Research And Design Of Key Technologies Of V2X Car Networking In The-loop Simulation Platform

In accordance with the needs of research and application promotion of V2X(Vehicleto-Everything)car networking,the algorithms and applications of V2 X car networking should be tested,verified and evaluated thoroughly before they are widely used.The research design of the-loop simulation test and verification platform for V2 X car networking is of great importance since the site test is costly,time-consuming,unsafe and some scenes are difficult to build.Most of the existing researches on emulation technique of V2 X car networking only use software simulation to test the communication performance and car networking application of V2 X,which cannot meet the needs of the new requirements of the test and verification of V2 X car networking systems.In order to closely model the communication situation in real traffic scenes and value the performance of the algorithm in hardware equipment quickly and efficiently,a the-loop simulation platform of V2 X is researched and designed in this thesis.Based on this platform,the methods for application test of the-loop simulation and consistency testing of the application layer standards in car networking are developed.The main achievements of this thesis are as follows:1.Out of consideration of the compatibility,extendibility,customizability,etc.of V2 X application test platforms,a key technology of V2 X the-loop simulation and a the-loop simulation platform of car networking are researched and developed.Based on the ideas of modularization and structuralization,a method for scene simulation construction,a correlation model for scene in-out,a mapping model for maps,a module of man-machine interaction,as well as a module of communication interface are developed.Furthermore,a hardware in the-loop simulation verification system that supports OBU/RSU(On-Board Unit/Road-Side Unit)of V2 X is developed.2.On the basis of T/CSAE53-2017 application layer standards,a test method and a test module for the applications of the-loop simulation in V2 X car networking are developed to the test of algorithm of the 17 application scenes that satisfy the requirements of national standard.In order to verify the feasibility of the test method,a speed-guided algorithm for signalized intersection based on efficiency and a collision-warning algorithm for non-signalized intersection based on traffic safety are developed.Furthermore,the reliability of the two algorithms are tested through software simulation and hardware in the-loop simulation.At the end of this thesis,the impacts of hardware communication timedelay on the test results are analyzed by comparing the performances of these two algorithms in the-loop simulation of hardware and software simulation.The results show that in the test of speed guidance algorithm for signalized intersections,the delay of communication results in a delay of 2.4 seconds in the guidance state,and in the test of collision warning algorithm for signalless intersections,the delay of communication results in a delay of 5 meters in the release distance of warning.3.Based on the-loop simulation test and verification platform,a method is developed for the requirements of consistency testing of the application layer standards in car networking.With this method,one can test the application layer standards of V2 X equipment produced by different manufacturers.