基于SUMO的智能网联汽车软件在环测试系统开发

Development of ICV Software-In-Loop Test System Based on SUMO

针对目前智能网联汽车测试软件在环测试环节尚未成熟的问题,提出一种基于SUMO的智能网联汽车测试环境。上述测试环境依托交通流仿真软件SUMO(Simulation of Urban Mobility)平台,使用MATLAB/Simulink对车辆动力学进行仿真;使用罗技方向盘与Simulink采集驾驶员操作信息;在Unity3D中与SUMO同步环境场景并实现3D视觉效果。使用虚拟驾驶设备和联合汽车电子公司成熟的智能网联功能对环境进行了验证,结果表明,新开发的测试系统建立的虚拟车辆可以遵循驾驶员驾驶意图,同时能够给通用智能网联汽车软件提供软件在环测试环境,进行模块化测试,测试结果准确,试验数据可靠,整套系统反应灵敏、操作安全、沉浸感较强。

To solve the lack of software-in-loop tests in ICV,a software-in-loop Test System based on SUMO is developed.The system relies on SUMO.The vehicle dynamic simulation is calculated by MATLAB/Simulink.The Logitech driving device is used to collect operation data.A virtual scene is built in Unity3D,with the synchronization of SUMO,to achieve the 3D visual effects.The whole system is verified by mature intelligent networking functions de⁃veloped by UAES.The result shows that virtual cars can follow the intention of the driver,SIL test can be conducted in this system to conduct module tests.The test result is corrected and the experiment data is accurate.The response of the system is sensitive with safe operation and strong immersion.