Development of advanced driver assistance systems with vehicle hardware-in-the-loop simulations

This paper presents a new method for the design and validation of advanced driver assistance systems (ADASs). With vehicle hardware-in-the-loop (VEHIL) simulations, the development process, and more specifically the validation phase, of intelligent vehicles is carried out safer, cheaper, and is more manageable. In the VEHIL laboratory, a full-scale ADAS-equipped vehicle is set up in a hardware-in-the-loop simulation environment, where a chassis dynamometer is used to emulate the road interaction and robot vehicles to represent other traffic. In this controlled environment, the performance and dependability of an ADAS is tested to great accuracy and reliability. The working principle and the added value of VEHIL are demonstrated with test results of an adaptive cruise control and a forward collision warning system. On the basis of the ‘V’ diagram, the position of VEHIL in the development process of ADASs is illustrated.     

ABS“V模式”开发中的快速控制器样件制作和硬件在环仿真的研究

分析了制动过程的车辆动力学特性,建立了车辆系统模型和ABS控制器模型.遵循"V模式"开发流程,在Matlab/Simulink和dSPACE开发环境下实现了汽车ABS控制系统的快速样件制造和硬件在环仿真.     

汽车电子控制系统快速开发

车辆动力学仿真软件提供控制算法离线仿真平台,车辆模型、传感器、快速开发系统、零部件和控制系统硬件构成硬件和环试验平行,动力传动系和制动系、测功机及其控制器和控制系统硬件组成测功机硬件在环试验台,而车载开发平台包括样车、数据采集系统、传感器和控制系统硬件。在完成控制原型快速开发的基础上,完成基于目标控制器的控制系统快速开发。实例表明：上述开发流程大大缩短了开发周期。     

Design and validation of a longitudinal velocity and distance controller via hardware-in-the-loop simulation

In this paper, a set of longitudinal velocity and distance controllers with switching logic is proposed for an active driver safety system, and validation via hardware-in-the-loop simulation (HILS) is presented. Since the desired velocity and distance are given discretely and arbitrarily by a driver, there are usually discontinuities or discrete jumps between the desired and current vehicle state immediately after the switching. To minimize performance degradation resulting from this discrete jump, dynamic surface control (DSC) with an input-shaping filter is applied for both velocity and distance control. Furthermore, while much cost and effort are usually necessary for the experimental validation of a longitudinal controller, the validation of the longitudinal controller via HILS is performed with a minimum of effort. In the HILS, the various switching scenarios and desired discrete inputs in terms of velocity and distance are considered and the corresponding performance of the controller is shown in the end.     

混合动力轿车动力总成控制系统的研发

开发了一种并联式HEV的动力总成控制系统,可实现HEV能量管理和状态切换控制。动力总成控制系统在硬件在环测试中进行了功能验证和调试,在实际路面上进行了实车功能和性能试验。实车试验结果表明所研发的动力总成控制策略具有良好的控制品质,能够满足混合动力电动汽车的使用要求。     

气压ABS/ASR硬件在环仿真平台的设计与应用

介绍一种自主开发的气压ABS／ASR硬件在环仿真平台,采用车辆系统的局部子系统构建实物平台,基于Matlab xPC目标环境,经济高效地实现了ABS／ASRECU控制器在环仿真的开发与测试。     

基于LabVIEW RT的硬件在环仿真

利用实时仿真环境LabVIEW RT,构建了包括整车转向盘转角、油门、制动物理信号的硬件在环仿真系统.采用实时车辆动力学软件CarSim RT建立了车辆模型,并利用所搭建的试验台架进行了HIL仿真.结果表明,利用LabVIEW RT和CarSim RT能快速搭建面向整车开发的HIL系统,所建系统性价比高,而且有很好的实时性和扩展性.     

