汽车驾驶机器人驾驶性能评价半实物仿真平台  

Semi-physical Simulation Platform for Driving Performance Evaluation of Vehicle Robot Driver

作　　者：陈刚[1] 张为公[2] 

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]东南大学仪器科学与工程学院,南京210096

出　　处：《农业机械学报》2011年第12期48-54,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(51008143);中国博士后科学基金资助项目(2011M500922);南京理工大学自主科研专项计划资助项目(2011YBXM43);高等学校博士学科点专项科研基金资助项目(200802861061)

摘　　要：为了克服汽车驾驶机器人在实际车辆上调试存在的危险以及快速获得试验车辆的性能,设计了汽车驾驶机器人驾驶性能评价半实物仿真平台,可以借助这个平台对驾驶机器人驾驶车辆的品质进行性能评价。该平台中实际车辆由汽车纵向动力学数学模型代替,它可以模拟实际车辆的工作状态,输入信号为通过传感器测得的驾驶机器人油门机械腿、制动器机械腿、离合器机械腿和换挡机械手的位移,输出信号为经模型计算得到的发动机转速和车速,驾驶机器人不用做任何改动就可在该平台上进行驾驶操作。仿真和实车试验结果验证了该平台的有效性。In order to overcome the danger existed in the debugging of vehicle robot driver in actual vehicle and quickly obtain the performance of test vehicle,a semi-physical simulation platform for driving performance evaluation of robot driver was designed.The performance evaluation of robot driver could also be conducted by the simulation platform.In the platform,the actual vehicle was replaced by the vehicle longitudinal dynamics model,and it could simulate the working conditions of actual vehicles.The displacement of throttle pedal,brake pedal,clutch pedal,and shift manipulator for vehicle robot driver measured by the sensor was used as input of the platform,and vehicle speed and engine speed calculated by the model were used as output of the platform.Vehicle robot driver could operate the platform without any changes.Simulation and real vehicle test results showed the proposed platform was effective.

关 键 词：汽车 驾驶机器人 性能评价 半实物仿真平台 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U467.52[自动化与计算机技术—控制科学与工程]