• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    For as flexible a method as possible for testing a vehicle or components thereof, it is proposed that a test control unit 3 generates or plays a virtual world containing both a virtual vehicle state and a virtual vehicle environment, and the test control unit 3 a number of sensors and / or Actuators of the real vehicle 1 manipulated according to the specifications of the virtual world and simultaneously drives a Fahrzustandsaktuator 2 according to the specifications of the virtual world and the Fahrzustandsaktuator 2 by introducing additional forces or moments in the real vehicle 1 the current in the virtual world vehicle state and the instantaneous Vehicle environment generated so that the real vehicle 1 on the real test track 4 learns the vehicle condition and the vehicle environment from the virtual world.
    公开号:AT511131A2
    申请号:T50203/2012
    申请日:2012-05-25
    公开日:2012-09-15
    发明作者:
    申请人:Avl List Gmbh；
    IPC主号:
    专利说明:

    Printed: 29-05-2012 E014.1 10 2012/50203
    AV-3482 AT
    Method for testing a vehicle or a component of a vehicle
    The subject application relates to a method for testing a vehicle or a component of a vehicle, wherein the real vehicle is traveling on a real test track. 5 In the development and testing of vehicles, it is necessary to create certain driving conditions in order to test a specific behavior of the vehicle or its subcomponents under certain conditions. This can either be done on special test stands, such as Roller test stands, or on test tracks (whether in the form of real roads or on a special test site plays no role here) done. Both options 10 have advantages and disadvantages. On test benches you can not come anywhere close to real ambient conditions, since the desired real environment can not be simulated arbitrarily exactly. Thus, a test on a test bench can only ever be an indication (if very close to the real conditions) for the real behavior of the vehicle on the real roadway. This can be done on a test bench 15 (such as a chassis dynamometer for a vehicle) very flexible test runs. In turn, a test track is limited in its possibilities to be able to drive through different environments, route courses, etc. On a test track therefore can not be generated any driving conditions of the vehicle. In addition, a test on a test track is usually dependent on the ambient conditions (temperature, humidity) and the test driver (switching times, pedal (s), steering angle, etc.) and thus not entirely reproducible different test tracks (eg a street circuit or the Großglockner High Alpine Road) of course depart various routes and thus test runs, which, however, comprehensible consuming and limited is possible.But in principle, however, both options are not ideal 25 The subject invention has therefore taken on the task To provide test methods and a test environment, which combines the advantages of the above two options for testing a vehicle or components thereof and at least minimizes the associated disadvantages.
    This object is achieved according to the invention in that a test control unit generates or plays a virtual world containing both a virtual vehicle state and a virtual vehicle environment, and the test control unit a number of sensors and / or actuators of the real vehicle according to the specifications of Manipulated virtual world and simultaneously drives a Fahrzustandsaktuator according to the requirements of the virtual world and the Fahrzustandsaktuator by introducing additional forces or 35 moments in the real vehicle the current in the virtual world vehicle state -1- E014.1
    Printed: 29-05-2012 10 2012/50203
    AV-3482 AT and the current vehicle environment generated so that the real vehicle on the real test track learns the vehicle condition and the vehicle environment from the virtual world.
    By the features of the invention, a test-in-the-loop test stand is practically produced, in which a real vehicle is moved on a real route, but experiences a virtual world in which both the driving condition and the driving environment are virtually arbitrary can be. By using a Fahrzustandsaktuators and by manipulating the sensors and / or actuators of the vehicle, the vehicle thus experiences the virtual world, although it is real on a real route. This decouples a test run io from the real route and at the same time maintains the interaction between the vehicle and the real route.
    Further advantageous embodiments of the invention will become apparent from the dependent claims and the following description of the invention.
    The subject invention will be explained in more detail below with reference to Figures 1 and 2, 15 show the schematic and non-limiting advantageous embodiments of the invention. It shows
    A schematic representation of a vehicle on a test track and Figure 2 the integration of digital cards in the inventive method.
    FIG. 1 shows a vehicle 1 on a test track 4. A secondary vehicle, in this case a trailer, is coupled to the vehicle 1 as a driving condition battery 20. The coupling of the driving condition actuator 2 to the vehicle 1 may be e.g. with conventional ball-hitch couplings, as usual in cars, or even with bolt-hitches with coupling jaw, coupling eye and bolt or fifth wheel and kingpin, as usual in trucks, done. But it can also be provided a rigid coupling. Likewise conceivable are couplings with suitable kinematics, such as, for example, by means of a known four-bar linkage. The concrete type of coupling is not essential to the invention.
