CN106017949A - Method and device for testing emergency response time of unmanned vehicle - Google Patents
Method and device for testing emergency response time of unmanned vehicle Download PDFInfo
- Publication number
- CN106017949A CN106017949A CN201610606329.1A CN201610606329A CN106017949A CN 106017949 A CN106017949 A CN 106017949A CN 201610606329 A CN201610606329 A CN 201610606329A CN 106017949 A CN106017949 A CN 106017949A
- Authority
- CN
- China
- Prior art keywords
- response time
- unmanned vehicle
- standard
- velocity interval
- determines
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a method and device for testing the emergency response time of an unmanned vehicle. The testing method comprises a step of determining the emergency response time of the unmanned vehicle in a failure condition based on obtained driving data information of the unmanned vehicle, a step of determining the standard response time of the unmanned vehicle based on a set response time test standard, a step of comparing the emergency response time and the standard response time to determine the test result of the emergency response time of the unmanned vehicle. By using the method, through the set response time test standard, the test of the emergency response time of the unmanned vehicle is realized, thus the good working performance of the unmanned vehicle in an actual driving process is ensured, and thus the operation safety of the unmanned vehicle in driving, the safety of a traffic transport environment and the life safety of passengers are ensured.
Description
Technical field
The present embodiments relate to unmanned vehicle technical field of measurement and test, when particularly relating to a kind of unmanned vehicle emergency response
Between method of testing and device.
Background technology
Unmanned vehicle i.e. pilotless automobile, be a kind of collection automatically control, vision calculating, architecture etc. numerous
Technology, in the intelligent automobile of the high development of one, relies primarily on the driving based on computer system in car
Control system realizes unmanned.Unmanned vehicle can be as weighing a national research strength and industrial level
Important symbol, has broad application prospects in national defence and national economy field.
At present, the research to unmanned vehicle both at home and abroad achieves initial achievements, but unmanned vehicle commercialization to be realized
Requirement, reaches the purpose of safety traffic on city, highway, it is still desirable to it is carried out deeper level
Exploration.Especially unmanned vehicle is when emergency occurs in driving process, unmanned vehicle can to emergency and
Shi Jinhang emergency processing is related to the operation safety of vehicle self, the safety of transportation enviromnent and passenger's
Life security, and unmanned vehicle carries out when it is critical only that unmanned vehicle to the response of emergency of emergency processing in time
Between, if response time is longer, then unmanned vehicle existence can not carry out emergency processing in safety range in time
May.
In the research and probe to unmanned vehicle, the test to unmanned vehicle service behaviour has become an important step,
Thus occur in that a lot for the method for testing of unmanned vehicle test, but, in existing unmanned vehicle method of testing,
It is not specific to the test of emergency response time during emergency.
Summary of the invention
The invention provides method of testing and the device of a kind of unmanned vehicle emergency response time, to realize unmanned
The test of spent emergency response time during car emergency.
The embodiment of the present invention is by the following technical solutions:
First aspect, embodiments provides the method for testing of a kind of unmanned vehicle emergency response time, should
Method includes:
Running data information based on acquired unmanned vehicle, when determining emergency response when unmanned vehicle fault occurs
Between；
Based on the response time testing standard set, determine the standard response time of described unmanned vehicle；
Relatively described emergency response time and described standard response time, to determine the unmanned vehicle emergency response time
Test result.
Second aspect, the embodiment of the present invention additionally provides the test device of a kind of unmanned vehicle emergency response time,
This device includes:
The emergency response time determines module, for running data information based on acquired unmanned vehicle, determines nothing
Emergency response time when people's car fault occurs；
Standard response time determines module, for based on the response time testing standard set, determining described nothing
The standard response time of people's car；
Test result determines module, for comparing described emergency response time and described standard response time, with
Determine the test result of unmanned vehicle emergency response time.
The invention provides method of testing and the device of a kind of unmanned vehicle emergency response time, first, based on institute
The running data information of the unmanned vehicle obtained, determines the emergency response time that unmanned vehicle fault is spent when occurring；
It is then based on the response time testing standard set, determines the standard response time of unmanned vehicle；Finally, logical
Cross the size comparing emergency response time and standard response time to determine the test of unmanned vehicle emergency response time
Result.Utilize technical scheme, it is possible to by the response time testing standard set, it is achieved unmanned
The test of car emergency response time, therefore ensures that unmanned vehicle has good workability during actual travel
Can, and then ensure the operation safety of vehicle self, the safety of transportation enviromnent and take advantage of when unmanned vehicle is driven
The life security of visitor.