Investigation of active torsion bar actuator configurations to reduce vehicle body roll

The increasing popularity of sport utility/light-duty vehicles has prompted the investigation of active roll management systems to reduce vehicle body roll. To minimize vehicle body roll and improve passenger comfort, one emerging solution is an active torsion bar control system. The validation of automotive safety systems requires analytical evaluation and laboratory testing prior to implementation on an actual vehicle. In this article, a computer simulation tool and accompanying hardware-in-the-loop test environment are presented for active torsion bar systems to study component configurations and performance limits. The numerical simulation illustrates that the hydraulic cylinder extension limits the active torsion system’s ability to provide body roll angle reduction under various driving conditions. To compare the control system’s time constant and body roll minimization capabilities for different hydraulic valve assemblies and equivalent hose lengths, an experimental test stand was created. For a typical hydraulic pressure and hose diameter, the equivalent hose length was not a key design variable that impacted the system response time. However, the servo-valve offered a quicker transient response and smoother steady-state behavior than the solenoid poppet actuators that may increase occupant safety and comfort.     

Investigation of active torsion bar actuator configurations to reduce vehicle body roll

The increasing popularity of sport utility/light-duty vehicles has prompted the investigation of active roll management systems to reduce vehicle body roll. To minimize vehicle body roll and improve passenger comfort, one emerging solution is an active torsion bar control system. The validation of automotive safety systems requires analytical evaluation and laboratory testing prior to implementation on an actual vehicle. In this article, a computer simulation tool and accompanying hardware-in-the-loop test environment are presented for active torsion bar systems to study component configurations and performance limits. The numerical simulation illustrates that the hydraulic cylinder extension limits the active torsion system's ability to provide body roll angle reduction under various driving conditions. To compare the control system's time constant and body roll minimization capabilities for different hydraulic valve assemblies and equivalent hose lengths, an experimental test stand was created. For a typical hydraulic pressure and hose diameter, the equivalent hose length was not a key design variable that impacted the system response time. However, the servo-valve offered a quicker transient response and smoother steady-state behavior than the solenoid poppet actuators that may increase occupant safety and comfort.     

基于场景的自动驾驶汽车虚拟测试研究进展

随着自动驾驶等级的提高,面向传统汽车的测试工具与测试方法已不能满足自动驾驶汽车测试的需要。基于场景的虚拟测试方法在测试效率、测试成本等方面具有巨大的技术优势,是未来自动驾驶汽车测试验证的重要手段,已成为当前的研究热点。通过对大量相关文献的系统梳理,综述了基于场景的自动驾驶汽车虚拟测试研究进展。对比分析了自动驾驶测试场景的不同定义方式,明确了测试场景的内涵,归纳了测试场景的要素种类,概述了测试场景的数据来源,总结了场景数据的处理方法。在此基础上,对自动驾驶汽车虚拟测试方法进行了总结,分析了典型的测试方式、测试平台和虚拟测试的技术要点,梳理了软件在环、硬件在环和车辆在环测试方案及其关键技术。针对自动驾驶汽车测试效率问题,研究了基于场景的加速测试技术,概述了典型的测试场景随机生成方法和危险场景强化生成方法。最后,对基于场景的自动驾驶汽车虚拟测试所面临的问题及未来发展趋势进行了分析和展望。研究结果表明：基于场景的虚拟测试是推动自动驾驶技术发展和产业落地的必由之路,未来研究应着力突破基于解构与自动重构的测试场景数据库、人-车-环境系统一体化高置信度建模、自动驾驶汽车虚拟测试标准工具链、不同自动驾驶汽车渗透率下的混合交通模拟与测试、测试案例动态自适应随机生成机制等核心共性技术,建立自动驾驶汽车虚拟测试标准体系。     

Development of a real-time bogie test rig model based on railway specialised multibody software

The design of mechatronic systems of rail vehicles requires performing verification and validation in the real-time mode. One useful validation instrument is the application of software-in-the-loop, hardware-in-the-loop or processor-in-the-loop simulation approaches. All of these approaches require development of a real-time model of the physical system. In this paper, the investigation of the usage of the model of the locomotive's bogie test rig created in Gensys multibody software has been performed and the calculation time for each time step has been analysed. The verification of the possibility of the usage of such an approach for real-time simulation has been made by means of a simple data transferring process between Gensys and Simulink through the TCP/IP interface. The limitations and further development issues for the proposed approach have been discussed in this paper.     

Development of a hardware in the loop simulation system for electric power steering in vehicles

In this paper, a hardware-in-the-loop simulation (HILS) system was developed before the development of an electric power steering (EPS) system in a vehicle. This study was focused on the establishment of the HILS system. Driving conditions are simulated with the HILS system. The actual steering input parameters are confirmed on the monitor while driving the HILS system. The steering forces observed in the simulation with the developed HILS system are similar to those in real vehicle tests. The developed HILS system can be applied in the development of various types of EPS systems.     

