CN117590831A - Vehicle in-loop simulation system based on virtual test bench - Google Patents
Vehicle in-loop simulation system based on virtual test bench Download PDFInfo
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- CN117590831A CN117590831A CN202311576084.9A CN202311576084A CN117590831A CN 117590831 A CN117590831 A CN 117590831A CN 202311576084 A CN202311576084 A CN 202311576084A CN 117590831 A CN117590831 A CN 117590831A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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Abstract
The invention relates to the field of vehicle simulation, and particularly discloses a vehicle in-loop simulation system based on a virtual test bench, wherein a driver simulator generates a vehicle driving signal and driving real moment; the virtual test bench simulates a vehicle model and a real environment model, generates a vehicle speed signal and a vehicle body posture signal, generates a driving feedback moment according to the real environment and transmits the driving feedback moment to the driver simulator; the VTCU whole vehicle controller generates a motor demand torque request and a gear signal; and the upper computer renders the real gesture and the real-time scene of the whole vehicle. The invention simulates the real environment by using the virtual test bench to simulate the running of the whole vehicle so as to simulate and test the economical efficiency and the dynamic property of the whole vehicle, and the invention does not need to test in the real environment, thereby saving the cost and the time, reducing the risk and improving the test convenience.
Description
Technical Field
The invention relates to the field of vehicle simulation, in particular to a vehicle in-loop simulation system based on a virtual test bench.
Background
Along with the rapid progress of new energy technology, the new energy electric truck industry is rapidly developed, but the new energy electric truck has short research and development period and complex operation conditions, and building sites, long-distance high-speed, logistics parks and the like become main working scenes, so that drivers need to pay attention to surrounding environment and vehicle conditions at all times in the running process of vehicles, and have larger requirements on the driving technology of the drivers, and the economy of the whole vehicle is greatly influenced by real environment and human factors.
At present, the whole vehicle is generally required to be sent to a real environment for testing the economical efficiency and the dynamic property before leaving the factory, so that the actual road and the environment test are displayed as far as possible, the cost, the risk and the time of the process are uncontrollable, and inconvenience is brought to the whole vehicle test.
Disclosure of Invention
In order to solve the problems, the invention provides a vehicle on-loop simulation system based on a virtual test bench, which simulates a real environment by using the virtual test bench to simulate the running of the whole vehicle so as to simulate and test the economical efficiency and the dynamic property of the whole vehicle, and the system does not need to be tested in the real environment, thereby saving cost and time, reducing risks and improving the test convenience.
The technical proposal of the invention provides a vehicle in-loop simulation system based on a virtual test bench, which comprises,
driver simulator: the virtual test bench is used for generating a vehicle driving signal according to the intention requirement of a driver and transmitting the vehicle driving signal to the virtual test bench; meanwhile, driving real moment is generated according to the driving feedback moment transmitted by the virtual test bench; the vehicle driving signals comprise steering signals of a steering wheel, braking signals and accelerator signals;
virtual test bench: the vehicle driving signal, the vehicle speed signal and the vehicle body posture signal are transmitted to the VTCU whole vehicle controller, and the vehicle speed signal, the vehicle body posture signal and the environment parameters are transmitted to the upper computer; meanwhile, driving feedback moment is generated according to the real environment and transmitted to a driver simulator;
VTCU whole car controller: the virtual test bench is used for receiving a vehicle driving signal, a vehicle speed signal and a vehicle body posture signal, generating a motor demand torque request and a gear signal, and transmitting the motor demand torque request and the gear signal to the virtual test bench;
the upper computer: the method is used for receiving the vehicle speed signal, the vehicle body attitude signal and the environmental parameter, and rendering the real attitude and the real-time scene of the whole vehicle.
In an alternative embodiment, the virtual test rig includes real-time, in-flight, download of the vehicle model and the real environment model.
In an alternative embodiment, the vehicle model comprises a whole vehicle power system model built on the basis of a Simulink platform and a whole vehicle residual model built on the basis of a Truckim platform;
the real environment model is built based on a Trucksimplatform.
In an alternative embodiment, the whole vehicle powertrain model is configured to receive the motor demand torque request, gear information, and vehicle speed signal, generate gearbox rear axle torque, motor temperature, power component energy consumption, and whole vehicle energy consumption, and transmit the gearbox rear axle torque to the whole vehicle residual model.
In an alternative embodiment, the whole vehicle residual model is used for receiving the torque of a rear end half shaft of the gearbox and generating a vehicle speed signal and a vehicle body posture signal.
