Design of Vehicle In the Loop Test System Based on L3 Autopilot

With the increase of global automobile demand, the vehicle development cycle needs to be reduced on a larger scale than before, and the reduction of the development cycle poses a great challenge to the test efficiency of vehicle functions. The tests in the vehicle development process mainly include: model in the loop, hardware in the loop [1]–[2], and vehicle in the loop. Compared with model in the loop and hardware in the loop, vehicle in the loop vehicle dynamics model is an actual vehicle, and can design any complex scene according to the actual situation. The entire control subsystem is highly integrated, so it can more realistically reflect the running status of the vehicle in the actual scene. Under the trend of intelligent network and networking, an ADAS vehicle test system is urgently needed. Therefore, this paper studies the vehicle in the loop test system based on ADAS functions. Taking L3 automatic driving vehicle as an example, this paper first selects and designs the software and hardware of the entire system, obtains the vehicle position and status through GPS and IMU for initialization, builds a virtual simulation environment through CarMaker, and NI real-time machine processes the signals in real time, After the controller makes a decision, it will be sent to the real vehicle, and the real vehicle will feedback the signal to the simulation environment to form a closed loop. Next, the communication mode was studied, the communication means between devices suitable for the system was selected based on the advantages and disadvantages of each communication means, and the construction and generation of the virtual simulation environment of the whole vehicle in the loop was studied in combination with the collection of the natural driving scene data of the CATARC. At the same time, with reference to the CIDAS traffic accident scene database, the systematic and comprehensive requirements for the design of test cases were put forward, Finally, the design of the whole vehicle in the loop test system is completed.