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