Accompanying drawing explanation
The flow process of the method for testing of a kind of unmanned vehicle emergency response time that Fig. 1 provides for the embodiment of the present invention one
Figure；
The flow process of the method for testing of a kind of unmanned vehicle emergency response time that Fig. 2 provides for the embodiment of the present invention two
Figure；
The flow process of the method for testing of a kind of unmanned vehicle emergency response time that Fig. 3 a provides for the embodiment of the present invention three
Figure；
The flow process that unmanned vehicle is carried out fault detect and emergency processing that Fig. 3 b provides for the embodiment of the present invention three
Figure；
The structure of the test device of a kind of unmanned vehicle emergency response time that Fig. 4 provides for the embodiment of the present invention four
Figure.
Detailed description of the invention
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this
Specific embodiment described by place is used only for explaining the present invention, rather than limitation of the invention.The most also need
It is noted that for the ease of describing, accompanying drawing illustrate only part related to the present invention and not all knot
Structure.
It also should be noted that, for the ease of describing, accompanying drawing illustrate only portion related to the present invention
Divide rather than full content.It should be mentioned that, some show before being discussed in greater detail exemplary embodiment
Example embodiment is described as process or the method described as flow chart.Although flow chart by operations (or
Step) it is described as process sequentially, but many of which operation can be by concurrently, concomitantly or together
Time implement.Additionally, the order of operations can be rearranged.The most described process can
To be terminated, it is also possible to have the additional step being not included in accompanying drawing.Described process can correspond to
Method, function, code, subroutine, subprogram etc..
Embodiment one
The flow process of the method for testing of a kind of unmanned vehicle emergency response time that Fig. 1 provides for the embodiment of the present invention one
Figure, the emergency response time that the present embodiment is applicable to when emergency occurs in unmanned vehicle fault tests
Situation, the method can be performed by the test device of unmanned vehicle emergency response time.This device can pass through
The mode of hardware and/or software realizes, and typically can be integrated in the survey for testing unmanned vehicle work in every performance
In examination equipment.
As it is shown in figure 1, the method for testing of a kind of unmanned vehicle emergency response time of the present embodiment offer, specifically
Including:
S110, running data information based on acquired unmanned vehicle, determine meeting an urgent need when unmanned vehicle fault occurs
Response time.
Usually, the running data that unmanned vehicle service behaviour is tested the unmanned vehicle acquired in Main Basis is believed
Breath is carried out.Wherein, described running data information specifically can be regarded as based on the data prison installed on unmanned vehicle
Measurement equipment and data message in the unmanned vehicle driving process that obtains, described running data information can be unmanned
The timing node information of associative operation in car driving process, it is also possible to be the particular location caught in driving process
Information etc..Additionally, described data monitoring equipment can be mounted in the vehicle GPS mobile terminal on unmanned vehicle
Or radar equipment etc..
In the present embodiment, after the running data information measuring unmanned vehicle based on described data monitoring Supervision,
By wireless transmitting-receiving equipments, described running data information can be transferred to perform the present invention implement to be provided unmanned
The test equipment of the method for testing of car emergency response time, thus obtains the running data information of described unmanned vehicle.
It should be noted that described data monitoring equipment is to the monitoring accuracy pole of data message in unmanned vehicle driving process
Height, therefore, the precision of the running data information acquired in described test equipment is far above desired data during test
The precision of information.
Concrete, in order to ensure the safety traffic of unmanned vehicle, can real-time passing through in unmanned vehicle driving process
The self-checking system being arranged on unmanned vehicle carries out fault detect, unmanned vehicle detected if based on self-checking system
In certain component failure or traveling, certain link goes wrong, then can issue emergent management and instruct to unmanned
The Ride Control System of car, to carry out brake hard to unmanned vehicle.In the present embodiment, described emergency response
Time specifically can be regarded as from detect unmanned vehicle fault occur to Ride Control System receive issue urgent from
The time that reason instruction is spent.
S120, response time testing standard based on setting, determine the standard response time of described unmanned vehicle.
In the present embodiment, for unmanned vehicle, during the emergency response spent after breaking down of unmanned vehicle
Between the shortest, so that it may illustrate that the response performance of described unmanned vehicle is the best.In order to assess the emergent sound of described unmanned vehicle
Answer performance, based on set response time testing standard, the emergency response time of described unmanned vehicle can be entered
Row test.
