吉林大学学报(工学版) ›› 2022, Vol. 52 ›› Issue (7): 1552-1560.doi: 10.13229/j.cnki.jdxbgxb20210142

• 车辆工程·机械工程 • 上一篇    

基于半实物仿真平台的自动泊车系统性能评价

张家旭1,2(),郭崇1,王晨1,赵健1(),王欣志1   

  1. 1.吉林大学 汽车仿真与控制国家重点实验室，长春 130022
    2.中国第一汽车集团有限公司 智能网联研发院，长春 130011
  • 收稿日期:2021-02-21 出版日期:2022-07-01 发布日期:2022-08-08
  • 通讯作者: 赵健 E-mail:zhjx_686@163.com;zhaojian@jlu.edu.cn
  • 作者简介:张家旭（1985-），男，高级工程师，博士. 研究方向：汽车地面系统分析与控制. E-mail：zhjx_686@163.com
  • 基金资助:
    国家重点研发计划项目(2018YFB0105103)

Performance evaluation of automatic parking system based on hardware in the loop simulation platform

Jia-xu ZHANG1,2(),Chong GUO1,Chen WANG1,Jian ZHAO1(),Xin-zhi WANG1   

  1. 1.State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
    2.Intelligent Network R&D Institute，China FAW Group Co. ，Ltd. ，Changchun 130011，China
  • Received:2021-02-21 Online:2022-07-01 Published:2022-08-08
  • Contact: Jian ZHAO E-mail:zhjx_686@163.com;zhaojian@jlu.edu.cn

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摘要：

针对现阶段难以量化评价自动泊车系统在狭窄环境内的泊车成功率问题，提出一种基于半实物仿真平台的自动泊车系统性能评价方法。首先，以最大化平行泊车和垂直泊车场景可行泊车起始区域为目标，基于圆弧-直线组合方式建立可行泊车起始区域边界和泊车过程最小侧向空间描述，并通过分割法计算出可行泊车起始区域面积。随后，建立自动泊车系统的半实物仿真平台，并利用Python脚本语言设计自动泊车系统的自动化测试框架，实现自动泊车系统的自动化测试。将基于半实物仿真平台自动化测试得到的实际泊车起始区域面积与可行泊车起始区域面积的比值作为自动泊车系统在狭窄环境内泊车成功率的量化指标，弥补自动泊车系统现有性能评价方法的局限性。最后，将某汽车零部件供应商的自动泊车系统作为测试对象，对所提出的性能评价方法进行了实践，结果表明：所提出的自动泊车系统性能评价方法可行高效，并且可对测试对象提出改进意见。

关键词: 车辆工程, 自动泊车系统, 性能评价, 泊车成功率, 半实物仿真, 自动化测试

Abstract:

In view of the difficulty in quantifying the parking success rate of automatic parking system in the narrow environment， a performance evaluation method for automatic parking system based on hardware in the loop simulation platform is proposed. Firstly， the boundaries of the feasible parking starting region and the needed minimum lateral space for parallel parking and perpendicular parking are established based on the combination of arc and line， and the area of the feasible parking starting region is calculated by image segmentation method. Then， the hardware in the loop simulation platform is established， and the automatic test framework is designed based on Python to test the actual parking starting region of automatic parking system. The ratio of the actual parking starting region to the feasible parking starting region is taken as the parking success rate of automatic parking system in the narrow environment， which can make up for the limitations of the existing performance evaluation methods of the automatic parking system. Finally， an automatic parking system made by an auto components company is taken as test object to validate the proposed performance evaluation method of automatic parking system， and the results show that the proposed method is feasible and efficient， and can improve the performance of test object.

Key words: vehicle engineering, automatic parking system, performance evaluation, parking success rate, hardware in the loop simulation, automatic test

中图分类号: 

  • U461.1

图1

阿克曼转向几何原理示意图"

图2

可行平行泊车起始区域边界"

图3

平行泊车最小侧向空间需求"

图4

可行垂直泊车起始区域边界"

图5

单步垂直泊车最小侧向空间需求"

图6

半实物仿真平台硬件架构"

图7

实际泊车起始区域的自动化测试框架"

图8

半实物仿真平台"

图9

平行泊车场景可行与实际泊车起始区域"

图10

平行泊车场景汽车外轮廓包络"

图11

垂直泊车场景可行与实际泊车起始区域"

图12

平行泊车场景汽车外轮廓包络"

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