自动紧急制动系统仿真及测试平台研究

Research on simulation and testing platform for AEB system

为了解决自动驾驶虚拟场景测试存在的缺少实物联动和实车里程测试周期长、成本高等问题,基于虚拟场景构建技术并结合自动驾驶汽车线控底盘架构,设计了多计算机系统、通信、信号采集和轮速模拟等硬件模块,搭建了一套自动紧急制动系统仿真测试台架。根据自动紧急制动(AEB)系统工作原理,基于碰撞时间(TTC)的安全距离模型,设计了AEB系统三级控制策略算法。通过CarSim构建虚拟仿真场景和车辆模型,在仿真测试平台上,对AEB控制算法进行目标静止、目标移动和目标制动三种工况下的自动制动性能测试。测试结果表明,被测AEB在三种测试工况下均能控制车辆制动减速,避免发生碰撞,具有良好的制动稳定性。测试平台实现了对AEB系统的仿真测试与结果显示,验证了所设计的测试平台的可行性,并能够满足AEB的测试需求。

In order to solve the issues of lacking physical linkage in autonomous driving virtual scenario testing,as well as the long cycle and high cost of real-vehicle mileage testing,hardware modules such as multi computer system,communication,signal acquisition and wheel speed simulation are designed based on virtual scene construction technology and combined with the autonomous vehicle chassis by wire architecture,and a set of autonomous emergency braking(AEB)system simulation testing bench is built.According to the working principle of AEB system and the safety distance model based on time-to-collision,a three-level control strategy algorithm for AEB system is designed.The virtual simulation scenarios and vehicle models are constructed by means of CarSim.The AEB control algorithm was tested on the simulation testing platform for its automatic braking performance under three conditions:stationary target,moving target,and braking target.The testing results indicate that the tested AEB can control the vehicle to brake′s and decelerate under all three testing conditions,effectively avoiding collisions and demonstrating good braking stability.The testing platform can successfully simulate and display the testing results for the AEB system,verifying the feasibility of the designed testing platform.It can meet the testing requirements for the AEB.