In the present embodiment, described response time testing standard specifically can carry out emergency response time test
Set before.Usually, described response time testing standard is considered as various criterion response time from different
The mapping relations of velocity interval, i.e. different velocity interval correspondences exists a standard response time.Therefore,
In the case of knowing unmanned vehicle current driving speed, can based on set response time testing standard,
Determine the standard response time that unmanned vehicle is current.
In the present embodiment, can be based on safe space between motorcars corresponding under described friction speed scope and row
Car braking distance determines corresponding standard response time, the most described velocity interval and described normal response
The mapping relations of time are set as response time testing standard.
Emergency response time described in S130, comparison and described standard response time, to determine the emergent sound of unmanned vehicle
Test result between Ying Shi.
In the present embodiment, can be by the comparison to described emergency response time Yu described standard response time
Test whether the unmanned vehicle emergency response time when breaking down meets testing standard.Concrete, if
The described emergency response time is more than described standard response time, then may determine that the emergency response of described unmanned vehicle
Time does not meets testing standard；Otherwise may determine that the emergency response time of described unmanned vehicle meets described response
Time test standard.
The technical scheme that the embodiment of the present invention one provides, first, running data based on acquired unmanned vehicle
Information, determines the emergency response time that unmanned vehicle fault is spent when occurring；It is then based on the response set
Time test standard, determines the standard response time of unmanned vehicle；Finally, by compare the emergency response time and
The size of standard response time determines the test result of unmanned vehicle emergency response time.Utilize the skill of the present invention
Art scheme, it is possible to by the response time testing standard set, it is achieved the test of unmanned vehicle emergency response time,
Therefore ensure that unmanned vehicle has good service behaviour during actual travel, and then ensure that unmanned vehicle is driven
Time the operation safety of vehicle self, the safety of transportation enviromnent and the life security of passenger.
Embodiment two
The flow process of the method for testing of a kind of unmanned vehicle emergency response time that Fig. 2 provides for the embodiment of the present invention two
Figure, the present embodiment is optimized on the basis of above-described embodiment, in the present embodiment, embodies further institute
State the setting means of response time testing standard, further, the setting side of described response time testing standard
Formula, comprises determining that the safe space between motorcars that at least one velocity interval is corresponding, and determine described at least one
The service brake distance that velocity interval is corresponding；Safe space between motorcars based at least one velocity interval described and
Service brake distance, determines the standard response time that at least one velocity interval described is corresponding, described to obtain
Response time testing standard.
In the present embodiment, the setting to described response time testing standard can obtain the emergent of unmanned vehicle
Carry out before response time, it is also possible to carried out before determining the standard response time of unmanned vehicle.Such as Fig. 2 institute
Show that the method for testing of a kind of unmanned vehicle emergency response time that the embodiment of the present invention two provides specifically includes:
S210, determine the safe space between motorcars that at least one velocity interval is corresponding, and determine described at least one
The service brake distance that velocity interval is corresponding.
Usually, when motor vehicles travels on road, its travel speed will meet national communication safety law
Law specifies, and for different travels, the travel speed scope of the allowed motor-driven vehicle going of law has
Institute is different, and meanwhile, the different safe space between motorcars travelled required by under velocity interval also differ.Exemplary
, e.g., People's Republic of China's law on road traffic safety implementing regulations the 80th article regulation, motor vehicles is at height
When travelling on speed highway, speed the most not can exceed that 120 kilometers, and when motor vehicle speed exceedes per hour
When 100 kilometers, it should keep the distance of more than 100 meters with same track front truck, when speed is less than per hour 100
During kilometer, must not be less than 50 meters with same track leading vehicle distance.
In the present embodiment, unmanned vehicle can also regard motor vehicles as, thus can based on law defined not
Determine at least one velocity interval with the travel speed on road, may determine that at least one speed described simultaneously
Safe space between motorcars corresponding to degree scope.Exemplary, can by 100 kilometers/hour to 120 kilometers/
Hour be defined as a velocity interval, it is also possible to based on law specify by the safe driving under this velocity interval away from
From being defined as 100 meters.
In the present embodiment, in order to set the testing standard of response time, in addition it is also necessary to determine friction speed scope
Lower corresponding service brake distance.Described service brake distance specifically can be regarded as unmanned vehicle based on being received
Process instruction or the traveling that formed by unmanned vehicle during current driving speed reduction to resting state of braking instruction
Distance.It follows that there is certain contacting with the travel speed of described unmanned vehicle in described service brake distance,
For the ease of the setting of response time testing standard, the embodiment of the present invention one velocity interval is regarded as one whole
Body, and be only that a velocity interval is to should determine that a service brake distance.
