Hardware-in-Loop Chassis Simulation for Realistic Fault Testing
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Solution Overview
Problem
Existing chassis simulation methods for automatic driving vehicles lack authenticity due to the use of idealized mock targets and software interactions, which interfere with and fail to accurately represent real-world scenarios, leading to incomplete test coverage.
Innovation Solution
Implement a hardware-in-loop simulation using a virtual chassis connected via a hardware interface, incorporating fault injection logic to simulate realistic chassis conditions and interactions, ensuring comprehensive and authentic testing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a mock target is used to simulate the vehicle chassis in software level, then the test can be performed without real vehicle chassis, but the test lacks authenticity because it simulates the chassis in an ideal state
Solution Approach 1:
The patent introduces a hardware-in-loop simulation system as an intermediary between the automatic driving unit and the virtual chassis. This intermediary includes a hardware simulation device that receives control commands from the automatic driving unit, processes them through a vehicle dynamics model, and generates feedback information. This hardware-mediated approach maintains test convenience while significantly improving authenticity compared to pure software simulation.
Solution Approach 2:
The patent creates a virtual copy of the vehicle chassis that replicates its dynamic characteristics through a vehicle dynamics model. This virtual chassis copy includes simulated components like engine, transmission, suspension, and steering systems that mimic real chassis behavior. The virtual copy enables authentic testing without requiring physical chassis, resolving the contradiction between test convenience and authenticity.
2Productivity
If a mock target directly outputs chassis status information after executing control command, then the closed-loop test can run at software level, but the scheme fails to represent real-world scenarios
Solution Approach 1:
The patent transforms the static mock target into a dynamic hardware-in-loop simulation system. The simulation device dynamically processes control commands through a vehicle dynamics model, generating realistic chassis status information that reflects actual physical behavior. This dynamic approach maintains test execution efficiency while dramatically improving scenario representation accuracy.
Solution Approach 2:
The patent replaces the simplistic software-based mock target with a hardware-in-loop system that incorporates a vehicle dynamics model. This substitution introduces physics-based calculations for vehicle motion, suspension behavior, steering characteristics, and other mechanical aspects. The result is more accurate scenario representation while maintaining automated test execution efficiency.
3Device complexity
If idealized simulation is used, then the test setup is simple, but the test coverage is incomplete due to lack of fault scenarios
Solution Approach 1:
The patent designs the hardware-in-loop simulation system with multi-functionality to address various test scenarios. The virtual chassis model can simulate normal operating conditions as well as various fault scenarios including sensor failures, actuator malfunctions, and communication errors. This universal approach enables comprehensive test coverage without proportionally increasing system complexity.
Solution Approach 2:
The patent utilizes parameter changes in the vehicle dynamics model to represent different test scenarios and fault conditions. By modifying model parameters such as mass, moment of inertia, friction coefficients, and component failure states, the system can efficiently transition between different test scenarios. This parameter-based approach enables versatile test coverage while keeping the underlying simulation framework relatively simple.
Data Source
AI summary
The present disclosure discloses a chassis simulation method and apparatus, a server, a storage medium and a program product, which relate to the field of artificial intelligence and, in particular, to the field of intelligence driving. The method includes: acquiring a chassis control message transmitted from an automatic driving unit, and acquiring fault injection information; generating simulation information of a chassis status corresponding to the chassis control message according to the chassis control message and the fault injection information; and transmitting the simulation information of the chassis status to the automatic driving unit. The method realizes the chassis simulation scheme based on hardware-in-loop and improves the test authenticity.