In an alternative embodiment, the whole vehicle residual model comprises an EBS model;
when a braking demand exists, the EBS model calculates a motor braking torque demand and a mechanical braking torque demand under a braking working condition in real time according to a braking signal, and transmits the motor braking torque demand and the mechanical braking torque demand to the VTCU whole vehicle controller and the whole vehicle power system model so as to realize the distribution of mechanical braking and electric braking during the whole vehicle braking.
In an alternative embodiment, the driving feedback moment is generated according to the real environment model, and specifically includes:
the whole vehicle residual model generates steering feedback moment of a steering wheel and braking feedback moment of a brake pedal according to the vehicle speed, the vehicle weight and the gradient of the real scene road condition of the real environment model and the road attachment coefficient, and transmits the steering feedback moment and the braking feedback moment to the driver simulator.
In an alternative embodiment, the driver simulator generates a driving real moment according to the driving feedback moment transmitted by the virtual test bench, and specifically includes:
and simulating steering wheel rotation resistance torque and brake pedal deep stepping resistance in real scene in real time based on the internal load motor according to the steering feedback torque and the brake feedback torque.
In an alternative embodiment, the virtual test bench communicates with the driver simulator, the VTCU vehicle controller, and the host computer, respectively, via hardware communication ports.
In an alternative embodiment, the hardware communication ports include an IO interface, a network interface, and a CAN bus interface.
The vehicle in-loop simulation system based on the virtual test bench provided by the invention has the following beneficial effects compared with the prior art: the virtual test bench is used for simulating the real environment, the running posture of the whole vehicle is adjusted in real time according to road condition information and the intention of a driver, the simulation of the running condition of the whole vehicle is realized, the simulation result is high in precision and is more close to the real state of the whole vehicle in the real environment, the energy consumption and the like of the whole vehicle are further conveniently calculated, the influence of human factors and environmental factors on the economical efficiency and the dynamic property of the whole vehicle is analyzed, the test in the real environment is not needed, the cost and the time are saved, the risk is reduced, and the test convenience is improved.
Drawings
For a clearer description of embodiments of the invention or of the prior art, the drawings that are used in the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
Fig. 1 is a schematic block diagram of a vehicle in-loop simulation system based on a virtual test bench according to an embodiment of the invention.
Fig. 2 is a schematic block diagram of an embodiment of a vehicle ring simulation system based on a virtual test bench according to an embodiment of the invention.
Detailed Description
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Fig. 1 is a schematic block diagram of a vehicle in-loop simulation system based on a virtual test bench according to an embodiment of the invention, and as shown in fig. 1, the system includes a driver simulator, a virtual test bench, a VTCU whole vehicle controller and an upper computer.
Driver simulator: the virtual test bench is used for generating a vehicle driving signal according to the intention requirement of a driver and transmitting the vehicle driving signal to the virtual test bench; meanwhile, driving real moment is generated according to the driving feedback moment transmitted by the virtual test bench; wherein the vehicle driving signals include a steering wheel steering signal, a brake signal, and a throttle signal.
Virtual test bench: the vehicle driving signal, the vehicle speed signal and the vehicle body posture signal are transmitted to the VTCU whole vehicle controller, and the vehicle speed signal, the vehicle body posture signal and the environment parameters are transmitted to the upper computer; and meanwhile, driving feedback moment is generated according to the real environment model and transmitted to the driver simulator.
VTCU whole car controller: the virtual test bench is used for receiving vehicle driving signals, vehicle speed signals and vehicle body posture signals, generating motor demand torque requests and gear signals, and transmitting the motor demand torque requests and the gear signals to the virtual test bench.
The upper computer: the method is used for receiving the vehicle speed signal, the vehicle body attitude signal and the environmental parameter, and rendering the real attitude and the real-time scene of the whole vehicle.
The in-loop simulation system of the embodiment simulates the real environment by utilizing the virtual test bench, adjusts the running posture of the whole vehicle in real time according to road condition information and driver intention, realizes the simulation of the running condition of the whole vehicle, has high simulation result precision, is more close to the real state of the whole vehicle in the real environment, further facilitates the calculation of the energy consumption and the like of the whole vehicle, analyzes the influence of human factors and environmental factors on the economy and the dynamic property of the whole vehicle, does not need to be tested in the real environment, saves cost and time, reduces risks and improves the test convenience.
For further understanding of the present invention, a detailed description of the present invention will be provided below, and fig. 2 is a schematic block diagram of the structure of the detailed embodiment, and portions of the detailed embodiment are described below.
(1) Driver simulator
The driver simulator is configured with a driver model for generating vehicle driving signals including a steering wheel steering signal, a brake signal, and a throttle signal according to the driver's intention demand, while transmitting these signals to the virtual test bench.