Further, the described service brake distance determining that at least one velocity interval described is corresponding, including:
Set brake parameters during unmanned vehicle braking；Based on described brake parameters and at least one speed described
Maximum speed value in scope, determines the service brake distance that at least one velocity interval described is corresponding.
In the present embodiment, first can set a brake parameters, described brake parameters can regard one as
Historical experience value, the average retro-speed of history and history braking distance when being based primarily upon automobile braking are true
Fixed；It is then possible to the maximum speed value determined in friction speed scope；Finally, can be based on described braking
The maximum speed value of parameter and at least one velocity interval determines the driving system of at least one velocity interval described
Dynamic distance, wherein, described service brake distance is equal to the product of described brake parameters Yu described maximum speed value.
Exemplary, history based on motor vehicles braking empirical value described brake parameters can be set as 0.28
Second；It is then possible to the maximum speed value determined in friction speed scope, as being 100 kilometers/hour in speed
～in the range of 120 kilometers/hour, corresponding maximum speed value is 120 kilometers/hour；Finally, described
Service brake distance is equal to the product of described brake parameters Yu described maximum speed value, i.e. 100 kilometers/little
Time～the velocity interval of 120 kilometers/hour under, described service brake distance about 9.33 meters.
S220, safe space between motorcars based at least one velocity interval described and service brake distance, determine
The standard response time that at least one velocity interval described is corresponding, to obtain described response time testing standard.
In the present embodiment, described response time testing standard to be set, also need to further determine that described standard
Response time, wherein, the determination of described standard response time and described safe space between motorcars and service brake away from
From and velocity interval relevant, and described velocity interval and described standard response time be relation one to one.
Further, described safe space between motorcars based at least one velocity interval described and service brake away from
From, determine the standard response time that at least one velocity interval described is corresponding, including:
The computing formula of established standards response time is T=(S1-S2)/V, and wherein, T represents that velocity interval is corresponding
Standard response time, S1 represents the safe space between motorcars that velocity interval is corresponding, and S2 represents that velocity interval is corresponding
Service brake distance, V represents the maximum speed value in velocity interval；Based on described computing formula and institute
State safe space between motorcars and the service brake distance of at least one velocity interval, determine at least one speed described
The standard response time that scope is corresponding.
Exemplary, connect above-mentioned example, under the velocity interval of 100 kilometers/hour～120 kilometers/hour,
May determine that safe space between motorcars corresponding to this velocity interval is 100 meters, can determine that this velocity interval simultaneously
Service brake distance is 9.33 meters；It is hereby based on the computing formula of described standard response time, it is known that this speed
Standard response time corresponding to scope is about 2.72 seconds.
In the present embodiment, after determining the standard response time corresponding to friction speed scope, determine that
The mapping relations of described friction speed scope and described standard response time, thus can be by described friction speed
The mapping relations of scope and described standard response time are as the testing standard of response time, to realize described sound
The setting of testing standard between Ying Shi.
S230, running data information based on acquired unmanned vehicle, determine meeting an urgent need when unmanned vehicle fault occurs
Response time.
Exemplary, can be based on the traveling of the data monitoring monitoring of equipment unmanned vehicle installed in described unmanned vehicle
Data, and based on described wireless transmitting-receiving equipments, described running data information is transferred to performs the present invention and implements institute
There is provided the test equipment of method of testing, to obtain the running data information for test.
S240, response time testing standard based on setting, determine the standard response time of described unmanned vehicle.
Exemplary, the current driving number of described unmanned vehicle can be determined based on acquired running data information
According to value, and determine the velocity interval corresponding to unmanned vehicle current driving velocity amplitude, the most again based on comprising speed
Scope and the response time testing standard of standard response time mapping relations, determine that the current institute of described unmanned vehicle
Corresponding standard response time.
Emergency response time described in S250, comparison and described standard response time, to determine the emergent sound of unmanned vehicle
Test result between Ying Shi.
Exemplary, if the emergency response time of acquired unmanned vehicle is 2.75 seconds, determined by standard
Response time is 2.72 seconds, the most now may determine that the emergency response time of described unmanned vehicle does not meets test mark
Accurate.
