自动驾驶技术测试车控制系统设计  

Design of control system for a autonomous driving test vehicle

作　　者：潘驰 张志鹏 陈忠言 刘振革 廖国樑 逯岳奇 纪少波[1,4] PAN Chi;ZHANG Zhipeng;CHEN Zhongyan;LIU Zhenge;LIAO Guoliang;LU Yueqi;JI Shaobo(School of Energy and Power Engineering,Shandong University,Jinan 250061,China;Shandong Fuel Cell Power in Technology Co.,Ltd.,Jinan 250100,China;School of Intelligent Transportation,Shandong Technician Institute,Jinan 250200,China;Intelligent Testing and High-end Equipment of Automotive Power Systems,Shandong Province Engineering Research Center,Jinan 250357,China)

机构地区：[1]山东大学能源与动力工程学院,山东济南250061 [2]山东氢探新能源科技有限公司,山东济南250100 [3]山东技师学院智慧交通学院,山东济南250200 [4]汽车动力系统智能检测及高端装备山东省工程研究中心,山东济南250357

出　　处：《内燃机与动力装置》2024年第5期64-69,共6页Internal Combustion Engine & Powerplant

基　　金：山东省科技型中小企业创新能力提升工程项目(2022TSGC2041);动力机械与工程教育部重点实验室开放课题项目(202302)。

摘　　要：为提高车辆自动驾驶测试时的安全性,降低测试成本,设计机械结构、硬件电路及上位机软件,开发一种满足自动驾驶技术测试要求的测试车样机,对测试车进行实地直线和曲线轨迹跟踪试验场景测试。试验结果表明:该测试车底盘低、防撞击,可以有效保护被测车辆的安全;测试车控制系统能够满足运行轨迹控制、运行状态实时显示、实时通信和数据处理等功能要求;测试车能满足自动驾驶技术的测试要求,设计的控制系统具有较高的轨迹跟踪精度。In order to improve the safety of autonomous driving test and reduce the test costs,a mechanical structure,hardware circuit and upper computer software are designed to develop a test vehicle prototype that meets the requirements of autonomous driving technology testing.The test vehicle is subjected to on-site straight and curved trajectory tracking test scenarios.The test results show that the test vehicle has low chassis and anti-collision,which can effectively protect the safety of the tested vehicle.The test vehicle control system can meet the functional requirements of trajectory control,real-time display of operating status,real-time communication,and data processing.The test vehicle can meet the testing requirements of autonomous driving technology,and the designed control system has high trajectory tracking accuracy.

关 键 词：自动驾驶 测试车 整车控制器 上位机 

分 类 号：U467[机械工程—车辆工程]