传感器在环自动泊车仿真测试系统设计

针对智能网联汽车自动泊车功能实车测试成本高、周期长、重复性差问题,基于硬件在环及计算机数值模拟仿真技术,以自动泊车传感、控制系统为主要测试对象,搭建实验室环境下传感器在环自动泊车仿真测试系统,借助美国国家仪器公司(National Instruments,NI)软硬件实时平台、CarMaker虚拟仿真场景软件模拟仿真自动泊车交互场景、车辆底盘动力学特性及超声波传感器特性,集成开发摄像头视觉注入板卡、超声波物理回波仿真板卡仿真模拟传感器物理信号,虚实结合构建了完整的传感器在环自动泊车测试验证环境.以某车型实车带自动泊车功能的智驾控制器、超声波传感器为被测对象,搭建垂直停车位场景对仿真测试系统进行测试验证,仿真实验结果证实测试系统能够为自动泊车提供安全、高效的测试验证平台,助力自动泊车控制算法开发.

Design of Sensor-in-Loop Automatic Parking Simulation Test System

Aiming at solving the problems of high cost ,long cycle and poor repeatability in the real automatic parking test of the intelligent connected vehicles, the sensor-in-the-loop automatic parking simulation test system in the laboratory environment is built which taking the automatic parking sensor and control system as the main test objects, based on the hardware-in-the-loop and computer numerical simulation technology. With the help of NI software and hardware real-time platform and CarMaker virtual simulation scene software , and based on the interactive scene of automatic parking ,the dynamic characteristics of vehicle chassis and the characteristics of ultrasonic sensors,The camera visual injection card and the ultrasonic physical echo simulation card which simulates the physical signal of the sensor are integrated into the system. The test system is constructed by combing virtual and real,which makes it a complete sensor-in-loop automatic parking test and verification environment. Taking the intelligent driving controller and ultrasonic sensor with automatic parking function of a real vehicle as the tested object , the vertical parking space scene is built to test and verify the simulation test system . The simulation results show that the test system can provide a safe and efficient test and verification platform for automatic parking , and help the development of automatic parking control algorithm.