自动驾驶运动控制算法的模型在环测试

The Test of Automated Driving Motion Control Algorithm Using Model In the Loop

自动驾驶控制软件具有功能多、复杂度高的特点。为了在开发早期阶段就能够发现软件中潜在的问题,搭建了一套模型在环仿真测试环境MIL(Model In the Loop),并通过与实车数据进行对比,验证了该环境的正确性。在此基础上,对软件需求进行分析,利用MATLAB/Simulink工具箱Simulink Test设计了相应的测试用例,并进行自动化测试。结果表明,运用该MIL环境,可以在自动驾驶控制软件开发早期及时发现软件中的bug,提高控制软件开发的效率和品质。

The automated driving control software has many functions and high complexity.In order to find potential problems in software at the early stage of development,a set of MIL(Model In the Loop)simulation test environment was built,and the correctness of the environment by comparing with the real vehicle data was verified.On this basis,the software requirements were analyzed,corresponding test cases were designed using MATLAB/Simulink toolbox’s Simulink Test,and automated tests were carried out.The results show that by using the MIL environment,bugs in the software can be found in time in the early stage and improve the efficiency and quality of the automated driving control software development.