CN112188440B - Vehicle-road cooperative parallel simulation test method and system - Google Patents
Vehicle-road cooperative parallel simulation test method and system Download PDFInfo
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Abstract
本发明涉及车辆测试技术领域，具体公开了一种车路协同平行仿真测试系统，包括：场地测试系统、场景仿真系统和交通监控系统；场地测试系统，用于配置道路测试设施，还用于在外场实车测试时，采集场地测试数据，并通过5G网络发送至交通监控系统；场景仿真系统，用于在仿真测试时，生成仿真测试数据，并通过5G网络发送至交通监控系统；交通监控系统，用于将仿真测试数据发送至场地测试系统，还用于将场地测试数据发送至场景仿真系统；其中，场地测试系统还用于根据仿真测试数据调整道路测试设施的配置；场景仿真系统还用于根据场地测试数据更新仿真测试数据。采用本发明的技术方案能够有效提高V2X应用测试的效率。
The invention relates to the technical field of vehicle testing, and specifically discloses a vehicle-road collaborative parallel simulation testing system, comprising: a site testing system, a scene simulation system and a traffic monitoring system; the site testing system is used for configuring road testing facilities and also used for external During the real vehicle test, the site test data is collected and sent to the traffic monitoring system through the 5G network; the scene simulation system is used to generate the simulated test data during the simulation test and send it to the traffic monitoring system through the 5G network; the traffic monitoring system , used to send the simulation test data to the field test system, and also used to send the field test data to the scene simulation system; wherein, the field test system is also used to adjust the configuration of the road test facilities according to the simulation test data; the scene simulation system also uses It is used to update the simulation test data according to the field test data. The adoption of the technical solution of the present invention can effectively improve the efficiency of V2X application testing.
Description
Technical Field
The invention relates to the technical field of vehicle testing, in particular to a method and a system for testing vehicle-road cooperative parallel simulation.
Background
The vehicle-vehicle cooperative application system is based on the LTE-V or DSRC communication technology of V2X, can realize information sharing of various motion states, positions and the like among different vehicles, and further develops various typical application functions, such as: the functions of forward collision early warning, intersection collision early warning, reverse overtaking early warning and the like defined in the T/CSAE 53-2017 standard.
Currently, various types of V2X application functions are developed by many vehicle enterprises and V2X system suppliers according to the T/CSAE 53-2017 standard, but the testing technology is not mature. Although there is a software/hardware-in-the-loop simulation test method, there is also a method of performing real vehicle test verification in a real field, and verifying the overall performance by facilities such as HV vehicles, RV vehicles, OBUs, and RSUs. However, since V2X is an emerging technology, the lack of parameter indexes of related products and the immaturity of testing technology become important factors for restricting the industrialization of V2X related application systems.
With mass production of intelligent networking automobiles with the V2X function in the future, the requirements on the test efficiency and the test method of the automobile-automobile cooperative application system are more and more urgent. The single simulation or external field real vehicle test mode adopted at present has low efficiency and insufficient verification.
For this reason, a method and system that can improve the efficiency of testing V2X applications is needed.
Disclosure of Invention
The invention provides a vehicle-road cooperative parallel simulation test method and system, which can effectively improve the efficiency of V2X application test.
In order to solve the technical problem, the present application provides the following technical solutions:
a vehicle-road cooperative parallel simulation test system comprises: the system comprises a field test system, a scene simulation system and a traffic monitoring system;
the field test system is used for configuring road test facilities, acquiring field test data during field real vehicle test, and transmitting the field test data to the traffic monitoring system through a 5G network;
the scene simulation system is used for generating simulation test data during simulation test and sending the simulation test data to the traffic monitoring system through the 5G network;
the traffic monitoring system is used for sending the simulation test data to the site test system and sending the site test data to the scene simulation system;
the field test system is also used for adjusting the configuration of the road test facilities according to the simulation test data; the scene simulation system is also used for updating simulation test data according to the field test data.
The basic scheme principle and the beneficial effects are as follows:
in the scheme, synchronous execution of simulation test and site test in V2X cooperation can be realized through a parallel simulation technology, so that the execution processes of test in a simulation environment and site test of a real vehicle are mutually parallel, and dynamic data (simulation test data and site test data) interaction, cooperative evolution and mutual control in the test process are realized between the simulation test data and the site test data. And dynamic data interaction is carried out through the 5G network, so that high real-time performance of communication can be ensured. Compared with the traditional simulation test and site test which are carried out independently, the test efficiency of V2X parts and a whole vehicle system can be greatly improved, and the test verification period of the whole vehicle V2X system is shortened.
