Simulation Platform of Intelligent Driving Systems of Highway Vehicles
A hardware-in-the-loop simulation platform was developed to assess the safety of intelligent driving systems of highway vehicles under limit conditions.Firstly,the real intelligent driving systems and index of safety assessment were analyzed.The framework for the simulation platform mainly includes road shapes,perception and decision making,vehicles dynamics.In order to enhance the fidelity of platform,the vehicle dynamics program veDYNA was used,and the parameters of which were based on the measured data of vehicles.Moreover,the steering wheel,gas pedal and brake pedal were embedded into the platform.Finally,the safety assessment of time delay in perception and decision making module and flat tire were simulated based on the developed platform,where the side slip angle,yaw rate and tire slip angle were used as the assessment index.