无人方程式赛车虚拟场景仿真测试技术研究  

Research on Virtual Driving Scenario Simulation Test Technology of Unmanned Formula Car

作　　者：丁浩天 王国权[1] DING Hao-tian;WANG Guo-quan(School of Electromechanical Engineering,Beijing Information Science&Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学机电工程学院,北京100192

出　　处：《计算机仿真》2024年第8期111-117,共7页Computer Simulation

摘　　要：用虚拟样机在虚拟的驾驶场景中进行无人驾驶车辆的仿真测试,可以在一次物理样机测试所需的时间和预算内完成数以千计的试验测试,从而将极大地推动无人驾驶技术的开发。根据襄阳梦想赛车场赛道的几何参数,使用Prescan软件平台构建了襄阳梦想赛车场的虚拟赛道场景,使用Carsim软件建立了Bistu-Ⅲ型无人方程式赛车虚拟样机,通过Prescan/Sim-ulink/Carsim联合仿真实现了无人方程式赛车在虚拟赛道上直线加速、“8”字形绕桩和圈速计时的仿真测试。仿真结果表明,论文所构建的虚拟场景测试系统能够进行无人方程式赛车进行比赛项目的仿真测试,能够对赛车的环境感知传感器进行性能验证。Virtual Driving Scenario Simulation can be completed on a virtual prototype and thousands of tests can be completed within the time and budget required for a single physical test.This greatly promotes the development of unmanned driving technology.In this paper,a virtual racetrack was built by Prescan software,which referenced the geometric parameters of Xiangyang Dream Race Track and the Bistu-Ⅲ unmanned Formula car prototype was built by Carsim software.Subsequently,associated simulations of virtual tests were carried out based on Prescan/Simulink/Carsim software and the simulation of straightway accelerating,skidpad and lap time racing were realized.It was shown that this Virtual Driving Scenario Simulation system can meet the requirements of simulation tests on racing items and can verify the performance of the environmental perception sensors of unmanned Formula cars.

关 键 词：无人驾驶 方程式赛车 虚拟场景 虚拟样机 仿真测试 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]