汽车自适应巡航控制系统硬件在环仿真平台的设计与仿真试验

摘要

为了提高自适应巡航控制（ACC）系统的仿真精度，利用实车 ACC 系统的执行机构建立了硬件在环仿真（HILS）平台。HILS 平台由仿真模型和硬件部分组成。仿真模型将运行在 dSPACE 仿真系统中，包括为了产生雷达模拟信号、ACC 控制指令及计算车辆运行状态的雷达模拟器、ACC 控制器和车辆模型。硬件部分主要包括电子节气门系统、主动制动系统及其附属的传感器及控制器等。通过串口通信接收来自 ACC 控制器的指令，HILS 平台的硬件可以完成节气门开度和制动压力跟随控制。利用 HILS 平台进行了不同工况下的 ACC 仿真试验，仿真结果表明：HILS 平台工作状况良好，并可以用于 ACC 控制器的开发。%To improve the simulation accuracy for adaptive cruise control (ACC)system,the hardware in the loop simulation (HILS)platform with real actuators of ACC is developed in this paper.The HILS platform consists of simulation model parts running in the simulation instrument and hardware parts including the electronic throttle and active braking system.In the simulation model,radar simulator,controller of ACC and vehicle mode are de-velopedin order to generate the traffic information,the control command of ACC system and calculate the motion of vehicle.By using the desired control values transmitted from the ACC’s controller,the hardware parts could real-ize throttle openness and braking pressure tracking control.The simulation experiments of ACC are carried out based on this HILS platform,and the simulation results confirm that the HILS platform could work in a proper way and could be used as a simulation platform to develop the controller of ACC.