Patent Application
20230306148
The present disclosure belongs to the field of vehicle performance simulation, and in particular to an automatic modeling method for a user-defined vehicle controller.
Vehicle simulation technology plays an increasingly important role in vehicle development. Building a reasonable vehicle simulation model through a simulation platform to conduct preliminary performance simulation research at the vehicle development stage can significantly improve the vehicle development efficiency and shorten the research and development cycle. At present, the hottest research topic is the development and verification of vehicle controller models built by users.
Vehicle controller modeling involves two parts, namely vehicle controller port model and control policy model. At present, mainstream simulation platforms provide different support for vehicle controller modeling, but they are basically in the following two forms. 1. A vehicle controller model is built in the platform, and users select the vehicle controller model according to their needs. However, the type of the vehicle controller is fixed, which is hard to meet the control requirements of users for different vehicle types and different functions. 2. The platform itself cannot build a vehicle controller model, but it provides an open vehicle controller port, allowing users to convert vehicle controllers they build on other platforms into recognizable blocks according to the port rule of the platform and import them into the platform.
However, the operation process is cumbersome, with complex configuration, many error-prone intermediate tasks, and the need for reconfiguration for each modification of the vehicle controller. Therefore, an automatic modeling method is needed to help users complete the port model template part of the vehicle controller model. After the port model part is completed, users complete the control policy model according to their control requirements. This facilitates the rapid building of the vehicle controller prototype, and facilitates comprehensive preliminary verification, thus greatly improving the development efficiency of the vehicle controller.
However, at present, there are few automatic modeling methods that meet the user-defined requirements. Therefore, it is necessary to provide an automatic modeling method for a user-defined vehicle controller so as to overcome the shortcomings of the prior art.
In view of this, an objective of the present disclosure is to propose an automatic modeling method for a user-defined vehicle controller. The present disclosure can help users complete the configuration of a vehicle controller port model and complete the building of a control policy model according to vehicle control requirements, so as to realize efficient and accurate modeling of user-defined vehicle controllers for different users.
To achieve the above objective, the present disclosure adopts the following technical solution.
The automatic modeling method for a user-defined vehicle controller includes the following steps:
Further, in step S1, the vehicle simulation platform is plug-and-play, modularizes the component models, and includes the GUI for placing and connecting demand components.
Further, in step S2, the component models each include the input signals, the output signals, and parameters; the component model description file refers to a filet that describes the input signals and output signals of the component models; and the component model parameter description file refers to a file that describes parameters for ensuring normal operation of the component models and basic attributes of all the parameters.
Further, in step S4, the unmatched demand input signal means that a demand input signal of a component is not provided by an output signal of any other component.
Further, in step S7, the creating a port model template includes:
Further, in step S8, the checking input signal configuration of the user-defined vehicle controller before each overall vehicle simulation covering all components includes:
Compared with the prior art, in the present disclosure, the automatic modeling method for a user-defined vehicle controller has the following the advantages:
As a part of the present disclosure, the drawings of the specification provide further understanding of the present disclosure. The schematic embodiments of the present disclosure and description thereof are intended to explain the present disclosure and are not intended to constitute an improper limitation to the present disclosure. In the drawings:
It should be noted that the embodiments in the present disclosure or features in the embodiments may be combined in a non-conflicting manner.
It should be understood that in the description of the present disclosure, terms such as “central”, “longitudinal”, “transverse”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside” and “outside” indicate the orientation or positional relationships based on the drawings. They are merely intended to facilitate and simplify the description of the present disclosure, rather than to indicate or imply that the mentioned device or components must have a specific orientation or must be constructed and operated in a specific orientation. Therefore, these terms should not be construed as a limitation to the present disclosure. Moreover, the terms such as “first” and “second” are used only for the purpose of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features denoted. Thus, features defined with “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the present disclosure, unless otherwise specified, “a plurality of” means at least two.
