{"id":803,"date":"2022-09-27T16:20:58","date_gmt":"2022-09-27T08:20:58","guid":{"rendered":"https:\/\/www.tosunai.com\/?p=803"},"modified":"2023-04-20T15:33:55","modified_gmt":"2023-04-20T07:33:55","slug":"tsmaster-hil-simulation-04","status":"publish","type":"post","link":"https:\/\/www.tosunai.com\/tsmaster-hil-simulation-04\/","title":{"rendered":"TSMasterHIL\u5b9e\u65f6\u4eff\u771f\u7cfb\u52174-\u6253\u901aECU\u7b97\u6cd5\u4e0e\u6574\u8f66\u6a21\u578b\u4e4b\u95f4\u7684\u6865\u6881"},"content":{"rendered":"\t\t
\u672c\u6587\u4e3b\u8981\u4ecb\u7ecd\u5982\u4f55\u57fa\u4e8eTSMaster\u6253\u901aECU\u7b97\u6cd5\u4e0e\u6574\u8f66\u6a21\u578b\u4e4b\u95f4\u7684\u6865\u6881\u3002<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t \u7531\u4e8e\u6b64\u89c6\u9891\u91c7\u7528\u4e86CarSim controller\u81ea\u5e26\u7684CarSim engine\u5ba2\u6237\u7aef\uff0c\u9700\u8981\u5bf9\u4ee3\u7801\u5e93\u505a\u4e00\u4e9b\u914d\u7f6e\uff0c\u4e5f\u5c31\u662f\u9700\u8981\u5f15\u7528CarSim controller\u5f00\u53d1\u5305\u7684\u76f8\u5173sdk\u6587\u4ef6\u3002\u6211\u4eec\u6253\u5f00ABS\u7b97\u6cd5\u5c0f\u7a0b\u5e8f\u7684\u4ee3\u7801\u5e93\u3002<\/span><\/p> \u00a0<\/span><\/p> \u5411\u4e0a\u8fdb\u5165common\u6587\u4ef6\u5939\uff0c\u8fd9\u4e2a\u6587\u4ef6\u5939\u53ef\u5b58\u653e\u591a\u4e2a\u5c0f\u7a0b\u5e8f\u516c\u5171\u7684\u5934\u6587\u4ef6\u548c\u4ee3\u7801\u6587\u4ef6\uff0c\u6211\u4eec\u5c06SDK\u6587\u4ef6\u62d6\u5165\u6b64\u6587\u4ef6\u5939\u4e2d\u3002<\/span><\/p> \u00a0<\/span><\/p> \u63a5\u7740\u8f6c\u5230\u5168\u5c40\u5b9a\u4e49\u4e2d\uff0c\u7b2c\u4e00\u884c\u4ee3\u7801\uff0c\u5f15\u7528\u4e00\u4e2aC++\u5934\u6587\u4ef6 #include “CarSimAPIUtilities.hpp”\u3002<\/span><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t \u968f\u540e\u70b9\u51fb\u7f16\u8bd1\uff0c\u53ef\u4ee5\u770b\u5230\uff0cSDK\u4e5f\u878d\u5165\u4e86TSMaster\u7684\u8fd0\u884c\u73af\u5883\u4e2d\u3002<\/span><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t \u63a5\u4e0b\u6765\u6211\u4eec\u5c31\u53ef\u4ee5\u901a\u8fc7\u8c03\u7528SDK\u6765\u8f7b\u677e\u63a7\u5236\u52a8\u529b\u5b66\u6a21\u578b\u4e86\u3002<\/span><\/p> \u00a0<\/p> \u6211\u4eec\u53ef\u4ee5\u4f7f\u7528CarSim engine\u81ea\u5e26\u7684\u8fd9 47 \u4e2aAPI\u51fd\u6570\u6765\u64cd\u4f5cCarSim\uff0c\u5f53\u7136\u4e5f\u53ef\u4ee5\u9009\u7528\u57fa\u4e8eCarSim engine\u5f00\u53d1\u7684SDK\u6765\u5b9e\u73b0\uff0c\u76f8\u6bd4\u8d77\u6765SDK\u7684\u51fd\u6570\u66f4\u52a0\u7b80\u6d01\uff0c\u5b83\u5c06\u6574\u4e2a CarSim\u7684\u63a7\u5236\u5206\u4e3a\u4e09\u4e2a\u9636\u6bb5\uff1a\u521d\u59cb\u5316\u3001\u8fd0\u884c\u3001\u548c\u7ed3\u675f\u8fd0\u884c\u3002<\/span><\/p> \u00a0<\/span><\/p> \u521d\u59cb\u5316\u51fd\u6570\u540d\u4e3a