高速公路车辆智能驾驶仿真平台  

Simulation Platform of Intelligent Driving Systems of Highway Vehicles

作　　者：王萍[1,2] 郭洪艳[1,2] 丁海涛[1] 陈虹[1,2] 

机构地区：[1]吉林大学汽车动态模拟国家重点实验室,长春130025 [2]吉林大学控制科学与工程系,长春130025

出　　处：《系统仿真学报》2012年第12期2473-2478,共6页Journal of System Simulation

基　　金：国家自然科学基金重大研究计划重点支持项目(90820302);国家杰出青年科学基金项目(60725311)

摘　　要：针对高速公路智能驾驶系统的极限工况实车试验难实现、重复性差、成本高等问题,搭建高速公路智能驾驶仿真平台来进行系统安全性评估。首先分析实际智能驾驶系统的构成和安全性指标,然后设计路形、感知决策、车辆动力学等模块。为了提高仿真平台的保真度,采用车辆动力学仿真软件veDYNA,参数来自车辆实测数据,并且嵌入方向盘、油门踏板和加速踏板等控制机构实物。仿真实验中,进行了高速行驶车辆的感知决策时滞、爆胎的安全性评估,通过质心侧偏角、轮胎侧偏角、横摆角速度的输出曲线来评估车辆的稳定性状态,指导系统参数调整。A hardware-in-the-loop simulation platform was developed to assess the safety of intelligent driving systems of highway vehicles under limit conditions. Firstly, the real intelligent driving systems and index of safety assessment were analyzed. The framework for the simulation platform mainly includes road shapes, perception and decision making, vehicles dynamics. In order to enhance the fidelity of platform, the vehicle dynamics program veDYNA was used, and the parameters of which were based on the measured data of vehicles. Moreover, the steering wheel, gas pedal and brake pedal were embedded into the platform Finally, the safety assessment of time delay in perception and decision making module and flat tire were simulated based on the developed platform, where the side slip angle, yaw rate and tire slip angle were used as the assessment index.

关 键 词：智能驾驶系统 硬件在环仿真平台 安全性评估 嵌入式仿真 

分 类 号：TP202.7[自动化与计算机技术—检测技术与自动化装置]