    The Fahrzustandsaktuator 2 has an independent drive and load machine, not shown here, with which the Fahrzustandsaktuator 2, also individually wheel, braked 30 or can be driven. It does not matter which type the drive and loading machine is, e.g. an internal combustion engine, an electric machine, such as an electric synchronous machine, etc., because it is only important that the Fahrzustandsaktuator 2 can generate a force in the longitudinal and / or transverse direction of the vehicle 1, that is, an acceleration or braking force. It is also irrelevant whether the
    Printed: 29-05-2012 E014.1
    10 2012/50203 AV-3482 AT
    Fahrzustandsaktuator 2 has an axis, a twin axis or two or more axes. It is also conceivable that only one or more axes of Fahrzustandsaktuators 2 or each wheel of Fahrzustandsaktuators are driven individually. Of course, other units for supplying power to the drive, e.g. a battery or fuel cell, and / or units 5 for driving the drive and loading machine, e.g. suitable control and power electronics, be provided. However, it is of course also conceivable that the Fahrzustandsaktuator 2 as a drive and loading machine for braking and driving different devices are available, e.g. an electric motor for driving and a vortex power brake for braking 10. The Fahrzustandsaktuator 2 could also be coupled in front of the vehicle 1 and would then act like a tractor.
    Advantageously, at least one wheel with independent drive and loading machine, e.g. in the form of wheel hub motors, be provided. Thus, with such a wheel-individual drive in addition to longitudinal forces 15 (by braking, pushing (or pulling)) and lateral forces or moments about the vertical axis (yawing moments), e.g. for carrying out a known torque vectoring, are embossed in the vehicle 1. This gives a further degree of freedom for the tests to be carried out and, e.g. now also simulate driving conditions with lateral forces or with yawing moments, in order, e.g. to test various driving stability systems (such as ABS, ESP, etc.). But it can also be very specific driving conditions, such as. starting up the vehicle at the curb when parking (e.g., to test automatic parking aids).
    In order to make the testing of the vehicle 1 more independent of the real test track, a test control unit 3 is now provided. This can be arranged on the Fahrzustandsaktuator 2 or 25 on the vehicle 1. In the test control unit 3, a virtual world is generated and / or a pre-generated virtual world is played. This virtual world contains the desired vehicle condition, e.g. Speed, acceleration, torque, gear, media condition (oil, water, fuel, etc.), etc., and also the vehicle environment, e.g. Topology of the route, route geometry, weather conditions, road condition, 30 traffic situation, etc. In the driving state is thus also the test run to be performed to test the vehicle 1 or a specific vehicle component. The virtual world thus defines how the vehicle 1 should move through a certain distance.
    In reality, however, the vehicle 1 is moved along a real test track 4, e.g. from a test driver or a driving robot, which determines the real vehicle condition and the real vehicle environment. The reality, therefore, deviates, as a rule, considerably from the desired virtual world. To make the vehicle 1 believe that it is in -3- E014.1
    Printed: 29-05-2012 10 2012/50203
    AV-3482 AT moves in the virtual world and thus departs a defined route under defined conditions, the measured values of real sensors, such. wheel speed sensors 6, longitudinal and lateral acceleration sensor, steering angle sensor, exhaust system sensors, e.g. a λ sensor 7, driving environment sensors 8 for environment detection (such as 5 radar, lidar, ultrasound), pedal position 9, etc. are detected and fed to the test control unit 3.
    The sensor readings are manipulated there according to the virtual world, i. changed as the measured values would have to be if the vehicle 1 were in the vehicle state and in the vehicle environment of the virtual world. These manipulated measurements are then provided to the units that process the measurements, such as a motor control unit 10 (ECU), or a transmission control unit, a vehicle stability system such as a vehicle control system. ABS, ESP, an injection system 11, etc. Likewise, actuators may also be actuated by the test control unit 3 in accordance with the specifications of the virtual world, such as e.g. a brake system 12, an injection system 11, a transmission, etc. For this purpose, direct cabling between sensors and the measured value receivers can be interrupted, or otherwise bridged 15, and the sensors are connected to the test control unit 3. In the case of a vehicle bus, as common in modern vehicles, the test control unit 3 could also simulate a vehicle bus, or a part thereof.
    Furthermore, the driving state actuator 2 is also actuated by the test control unit 3 so as not only to simulate the virtual world of the vehicle 1, but also to impress it. The 20 Fahrzustandsaktuator 2 generates forces (longitudinal and / or shear forces) and / or moments that are introduced via the coupling 13 in the vehicle 1. The vehicle 1 thus also "experiences" the virtual world. For example, Thus, headwind, downhill, cornering, a certain load condition, a certain road traffic (such as stop-and-go) can be simulated, even though the vehicle 1 is in real e.g. on a flat straight test track 25 4 or a circuit drives.
    This simulation of the virtual world can go so far that the driver can also play the virtual world over a screen so that the driver can also see the virtual world.