callback_setup\uff0c\u653e\u5728\u7a0b\u5e8f\u542f\u52a8\u4e8b\u4ef6\u4e2d\u3002<\/span><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t \u8fd0\u884c\u51fd\u6570\u540d\u4e3a callback_start_carsim\uff0c\u653e\u5728step\u51fd\u6570\u4e2d\uff0c\u5e76\u4e14\u8ba9\u5b83\u53ea\u6267\u884c\u4e00\u6b21\uff1b\u8fd9\u9700\u8981\u518d\u7533\u8bf7\u4e00\u4e2a\u5168\u5c40\u53d8\u91cf vToStart\uff0c\u6765\u5b9e\u73b0\u5355\u6b21\u64cd\u4f5c\u3002<\/span><\/span><\/p> \u00a0<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t \u7ed3\u675f\u8fd0\u884c\u51fd\u6570\u540d\u4e3a callback_teardown\uff0c\u653e\u5728\u7a0b\u5e8f\u505c\u6b62\u4e8b\u4ef6\u4e2d\uff1b<\/span>\u5199\u5b8c\u540e\u6211\u4eec\u7f16\u8bd1\u7a0b\u5e8f\uff0c\u8fd0\u884c\u7a0b\u5e8f\u3002<\/span><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t \u63a5\u4e0b\u6765\u6211\u4eec\u5c1d\u8bd5\u52a0\u901f\u8f66\u8f86\uff0c\u5e76\u5728\u8f66\u901f\u9ad8\u4e8e80kph\u65f6\uff0c\u7d27\u6025\u5236\u52a8\uff0c\u8981\u5b8c\u6210\u8fd9\u4e2a\u64cd\u4f5c\uff0c\u53ea\u9700\u8981\u5728\u6211\u4eec\u7684ABS\u5c0f\u7a0b\u5e8f\u4e2d\uff0c\u518d\u81ea \u5b9a\u4e49\u4e24\u4e2aAPI\u51fd\u6570\u5373\u53ef\uff0c\u6211\u4eec\u5c06\u8fd9\u4e24\u4e2a\u51fd\u6570\u5206\u522b\u547d\u540d\u4e3aacc\u548cbrake\u3002<\/span><\/p> \u00a0<\/span><\/p> \u5728acc\u4e2d\uff0c\u6211\u4eec\u64cd\u7eb5\u6cb9\u95e8\uff0c\u6b64\u65f6\u9700\u8981\u5230CarSim controller\u4e2d\u62f7\u8d1d\u8f93\u5165\u53d8\u91cf\u540d\uff0cthrottle\uff0ccs-<\/span><\/span>>IMP_THROTTLE_ENGINE = 0.6;<\/span><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t \u5728brake\u4e2d\uff0c\u6211\u4eec\u6a21\u62df\u9a7e\u9a76\u5458\u4ee5150 bar\u7684\u538b\u529b\u8e29\u4e0b\u5236\u52a8\u8e0f\u677f\u8fdb\u884c\u7d27\u6025\u5236\u52a8\uff0c\u8fd9\u5c31\u9700\u8981\u8bbe\u7f6e\u4e3b\u7f38\u538b\u529b\u4e3a15MPa\uff0c\u6211\u4eec\u8bbe\u7f6e\u4e00\u4e2a\u5168\u5c40\u53d8\u91cf vPMC \u6765\u63a5\u6536\u8fd9\u4e2a\u4e3b\u7f38\u538b\u529b\uff0c\u540c\u65f6\uff0c\u8fd8\u9700\u8981\u5230\u5168\u5c40\u5b9a\u4e49\u4e2d\u58f0\u660e\u8fd9\u4e2a vPMC\u3002<\/span><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t \u4e3a\u4e86\u5bf9\u6bd4\u6709\u65e0ABS\u7684\u5236\u52a8\u6548\u679c\uff0c\u6211\u4eec\u9996\u5148\u5c1d\u8bd5\u6ca1\u6709ABS\u7b97\u6cd5\u7684\u60c5\u51b5\uff0c\u90a3\u4e48\u8fd9\u4e2a\u538b\u529b\u5c06\u76f4\u63a5\u4f5c\u7528\u5728\u56db\u4e2a\u8f6e\u7f38\u4e0a\uff0c\u8fd9\u91cc\u8fd8\u9700\u58f0\u660e\u4e00\u4e2a\u53d8\u91cf