Research On Hardware-in-the-loop Virtual Test System For Unmanned Vehicles

In recent years,unmanned driving technology has become one of the high-tech development strategies of developed countries.However,due to the long test cycle,high test cost and the difficulty in replicating test scenarios,the actual road test technology of unmanned vehicles severely restricts the rapid development of unmanned driving technology.Based on the platform construction project of "Vehicle-in-the-Loop Virtual Test System" of Chang’an University,a set of unmanned vehicle hardware-in-the-loop virtual test platform is designed with virtual reality technology,virtual sensor technology and real-time simulation technology in this paper.The main research contents include: Firstly,the overall design of the hardware in-loop virtual test system for unmanned vehicles is completed,which includes core equipment such as 6-DOF driving simulator,radar target simulation test system,visual simulation system and real-time simulation system.Pre Scan software is used to design 20 different types of test traffic scenarios in the comprehensive design of virtual test scenarios for unmanned vehicles.Secondly,the software design of the hardware-in-the-loop virtual test system for unmanned vehicles is realized based on vehicle dynamics software DYNA4,traffic scenarios simulation software Pre Scan,real-time test and simulation software Veristand and vehicle radar test system VRTS.In the field of virtual sensor and test signal:the communication technology between virtual sensor and unmanned vehicle controller is studied,the difference of different excitation signal modes of millimeter-wave radar is analyzed,and the optimal excitation signal modes of the unmanned vehicle in the system for virtual test in different scenes are obtained.Finally,the virtual test method of unmanned vehicle is studied: adaptive cruise control test,automatic emergency braking test,lane keeping assist test and traffic sign recognition test are carried out in the designed unmanned vehicle virtual test system,and the corresponding algorithms are evaluated and analyzed according to the test results.The test results show that the unmanned vehicle hardware-in-the-loop virtual test platform developed in this paper can effectively test,verify and evaluate unmanned vehicles.The combination of virtual test technology and actual road test technology can provide complete,fast and efficient solution for unmanned vehicle test,which greatly improve the test efficiency of unmanned vehicles,reduce test costs,and solve the trouble of actual road test of unmanned vehicles.