The virtual test bench generates driving feedback moment according to the real environment and transmits the driving feedback moment to the driver simulator, wherein the driving feedback moment comprises steering feedback moment and braking feedback moment. And the driver simulator simulates steering wheel rotation resistance torque and brake pedal deep stepping resistance in real scene in real time based on the internal load motor according to the steering feedback torque and the brake feedback torque, so that the driver truly feels real feedback of driving.
In addition, the upper computer renders the real gesture and the real-time scene of the whole vehicle, and a driver controls and adjusts the gesture of the whole vehicle in real time according to the rendering effect graph.
(2) VTCU (VehicleTracking andControlUnit, VTCU) whole vehicle controller
The VTCU whole vehicle controller is a new energy vehicle central control unit and is the core of the whole control system. In a real vehicle, a VTCU collects motor and battery states, collects accelerator pedal signals, brake pedal signals, actuators and whole vehicle signals, and monitors actions of each component controller at the lower layer after corresponding judgment is made according to comprehensive analysis of intention of a driver, and the VTCU is responsible for normal running of the vehicle, braking energy feedback, energy management of a whole vehicle driving system and a power battery, network management, fault diagnosis and treatment, vehicle state monitoring and the like, so that the whole vehicle can work normally and stably under better dynamic property, higher economical efficiency and reliability states.
In the specific embodiment, the VTCU whole vehicle controller calculates a motor demand torque request in real time according to key signals such as an accelerator signal, a vehicle speed and a motor temperature transmitted by the VTB virtual calibration system; the motor demand torque request includes a motor drive torque and a motor brake torque; and the motor required torque request is transmitted to a high-precision Simulink whole vehicle power system model through a hardware communication port.
(3) Virtual Test rack (Virtual Test Bed, VTB for short)
The virtual test bench is a VTB virtual calibration system and comprises a software simulation model, a hardware-in-the-loop test system and high-quality test data. The software simulation model mainly comprises a whole vehicle power system model built on the basis of a Simulink platform, a real environment model built on the basis of a Truckim platform and a whole vehicle residual model; the VTB virtual calibration system has the same application experience with a real whole vehicle rack, and replaces the actual whole vehicle operation through the operation of a model; parameterizing the simulation model by using high-quality test data to ensure that the simulation model is close to the real whole vehicle in height; and the simulation model and the VTCU hardware are jointly simulated together in a loop system and a driving simulator to construct a virtual calibration rack, so that the longitudinal and transverse high-precision joint simulation of the whole vehicle is realized.
The hardware-in-loop test system consists of two parts of hardware including a hardware communication port and a VTB real-time machine. The hardware communication port comprises an I/O interface, a network interface, serial communication, a CAN bus interface and the like. The bidirectional transmission of signals such as digital signals, analog signals, CAN bus signals, internet signals and the like is realized.
The VTB virtual calibration system is externally connected with the VTCU whole vehicle controller. The VTB virtual calibration system generates analog signals and digital signals with corresponding frequencies according to the requirements of the VTCU; the related pins of the VTCU whole vehicle controller are connected with various signal generators of the VTB virtual calibration system through hardware communication ports, so that the VTCU is ensured not to report errors due to the loss of signals, and the hardware of the VTCU whole vehicle controller is realized in a ring.
The high-precision Simulink whole vehicle power system model, the Trucksimm whole vehicle residual model and the real environment model are all downloaded to the VTB real time, and the clocks of the high-precision Simulink whole vehicle power system model, the Trucksimm whole vehicle residual model and the real environment model are kept consistent with the clocks of the VTCU whole vehicle controller in order to ensure the consistency of real-time performance and the failure prevention of the VTCU whole vehicle controller. And parameterizing a high-precision Simulink power system model, a Trucksimd whole vehicle residual model and a real environment model by using high-quality test data so as to enable the high-precision Simulink power system model, the Trucksimm whole vehicle residual model and the real environment model to be close to the real whole vehicle in height.
(3.1) high-precision Simulink whole vehicle power system model
The high-precision Simulink whole vehicle power system model is built based on a Simulink platform and internally comprises a battery model, an MCU motor controller model, a motor model and a gearbox model. The model has extremely high real-time performance, and can ensure that a power system does not report hardware loss faults under the condition of a VTCU hardware ring; the power system is parameterized by high-quality test data, so that the precision of the power system is close to that of a real power component.
Specifically, the high-precision Simulink whole vehicle power system model calculates the rear-end half-shaft torque of the gearbox in real time according to a motor demand torque request output by the VTCU whole vehicle controller, and transmits the torque to the Trucksim whole vehicle residual model. Meanwhile, the high-precision Simulink whole vehicle power system model also deduces the motor temperature according to a motor related empirical formula, motor efficiency MAP and the like.
