自动驾驶场地测试平台车国产化研发与验证  

Development and Application of Platform Vehicles for Autonomous Driving Field Test

作　　者：韩忠良 徐蒙 杨建森 刘忠海[1,2] 贯生静 张志国[1,2] Han Zhongliang;Xu Meng;Yang Jiansen;Liu Zhonghai;Guan Shengjing;Zhang Zhiguo(CATARC(Tianjin)Automotive Engineering Research Institute Co.,Ltd.,Tianjin 300300;China Automotive Technology and Research Center Co.,Ltd.,Tianjin 300300)

机构地区：[1]中汽研(天津)汽车工程研究院有限公司,天津300300 [2]中国汽车技术研究中心有限公司,天津300300

出　　处：《中国汽车》2023年第4期12-17,共6页China Auto

基　　金：国家重点研发计划(2021YFB2501105)。

摘　　要：本文根据汽车先进驾驶辅助系统(ADAS)和自动驾驶(AD)测试标准要求,自主开发了一种ADAS/AD场地测试用的假人和两轮车目标物承载平台车,进行了平台车系统的动力学建模和速度、位置、姿态控制器设计,以及软硬件方案和通信链路优化,实现了可视化测试场景搭建并完成了整体测试。实际应用表明,该平台车系统满足C-NCAP和E-NCAP测试规范,相关工况功能触发完整,数据传输正确,平台车在加速段和匀速段等的控制精度均满足C-NCAP和E-NCAP测试要求。另外,平台车可通过整改升级来满足未来的标准。In this paper,we developed a vulnerable road users(VRU) target-bearing platform for automotive driver assistance system(ADAS)/autonomous driving(AD) field testing according to the standards.We carried out the dynamics modeling and the design of speed,position and attitude controllers of the platform,as well as the software and hardware schemes and communication links optimization,and finally realized visualized test scenario construction and completed the overall test.Application results show that the platform system meets the C-NCAP and the E-NCAP test specification,the relevant function is completely triggered,the returned data is correct,and the platform control accuracy in the acceleration and uniform speed sections meets the C-NCAP and the E-NCAP.In addition,the platform can be retrofitted and upgraded to meet future standards.

关 键 词：ADAS/AD 试验场测试 目标物承载平台车 C-NCAP测评规范 

分 类 号：U46[机械工程—车辆工程]