The technical scheme that the embodiment of the present invention two provides, embodies the setting process of response time testing standard,
Can be correlated with in total quality testing standard as unmanned vehicle one of set response time testing standard
Point, for person skilled, the related work performance of unmanned vehicle is estimated, with based on set response
The test to the unmanned vehicle emergency response time of the time test standard implementation, therefore ensures that unmanned vehicle is in actual travel
During there is good service behaviour, and then ensure the operation safety of vehicle self when unmanned vehicle is driven, hand over
The safety of logical transportation environment and the life security of passenger.
Embodiment three
The flow process of the method for testing of a kind of unmanned vehicle emergency response time that Fig. 3 a provides for the embodiment of the present invention three
Figure.The present embodiment is optimized on the basis of above-described embodiment, in the present embodiment, and will be based on acquired
The running data information of unmanned vehicle, determines emergency response time when unmanned vehicle fault occurs, is embodied as:
Running data information based on acquired unmanned vehicle, determines that unmanned vehicle detects that fault when fault occurs occurs
Moment and receive unmanned vehicle self-checking system issue process instruction the command reception moment；Described instruction is connect
Time receiving carves and occurs the time difference in moment to be designated as the emergency response time of described unmanned vehicle with described fault.
Further, based on the response time testing standard set, when determining the normal response of described unmanned vehicle
Between, it is embodied as: determine the travel speed before the generation of unmanned vehicle fault based on described running data information；Really
The standard sound that fixed velocity interval belonging to described travel speed is corresponding in set response time testing standard
Between Ying Shi, to obtain the standard response time of described unmanned vehicle.
As shown in Figure 3 a, the method for testing of a kind of unmanned vehicle emergency response time that the embodiment of the present invention three provides.
Specifically include:
S310, determine the safe space between motorcars that at least one velocity interval is corresponding, and determine described at least one
The service brake distance that velocity interval is corresponding.
S320, safe space between motorcars based at least one velocity interval described and service brake distance, determine
The standard response time that at least one velocity interval described is corresponding, to obtain described response time testing standard.
In the present embodiment, step S310 and S320 are specifically described the most in the above-described embodiments, the most not
Describe in detail again.
S330, running data information based on acquired unmanned vehicle, determine and detect when unmanned vehicle fault occurs
Fault occur the moment and receive emergent management instruction the command reception moment.
In the present embodiment, the running data letter of described unmanned vehicle can be monitored based on described data monitoring equipment
Cease, and described running data information can be sent to described test equipment by described data monitoring equipment, thus surveys
Examination equipment can obtain described running data information.Additionally, in the driving process of unmanned vehicle, can be based on collection
The self-checking system on unmanned vehicle is become to carry out fault detect in real time.
In the present embodiment, there is moment meeting in the fault when unmanned vehicle fault detected by self-checking system occurs
As a timing node information by described data monitoring monitoring of equipment, the most described test equipment can be based on
Described running data acquisition of information to fault occur time timing node；In like manner, detecting that unmanned vehicle occurs
During fault, self-checking system can issue emergent management instruction to unmanned vehicle Ride Control System, and unmanned vehicle is driven
Control system receives the command reception moment of emergent management instruction also can be as a timing node by described number
Monitor according to monitoring device.Therefore, the letter of the timing node in running data information based on acquired unmanned vehicle
Breath, it may be determined that fault when unmanned vehicle fault occurs occurs the moment and receives the finger of emergent management instruction
Make the time of reception.
S340, described command reception moment and described fault occur that the time difference in moment be designated as described unmanned vehicle
The emergency response time.
In the present embodiment, there is moment and reception in the fault when determining that described unmanned vehicle fault occurs
After the command reception moment of emergent management instruction, it is possible to by described command reception moment and described fault
The time difference that moment occurs is designated as the emergency response time of described unmanned vehicle.
Additionally, in the present embodiment, give unmanned vehicle and carry out the concrete mistake of fault detect and emergency processing
Journey, wherein, Fig. 3 b carries out fault detect and emergency processing for what the embodiment of the present invention three provided to unmanned vehicle
Flow chart.As shown in Figure 3 b, step S301 is for carry out fault detect based on self-checking system to unmanned vehicle；Step
Rapid S302 is the most properly functioning for detecting described unmanned vehicle, the most then return step S301, if it is not, then
Perform step S303；Step S303 is that self-checking system issues emergent management instruction so that unmanned vehicle is met an urgent need
Process；Step S304 is the emergent management instruction that Ride Control System is received from that check system issues, step S305
For being braked operation based on the instruction of described emergent management and carry out certainly restarting of Ride Control System.