(3.2) Trucksims Whole vehicle residual model and real Environment model
The Trucksim whole car residual model builds a whole car residual model which comprises an EBS (Electronic Brake Systems, electronic brake system), a car body posture, wheels and the like besides a whole car power system. The real environment model builds a real scene, including the gradient of the road condition of the real scene and the road attachment coefficient. The gradient and the attachment coefficient are converted by data acquisition equipment such as combined inertial navigation and laser radar scanning. The truckim whole vehicle residual model and the real environment model can realize the response of the simulated vehicle to the input of a driver, a road surface and aerodynamics so as to predict and simulate the operation stability, braking performance, smoothness, dynamic performance and economy of the whole vehicle.
The residual model of the Trucksim whole vehicle receives the torque of the rear end half shaft of the gearbox calculated by the high-precision Simulink power system model in real time, and calculates the posture and the speed of the vehicle body in real time. The vehicle speed is calculated from the torque of the rear half shaft of the gearbox. The drag force of the whole wheel end is calculated by the ABC coefficient, and the driving force of the wheel end is pushed by the axle shaft torque. The difference between the wheel end driving force and the wheel end resistance is the acceleration and deceleration of the whole vehicle. And integrating acceleration and deceleration to obtain the speed of the whole vehicle.
When a braking requirement exists, an EBS model in the Trucksims whole vehicle residual model calculates a motor braking torque requirement and a mechanical braking torque requirement under a braking working condition in real time according to a braking pedal signal, and transmits the motor braking torque requirement and the mechanical braking torque requirement to a VTCU whole vehicle controller and a high-precision Simulink power system model; and the reasonable distribution of mechanical braking and electric braking during the whole vehicle braking is realized.
The EBS model calculates the total braking force demand, the motor braking torque and the mechanical braking torque of the whole vehicle according to signals such as the vehicle speed, the motor rotating speed, the brake pedal depth, the motor MAP and the like and simultaneously considers the operation stability of the whole vehicle. After the distribution, the motor braking torque is sent to the motor, the braking priority is highest, and even if the motor driving torque request is deeply stepped on the accelerator, the motor driving torque request is still 0. And the mechanical braking torque is sent to a whole vehicle braking system in a whole vehicle residual model. The combined action of the braking torque and the mechanical braking torque decelerates the vehicle.
The Truckim whole vehicle residual model reversely transmits a vehicle speed signal and a vehicle body posture signal to the VTCU whole vehicle controller and the high-precision Simulink whole vehicle power system model. The high-precision Simulink whole vehicle power system model can calculate the energy consumption of power components (such as a motor and a battery) and the whole vehicle energy consumption in real time according to the vehicle speed and the braking torque.
In addition, the residual model and the real environment model of the Trucksim whole car calculate feedback sensing moment of a steering wheel and a brake pedal according to key parameters such as gradient, road attachment coefficient, vehicle speed and vehicle weight of a real scene road condition, the feedback sensing moment comprises steering feedback moment and brake feedback moment, the steering feedback moment and the brake feedback moment are transmitted to a driving simulator through a hardware communication port, and a load motor in the driving simulator simulates steering wheel rotation resistance torque and brake pedal deep stepping resistance in real time under the real scene, so that driving feeling of a driver is more real.
(4) TruckSim host computer
The upper computer of the embodiment is a TruckSim upper computer, and the rendering of the real attitude and real-time scene of the whole vehicle is carried out according to the key parameters of the vehicle body attitude, the vehicle speed and the environment model data fed by the VTB virtual calibration system 4; the TruckSim upper computer and the VTB virtual calibration system realize communication through a hardware communication port.
The driver observes the rendering effect of the Trucsim upper computer, observes the whole vehicle gesture and virtual real scene data in real time, adjusts the whole vehicle gesture in real time through the driver simulator according to the requirements, and achieves the closed loop of the simulation data stream.
The VTB virtual simulation system constructs a virtual calibration rack through embedded Trucksim whole vehicle residual model, real environment model and high-precision Simulink whole vehicle power system model and real-time communication with a VTCU whole vehicle controller and a driver simulator, realizes high-precision joint simulation of the whole vehicle in the longitudinal direction and the transverse direction, and further provides a user with testing the dynamic property and the economical property of the whole vehicle.
The foregoing disclosure is merely illustrative of the preferred embodiments of the invention and the invention is not limited thereto, since modifications and variations may be made by those skilled in the art without departing from the principles of the invention.
