US 12,241,807 B2
System for testing intelligent vehicles
Xiangmo Zhao, ShaanXi (CN); Wenwei Wang, ShaanXi (CN); Zhen Wang, ShaanXi (CN); Zhigang Xu, ShaanXi (CN); Runmin Wang, ShaanXi (CN); Jingjun Cheng, ShaanXi (CN); Ying Gao, ShaanXi (CN); Yizhe Cao, ShaanXi (CN); Dingrui Xue, ShaanXi (CN); Nanfeng Chen, ShaanXi (CN); and Jianhui Di, ShaanXi (CN)
Assigned to CHANG'AN UNIVERSITY, Xi'an (CN)
Filed by CHANG'AN UNIVERSITY, ShaanXi (CN)
Filed on Jan. 13, 2021, as Appl. No. 17/147,942.
Claims priority of application No. 202011188538.1 (CN), filed on Oct. 30, 2020.
Prior Publication US 2022/0136930 A1, May 5, 2022
Int. Cl. G01M 17/007 (2006.01)
CPC G01M 17/0072 (2013.01) 8 Claims
OG exemplary drawing
 
1. A system for testing an intelligent vehicle, comprising:
a test bench;
a hardware-in-the-loop sub-system;
a software-in-the-loop sub-system;
a target-in-the-loop sub-system; and
a test management platform;
wherein the test bench is configured to load the intelligent vehicle, and simulate a resistance of an actual road according to road resistance parameters and a posture of the actual road according to road posture parameters;
the test bench comprises a test stand, a road resistance simulation sub-system, a roller, a servo motor and a road posture simulation sub-system;
wherein the road posture simulation sub-system is configured to:
receive posture parameters including slope and inclination of a road model, sent by the test management platform;
calculate a pitch angle and a roll angle of the test stand according to the posture parameters; and
control the test stand to move to a posture corresponding to the pitch angle and the roll angle to realize simulation of the posture of the actual road;
the servo motor is configured to drive the roller; the road resistance simulation sub-system comprises a proportional-integral-derivative (PID) controller, a servo driver and a torque measurement device; and the road resistance simulation sub-system is configured to perform PID control on the servo motor according to the road resistance parameters to allow the servo motor to drive the roller to apply corresponding road resistance to tires of the intelligent vehicle, wherein a difference between the road resistance parameters and a torque of the roller detected by the torque measurement device is calculated by the PID controller;
the hardware-in-the-loop sub-system is configured to construct a specific test environment for a hardware of the intelligent vehicle, and send data of a test scenario to the hardware of the intelligent vehicle via the specific test environment to test response of the intelligent vehicle in the test scenario;
the software-in-the-loop sub-system is configured to input the data of the test scenario into an electronic control unit of the intelligent vehicle to test the response of the intelligent vehicle in the test scenario;
the target-in-the-loop sub-system is configured to present different traffic scenario targets in a specific way, respectively, to test identification and response of the intelligent vehicle to the traffic scenario targets; and
the test management platform is configured to generate the data of the test scenario, and send the data of the test scenario to the hardware-in-the-loop sub-system when a hardware-in-the-loop testing is performed, or send the data of the test scenario to the software-in-the-loop sub-system when a software-in-the-loop testing is performed, or control the target-in-the-loop sub-system to present different traffic scenario targets when a target-in-the-loop testing is performed; the test management platform is further configured to generate the road resistance parameters and the road posture parameters, and send the road resistance parameters and the road posture parameters to the test bench; and the test management platform is further configured to receive and save test data of the response of the intelligent vehicle in the test scenario and test data of the identification and response of the intelligent vehicle to the traffic scenario targets.