Exemplary, as shown in Figure 3 b, it is assumed that detect that described unmanned vehicle can not be normal based on step S302
Moment during operation is T1, and performing step S304 and receiving moment of emergent management instruction is T2, then described
The emergency response time of unmanned vehicle is T2-T1.
S350, determine based on described running data information unmanned vehicle fault occur before travel speed.
In the present embodiment, it is believed that when described unmanned vehicle normally travels, travel speed is at the uniform velocity to travel, and
The travel speed in the normal driving process of unmanned vehicle can also be monitored based on described data monitoring equipment, thus may be used
To determine unmanned vehicle travel speed before fault occurs.
S360, determine that the velocity interval belonging to described travel speed is in set response time testing standard
Corresponding standard response time, to obtain the standard response time of described unmanned vehicle.
In the present embodiment, after determining the travel speed before the generation of unmanned vehicle fault based on step S350, so that it may
To determine the velocity interval belonging to described travel speed.Exemplary, if before described unmanned vehicle fault occurs
Travel speed be 110 kilometers/hour, then it is believed that described travel speed belongs to 100 kilometers/hour～120
Kilometer/hour velocity interval.
In the present embodiment, after determining the velocity interval belonging to described travel speed, based on the sound set
Testing standard between Ying Shi, then may determine that and there is the standard response time of mapping relations with this velocity interval, by
This can using determined by standard response time as the normal response corresponding under described travel speed of unmanned vehicle
Time.
Emergency response time described in S370, comparison and described standard response time, to determine the emergent sound of unmanned vehicle
Test result between Ying Shi.
The technical scheme that the embodiment of the present invention three provides, embodies the determination of unmanned vehicle emergency response time
Journey, embodies the determination process of unmanned vehicle standard response time simultaneously.Utilize this method of testing, it is possible to logical
Cross the response time testing standard set, it is achieved the test of unmanned vehicle emergency response time, therefore ensure that unmanned
Car has good service behaviour during actual travel, and then ensures vehicle self when unmanned vehicle is driven
Run safety, the safety of transportation enviromnent and the life security of passenger.
Embodiment four
The structure of the test device of a kind of unmanned vehicle emergency response time that Fig. 4 provides for the embodiment of the present invention four
Figure.The emergency response time that the present embodiment is applicable to when emergency occurs in unmanned vehicle fault tests
Situation, this device can realize by the way of hardware and/or software, and typically can be integrated in for testing nothing
In the test equipment of people's car work in every performance.As shown in Figure 4, the one nothing that the embodiment of the present invention four provides
The test device of people's car emergency response time, specifically includes: the emergency response time determines that module 41, standard are rung
Determine between Ying Shi that module 42 and test result determine module 43.
Wherein, the emergency response time determines module 41, for running data information based on acquired unmanned vehicle,
Determine emergency response time when unmanned vehicle fault occurs.
Standard response time determines module 42, for based on the response time testing standard set, determines described
The standard response time of unmanned vehicle.
Test result determines module 43, for relatively described emergency response time and described standard response time,
To determine the test result of unmanned vehicle emergency response time.
In the present embodiment, this device first passes through the emergency response time and determines that module 41 is based on acquired unmanned
The running data information of car, determines emergency response time when unmanned vehicle fault occurs；Then rung by standard
Determine between Ying Shi that module 42, based on the response time testing standard set, determines the normal response of described unmanned vehicle
Time；When determining module 43 relatively described emergency response time and described normal response finally by test result
Between, to determine the test result of unmanned vehicle emergency response time.
The technical scheme that the embodiment of the present invention four provides, it is possible to by the response time testing standard set, real
The test of existing unmanned vehicle emergency response time, therefore ensures that unmanned vehicle has during actual travel good
Service behaviour, and then ensure the operation safety of vehicle self, the safety of transportation enviromnent when unmanned vehicle is driven
And the life security of passenger.
Further, this test device, also include: testing standard setting module.Wherein, described test mark
Quasi-setting module includes: running distance determines unit, for determining the safety that at least one velocity interval is corresponding
Running distance；Braking distance determines unit, for determining the driving system that at least one velocity interval described is corresponding
Dynamic distance；Testing standard determines unit, for safe space between motorcars based at least one velocity interval described
With service brake distance, determine the standard response time that at least one velocity interval described is corresponding, to obtain
State response time testing standard.
