王绪 , 李睿 , 黄英 , 等 . 考虑不同路面特征的军用履带车辆循环工况构建 [J ] . 兵工学报 , 2024 , 45 ( 3 ): 907 - 915 . DOI: 10.12382/bgxb.2022.0828 http://doi.org/10.12382/bgxb.2022.0828 为全面有效地评估车辆动力系统的燃油经济性,建立考虑不同路面特征的履带车辆循环工况。收集铺面路、砂石路和起伏土路3种路面的实车运行数据作为原始数据样本,并利用小波分析对数据进行滤波处理。基于处理后的实车数据,综合利用主成分分析法、K均值聚类和马尔可夫链构建3种路面下的典型循环工况,并对构建的工况进行相似度分析。研究结果表明:采用新方法能够有效地构建出符合军用履带车辆运行特点的循环工况,3种路面下循环工况的特征均与原始数据有极高的相似度;3种路面车速-加速度联合概率分布与原始数据的均方根误差分别为0.0356、0.0039和0.0196,新构建的工况能够有效反映履带车辆的真实运行情况。

WANG X , LI R , HUANG Y , et al. Construction of driving cycle for military tracked vehicles considering road features [J ] . Acta Armamentarii , 2024 , 45 ( 3 ): 907 - 915 . (in Chinese) DOI: 10.12382/bgxb.2022.0828 http://doi.org/10.12382/bgxb.2022.0828 A tracked vehicle driving cycle considering road features is established to effectively evaluate the fuel economy of the vehicle powertrain. The operating data of vehicle on paved road, gravel road and undulating dirt road are collected as original data, and the data are filtered by wavelet analysis. Based on the processed vehicle data, the typical driving cycles under the condition of the three road surfaces are constructed by using principal component analysis, K-means clustering and Markov chain, and the similarity analysis of the constructed driving cycle is carried out. The research results show that the proposed method can be used to effectively construct the driving cycle that resembles the operating characteristics of military tracked vehicles, and the characteristics of the driving cycles under the condition of the three road surfaces have high similarity with the original data, the root mean square errors of the joint vehicle speed-acceleration probability distribution with the original data for the three road surfaces are 0.0356, 0.0039 and 0.0196, respectively, so the driving cycle constructed in this paper can effectively reflect the real operation of tracked vehicles.

谭颖琦 , 许景懿 , 熊光明 , 等 . 基于轨迹规划与CNN-LSTM预测的履带式混合动力无人平台能量管理优化 [J ] . 兵工学报 , 2022 , 43 ( 11 ): 2738 - 2748 .

TAN Y Q , XU J Y , XIONG G M , et al. Energy management optimization for hybrid electric unmanned tracked vehicles based on path planning using CNN-LSTM prediction [J ] . Acta Armamentarii , 2022 , 43 ( 11 ): 2738 - 2748 . (in Chinese)

孙乐乐 , 黄松 , 郑长友 , 等 . 自动驾驶仿真测试场景生成技术研究进展 [J ] . 计算机工程与应用 , 2025 , 61 ( 1 ): 59 - 79 . DOI: 10.3778/j.issn.1002-8331.2405-0117 http://doi.org/10.3778/j.issn.1002-8331.2405-0117 自动驾驶系统已经成为汽车行业和计算机科学的前沿研究领域。为了确保自动驾驶系统的安全性和可靠性，对自动驾驶系统进行充分的测试是十分必要的，而仿真测试因其测试成本低、安全性高等优点，并且测试场景是自动驾驶仿真测试的关键，因此仿真测试场景生成是自动驾驶测试过程中不可或缺的环节。目前，已有大量学者致力于研究自动驾驶仿真测试，也有许多关于自动驾驶仿真测试的研究进展报告，但是针对于自动驾驶仿真测试场景生成的研究进展报告却寥寥无几。因此,对关于自动驾驶仿真测试场景的文献进行了全面调查，并对自动驾驶仿真测试的相关背景知识进行概述；通过调研国内外几十篇相关文献，按照自动驾驶系统的模块进行归纳总结，对现有仿真测试场景生成方法进行详细分类阐述；通过调研目前主流的仿真测试工具，对现有仿真测试工具进行分析归纳；分析了自动驾驶仿真测试领域面临的挑战和未来展望。

SUN L L , HUANG S , ZHENG C Y , et al. Research progress on autonomous driving simulation test scenario generation technology [J ] . Computer Engineering and Applications , 2025 , 61 ( 1 ): 59 - 79 . (in Chinese) DOI: 10.3778/j.issn.1002-8331.2405-0117 http://doi.org/10.3778/j.issn.1002-8331.2405-0117 Autonomous driving systems have emerged as a cutting-edge research domain at the intersection of the automotive industry and computer science. Ensuring the safety and reliability of autonomous driving systems necessitates comprehensive testing. Simulation testing, characterized by its low cost and high safety, plays a pivotal role in this context. The generation of simulation test scenarios is an indispensable component in the autonomous driving testing process. To date, numerous scholars have dedicated their efforts to the study of autonomous driving simulation testing, and there have been numerous reports on the advancements in this field. However, research progress reports specifically addressing the generation of simulation test scenarios for autonomous driving are scarce. Therefore, this paper commences with a comprehensive literature review on autonomous driving simulation test scenarios and provides an overview of the related background knowledge. Subsequently, it systematically categorizes and elaborates on the existing methods for generating simulation test scenarios by investigating dozens of relevant domestic and international literature, organized according to the modules of the autonomous driving system. Furthermore, the paper analyzes and summarizes the current mainstream simulation testing tools. Finally, the paper discusses the challenges and future prospects faced in the field of autonomous driving simulation testing.

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