Driving simulators play a crucial role in the testing of the autonomous driving.This paper focuses on the design of the autonomous driving vehicle testing platform and control algorithm issues based on a hardware-in-t...Driving simulators play a crucial role in the testing of the autonomous driving.This paper focuses on the design of the autonomous driving vehicle testing platform and control algorithm issues based on a hardware-in-the-loop driving simulator.The system framework of the platform can be summarized as follows:the visual simulation system,which is responsible for the simulation calculation of the driving vehicle and the driving scenes;the platform control system,which is responsible for the information dispatch of the platform and the autonomous driving control of the vehicle;and the interactive control system,which is responsible for the simulation signal acquisition and steering control tasks.At the same time,this paper presents a specific solution based on practice,using UC-win/Road to develop the visual simulation system,using Qt Creator to develop the platform control system,and using development boards to build the interactive control system.To solve the autonomous driving control problem of a simulated vehicle,this paper constructs a classic two-degree-of-freedom vehicle dynamics model for lateral control and studies the LQR control algorithm based on this model,providing the implementation procedure of the algorithm.For longitudinal control,considering that the vehicle needs dual control of speed and position,this paper adopts the cascaded PID control method,with position control and speed control as the outer and inner loops of the PID controller,respectively.Finally,the testing of the lateral and longitudinal control algorithms is conducted.In the lateral control test,a continuous curved road with different curvatures is designed to analyze the lane deviation and heading angle error of the vehicle at different curvature bends.In the longitudinal control test,the functions of vehicle cruise control and distance-based car-following are mainly examined.The lateral error of the system does not exceed 0.3 m,and the longitudinal error exceeds 1 km/h(0.278 m/s).The experimental results show that the autonomous driving control program designed in this paper is effective and verifies the feasibility of the proposed driving simulation platform design.展开更多
基金supported by the National Natural Science Foundation of China(52472366)the National Key Research and Development Program of China(2023YFB4302600)Hubei Province Key Research and Development Program(2024BAB051).
文摘Driving simulators play a crucial role in the testing of the autonomous driving.This paper focuses on the design of the autonomous driving vehicle testing platform and control algorithm issues based on a hardware-in-the-loop driving simulator.The system framework of the platform can be summarized as follows:the visual simulation system,which is responsible for the simulation calculation of the driving vehicle and the driving scenes;the platform control system,which is responsible for the information dispatch of the platform and the autonomous driving control of the vehicle;and the interactive control system,which is responsible for the simulation signal acquisition and steering control tasks.At the same time,this paper presents a specific solution based on practice,using UC-win/Road to develop the visual simulation system,using Qt Creator to develop the platform control system,and using development boards to build the interactive control system.To solve the autonomous driving control problem of a simulated vehicle,this paper constructs a classic two-degree-of-freedom vehicle dynamics model for lateral control and studies the LQR control algorithm based on this model,providing the implementation procedure of the algorithm.For longitudinal control,considering that the vehicle needs dual control of speed and position,this paper adopts the cascaded PID control method,with position control and speed control as the outer and inner loops of the PID controller,respectively.Finally,the testing of the lateral and longitudinal control algorithms is conducted.In the lateral control test,a continuous curved road with different curvatures is designed to analyze the lane deviation and heading angle error of the vehicle at different curvature bends.In the longitudinal control test,the functions of vehicle cruise control and distance-based car-following are mainly examined.The lateral error of the system does not exceed 0.3 m,and the longitudinal error exceeds 1 km/h(0.278 m/s).The experimental results show that the autonomous driving control program designed in this paper is effective and verifies the feasibility of the proposed driving simulation platform design.
