Intelligent driving vehicle in-the-loop test system based on digital twin
Digital Twin(DT)is a system that maps real objects to the virtual world with the help of real-time simulation technology.The DT technology can realize the automatic driving test of real intelligent vehicles in virtual scenarios.A vehicle-in-the-loop test system for intelligent driving vehicles based on DT was designed,and applied to the development and verification of AEB system.Under the framework of DT technology,by combining functional units such as simulation tool,V2X communication equipment,and test vehicle,a vehicle-in-the-loop test system in which the virtual and real environments were mapped to each other was formed.Based on Unreal Engine 4,a mirror simulation scene of the real driving environment was constructed.Using V2X communication technology,real vehicle states were transmitted to the virtual AirSim vehicle controller in real time,and the environment perception data of the simulation scene was fed back to the real vehicle.Considering the influence of the signal delay of the test system,the AEB control algorithm was optimized and improved through vehicle-in-the-loop tests under various conditions.The validity and superiority of DT-based testing method for intelligent vehicle was verified.The results showed that the test method not only retained the authenticity of the real vehicle test,but also could effectively avoid the danger of the real vehicle test.
digital twinsautomatic drivingintelligent connected vehiclevehicle in-the-loop testAEB
NETL
NSTL
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