應用於線控車輛之硬體在環驗證平台開發

Development of Hardware-in the-loop Validation Testbed for X-by-wire Vehicle

林庭合(Ting-He Lin)

指導教授 ： 鄭榮和

國立臺灣大學/工學院/機械工程學研究所/碩士(2020年)

https://doi.org/10.6342/NTU202003052

摘要

現今，自主駕駛技術已為世界車輛發展之主流，其中具備線控(x-by-wire)次系統之線控車輛(x-by-wire vehicle)為自駕技術關鍵之一。然而線控系統與傳統車輛系統不同，其操控不透過任何機械結構，僅以電子訊號控制，其安全性與穩定性備受疑慮。故驗證線控系統與其控制之安全性與可靠度是為極其重要的。本研究針對線控車輛的線控驅動以及線控煞車系統，提出線控系統硬體在環測試驗證平台之開發方法。其目的為系統性地驗證車輛線控系統之規格與安全性，亦可用於控制策略之開發與測試。本文探討線控測試平台之架構設計、規格計算、建置流程，並提出整合線控驅動與線控煞車之硬體在環測試(Hardware-in-the-loop)方法。實務上完成測試平台之軟硬體開發與自主駕駛巴士AIBus之線控驗證。並透過適應性巡航控制策略之開發，分析與探討線控測試平台於中控策略設計與測試之價值。此研究產出之線控測試平台具有良好之測試重現性、測試工況的廣泛性與在相對安全之環境進行極限測試之能力，能夠針對線控系統與控制策略進行詳盡之測試、驗證與評價，故能夠及早發現問題並改善，提升車輛線控系統與控制策略的性能與可靠度，進而提升自駕車的發展。

關鍵字

自駕車 ； 線控次系統 ； 線控煞車 ； 線控驅動 ； 硬體在環測試 ； 適應性巡航控制 ； 驗證平台

並列摘要

In this study, an x-by-wire hardware-in-the-loop validation testbed is developed. The testbed aims to validate specification and control strategies, and also can be used for ADAS/AD function development. This paper covers both the hardware design of the testbed and the method of conducting hardware-in-the-loop tests. Furthermore, as a proof of the functionalities, we completed verification and validation of XBW system of a level 4 e-bus and use adapted cruise control to illustrate the value of the testbed in ADAS/AD development. This study provides an XBW testbed with good test reproducibility, wide range of test conditions and the ability to perform extreme test at relatively low risk. Being able to find and solve potential problem before implement to real vehicle, the XBW testbed improves the performance and reliability of XBW vehicle and thus the XBW testbed is capable of propelling the autonomous vehicle industry.

並列關鍵字

autonomous vehicle ； x-by-wire ； brake-by-wire ； drive-by-wire ； hardware-in-the-loop ； adpated cruise control ； validation testbed

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