Real-time simulation and test method for control system of automatic driving truck

Abstract

The invention relates to a real-time simulation and test method for a control system of an automatic driving truck. The method comprises the following steps: S100, establishing a vehicle dynamic model; S200, performing a simulation test and a real vehicle test by using a control algorithm; S300, improving an input scene library; S400, improving a vehicle dynamic model library; S500, designing thecontrol algorithm; S600, performing an automatic traversal test by using a Monte Carlo targeting method; and S700, performing the real vehicle test. The stability of the control algorithm in the wholelife cycle of the vehicle can be verified, the stability and the robustness of control algorithm design are improved, the research and development period of the algorithm is greatly shortened, most of control algorithm design and verification are completed in simulation, a large amount of manpower and material resources can be saved and the accident risk of the real vehicle test is reduced.

Description

technical field [0001] The invention belongs to the field of automatic driving of motor vehicles, in particular to a real-time simulation and testing method for a control system of an automatic driving truck. Background technique [0002] Divided by level, automatic driving is divided into five levels. The first level is driving support, which can realize lateral (steering) or vertical (acceleration brake) control. The second level is partial automatic driving, which can realize horizontal and vertical control. The third level is conditional automatic driving, which can realize automatic driving under certain conditions. The fourth level is highly automatic driving. Automatic driving can realize automatic driving on most road sections, but in some special scenarios, people need to take over the driving. Level 5 is fully driverless, ie no human takeover is required. [0003] The design of advanced automatic driving above L4 (Level 4) and the current L2 (Level 2) assisted dri...

AI Technical Summary

Problems solved by technology

[0003] The design of advanced automatic driving above L4 (Level 4) and the current L2 (Level 2) assisted driving put forward higher requirements for the control system. The traditional assisted driving LKA (Lane Keeping Assist) and ACC (Adaptive Cruise Control) design Pay more attention to the comfort of passengers, limit the usage scenarios and require the driver to take over and other factors, so that the design of the control system does not need to consider too many requirements for stability and robustness. Some control system design boundaries, such as emergency shielding It is not allowed to enter the automatic driving under working conditions such as obstacles or wet roads, but the advanced automatic driving does not have the driver's assistance and needs to cover more comprehensive scenes and working conditions, which puts forward the robustness and reliability of the vehicle control system design. The biggest problem brought to us is how to ensure the stability of the design control system under different working conditions, how to ensure that the control system is stable with the aging and wear of the vehicle, and how to avoid the loss of control of the vehicle, etc.

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