspension response, and steering system load forces, and outputs the target wheel speeds and steering system load forces for the next moment. The dynamometer receives the target wheel speed signal and adjusts the motor speed through a PID control algorithm to simulate the road load and inertia of the vehicle in real time. The steering load simulation device controls the electric cylinder to apply the corresponding resistance torque based on the force signal output by the model, accurately reflecting the force state of the steering system. At the same time, the vehicle dynamics model feeds back the calculated vehicle acceleration, angular velocity and ABS and other control system signals to the vehicle controller to realize closed-loop testing of electronic control functions such as VSC / ESP, thereby realizing closed-loop testing of the vehicle's electronic control functions.

[0045] During testing, all input / output signals, intermediate model variables, and equipment status data are recorded in real time, including time-series data such as speed, torque, force, rotation angle, yaw rate, and lateral acceleration. The corresponding curves and system operating status are displayed in real time through a monitoring interface on a host computer, providing alarm and emergency stop mechanisms to ensure testing safety.

[0046] After a single test is completed, the system automatically saves the data file and enters standby mode. It can then choose to repeat the current test or switch to the next test scenario as needed.

[0047] When using the device described in this application for combined virtual and real-world testing, the obtained simulation data can be compared with the results of actual vehicle road tests to analyze errors in key performance indicators, such as acceleration time, braking distance, peak steering torque, and yaw rate response. Based on the analysis results, the product can be optimized. If the error exceeds 3%, iterative optimization of the tire model, steering system stiffness and damping characteristics, and aerodynamic parameters can be performed using parameter identification and model calibration methods, resulting in model correction. Through multiple test cycles and model corrections, the consistency between the output results of the vehicle-in-the-loop simulation system and the actual vehicle test data is ultimately confirmed.

[0048] After the test is completed, a test report can be automatically generated based on the test data, including a description of the operating conditions, data comparison charts, error analysis summary, and model correction records, providing a reliable basis for intelligent driving algorithm verification, electronic control system calibration, and functional safety testing.

[0049] The vehicle-in-the-loop testing device based on vehicle dynamics models in this application constructs a closed-loop testing environment that integrates the real and virtual environments. This is achieved by fixing a complete real vehicle on a laboratory bench equipped with a dynamometer and a steering load simulation system, and combining a high-precision vehicle dynamics model running in real time with a hardware-in-the-loop system of a virtual scene. This allows the driving behavior of the real vehicle in the virtual environment to be fed back as mechanical loads and signal excitations in real time. As a result, it enables the efficient execution of comprehensive, in-depth, and reproducible vehicle-level verification and evaluation, including extreme handling, fault injection, and intelligent connectivity functions, under safe and controllable conditions. This device is a key link in connecting the entire testing chain from model to real vehicle, greatly accelerating the R&D process of intelligent vehicles and ensuring their functional safety and reliability.

[0050] Compared to traditional road testing, the vehicle-in-the-loop testing device of this application fundamentally improves the safety and economy of the vehicle verification process through an innovative paradigm of virtual-real integration. It can safely, quickly, efficiently, and cost-effectively reproduce various complex, extreme, and even dangerous test conditions in the laboratory, such as extreme weather, special road conditions, sudden behaviors of traffic participants, and intelligent connected scenarios, greatly expanding the boundaries and depth of the test scenario library. Furthermore, the vehicle-in-the-loop testing of this application has unparalleled environmental controllability and test repeatability, enabling rapid and objective comparative evaluation, ensuring the consistency and fairness of test results, and greatly accelerating the iterative optimization process.

[0051] The vehicle-in-the-loop testing device based on vehicle dynamics models proposed in this application can not only significantly reduce R&D costs, shorten development cycles, and ensure testing safety for vehicle manufacturers, but also serve as a core infrastructure to address the verification challenges of drive-by-wire chassis and high-level autonomous driving systems in the era of intelligent electric vehicles. It is of vital importance for enhancing the core technological competitiveness of enterprises and promoting technological innovation and safety standard upgrades in the entire automotive industry.

[0052] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0053] Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of the equivalents of the claims be included within the invention.

