汽车工程 ›› 2023, Vol. 45 ›› Issue (3): 372-381.doi: 10.19562/j.chinasae.qcgc.2023.03.004

所属专题: 智能网联汽车技术专题-感知&HMI&测评2023年

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智能网联汽车通用跨平台实时仿真系统架构及应用

胡耘浩,李克强,向云丰,石佳,罗禹贡()   

  1. 清华大学车辆与运载学院,汽车安全与节能国家重点实验室,北京  100084
  • 收稿日期:2022-11-01 修回日期:2022-12-12 出版日期:2023-03-25 发布日期:2023-03-22
  • 通讯作者: 罗禹贡 E-mail:lyg@mail.tsinghua.edu.cn
  • 基金资助:
    国家重点研发计划项目(2022YFE0101000);国家自然科学基金(51975310)

The Universal Architecture and Application of Cross-Platform Real-Time Simulation System for Intelligent Connected Vehicles

Yunhao Hu,Keqiang Li,Yunfeng Xiang,Jia Shi,Yugong Luo()   

  1. School of Vehicle and Mobility,Tsinghua University,State Key Laboratory of Automotive Safety and Energy,Beijing  100084
  • Received:2022-11-01 Revised:2022-12-12 Online:2023-03-25 Published:2023-03-22
  • Contact: Yugong Luo E-mail:lyg@mail.tsinghua.edu.cn

摘要:

为解决跨平台实时仿真测试过程中数据通信方式不通用、系统架构多样且难拓展、缺乏跨平台多软件数据同步方式的问题,本文中提出了一种面向智能网联汽车的跨平台实时仿真系统架构。首先借鉴车载以太网传输层通信协议设计多仿真平台间数据通信,构建通用数据通信交互方式;其次,根据智能网联汽车系统测试需求,确定所需的实时测试平台、车辆动力学仿真平台、传感器测试平台及以太网测试平台,参考汽车总线的分布式架构,设计通用且可拓展的跨平台实时仿真系统架构;最后,建立数据中转平台作为系统数据通信中枢,实现多软件、多平台运行同步。以前方侧翻智能避障算法为例进行应用验证,结果表明,基于跨平台实时仿真系统架构所设计的仿真测试系统,可通过数据中转模块调节被测算法及多平台、多软件的仿真速度,低时延的通信方式及实时硬件仿真平台,保证多平台、多软件实时同步运行,数据交互通信方式统一,系统架构具备通用性、拓展性。

关键词: 智能网联汽车, 跨平台, 联合仿真, 以太网通信, 通用架构

Abstract:

To solve the problems of lack of common data communication mode, common extensible system architecture and the difficulty of synchronizing multiple software data for the intelligent connected vehicle(ICV)simulation system in cross-platform real-time simulation test, this paper proposes a cross-platform real-time simulation system architecture for ICV. Firstly, the data communication between multiple simulation platforms is designed according to the communication protocols of on-board Ethernet transmission layer of ICV to construct common data communication and interaction mode. Secondly, according to the system testing requirements of ICV functions, the real-time test platform, vehicle dynamics simulation platform, sensor test platform and Ethernet test platform are determined, and the common scalable cross-platform real-time simulation system architecture is designed with reference to the automotive bus architecture. Finally, the data transfer platform is established as the system data communication center to realize synchronization of multi-software and multi-platform operation. The validation results of a front-side rollover intelligent obstacle avoidance algorithm show that the simulation test system designed on the basis of the cross-platform real-time simulation system architecture can adjust simulation speed of the tested algorithm and multi-platform and multi-software through the data transfer module, while the low time delay communication method and real-time hardware simulation platform ensure the real-time synchronous operation of multi-platform and multi-software, with system architecture versatility and expandability because of unified data interaction and communication methods.

Key words: ICV, cross-platform, co-simulation, Ethernet for vehicle, universal architecture