Enhanced in-the-loop testing method for intelligent driving planning decision-making control system

Abstract

The invention discloses an enhanced in-the-loop test method for an intelligent driving planning and decision-making control system. A map acquisition vehicle equipped with an optical fiber combined inertial navigation system collects the GPS track of the path and makes a map file; and simulates the software and hardware for the operation of the intelligent driving planning and decision-making control system. environment, and install the related software of the intelligent driving planning decision-making control system in the simulation environment; establish a vehicle dynamics model, and build a closed loop between the intelligent driving planning decision-making control system and the vehicle dynamics model; build an in-the-loop test based on TCP / IP The communication network simulates the communication link between the intelligent driving planning decision-making control system and the intelligent driving vehicle; based on the simulated communication link, the vehicle dynamics model is used as the controlled object, and the map file is used to simulate the test path to test the intelligent driving Planning decision control system performance in simulated operating environments. The invention solves the problem that the model-in-the-loop and software-in-the-loop tests are difficult for the intelligent driving planning decision-making control system developed in the way of code programming.

Description

technical field [0001] The invention relates to the technical field of intelligent driving and its simulation, in particular to an enhanced in-the-loop test method for an intelligent driving planning decision-making control system. Background technique [0002] Simulation testing is a necessary stage of forward research and development, especially for intelligent driving technology. Many complex traffic scenes and extreme working conditions are extremely dangerous. Significance. [0003] At present, intelligent driving simulation technology mainly includes model-in-the-loop, software-in-the-loop, hardware-in-the-loop and other in-the-loop testing methods. However, the existing in-the-loop testing methods are basically proposed based on the MBD (Model Based Design, Model Based Design) development method. The code-based programming method does not go through the process from model design to code generation. Therefore, if you use the method of model-in-the-loop and software-i...

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