vHasABS\uff0c\u9ed8\u8ba4\u4e3a\u5047\u3002<\/span><\/p> \u00a0<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t \u63a5\u7740\u6765\u5230step\u51fd\u6570\u4e2d\uff0c\u901a\u8fc7 vHasABS \u6765\u533a\u5206\u7b97\u6cd5\u7684\u6267\u884c\u4e0e\u5426\uff0c\u82e5\u6ca1\u6709\u6267\u884c\u7b97\u6cd5\uff0c\u5219\u76f4\u63a5\u8d4b\u503c\u8f6e\u7f38\u538b\u529b\u3002<\/span><\/p> \u00a0<\/span><\/p> \u5b8c\u6210\u903b\u8f91\u4e4b\u540e\uff0c\u6211\u4eec\u9700\u8981\u89c2\u6d4b\u8f6e\u901f\u548c\u538b\u529b\uff0c\u8fd9\u4e9b\u53d8\u91cf\u90fd\u6765\u81ea\u4e8e\u6574\u8f66\u6a21\u578b\uff0c\u5982\u4f55\u89c2\u6d4b\u5462\uff1f\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528\u5c0f\u7a0b\u5e8f\u7684\u53d8\u91cf\u5c06\u5176\u8868\u8fbe\u51fa\u6765\u3002<\/span><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t \u8f6c\u5230\u53d8\u91cf\u7ec4\u4e0a\uff0c\u70b9\u51fb\u53f3\u952e\u6dfb\u52a0\u53d8\u91cf\u8868\uff0c\u4f9d\u6b21\u8f93\u5165\u8f66\u901f\uff0c\u884c\u9a76\u8ddd\u79bb\uff0c\u6cb9\u95e8\uff0c\u5404\u4e2a\u8f6e\u901f\u548c\u5404\u4e2a\u538b\u529b\u503c\u3002\u70b9\u51fb\u786e\u5b9a\u540e\uff0c\u4e00\u7cfb\u5217\u53d8\u91cf\u53d8\u7533\u660e\u597d\u4e86\uff0c\u4e0e\u5168\u5c40\u5b9a\u4e49\u4e0d\u540c\u7684\u662f\uff0c\u8fd9\u4e9b\u53d8\u91cf\u662f\u7cfb\u7edf\u53d8\u91cf\uff0c\u53ef\u4ee5\u88ab\u5176\u4ed6\u5c0f\u7a0b\u5e8f\uff0c\u6216\u662f\u88abgraphics\u6216\u8005\u9762\u677f\u7b49\u7b49\u7a97\u53e3\u83b7\u53d6\u5e76\u81ea\u52a8\u7ed8\u5236\u66f2\u7ebf\u3002<\/span><\/span><\/p> \u00a0<\/span><\/p> \u6211\u4eec\u56de\u5230step\u51fd\u6570\uff0c\u9700\u8981\u4f9d\u6b21\u5bf9\u8fd9\u4e9b\u7cfb\u7edf\u53d8\u91cf\u8fdb\u884c\u8d4b\u503c\uff0c\u8d4b\u503c\u4f7f\u7528set\u64cd\u4f5c<\/span><\/p> \u00a0<\/span><\/p> v.set(cs->VX);\u00a0<\/span><\/p> station.set(cs->STATION);<\/span><\/p> throttle.set(cs->IMP_THROTTLE_ENGINE);\u00a0<\/span><\/p> vFL.set(cs->VX_L1);<\/span><\/p> vFR.set(cs->VX_R1);\u00a0<\/span><\/p> vRL.set(cs->VX_L2);\u00a0<\/span><\/p> vRR.set(cs->VX_R2);\u00a0<\/span><\/p> pFL.set(cs->IMP_PBK_L1);\u00a0<\/span><\/p> pFR.set(cs->IMP_PBK_R1);\u00a0<\/span><\/p> pRL.set(cs->IMP_PBK_L2);\u00a0<\/span><\/p> pRR.set(cs->IMP_PBK_R2);<\/span><\/p> \u00a0<\/p> \u968f\u540e\u8fd0\u884c\u7a0b\u5e8f\uff0c\u6253\u5f00\u7cfb\u7edf\u53d8\u91cf\u8868\uff0c\u5c31\u53ef\u4ee5\u770b\u5230\u6211\u4eec\u4e3a\u8fd9\u4e2a\u5c0f\u7a0b\u5e8f\u6dfb\u52a0\u7684\u4e00\u7cfb\u5217\u76d1\u63a7\u53d8\u91cf\u3002<\/span><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t 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