智能车运动仿真平台设计

为了辅助开发人员进行智能车PID控制参数的设定及修正, 设计了一种智能车运动仿真平台, 该仿真平台由三部分模块组成. 轨道模块内部记录有当前仿真环境下的跑道形状及参数信息; 车辆模块内建有智能车的运动模型及参数; 运行仿真模块用于模拟物理运行环境并建立有坐标信息. 运行过程中, 运行仿真模块接收来自用户的车辆运动及PID控制参数, 在车辆模块的协助下, 实现对车辆位置以及误差信息的计算. 实验表明, 与现有算法相比, 本平台不受传感器类型的限制, 可以更真实的仿真车辆的运动状态, 同时为开发人员进行PID参数调整提供了实践依据.

Design of Simulation Platform for Intelligent Vehicle

In order to assist developers to set and revise PID control parameters for intelligent vehicle, a simulation platform for vehicle motion composed of three modules is designed. The shapes and parameters for tracks are stored in track module; the motion model and parameters for intelligent vehicle are built in the vehicle module; the motion simulation module is used to mimic the real physical environment with coordinate system. During emulation process, the simulation module receives parameters for vehicle and PID, with the aid of vehicle module, it then figures out the position and error information for developers. The result shows that, compared with the traditional way, this method is not constrained by certain sensors. Meanwhile, its simulation data could actually reflect vehicle motion. Importantly, it helps developers to enhance efficiency for control parameters revision.