自动驾驶技术测试车控制系统设计

潘驰¹，张志鹏¹，陈忠言²，刘振革³，廖国樑¹，逯岳奇¹，纪少波^1，4*

1.山东大学能源与动力工程学院，山东 济南  250061；2.山东氢探新能源科技有限公司，山东 济南  250100；

3.山东技师学院智慧交通学院，山东 济南  250200；

4.汽车动力系统智能检测及高端装备山东省工程研究中心，山东 济南  250357

摘要：为提高车辆自动驾驶测试时的安全性，降低测试成本，设计机械结构、硬件电路及上位机软件，开发一种满足自动驾驶技术测试要求的测试车样机，对测试车进行实地直线和曲线轨迹跟踪试验场景测试。试验结果表明：该测试车底盘低、防撞击，可以有效保护被测车辆的安全；测试车控制系统能够满足运行轨迹控制、运行状态实时显示、实时通信和数据处理等功能要求；测试车能满足自动驾驶技术的测试要求，设计的控制系统具有较高的轨迹跟踪精度。

关键词：自动驾驶；测试车；整车控制器；上位机

Design of control system for a autonomous driving test vehicle

PAN Chi¹, ZHANG Zhipeng¹, CHEN Zhongyan², LIU Zhenge³, LIAO Guoliang¹, LU Yueqi¹, JI Shaobo^1,4*

1.School of Energy and Power Engineering, Shandong University, Jinan 250061, China;

2.Shandong Fuel Cell Power in Technology Co., Ltd., Jinan 250100, China;

3.School of Intelligent Transportation, Shandong Technician Institute, Jinan 250200, China;

4.Intelligent Testing and High-end Equipment of Automotive Power Systems, Shandong Province Engineering Research Center, Jinan 250357, China 

Abstract: In order to improve the safety of autonomous driving test and reduce the test costs, a mechanical structure, hardware circuit and upper computer software are designed to develop a test vehicle prototype that meets the requirements of autonomous driving technology testing. The test vehicle is subjected to on-site straight and curved trajectory tracking test scenarios.The test results show that the test vehicle has low chassis and anti-collision, which can effectively protect the safety of the tested vehicle.The test vehicle control system can meet the functional requirements of trajectory control, real-time display of operating status, real-time communication, and data processing. The test vehicle can meet the testing requirements of autonomous driving technology, and the designed control system has high trajectory tracking accuracy.

Keywords: autonomous driving; test vehicle; vehicle controller; upper computer