Further, described braking distance determines unit, is particularly used in:
Set brake parameters during unmanned vehicle braking；Based on described brake parameters and at least one speed described
Maximum speed value in scope, determines the service brake distance that at least one velocity interval described is corresponding.
Further, described testing standard determines unit, is particularly used in:
The computing formula of established standards response time is T=(S1-S2)/V, and wherein, T represents that velocity interval is corresponding
Standard response time, S1 represents the safe space between motorcars that velocity interval is corresponding, and S2 represents that velocity interval is corresponding
Service brake distance, V represents the maximum speed value in velocity interval；Based on described computing formula and institute
State safe space between motorcars and the service brake distance of at least one velocity interval, determine at least one speed described
The standard response time that scope is corresponding, to obtain described response time testing standard.
Further, the described emergency response time determines module 41, is particularly used in:
Running data information based on acquired unmanned vehicle, determines the fault detected when unmanned vehicle fault occurs
There is the moment and receive the command reception moment of emergent management instruction；By described command reception moment and institute
Stating fault occurs the time difference in moment to be designated as the emergency response time of described unmanned vehicle.
Further, described standard response time determines module 42, specifically for:
The travel speed before the generation of unmanned vehicle fault is determined based on described running data information；Determine described traveling
The standard response time that velocity interval belonging to speed is corresponding in set response time testing standard, with
Obtain the standard response time of described unmanned vehicle.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.Those skilled in the art
It will be appreciated that the invention is not restricted to specific embodiment described here, can enter for a person skilled in the art
Row various obvious changes, readjust and substitute without departing from protection scope of the present invention.Therefore, though
So by above example, the present invention is described in further detail, but the present invention be not limited only to
Upper embodiment, without departing from the inventive concept, it is also possible to include other Equivalent embodiments more,
And the scope of the present invention is determined by scope of the appended claims.
Claims (12)
1. the method for testing of a unmanned vehicle emergency response time, it is characterised in that including:
Running data information based on acquired unmanned vehicle, when determining emergency response when unmanned vehicle fault occurs
Between；
Based on the response time testing standard set, determine the standard response time of described unmanned vehicle；
Relatively described emergency response time and described standard response time, to determine the unmanned vehicle emergency response time
Test result.
Method the most according to claim 1, it is characterised in that setting of described response time testing standard
Determine mode, including:
Determine the safe space between motorcars that at least one velocity interval is corresponding, and determine at least one speed model described
Enclose the service brake distance of correspondence；
Safe space between motorcars based at least one velocity interval described and service brake distance, determine described in extremely
The standard response time that a few velocity interval is corresponding, to obtain described response time testing standard.
Method the most according to claim 2, it is characterised in that described determine at least one speed described
The service brake distance that scope is corresponding, including:
Set brake parameters during unmanned vehicle braking；
Based on the maximum speed value in described brake parameters and at least one velocity interval described, determine described
The service brake distance that at least one velocity interval is corresponding.
Method the most according to claim 2, it is characterised in that described based at least one speed described
The safe space between motorcars of scope and service brake distance, determine the standard that at least one velocity interval described is corresponding
Response time, including:
The computing formula of established standards response time is T=(S1-S2)/V, and wherein, T represents that velocity interval is corresponding
Standard response time, S1 represents the safe space between motorcars that velocity interval is corresponding, and S2 represents that velocity interval is corresponding
Service brake distance, V represents the maximum speed value in velocity interval；
Based on described computing formula and the safe space between motorcars of at least one velocity interval described and service brake
Distance, determines the standard response time that at least one velocity interval described is corresponding.
Method the most according to claim 1, it is characterised in that described row based on acquired unmanned vehicle
Sail data message, determine emergency response time when unmanned vehicle fault occurs, including:
Running data information based on acquired unmanned vehicle, determines the fault detected when unmanned vehicle fault occurs
There is the moment and receive the command reception moment of emergent management instruction；
The time difference in moment is occurred to be designated as the emergent of described unmanned vehicle described command reception moment and described fault
Response time.
6. according to the arbitrary described method of claim 1-5, it is characterised in that described based on the response set
Time test standard, determines the standard response time of described unmanned vehicle, including:
The travel speed before the generation of unmanned vehicle fault is determined based on described running data information；
Determine the correspondence in set response time testing standard of the velocity interval belonging to described travel speed
Standard response time, to obtain the standard response time of described unmanned vehicle.