Further, the field test data comprises actual driving data, actual GNSS position information, vehicle network data and broadcast information;
the field test system comprises a vehicle-mounted test module;
the vehicle-mounted test module comprises a vehicle-mounted data acquisition unit, an inertial navigation and RTK differential positioning unit, a vehicle-mounted network data acquisition unit, a PC5 communication unit and a 5G wireless communication unit;
the vehicle-mounted data acquisition unit is used for acquiring actual running data of the HV vehicle in the test process, wherein the actual running data comprises a vehicle peripheral state video, a vehicle alarm signal and a vehicle instrument display state;
the inertial navigation and RTK differential positioning unit is used for acquiring the actual GNSS position information of the HV vehicle;
the vehicle-mounted network data acquisition unit is used for acquiring network data of the HV vehicle, and the network data comprises one or more of CAN network, vehicle-mounted Ethernet, LIN network and FlexRay network;
the PC5 communication unit is used for acquiring the broadcast information of the OBU and the RSU of the road side of the HV vehicle in real time through the PC5 interface in the test process;
the 5G wireless communication unit is used for sending the actual driving data, the actual GNSS position information, the network data and the broadcast information to the traffic monitoring system through the 5G network.
Furthermore, the field test data also comprises simulated traffic environment data and simulated motion state parameters;
the road test facilities comprise an OBU, traffic signal lamps and traffic signboards;
the site test system also comprises road facilities and a target simulation module;
the asset and target simulation module comprises: a road facility simulation device, a road facility simulation unit, and a virtual RV generation unit;
the road facility simulation unit is in signal connection with the road facility simulation equipment through a 5G network; the road facility simulation unit is used for generating simulated traffic environment data according to the requirements of the simulation test data and sending the simulated traffic environment data to the road facility simulation equipment;
the road facility simulation equipment is used for configuring display information of a traffic signal lamp and a traffic signboard according to the simulated traffic environment data;
the virtual RV generation unit is used for configuring a plurality of OBUs according to simulation test data, wherein each OBU simulates the simulation motion state parameters of more than 10 RV vehicles through a PC5 interface and sends the simulation motion state parameters to the outside in a broadcast mode.
Furthermore, the field test system also comprises a test process control module, and the test process control module is used for sending the simulated traffic environment data and the simulated motion state parameters to the traffic monitoring system.
Further, the test process control module is also used for receiving simulation test data sent by the traffic monitoring system through a 5G network.
In the field test system, the road facility and target simulation module can synchronously display the display contents of traffic signal lamps and traffic signboard facilities and configure RV vehicles according to the requirements of a test scene, and send data through a PC5 interface (a direct connection mode in V2X communication). The vehicle-mounted test module is mainly used for recording actual driving data, actual GNSS position information, vehicle network data and broadcast information and transmitting the data to the traffic monitoring system through the 5G network.
Further, the simulation test data comprises virtual GNSS position information, virtual motion data, virtual traffic environment data and virtual RV vehicle motion state parameters;
the scene simulation system is used for generating virtual GNSS position information in a simulation scene, converting the virtual GNSS position information into a GPS or Beidou positioning star map, and inputting the OBU and the RSU to be tested;
the scene simulation system is also used for generating virtual motion data of the HV vehicle in a simulation scene and inputting the virtual motion data into the OBU and the RSU to be tested through the CAN network;
the scene simulation system is also used for generating virtual traffic environment data and virtual RV vehicle motion state parameters in a simulation scene; and sending the virtual traffic environment data and the virtual RV vehicle motion state parameters to the OBU and the RSU to be tested through the PC5 interface.
Further, the virtual movement data includes gear, speed, distance, acceleration, and turn light information.
The scene simulation system can realize the generation of simulation scenes and the transmission of data in the V2X application test. The simulation test data can be converted into field test data through a 5G network, the test environments of a traffic signal lamp, a traffic signboard and an OBU in a field test are configured, meanwhile, the field test data in the field test are obtained through the 5G network, and the simulation test data in a simulation scene are updated. In the same simulation scene, the method is not limited by the region space, and the synchronous test of the OUB, the RSU and the HV vehicles can be realized.
Furthermore, the traffic monitoring system is also used for monitoring the road test facilities and the working state of the HV vehicle of the site test system in real time according to the site test data.
The management and state monitoring of road infrastructure such as signal lamps and traffic signboards, HV vehicles in field test are realized.
Furthermore, the traffic monitoring system is also used for storing simulation test data and site test data in the site test system and the scene simulation system in real time.
And the data recording and storing functions in the test process are realized.
A vehicle-road cooperative parallel simulation test method adopts the vehicle-road cooperative parallel simulation test system.
