Abstract: Simulation test platform has become an important technique in the development and verification of intelligent vehicle, for it can overcome the long cycle and high cost of the vehicle test. The dynamic characteristic of the actuator has a great influence on the automatic parking system because it has the working characteristics of low vehicle speed, frequent steering wheel operation and large steering angle. An automatic parking simulation test system is designed and built including the hardware of steering, throttle and braking system for a better approximation of these actuators in vehicle. The simulation results show that the system reflects the accuracy and delay characteristics of the actuator, and can be simulated for automatic parking, which is used for algorithm development and test verification, and provides reference for the design of simulation test system with similar functions.

Key words: Automatic parking; Hardware-in-loop; Actuator-in-loop; Simulation test

摘要： 针对实车测试开发周期长、成本高等问题，基于台架的仿真测试成为目前智能驾驶开 发与验证的重要手段。自动泊车功能车速低，方向盘操作频繁且经常处于大转角状态，执行 器的动态特性对其影响很大。为了更好地模拟实车执行器，设计并搭建了一种转向、油门、 制动系统实物在环的自动泊车仿真测试系统。仿真结果表明，该系统体现了执行器的精度及 延迟特征，可以进行自动泊车的仿真，用于算法开发与测试验证，为同类功能的仿真测试系 统设计提供借鉴。

关键词: 自动泊车；硬件在环；执行器在环；仿真测试