Design And Test Of The Decision System Based On Sil System

In order to improve national living standards and reduce vehicle accidents,autonomous driving becomes a new vehicle development technology and plays an important role.At present,there are many researches on the basic functions of the autonomous driving behavior decision system,but the demand of the automatic driving behavior decision system is not only satisfied with the completion of the single basic function.Because the autonomous decision-making system should be more overall comprehensive control method,control behavior decision-making between individual study does not necessarily have good collaborative,so need to automatic driving behavior decision-making system for the overall research and analysis.In this paper,in order to achieve automatic driving behavior decision-making system as the research target,based on the software on the basis of the ring automatic driving simulation platform for test,and by studying the autopilot sensor system,automatic driving behavior decision-making base function and extend the functionality in the system,complete the automatic driving behavior decision-making system design and testing.First,this paper completes the modeling of vehicle sensor system.A vehicle sensor system based on single camera and millimeter-wave radar is established.Complete the lane line based on visual information layer and object detection,object detection based on millimeter wave radar information,and complete vehicle by means of sensor fusion sensor data fusion system.Secondly,this paper divides the automatic driving behavior decision system into: autonomous driving function five-in-one system and dynamic local path planning system.The five-in-one automatic driving function system is the basis for the operation of self-driving vehicles,and the common functions of autonomous vehicles on the road are guaranteed.In this paper,the logic analysis and algorithm writing of the five-in-one system of automatic driving function are completed for all kinds of ordinary working conditions,and the basic function is built fo r the automatic driving behavior decision system.Dynamic local path planning system road extension in the analysis of automatic driving vehicle for the crossing and overtaking a lane change two extended road based on high order polynomial,and path planning based on pre aiming control,fuzzy-path tracking of artificial potential field method.Finally,this paper establishes a joint simulation platform based on software.Complete vehicle dynamics through joint Scaner-Simulink simulation platform structures,imported high-precision map modeling,automatic driving test condition to build more,and in view of the automatic driving behavior decision-making system condition and extension conditions common to complete the simulation test.