Consistency and repeatability verification for vehicle in the loop test platform based on digital twin of proving ground

A high-confidence vehicle-in-the-loop test method based on the digital twin of proving ground (DTPG-VIL) is proposed for the test of autonomous driving vehicles. The overall architectural design of the DTPG-VIL and the corresponding components are introduced, with a focus on describing the scene simulation system based on the digital twin of the proving ground. A King Long intelligent driving sightseeing bus for test verification is introduced, and its positioning performance is verified by the high-definition positioning base station and GPS/INS combined navigation system to verify the accuracy of its positioning precision and meet the requirements of the digital twin test so that the DTPG-VIL can obtain more information from the bus. Taking the automatic emergency avoidance function as an example, the method, process, and experimental results of the control test between the DTPG-VIL test and the real vehicle test in a proving ground are designed. Through the correlation coefficient analysis and transient response analysis, consistency and repeatability comparisons are carried out to verify the high confidence of the digital twin test.