关键词: 硬件在环, 六自由度模拟器, 环境感知, 测试评价, 机器学习, 数据关联

Abstract: A detection and evaluation system of environment perception algorithm for intelligent vehicles was proposed on the basis of hardware-in-loop simulation platform and 6-DOF driving simulator. The real traffic scenario was implemented as the system inputs in order to take into account both the repeatability， scalability of virtual tests and the authenticity of road testing together.  Aiming at the shortcomings of the existing evaluation methods which relied on manual recognitions， a standard object detection algorithm based on machine learning and an evaluation algorithm based on data association were proposed. Consequently， the results of the system evaluation were compared with manual recognition ones. Experimental results show that the proposed evaluation system has strong reliability， high precision， and outstanding real-time performance. The accurate evaluation of lane and vehicle detection algorithm with different characteristics may be realized effectively under complicated road environments such as blur， occlusion and changing illumination. The test evaluation system may meet the requirements of intelligent vehicle environmental perception algorithm.

Key words: hardware-in-loop, 6-DOF simulator, environmental perception, test evaluation, machine learning, data association