In the scheme, synchronous execution of simulation test and site test in V2X cooperation can be realized through a parallel simulation technology, so that the execution processes of test in a simulation environment and site test of a real vehicle are mutually parallel, and dynamic data (simulation test data and site test data) interaction, cooperative evolution and mutual control in the test process are realized between the simulation test data and the site test data. And dynamic data interaction is carried out through the 5G network, so that high real-time performance of communication can be ensured. Compared with the traditional simulation test and site test which are carried out independently, the test efficiency of V2X parts and a whole vehicle system can be greatly improved, and the test verification period of the whole vehicle V2X system is shortened.
Drawings
FIG. 1 is a logic block diagram of a vehicle-road cooperative parallel simulation test system according to an embodiment;
FIG. 2 is a logic block diagram of a field test system in a vehicle-road cooperative parallel simulation test system according to an embodiment.
Detailed Description
The following is further detailed by way of specific embodiments:
example one
The vehicle-road cooperative parallel simulation test system of the embodiment, as shown in fig. 1, includes a field test system, a scene simulation system, and a traffic monitoring system.
The field test system is used for configuring a road test scene. As shown in fig. 2, the field test system includes an on-board test module, a test process control module, and a road facility and target simulation module.
The vehicle-mounted test module comprises a vehicle-mounted data acquisition unit, an inertial navigation and RTK differential positioning unit, a vehicle-mounted network data acquisition unit, a PC5 communication unit and a 5G wireless communication unit.
And the vehicle-mounted data acquisition unit is used for acquiring actual running data of the HV vehicle in the test process, wherein the actual running data comprises a vehicle peripheral state video, a vehicle alarm signal and a vehicle instrument display state. In the embodiment, the vehicle-mounted data acquisition unit has the functions of acquiring multiple paths of videos and multiple paths of sound and light signals, and the acquisition interface can have expansibility so as to be flexibly increased and decreased according to needs. The HV Vehicle is the Host Vehicle, namely the Vehicle to be tested with the V2X system installed.
An inertial navigation and RTK differential positioning unit for acquiring actual GNSS position information of the HV vehicle. GNSS adopts GPS or beidou system, adopts beidou system in this embodiment, realizes moving accurate vehicle position information collection of centimetre level, for the analysis and the evaluation of follow-up HV vehicle, provides the data of accurate HV vehicle motion state (speed, acceleration, position, distance etc.) of being convenient for.
And the vehicle-mounted network data acquisition unit is used for acquiring network data of the HV vehicle, wherein the network data comprises one or more of CAN network, vehicle-mounted Ethernet, LIN network and FlexRay network. In this embodiment, all the above are collected, and in other embodiments, the number of various network data collection channels can be increased or decreased according to the difference of different vehicle network architectures.
And the PC5 communication unit is used for acquiring the broadcast information of the OBU and the road-side RSU of the HV vehicle in real time through the PC5 interface in the test process. And the data support is provided for the analysis of test problems.
And the 5G wireless communication unit is used for transmitting the actual driving data, the actual GNSS position information, the network data and the broadcast information to the traffic monitoring system through a 5G network.
The test process control module is used for receiving simulation test data sent by the traffic monitoring system through a 5G network;
the asset and target simulation module comprises:
a road facility simulation device, a road facility simulation unit, and a virtual RV generation unit;
in this embodiment, the road test facility includes an OBU, a traffic signal lamp, and a traffic signboard.
The road facility simulation unit is in signal connection with the road facility simulation equipment through a 5G network; the road facility simulation unit is used for generating simulated traffic environment data according to the requirements of the simulation test data and sending the simulated traffic environment data to the road facility simulation equipment;
and the road facility simulation equipment is used for configuring display information of a traffic signal lamp, a traffic signboard and the like according to the simulated traffic environment data. In this embodiment, the road facility simulation unit has expandability, and can link multiple paths of traffic signal lamps and traffic signboards in the road facility simulation device.
And the virtual RV generation unit is used for configuring a plurality of OBUs according to the simulation test data, wherein each OBU simulates the simulation motion state parameters of more than 10 RV vehicles through a PC5 interface and broadcasts and sends the parameters to the outside. In this embodiment, the virtual RV generation unit may flexibly configure the number of OBUs and RV vehicles according to the needs of the test scenario. In this embodiment, the rv (remote vehicle) vehicle refers to a background vehicle. The OBU (on board Unit) refers to a vehicle-mounted unit, and communicates with the RSU by using DSRC (dedicated Short Range communication) technology. The RSU (road Side Unit) is arranged at the road Side, and the road Side unit is communicated with the OBU by adopting DSRC technology to realize vehicle identity recognition, data transmission and the like.
And the test process control module is also used for sending the simulated traffic environment data and the simulated motion state parameters to the traffic monitoring system.
