基于环境可控场地技术的智能汽车感知系统测试研究
1. 中国汽车工程研究院股份有限公司, 重庆 401122
2. 重庆金康赛力斯新能源汽车设计院有限公司, 重庆 401135
| 摘 要： | 感知系统作为智能汽车的决策数据收集模块，对整车的规划和控制策略具有重大影响。本文分析了外界自然条件对汽车感知系统的重大影响因子（降雨量、可见度和光照强度），形成了仿真环境可控技术和实车场地测试环境可控技术方面的评价规则。结合相关国家标准和供应商技术能力储备，建设覆盖小雨、中雨、大雨、暴雨和大暴雨的降雨模拟系统；建设涵盖最低能见度为15—2000米的降雾模拟系统；以及建设四挡可调的自然界的光照模拟系统，使试验测试场地具备全天候、不间断的环境可控测试能力。基于典型工况的重点功能测试研究体系，通过环境可控测试技术对智能汽车感知系统进行了测试用例开发并进行测试。试验统计结果表明，基于环境可控测试技术有效覆盖典型测试场景，对智能汽车的高度自动驾驶阶段的实现具有促进作用。 |
| 关 键 词： | 感知系统; 环境可控; 硬件在环测试; 实车测试 |
| DOI： | 10.57237/j.cst.2023.01.004 |
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收稿日期: 2022-12-09
接受日期: 2023-02-10
在线出版日期: 2023-02-16
Research on the Performance of Intelligent Vehicle Perception System Based on Environmental Controllable Testing Technology
1. China Automotive Engineering Research Institute Co., Ltd., Chongqing 401122, China
2. Chongqing Jinkangsailisi New Energy Automobile Design Institute Co., Ltd., Chongqing 401135, China
| Abstract: | As the decision-making data collection module of intelligent vehicle, the perception system has a significant impact on the vehicle planning and control strategy. This paper analyzes the significant factors (rainfall, visibility and light intensity) of external natural conditions on the vehicle perception system, and forms the evaluation rules for the controllable technology of simulation environment and the controllable technology of real vehicle field test environment. In combination with relevant national standards and technical capacity reserves of the supplier, the rainfall simulation system covering light rain, moderate rain, heavy rain, heavy rain and heavy rain will be built; Build a fog fall simulation system covering a minimum visibility of 15-2000 meters; And build a four-gear adjustable natural lighting simulation system, so that the test site has the ability of all-weather, uninterrupted and controllable environmental testing. Based on the key functional testing research system of typical working conditions, the test case development and test of the intelligent vehicle perception system are carried out through the environment-controlled test technology. The test statistics show that the environment controllable test technology can effectively cover typical test scenarios, and can promote the realization of the highly automatic driving phase of intelligent vehicles. |
| Keywords: | Perception System; Environment Controllable; Hardware-in-the-loop Testing; In-field Testing |
基金
| 1. | 基于自然驾驶数据的交叉口驾驶行为分析与预测方法研究 (010329) |
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