    This makes it possible to simulate a wide variety of situations - for example: Vehicles are equipped with a wealth of measuring technology for emissions tests. Of course, the weight of the measurement technology falsifies the fuel consumption and emission values. It could now be e.g. be provided to simulate the weight of the measurement technique by the Fahrzustandsaktuator away, to obtain more accurate consumption and emission measurements.
    Certain driving situations, such as Column traffic or stop-and-go traffic, city traffic, 35, etc., are hardly replicable. With the method according to the invention, however, such driving situations can be produced and tested. -4-
    Printed: 29-05-2012 E014.1 10 2012/50203
    AV-3482 AT
    The vehicle environment can also be obtained from available digital map material. Such digital maps, possibly with various additional information such as traffic signs, topology, geometry, etc., may be purchased commercially, but may also be obtained from online sources such as web sites. Google Earth, related. The vehicle surroundings of a certain route can then be extracted from this digital mapmatehal.
    It is also possible to prescribe virtual GPS data to a navigation system installed in the vehicle, e.g. by emulating sixteen satellite positions around the vehicle through suitable transmitting devices. The vehicle 1 can thus also be played any virtual place. For example, According to the invention, it is possible to simulate any streetcourse with traffic on an arbitrary test track.
    Today's vehicles increasingly also have systems that make it possible to analyze the route ahead, e.g. in the form of a digital map preview, which can also be based on digital maps (as an image of reality). In this digital map preview, information on the route ahead, such as traffic signs, construction sites, intersections, etc., as well as topographical and geometric information of the route, such as the route, can be obtained. Curves, gradients, gradients, etc., be included. Through this digital map preview system of the vehicle 1, such as e.g. the engine control unit (ECU), the transmission control (TCU) or driver assistance systems, such. Adaptive Cruise Control (ACC), proximity control, brake assist, lane assist, etc., can proactively optimize their respective functions. A controller, e.g. a navigation system, can determine the vehicle position, e.g. with the help of GPS, and can create the digital map preview and make it available to other units. For this, the map data, e.g. over the vehicle bus, in a standardized data protocol, e.g. ADASIS, to be provided. Such digital map previews can also be incorporated into the method according to the invention, as shown schematically in FIG. 2. For this purpose, the test control unit 3 from the digital map material 22 creates the vehicle environment for the desired test track with the desired additional information. Alternatively, the vehicle environment may be provided to the test control unit 3. The test control unit 3 now supplies, during 30 of the test run, a control unit 20 of the vehicle 1, e.g. a navigation system, a transmission control unit, an engine control unit, etc., with the route's GPS data. Alternatively, the GPS data could also be emulated as described above. Thus, the vehicle 1 is pretended to actually move along the desired route, whereby the functions of the digital map preview function or can be tested. The digital map preview may also be transmitted via the vehicle bus 21 to other units of the vehicle 1, e.g. ECU, TCU, ACC, etc., are provided. This should be -5-
    Cm
    Printed: 29-05-2012 E014.1 10 2012/50203
    AV-3482 AT the digital map material available to the vehicle 1, with the digital map material 22 from which the vehicle environment was obtained to match, to avoid deviations in the test run, as indicated in Fig. 2 by the dotted line. aut -6-
    权利要求:
    Claims (7)
    [1]
    1. A method of testing a vehicle or a component of a vehicle, wherein the real vehicle is traveling on a real test track (4), characterized in that a Test control unit (3) generates or plays a virtual world that contains both a virtual virtual vehicle state, as well as a virtual vehicle environment, and the test control unit (3) a number of sensors and / or actuators of the real vehicle (1) according to the specifications of the virtual World manipulated while driving a Fahrzustandsaktuator (2) according to the specifications of the virtual world and that the Fahrzustandsaktuator (2) by introducing additional forces or moments in the real vehicle (1) 10 generates the current in the virtual world vehicle state and the current vehicle environment so that the real vehicle (1) on the real test track (4) makes the vehicle condition and the vehicle environment the virtual world.
    [2]
    2. Method according to claim 1, characterized in that the vehicle state generated by the test control unit (3) also encompasses a media state of the vehicle (1).
    [3]
    3. The method according to claim 1 or 2, characterized in that the test control unit (3) a control unit (20) of the vehicle (1) sends data that allows the control unit (20), the position determination of the vehicle (1).
    [4]
    4. The method according to claim 1 or 2, characterized in that GPS data emu-20 are liert, which allows a control unit (20) of the vehicle (1), the position determination of the vehicle (1)
    [5]
    5. The method according to claim 3 or 4, characterized in that the control unit (20) based on the determined position and based on digital map material creates a digital map preview and other units of the vehicle (1) is available.
    [6]
    6. The method according to any one of claims 1 to 5, characterized in that by the Fahrzustandsaktuator (2) longitudinal and / or transverse forces and / or moments are introduced into the vehicle (1).
    [7]
    -7-
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    引用文献:
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    法律状态:
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