The scene simulation system is used for generating virtual GNSS position information in a simulation scene, converting the virtual GNSS position information into a GPS or Beidou positioning star map, and inputting the OBU and the RSU to be tested; in this embodiment, a Beidou positioning star map is adopted.
The scene simulation system is also used for generating virtual motion data of the HV vehicle in a simulation scene, the virtual motion data comprise gear, speed, distance, acceleration, steering lamp information and the like, the virtual motion data are input into the OBU and the RSU to be tested through the CAN network, and meanwhile, the time and the state of the OBU and the RSU to be tested and the simulation system are synchronized through the CAN network.
The scene simulation system is also used for generating virtual traffic environment data and virtual RV vehicle motion state parameters in a simulation scene; the virtual traffic environment data and the virtual RV vehicle motion state parameters are sent to the OBU and the RSU to be tested through the PC5 interface;
the OBU and RSU under test are used for transmitting virtual motion data of the current HV vehicle in real time through the PC5 interface.
The scene simulation system is also used for receiving field test data sent by the traffic monitoring system through the 5G network, and updating virtual GNSS position information, virtual motion data, virtual traffic environment data and virtual RV vehicle motion state parameters based on the field test data;
the scene simulation system is also used for synchronously sending the virtual GNSS position information, the virtual motion data, the virtual traffic environment data and the virtual RV vehicle motion state parameters generated by the simulation test to the traffic monitoring system through the 5G network.
In the implementation, in the scene simulation system, the simulation scene design and the simulation test can adopt commercial software such as VTD, CarMaker and the like, and the vehicle dynamics model design and the test can adopt commercial software such as CarSim, Matlab and the like. The hardware environment required by the operation of the simulation software adopts various simulation software related real-time and various interface plates, which are the prior art and are not described herein again.
The traffic monitoring system is used for carrying out real-time communication, data transmission and conversion with the scene simulation system and the field test system through the 5G network. Specifically, the traffic monitoring system is used for sending simulation test data to the test process control module and is also used for sending field test data to the scene simulation system.
The simulation test data comprises virtual GNSS position information, virtual motion data, virtual traffic environment data and virtual RV vehicle motion state parameters.
The field test data comprises actual driving data, actual GNSS position information, vehicle network data, broadcast information, simulated traffic environment data and simulated motion state parameters.
The traffic monitoring system is also used for monitoring the road test facilities and the working state of the HV vehicle of the site test system in real time according to the site test data. The management and state monitoring of road infrastructure such as signal lamps and traffic signboards, HV vehicles in field test are realized.
The traffic monitoring system is also used for storing simulation test data and site test data in the site test system and the scene simulation system in real time. And the data recording and storing functions in the test process are realized.
The vehicle-road cooperative parallel simulation test method of the embodiment adopts the vehicle-road cooperative parallel simulation test system.
Carry out two
The difference between the embodiment and the first embodiment is that in the present embodiment, the HV vehicle is an unmanned vehicle, and the HV vehicle acquires the vehicle peripheral state video through an on-vehicle vision sensor. The vehicle-mounted vision sensor further comprises a transparent screen, and the transparent screen is fixed in front of a lens of the vehicle-mounted vision sensor. The virtual traffic environment data comprises a foggy day environment or a rainstorm environment; the transparent screen is used for acquiring and displaying a foggy environment or a rainstorm environment.
Because the transparent screen can realize the superposition of an environmental object and a foggy environment or the superposition of the environmental object and a rainstorm environment, the driving effect of foggy days or rainstorm can be effectively simulated in field tests.
The above are merely examples of the present invention, and the present invention is not limited to the field related to this embodiment, and the common general knowledge of the known specific structures and characteristics in the schemes is not described herein too much, and those skilled in the art can know all the common technical knowledge in the technical field before the application date or the priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date, and those skilled in the art can combine their own ability to perfect and implement the scheme, and some typical known structures or known methods should not become barriers to the implementation of the present invention by those skilled in the art in light of the teaching provided in the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
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| CN113453263B (en) * | 2021-06-30 | 2022-12-20 | 常州工学院 | A Vehicle-Infrastructure Cooperative V2I Simulation Test System and Method |
| CN113759752A (en) * | 2021-08-31 | 2021-12-07 | 信通院车联网创新中心(成都)有限公司 | Simulation test method for vehicle road warning function of V2X vehicle terminal |
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| CN114374624B (en) * | 2021-12-17 | 2024-06-14 | 信通院车联网创新中心(成都)有限公司 | V2X road side terminal functional information issuing function simulation test method |
| CN114397874A (en) * | 2022-01-10 | 2022-04-26 | 信通院车联网创新中心(成都)有限公司 | HIL-level simulation test system for application function and communication performance of V2X equipment |
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