传感器在环自动泊车仿真测试系统设计

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

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。

Aiming at solving the problems of high cost,long cycle and poor repeatability in the real vehicle test of the automatic parking function of the intelligent network connected vehicle,a sensor in the loop automatic parking simulation test system in the laboratory environment was built,based on the hardware in the loop and computer numerical simulation technology.The main test objects of the system were the automatic parking sensors and control system.The system integrates National Instruments(NI)software and hardware real-time platform,CarMaker virtual simulation scene software,camera vision injection board,ultrasonic physical echo simulation board were integrated by the system.The interactive scene of automatic parking,the dynamic characteristics of the vehicle chassis and the characteristics of the ultrasonic sensor were simulated by CarMaker.The physical signal of the simulated sensor was simulated by the camera vision injection board and the ultrasonic physical echo simulation board.A vertical parking space scene was set up to test and verify the simulation test system by taking the intelligent driving controller and ultrasonic sensor of a real car with automatic parking function as the object.The simulation experiment results confirm that the test system is a safe and efficient test verification platform for automatic parking,and it can promote the development of automatic parking control algorithms.