Development Of Intelligent Vehicle Multi-mode Driving Simulation Platform

Intelligent vehicle is a research hotspot in the automotive field.Due to technical constraints,complete automatic driving technology is difficult to achieve in a short time.Multi-mode vehicles with manual driving mode and automatic driving mode are the basic characteristics of intelligent vehicles at present and in the future.When researchers focus on the realization of automatic driving technology,more and more attention has been paid to the human-computer interaction security brought by intelligent vehicle driving safety verification under extreme conditions and multi-mode driving,as well as driver's situational awareness and attention,cognitive load and behavioral characteristics.Based on virtual reality and driving simulation technology,combined with intelligent vehicle path tracking control strategy,this paper constructs a multi-mode driving simulation platform for intelligent vehicle,which provides a platform for driving safety verification under extreme conditions,human-vehicle-environment system interaction,and driver's psychological and behavioral characteristics of multi-mode driving.A multi-mode driving vehicle dynamics model is established.Through the analysis of vehicle longitudinal force,the vehicle longitudinal dynamic model is established by combining the vehicle longitudinal force balance equation and the transmission system dynamics.Based on certain assumptions and simplified conditions,a vehicle lateral dynamics model based on Two-Degree-of-Freedom vehicle dynamics model is established.The functional relationship between vehicle front wheel angle and steering wheel angle is analyzed,and the driving direction control model is established.The application of vehicle dynamics model in simulation is proposed,and the research system of multi-mode driving vehicle dynamics model is constructed.The path tracking control method and motion control system of intelligent vehicle are designed.Aiming at the problem of automatic driving mode path tracking control in intelligent vehicle multi-mode driving simulation platform,combining with vehicle lateral dynamics model,an intelligent vehicle path tracking control method based on RBF neural network sliding mode control is proposed.The simulation model of path tracking control is established by using MATLAB/Simulink,which proves the accuracy and stability of the method.The design requirement of the motion control system is clarified,and the modular design scheme of the motion control system is put forward in combination with the path tracking control method.A virtual driving simulation scenario model is constructed.Based on Multigen Creator and Vega Prime software,a virtual driving simulation model is established.Based on the requirement of simulating driving immersion,the virtual driving scene was optimized by using level of detail model technology,collision detection and atomization efficiency design.Based on MFC single document,the application configuration of the whole driving environment is developed,and the main thread design framework of virtual driving scene is constructed.The multi-mode driving simulation platform of intelligent vehicle has been built.By analyzing the design requirements of the platform hardware environment,the design direction of the platform hardware environment is clarified.The hardware environment of the platform is designed from three aspects:the design of the control device,the design of the control signal acquisition and the design of the printing screen.Combining with the platform control device,the design scheme of automatic driving actuator and electric control circuit is given,and the key parts and important electrical components are selected.By analyzing the drawbacks of the existing intelligent vehicle driving mode switching methods,a threshold-based driving mode switching method is proposed.The design of driving mode switching module and the selection of important electrical components are completed.The system debugging software is designed,and the system debugging of multi-mode driving simulation platform for intelligent vehicle is completed.Finally,the reliability of the driving mode switching system and the automatic driving path tracking control system is verified by experiments.