Journal of Jilin University(Engineering and Technology Edition) ›› 2022, Vol. 52 ›› Issue (7): 1552-1560.doi: 10.13229/j.cnki.jdxbgxb20210142

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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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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

CLC Number: 

  • U461.1

Fig.1

Schematic diagram of Ackerman steering geometry"

Fig.2

Boundary of feasible parallel parking starting region"

Fig.3

Minimal lateral space requirement of parallel parking"

Fig.4

Boundary of feasible perpendicular parking starting region"

Fig.5

Minimal lateral space requirement of one step perpendicular parking"

Fig.6

Architecture of hardware in the loop simulation platform"

Fig.7

Automatic test framework for actual parking starting region"

Fig.8

Hardware in the loop simulation platform"

Fig.9

Feasible and actual parallel parking starting regions"

Fig.10

Outer of envelope of vehicle in parallel parking scenario"

Fig.11

Feasible and actual perpendicular parking starting regions"

Fig.12

Outer of envelope of vehicle in perpendicular parking scenario"

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