汽车工程

汽车工程 ›› 2019, Vol. 41 ›› Issue (7): 731-737.doi: 10.19562/j.chinasae.qcgc.2019.07.001

• •    下一篇

智能汽车传感器实时功能模型及验证

詹军, 董学才, 洪峰, 管欣, 王战古   

  1. 吉林大学,汽车仿真与控制国家重点实验室,长春 130022
  • 出版日期:2019-07-25 发布日期:2019-07-30
  • 通讯作者: 管欣,教授,E-mail:hsguan@jlu.edu.cn
  • 基金资助:
    国家自然科学基金(U1664261)、吉林省自然科学基金(20170101209JC)和吉林大学研究生创新基金项目(101832018C205)资助。

Real-time Functional Model and Verification of Intelligent Vehicle Sensors

Zhan Jun, Dong Xuecai, Hong Feng, Guan Xin ,Wang Zhangu   

  1. Jilin University, State Key Laboratory of Automotive Simulation and Control, Changchun 130022
  • Online:2019-07-25 Published:2019-07-30

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摘要： 传感器模型是智能汽车虚拟验证的重要环节。本文中针对大型虚拟仿真环境下智能汽车测试验证的需要,研究建立了毫米波、激光和摄像头实时功能模型。首先,模型基于网格化方法建立了仿真数据的有效管理和快速检索引擎,研究了一种满足大规模仿真环境中多车传感需求的快速对象提取方法;其次,基于阴影体算法研究了二维平面内对物体之间遮挡关系进行判断的快速算法,模拟了物体之间的遮挡效果;再次,按照传感器的输出,对惯性坐标系下的物体坐标转换到传感器坐标形成标准输出;最后,根据传感器噪声特征,建立了噪声模拟模型。在虚拟测试平台中建立了德尔福ESR毫米波雷达、Ibeo四线激光雷达、德尔福IFV300单目照相机模型,对模型进行了功能和性能仿真验证,结果表明,本文中建立的传感器功能模型可较为精准地仿真模拟探测障碍物,探测精度满足要求,在普通计算机上达到亚毫秒级计算效率,满足实时性的要求。

关键词: 智能汽车, 虚拟测试, 传感器, 功能模型, 验证

Abstract: The sensor model is an important part of intelligent vehicle virtual verification. In this paper, the real-time functional models of millimeter wave radar, lidar and camera are established for the requirements of intelligent vehicle verification in large-scale virtual simulation environment. Firstly, the model develops an effective management and fast search engine for simulation data based on the gridding method, and studies a fast object extraction method to meet multi-vehicle sensor requirements in large-scale simulation environment. Secondly, a fast algorithm for judging the occlusion relationship between objects in a two-dimensional plane is studied based on the shadow volume algorithm, and the occlusion effect between objects is simulated. Thirdly, according to the outputs of the sensors, the object coordinates in the inertial coordinate system are converted to the sensor coordinates to form a standard output. Finally, a noise simulation model is established according to the noise characteristics of sensors. The models of Delphi ESR millimeter wave radar, Ibeo four-line lidar and Delphi IFV300 monocular camera are established in the virtual test platform. The function and performance of the models are simulated and verified. The results show that the sensor functional models established in this paper can accurately simulate the detection of obstacles, and the detection accuracy meets the requirements. The simulation time achieves sub-millisecond on normal computers and the simulation meets real-time requirements

Key words: intelligent vehicle, virtual test, sensor, functional model, verification