Claims (10)
1. A vehicle in-loop simulation system based on a virtual test bench is characterized by comprising,
driver simulator: the virtual test bench is used for generating a vehicle driving signal according to the intention requirement of a driver and transmitting the vehicle driving signal to the virtual test bench; meanwhile, driving real moment is generated according to the driving feedback moment transmitted by the virtual test bench; the vehicle driving signals comprise steering signals of a steering wheel, braking signals and accelerator signals;
virtual test bench: the vehicle driving signal, the vehicle speed signal and the vehicle body posture signal are transmitted to the VTCU whole vehicle controller, and the vehicle speed signal, the vehicle body posture signal and the environment parameters are transmitted to the upper computer; meanwhile, driving feedback moment is generated according to the real environment and transmitted to a driver simulator;
VTCU whole car controller: the virtual test bench is used for receiving a vehicle driving signal, a vehicle speed signal and a vehicle body posture signal, generating a motor demand torque request and a gear signal, and transmitting the motor demand torque request and the gear signal to the virtual test bench;
the upper computer: the method is used for receiving the vehicle speed signal, the vehicle body attitude signal and the environmental parameter, and rendering the real attitude and the real-time scene of the whole vehicle.
2. The virtual test bench based vehicle in-loop simulation system of claim 1, wherein the virtual test bench comprises real-time, in-flight, download of vehicle models and real environment models.
3. The vehicle-in-loop simulation system based on the virtual test bench according to claim 2, wherein the vehicle model comprises a whole vehicle power system model built based on a Simulink platform and a whole vehicle residual model built based on a truckim platform;
the real environment model is built based on a Trucksimplatform.
4. The virtual test bench based vehicle on-loop simulation system of claim 3, wherein the whole vehicle power system model is configured to receive the motor demand torque request, the gear information, and the vehicle speed signal, generate a gearbox rear end half shaft torque, a motor temperature, a power component energy consumption, and a whole vehicle energy consumption, and transmit the gearbox rear end half shaft torque to a whole vehicle residual model.
5. The virtual test bench based vehicle in-loop simulation system of claim 4, wherein the whole vehicle residual model is used for receiving rear end half axle torque of the gearbox and generating a vehicle speed signal and a vehicle body posture signal.
6. The virtual test bench based vehicle in-loop simulation system of claim 5, wherein the whole vehicle residual model comprises an EBS model;
when a braking demand exists, the EBS model calculates a motor braking torque demand and a mechanical braking torque demand under a braking working condition in real time according to a braking signal, and transmits the motor braking torque demand and the mechanical braking torque demand to the VTCU whole vehicle controller and the whole vehicle power system model so as to realize the distribution of mechanical braking and electric braking during the whole vehicle braking.
7. The virtual test bench based vehicle in-loop simulation system of claim 6, wherein the generating of driving feedback torque according to the real environment model specifically comprises:
the whole vehicle residual model generates steering feedback moment of a steering wheel and braking feedback moment of a brake pedal according to the vehicle speed, the vehicle weight and the gradient of the real scene road condition of the real environment model and the road attachment coefficient, and transmits the steering feedback moment and the braking feedback moment to the driver simulator.
8. The virtual test bench based vehicle in-loop simulation system of claim 7, wherein the driver simulator generates the driving real moment according to the driving feedback moment transmitted by the virtual test bench, and specifically comprises:
and simulating steering wheel rotation resistance torque and brake pedal deep stepping resistance in real scene in real time based on the internal load motor according to the steering feedback torque and the brake feedback torque.
9. The virtual test bench-based vehicle in-loop simulation system of any of claims 1-8, wherein the virtual test bench communicates with the driver simulator, the VTCU vehicle controller, and the host computer, respectively, via hardware communication ports.
10. The virtual test bench based vehicle in-loop simulation system of claim 9, wherein the hardware communication ports comprise an IO interface, a network interface, and a CAN bus interface.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118607191A (en) * | 2024-05-24 | 2024-09-06 | 大连理工大学 | A driver-in-the-loop simulation test platform |
| CN119148686A (en) * | 2024-11-15 | 2024-12-17 | 坤泰车辆系统(常州)股份有限公司 | Hybrid power whole vehicle oil consumption simulation test system with controller in ring |
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2023
- 2023-11-24 CN CN202311576084.9A patent/CN117590831A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118607191A (en) * | 2024-05-24 | 2024-09-06 | 大连理工大学 | A driver-in-the-loop simulation test platform |
| CN119148686A (en) * | 2024-11-15 | 2024-12-17 | 坤泰车辆系统(常州)股份有限公司 | Hybrid power whole vehicle oil consumption simulation test system with controller in ring |
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