基于SUMO的智能网联汽车软件在环测试系统开发  

Development of ICV Software-In-Loop Test System Based on SUMO

作　　者：秦琴[1] 吕沁元 谷文军 单体健 QIN Qin;LV Qin-yuan;GU Wen-jun;SHAN Ti-jian(School of Intelligent Manufacturing and Control Engineering,Shanghai Polytechnic University,Shanghai 201209,China;United Automotive Electronic Systems Co,Ltd,Shanghai,201209,China)

机构地区：[1]上海第二工业大学智能制造与控制工程学院,上海201209 [2]联合汽车电子有限公司,上海201209

出　　处：《计算机仿真》2024年第6期192-197,204,共7页Computer Simulation

摘　　要：针对目前智能网联汽车测试软件在环测试环节尚未成熟的问题,提出一种基于SUMO的智能网联汽车测试环境。上述测试环境依托交通流仿真软件SUMO(Simulation of Urban Mobility)平台,使用MATLAB/Simulink对车辆动力学进行仿真;使用罗技方向盘与Simulink采集驾驶员操作信息;在Unity3D中与SUMO同步环境场景并实现3D视觉效果。使用虚拟驾驶设备和联合汽车电子公司成熟的智能网联功能对环境进行了验证,结果表明,新开发的测试系统建立的虚拟车辆可以遵循驾驶员驾驶意图,同时能够给通用智能网联汽车软件提供软件在环测试环境,进行模块化测试,测试结果准确,试验数据可靠,整套系统反应灵敏、操作安全、沉浸感较强。To solve the lack of software-in-loop tests in ICV,a software-in-loop Test System based on SUMO is developed.The system relies on SUMO.The vehicle dynamic simulation is calculated by MATLAB/Simulink.The Logitech driving device is used to collect operation data.A virtual scene is built in Unity3D,with the synchronization of SUMO,to achieve the 3D visual effects.The whole system is verified by mature intelligent networking functions de⁃veloped by UAES.The result shows that virtual cars can follow the intention of the driver,SIL test can be conducted in this system to conduct module tests.The test result is corrected and the experiment data is accurate.The response of the system is sensitive with safe operation and strong immersion.

关 键 词：智能网联汽车 软件在环 虚拟仿真系统 

分 类 号：TP311.52[自动化与计算机技术—计算机软件与理论] TP391.9[自动化与计算机技术—计算机科学与技术]