面向业务的有轨电车自动驾驶仿真系统设计与实践

Design and Practice of Application Based on Autonomous Driving Simulation System for Tram

以构建并实施有轨电车自动驾驶仿真系统为目的,在识别该系统需要满足业务能力要求的基础上,系统性总结此类系统的构建原则,进而结合有轨电车自动驾驶运营和运行需要,总结该系统的业务功能,并提出系统的整体架构、分系统设计、仿真系统到实车系统的演进方式和系统设计中需要关注的关键问题,最终通过构建实际的仿真系统验证上述设计。所构建的仿真系统可作为实车系统的研发平台和评测工具,与实车系统结合运行的实践表明了该系统设计的有效性。

This paper aims to design and realize the autonomous driving simulation system for tram.Based on the identification of the requirements for functionalities of this system,the design principles for such system are systematically proposed.The overall system architect and subsystem design are proposed based on the application functions derived from the operation and running of the autonomous tram,along with the transition path from simulation to the actual onboard autonomous system.The key concerns during the system design are also introduced.The proposed design can be taken as a research and development platform and a testing tool for the actual onboard system.The effectiveness of the simulation system is verified by empirical implementation combined with the operation of the actual onboard autonomous driving system.