基于硬件在环的APF和MPC统一建模算法测试研究

Research on Testing of Unified Modeling Algorithms of APF and MPC based on Hardware-in-the-Loop

自动驾驶是现在研究的热点,其涉及领域广,技术难点多,需要完成大量的安全测试。传统的自动驾驶路测难度大,昂贵耗时,具有一定的风险性,且只能够在有限交通场景下进行试验。而硬件在环仿真测试的出现能够解决以上的问题,能够提供丰富的测试场景,能够安全高效的完成车辆决策控制算法和车路协同算法的测试。本文旨在设计一种新型的、面向智能驾驶决策控制系统的硬件在环仿真测试系统。可以快速构建多种复杂交通场景,并且能够进行半实物的V2X仿真,完成APF和MPC统一建模的规划控制算法的相关测试工作。结果表明,本文的硬件在环仿真测试系统能够快速、安全地对自动驾驶算法的功能和安全性进行测试,促进自动驾驶算法的开发和应用。

Autonomous driving is a hot topic of research now. It involves a wide range of fields, many technical difficulties, and a large number of safety tests need to be completed. Traditional intelligent driving road tests are difficult, expensive, time-consuming, and risky,and can only be tested in limited traffic scenarios. The emergence of hardware-in-the-loop simulation testing can solve the above problems,can provide a wealth of test scenarios, and can safely and efficiently complete the testing of vehicle decision-making control algorithms and vehicle-road coordination algorithms. This article aims to design a new type of hardware-in-the-loop simulation test system for intelligent driving decision-making control system. A variety of complex traffic scenarios can be quickly constructed, and related tests of planning control algorithms for unified modeling of APF and MPC can be completed.