| The premise of intelligent driving landing is that its core algorithm has been repeatedly verified in various complex scenes.The intelligent driving algorithm optimized by road measurement can reflect the real situation,but it needs a lot of time and economic cost.Verifying the performance of intelligent driving algorithm through virtual simulation has the advantages of convenient use and low cost,and can build more extreme and rich scene verification algorithms than the reality.Based on software and hardware such as Intelligent driving simulation software Carla,robot operating system ROS,vehicle dynamics simulation software Carsim,graphic programming tool Labview and NI real-time system,this paper builds a distributed simulation platform for intelligent driving.The details are as follows:It focuses on solving the openness and expansion ability of simulation system,puts forward the design objectives of simulation platform,and carries out the selection and design of software components,hardware components and communication network based on the design objectives.Framework,design the distributed simulation platform for distributed system communication network protocol and software design,hardware in loop real-time vehicle dynamics simulation system design,the clock synchronization in distributed system design,the design of the functional components such as steering wheel force feedback design work,through the integrated communication network hardware and software components to build the distributed simulation platform.The communication time of the platform is tested and analyzed,and the time characteristic of the simulation system is verified.The simulation platform was used to carry out experimental research on the simulation of model in loop,driver in loop and intelligent driving algorithm.The function and performance of the simulation platform were comprehensively verified.The verification results show that the designed platform meets the requirements of the design objectives and meets the requirements of the simulation verification of intelligent driving in each stage. |
