六自由度自动驾驶仿真测试平台搭建及其应用研究  

Establishment and application research of a six-degree-of-freedom autonomous driving simulation test platform

作　　者：余旭东 殷广 郭烈 黄剑 赵剑 YU Xudong;YIN Guang;GUO Lie;HUANG Jian;ZHAO Jian(Ningbo Institute of Dalian University of Technology,Ningbo 315016,China;State Key Laboratory of Structural Analysis,Optimization and CAE Software for Industrial Equipment,Dalian University of Technology,Dalian 116024,China;School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]大连理工大学宁波研究院,浙江宁波315016 [2]大连理工大学工业装备结构分析优化与CAE软件全国重点实验室,辽宁大连116024 [3]大连理工大学机械工程学院,辽宁大连116024

出　　处：《实验技术与管理》2024年第10期150-156,共7页Experimental Technology and Management

基　　金：宁波市自然科学基金一般项目(2022J009);科技创新2025重大专项(宁波市重大科技任务攻关项目)(2022Z017);大连理工大学教学改革基金项目(YB2024053)。

摘　　要：该文基于六自由度运动平台搭建了智能驾驶仿真测试平台,平台由六自由度运动平台、线控底盘及车体、视景仿真及投影系统、实时仿真系统组成。借助SCANeR场景仿真软件,平台可以根据用户实际需求搭建不同驾驶场景和情境,模拟不同道路交通因素或自动驾驶策略对驾驶人安全驾驶的影响,实现自动驾驶场景、传感器、车辆动力学、驾驶员在环等仿真。平台还可应用于自动泊车系统评价、汽车自动驾驶实验教学和科普。[Objective]Driving simulators offer a realistic and highly repeatable human-vehicle-road simulation environment,which is crucial for studying active safety control and gathering experimental data.To enhance vehicle-assisted driving safety and comfort,an intelligent driving simulation test platform with a six-degree-of-freedom(6-DOF)motion platform has been established to investigate the human-vehicle-environment system.[Methods]The simulation test platform consists of four main components:a 6-DOF motion platform,a by-wire chassis and vehicle body,a visual simulation and projection system,and a real-time simulation system.The 6-DOF motion platform features a high response time of 15 ms,a wide angle range of±25°,and a substantial stroke of 2,550,020 mm.The by-wire chassis,controlled via the TTL protocol,includes an independent hydraulic braking system to replicate the brake pedal feel of a conventional vehicle.The visual simulation system employs a 180°curved large screen,displayed by four high-performance projectors,with edge blending managed by the HY-MAX-F-HX-CC210D high-definition edge processor.The real-time simulation system features a lower-level NI real-time host,control cabinet,and high-performance upper-level computer host.With SCANeR scenario simulation software,the platform can create custom driving scenarios and conditions,simulating autonomous driving,sensors,vehicle dynamics,and driver-in-the-loop conditions.[Results]The proposed apparatus has been utilized to develop autonomous driving takeover alert strategies and study driver attention allocation.By constructing various traffic flow scenarios using SCANeR software,38 licensed participants’response times to three remainder strategies were analyzed.Results indicated that in the absence of monitoring requests,the time to return hands to the steering wheel and assume control was considerably longer than scenarios with a request strategy.The takeover request weakly affected the time for the eyes to focus on the road.Monitoring requests effectively

关 键 词：模拟驾驶实验 驾驶模拟器 实时仿真系统 自动驾驶 测试评价 

分 类 号：U467.1[机械工程—车辆工程]