汽车驾驶机器人驾驶性能评价半实物仿真平台

为了克服汽车驾驶机器人在实际车辆上调试存在的危险以及快速获得试验车辆的性能,设计了汽车驾驶机器人驾驶性能评价半实物仿真平台,可以借助这个平台对驾驶机器人驾驶车辆的品质进行性能评价.该平台中实际车辆由汽车纵向动力学数学模型代替,它可以模拟实际车辆的工作状态,输入信号为通过传感器测得的驾驶机器人油门机械腿、制动器机械腿、离合器机械腿和换挡机械手的位移,输出信号为经模型计算得到的发动机转速和车速,驾驶机器人不用做任何改动就可在该平台上进行驾驶操作.仿真和实车试验结果验证了该平台的有效性.

Semi-physical Simulation Platform for Driving Performance Evaluation of Vehicle Robot Driver

In order to overcome the danger existed in the debugging of vehicle robot driver in actual vehicle and quickly obtain the performance of test vehicle, a semi-physical simulation platform for driving performance evaluation of robot driver was designed. The performance evaluation of robot driver could also be conducted by the simulation platform. In the platform, the actual vehicle was replaced by the vehicle longitudinal dynamics model, and it could simulate the working conditions of actual vehicles. The displacement of throttle pedal, brake pedal, clutch pedal, and shift manipulator for vehicle robot driver measured by the sensor was used as input of the platform, and vehicle speed and engine speed calculated by the model were used as output of the platform. Vehicle robot driver could operate the platform without any changes. Simulation and real vehicle test results showed the proposed platform was effective.