基于扰动观测的客车ESC自适应神经网络滑模控制

为了提高客车电子稳定性控制系统(ESC)的控制精度,针对实际车辆系统建模中存在各种非线性扰动项以及传统滑模控制(Sliding Mode Control,SMC)中抖振较大的问题,提出一种自适应神经网络滑模控制算法.基于2自由度车辆模型,首先设计一个二阶滑模(Second-order Sliding Mode,SOSM...     

浅析整车耐久性试验计划方法

文章介绍耐久性试验及其分类,以某整车道路耐久性试验为例,重点阐述并提出了在整车开发流程及认证工程中耐久性试验计划方法及展望.     

整车项目认证过程探讨

介绍整车项目开发过程中整车项目认证的概念及作用,阐述了整车项目认证工作的组织过程以及需要关注的内容等。     

面向人因的车路协同系统综合测试及影响评估

面向冬奥主干通道兴延高速，以驾驶人适应性为导向，构建一种面向人因的车路协同系统硬件在环效能测试平台，针对多种道路条件、交通状态、特殊事件等面向高速公路设计13种交通情境，从主、客观2个维度实现车路协同系统包括主观感受、高效性、安全性、生态性、舒适性、有效性6个方面的驾驶人适应性评价，分析车路协同驾驶状态下的综合评估指标及影响机理。主观评估结果显示，车路协同技术对驾驶人有积极作用，52%的被试认为车载预警信息可以使行车过程更安全。客观运行结果表明：由于车路协同状态下驾驶人对于前方道路危险状况的可预知性，导致驾驶人提前降速，运行速度降低，效率有所下降；车路协同条件下的加速度和换道次数明显减小，其安全性显著提升；由于车路协同系统避免了驾驶人对于突发危险状况的紧急制动，因此车辆的油耗、排放均明显降低，其生态性改善效果显著；归因于驾驶人对于车路协同系统熟悉程度不足，导致舒适度各系统存在不一致的结论，也表明驾驶人对于车路协同系统的接受度和信任度均有待进一步提高；驾驶人在车路协同条件下可获取不同路段的限速值和超速提示，其有效性表现出明显的优势，速度跟随比有显著提升。所构建的测试平台和指标体系为进一步深层次挖掘车路协同的作用机理奠定了基础。     

ESP硬件在环试验平台的研究与开发

应用Matlab/xPC开发工具,为汽车稳定性控制系统的研究设计开发了硬件在环试验平台。该平台包括实时硬件和系统模型,并利用该平台进行了汽车稳定性控制系统的硬件在环仿真测试。测试结果表明,所开发的硬件在环平台符合测试的要求,所设计的控制算法提高了汽车的操纵稳定性。     

密封条长度与钣金止口长度关系的分析研究

在整车开发过程中,密封条装配时,经常出现长度不匹配的问题,为提高密封条验证效率,文章通过实车装配验证与分析后判断现有密封条长度与钣金止口长度的关系的合理性。此判断可在新产品开发过程中直接通过钣金止口长度准确给出密封条长度值,有效降低装配问题率,文章对工程实践具有指导意义。     

多控制器硬件在环测试平台开发

针对插电式燃料电池汽车电控系统实车调试环境复杂、参数多变、极限条件难以模拟等特点,介绍了一种基于ETAS板卡硬件及ETAS软件相结合的硬件在环测试平台开发.依据控制系统的控制策略、电气接口、总线通讯,设计了测试平台的硬件配置、软件程序、测试界面,并快速进行了控制算法验证及故障诊断实验.实验表明,该测试平台能有效地验证控制算法、模拟故障注入、监控系统状态、追踪缺陷来源,可缩短开发周期、节省开发成本、优化测试环境,对整车汽车电子控制系统开发及调试具有重要价值.     

集成样车在整车开发过程中的作用

利用项目管理的基本特性对汽车产品开发过程进行分析,介绍整车开发过程中集成样车的具体定义,并提出在汽车产品开发过程中集成样车的验证对于整个项目顺利开发完成的重大意义.