In the description of the present disclosure, it should be noted that, unless otherwise clearly specified, meanings of terms “install”, “connected with”, and “connected to” should be understood in a board sense. For example, the connection may be a fixed connection, a removable connection, or an integral connection; may be a mechanical connection or an electrical connection; may be a direct connection or an indirect connection by using an intermediate medium; or may be intercommunication between two components. A person of ordinary skill in the art may understand specific meanings of the above terms in the present disclosure based on a specific situation.
The present disclosure will be described in detail below with reference to the drawings and the embodiments.
As shown in
In step S3, when the input and output signals of the component models are summarized, directly related to the recording rule of the component model description file, the information of a specified attribute can be obtained in any way according to the recording rule, including but not limited to node extraction, regular expression search, etc. After the input and output signal sets of all components are obtained, it is necessary to detect duplicate values of the set and delete all duplicate values. The sequence of signals does not affect subsequent processing.
The automatic modeling method for a user-defined vehicle controller is reasonably designed. This method realizes automatic modeling according to a current component configuration, and allows the user to build the vehicle controller freely, which solves the problem of building user-defined vehicle controllers for different users. Through the technology of automatically sorting input and output signals and automatically generating models, the user can directly run the policy after building it. The design does not require an additional configuration, and can modify the vehicle controller model online in real time, which solves the problem that the vehicle controller application configuration is complex and cannot be updated online in real time.
In step S1, the vehicle simulation platform is plug-and-play, modularizes the component models, and includes the GUI for placing and connecting demand components. In this embodiment, in step S1, the vehicle simulation platform is plug-and-play, modularizes the component models, and includes the GUI for placing and connecting demand components. For example, it may be Cruise or Amesim, etc. The vehicle controller includes two parts, namely a port model template and a control policy model template. The port model template includes the input signals and output signals of the user-defined vehicle controller model. The control policy model template includes model parameters. Connection of component signals refers to definition and confirmation of a connection relationship between all the component models according to the actual configuration of a vehicle and a component connection rule of the vehicle simulation platform. Parameter configuration refers to configuration of all parameters involved in the model that affect the dynamic performance of the components.
In step S2, the component models each include the input signals, the output signals, and parameters; the component model description file refers to a filet that describes the input signals and output signals of the component models; and the component model parameter description file refers to a file that describes parameters for ensuring normal operation of the component models and basic attributes of all the parameters. In this embodiment, in step S2, the component model description file refers to a file that describes the input and output port signals of the component model, model hierarchy, and other key information. The component model parameter description file refers to a file that describes all necessary parameters for ensuring the normal operation of the component model and describes basic attributes of all parameters, such as parameter name, display name, parameter type, unit, storage format, parameter source, and other key information. The description file is in any form that can record the features to be described and is easy to find, such as XML, or TXT.
In step S4, the unmatched demand input signal means that a demand input signal of a component is not provided by the output signal of any other component. In this embodiment, in step S4, the unmatched demand input signal means that a demand input signal of a component is not provided by the output signal of any other component. According to a rule of general simulation modeling, the simulation cannot be performed when the input is missing. The unmatched demand input signal serves as the output signal of the user-defined vehicle controller to form a closed loop of the signal, so as to realize automatic collection of the output signal of the vehicle controller.
In step S7, the port model template is created as follows.
As shown in
In the present disclosure, to more clearly explain the automatic modeling method for a user-defined vehicle controller, as shown in
A description file is created for the parameters of the components A, B, and C in the following format (but not necessarily in the following format):
The above described are merely preferred embodiments of the present disclosure, and not intended to limit the present disclosure. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present disclosure should all fall within the scope of protection of the present disclosure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 202210279421.7 | Mar 2022 | CN | national |
This application is a continuation of International Patent Application No. PCT/CN2022/131799 with a filing date of Nov. 15, 2022, designating the United States, now pending, and further claims priority to Chinese Patent Application No. 202210279421.7 with a filing date of Mar. 22, 2022. The content of the aforementioned applications, including any intervening amendments thereto, are incorporated herein by reference.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/CN2022/131799 | Nov 2022 | US |
| Child | 18183185 | US |
