智能底盘辅助驾驶系统控制精度测试验证及分析

Test Verification and Analysis of Control Accuracy of Intelligent Chassis Assisted Driving System

为验证自动驾驶车辆智能底盘辅助驾驶系统的协调性、准确性和自动驾驶功能运行的流畅性,提出一种智能底盘辅助驾驶系统控制精度和稳定性测试方法,首先使用CANoe检测了某集成模块化智能底盘的通信协议,然后进行实车协同控制算法功能及性能测试验证,最后开展了直线行驶速度、转弯、转向系统、制动等控制精度测试。结果表明,该智能底盘能够实现±1 km/h的速度控制精度,可正常制动、避障绕行,且转向误差在1°以内,进一步验证了所提出方法的可行性。

In order to verify the coordination,accuracy and smoothness of the operation of the intelligent chassis assisted driving system of the autonomous vehicle,this paper proposed a method to test the control precision and stability of intelligent chassis assisted driving system.Firstly,the communication protocol of the an integrated modular intelligent chassis was detected using CANoe,secondly,the function and performance test of the control algorithm was verified through vehicle collaboration control algorithm,and finally,a number of accuracy control tests including straight driving speed,turning,steering system,braking and so on were conducted.The results show that the intelligent chassis can achieve±1 km/h speed control,has functions of normal braking,obstacle avoidance bypass,and steering error within 1°,further validating the feasibility of the proposed method.