[0054] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A vehicle-in-the-loop testing device based on a vehicle dynamics model, characterized in that, The system includes a dynamometer, a dynamometer host computer, a surround view system, a steering load simulation device, and a simulation device equipped with vehicle dynamics simulation software. The vehicle dynamics simulation software is used to construct a high-precision vehicle dynamics model. The dynamometer host computer communicates with the dynamometer and the vehicle dynamics simulation software. The dynamometer is used to simulate road loads and inertia during vehicle operation in real time, collects wheel-end torque and speed data, and transmits the signals to the high-precision vehicle dynamics model via the dynamometer host computer. The dynamometer host computer performs closed-loop speed control of the dynamometer based on the wheel speed calculated by the high-precision vehicle dynamics model for the next moment. The surround view system communicates with the vehicle dynamics simulation software and is used to synchronously project and display the output of the vehicle dynamics simulation software in real time. The virtual scene presents the driver with real-world driving scenarios and various operating conditions, providing an immersive visual experience. The driver performs driving operations based on the virtual scene according to the surround view system prompts and test procedures. The steering load simulation device communicates with the vehicle dynamics simulation software to simulate the load force of the test vehicle's steering system at the next moment based on the calculation of the load force of the test vehicle's steering system at the high-precision vehicle dynamics model. It collects the steering force and tie rod displacement of the test vehicle's steering system, and simultaneously collects the driver's steering operation signals in real time and transmits them to the high-precision vehicle dynamics model. The high-precision vehicle dynamics model feeds back the calculated simulation signals of the test vehicle to the vehicle controller, realizing closed-loop testing of the test vehicle's electronic control functions.

2. The vehicle-in-the-loop testing device based on a vehicle dynamics model according to claim 1, characterized in that, The surround view system includes a 210° panoramic screen and a projector. The projector synchronously projects the virtual scene output by the vehicle dynamics simulation software onto the 210° panoramic screen, so as to present the driver with real-world driving scenarios and various working conditions in real time and provide an immersive visual experience.

3. The vehicle-in-the-loop testing device based on a vehicle dynamics model according to claim 1, characterized in that, The steering load simulation device includes a front steering component and a rear steering component, which operate independently; the front steering component and the rear steering component are two independent steering load simulation devices, each connected to the ends of the front and rear steering tie rods of the test vehicle.

4. The vehicle-in-the-loop testing device based on a vehicle dynamics model according to claim 1, characterized in that, The high-precision vehicle dynamics model calculates the dynamic behavior of the test vehicle in real time based on the current driver input signal and vehicle status, including vehicle body motion, tire force, suspension response and steering system load force, and outputs the wheel speed and steering system load force at the next moment.

5. The vehicle-in-the-loop testing device based on a vehicle dynamics model according to claim 1, characterized in that, The test vehicle does not contain wheels, and the connection between the tie rod and the steering knuckle of the steering system is disconnected. The suspension system does not bear actual road surface excitation. The steering, suspension and tire characteristics of the test vehicle are simulated in real time by a high-precision vehicle dynamics model.

6. The vehicle-in-the-loop testing device based on a vehicle dynamics model according to claim 1, characterized in that, The high-precision vehicle dynamics model is based on vehicle dynamics simulation software, and is constructed by combining the chassis, engine or motor, aerodynamics, steering system, braking system, transmission system, tires and suspension of the test vehicle. It also has a preset scene model built according to the test cases, and is configured with road attributes and environmental conditions.

7. The vehicle-in-the-loop testing device based on a vehicle dynamics model according to claim 1, characterized in that, The dynamometer is a shaft-coupled dynamometer. The host computer of the dynamometer receives the wheel speed at the next moment calculated by the high-precision vehicle dynamics model, and adjusts the motor speed through a PID control algorithm to control the dynamometer speed to match the wheel speed.

8. The vehicle-in-the-loop testing device based on a vehicle dynamics model according to claim 1, characterized in that, The host computer of the dynamometer includes a display screen, which provides a graphical control interface. It can also process and analyze the data collected in the experiment and output and display the experimental target parameter curve in real time.

9. The vehicle-in-the-loop testing device based on a vehicle dynamics model according to claim 1, characterized in that, The simulated signals of the test vehicle include signals of vehicle acceleration, angular velocity, and ABS control system. The test of the electronic control functions of the test vehicle includes the test of VSC / ESP.

10. The vehicle-in-the-loop testing device based on a vehicle dynamics model according to claim 1, characterized in that, During the test, the steering load simulation device provides load simulation for the vehicle steering system. At the same time, the host computer of the steering load simulation device collects steering input signals that represent the driver's steering intention in real time through sensors, including two signals: the steering wheel angle input by the driver and the rack displacement of the steering system. The data is then transmitted to the high-precision vehicle dynamics model in the form of electrical signals.

Images