Virtual tests of robotic vehicle units for virtual commissioning

The creation of robotic vehicles for agricultural purposes is a promising direction in the automotive industry. The complexity of the self-driving truck's design, work in difficult operating conditions, and a large number of measuring devices and processing subsystems determine the relevance of creating a virtual test system. These tests are part of the overall virtual commissioning process for a robotic vehicle. The article discusses a set of basic subsystems that provide virtual tests based on a model-based approach: mathematical modeling, measurement modeling, information subsystem with databases, visualization and documentation subsystem. Metrological models of measuring channels for virtual tests have been developed, allowing simulating random vehicle parameter changes. The testing process covers all the most essential components of a robotic vehicle. For example, the article presents a dynamic model of the braking system of a robotic chassis and shows the results of braking modes' virtual tests. The developed virtual test system is used to create a KAMAZ truck as part of a robotic system for agricultural vehicles.

HARDWARE AND SOFTWARE ENGINE EMULATION IN THE AUTOPILOT SYSTEMS

Now a number of the leading firms work on creation of an automobile autopilot. The authors of the presented article offer to complement the system of an autopilot with the control system of the car technical condition. The developed hardware and software complex allows working with virtual mathematical model of the gas engine of the KamAZ truck and can be recustoized under different modifications of gas and diesel engines. At the same time by means of this complex there is an opportunity to reveal the latent defects of a control system and to reduce labor input of calibration procedures. The hardware and software allows testing electronic control units in standard and emergency operation modes of sensors and actuators, thereby providing compliance to the modern Russian and international requirements to control systems of cars.