7. the test device of a unmanned vehicle emergency response time, it is characterised in that including:
The emergency response time determines module, for running data information based on acquired unmanned vehicle, determines nothing
Emergency response time when people's car fault occurs；
Standard response time determines module, for based on the response time testing standard set, determining described nothing
The standard response time of people's car；
Test result determines module, for comparing described emergency response time and described standard response time, with
Determine the test result of unmanned vehicle emergency response time.
Device the most according to claim 7, it is characterised in that also include testing standard setting module,
Wherein, described testing standard setting module includes:
Running distance determines unit, for determining the safe space between motorcars that at least one velocity interval is corresponding；
Braking distance determines unit, for determining the service brake distance that at least one velocity interval described is corresponding；
Testing standard determines unit, for safe space between motorcars based at least one velocity interval described and row
Car braking distance, determines the standard response time that at least one velocity interval described is corresponding, to obtain described sound
Testing standard between Ying Shi.
Device the most according to claim 8, it is characterised in that described braking distance determines that unit is concrete
For:
Set brake parameters during unmanned vehicle braking；
Based on the maximum speed value in described brake parameters and at least one velocity interval described, determine described
The service brake distance that at least one velocity interval is corresponding.
Device the most according to claim 8, it is characterised in that described testing standard determines that unit has
Body is used for:
The computing formula of established standards response time is T=(S1-S2)/V, and wherein, T represents that velocity interval is corresponding
Standard response time, S1 represents the safe space between motorcars that velocity interval is corresponding, and S2 represents that velocity interval is corresponding
Service brake distance, V represents the maximum speed value in velocity interval；
Based on described computing formula and the safe space between motorcars of at least one velocity interval described and service brake
Distance, determines the standard response time that at least one velocity interval described is corresponding, to obtain described response time
Testing standard.
11. devices according to claim 7, it is characterised in that the described emergency response time determines mould
Block specifically for:
Running data information based on acquired unmanned vehicle, determines the fault detected when unmanned vehicle fault occurs
There is the moment and receive the command reception moment of emergent management instruction；
The time difference in moment is occurred to be designated as the emergent of described unmanned vehicle described command reception moment and described fault
Response time.
12. according to the arbitrary described device of claim 7-11, it is characterised in that described standard response time
Determine module specifically for:
The travel speed before the generation of unmanned vehicle fault is determined based on described running data information；
Determine the correspondence in set response time testing standard of the velocity interval belonging to described travel speed
Standard response time, to obtain the standard response time of described unmanned vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610606329.1A CN106017949B (en) | 2016-07-28 | 2016-07-28 | A kind of test method and device of unmanned vehicle emergency response time |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610606329.1A CN106017949B (en) | 2016-07-28 | 2016-07-28 | A kind of test method and device of unmanned vehicle emergency response time |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106017949A true CN106017949A (en) | 2016-10-12 |
| CN106017949B CN106017949B (en) | 2019-05-10 |
Family
ID=57114152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610606329.1A Active CN106017949B (en) | 2016-07-28 | 2016-07-28 | A kind of test method and device of unmanned vehicle emergency response time |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106017949B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106597155A (en) * | 2016-12-09 | 2017-04-26 | 江铃汽车股份有限公司 | Method and device for testing reliability performance of electric drive system of hybrid vehicle |
| CN106710028A (en) * | 2016-11-28 | 2017-05-24 | 百度在线网络技术（北京）有限公司 | Method and device for testing waking time consumption of unmanned vehicles |
| CN108648490A (en) * | 2018-07-03 | 2018-10-12 | 公安部交通管理科学研究所 | A kind of test method of autonomous driving vehicle speed-limiting messages responding ability |
| CN109118760A (en) * | 2018-08-16 | 2019-01-01 | 山东省科学院自动化研究所 | Automatic driving vehicle traffic sign vision-based detection and response integrated test system and method |
| CN110595799A (en) * | 2019-09-24 | 2019-12-20 | 广州文远知行科技有限公司 | Method, device, equipment and storage medium for testing unmanned vehicle |
| CN111123730A (en) * | 2018-10-31 | 2020-05-08 | 百度在线网络技术（北京）有限公司 | Unmanned driving fault simulation method, device, equipment and computer readable medium |
| CN112278017A (en) * | 2020-11-03 | 2021-01-29 | 中车青岛四方机车车辆股份有限公司 | Vehicle alarm method and device and train |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1460409A1 (en) * | 2003-03-11 | 2004-09-22 | Société de Technologie Michelin | System and method for testing deflated tyre handling |
| JP2014215243A (en) * | 2013-04-26 | 2014-11-17 | 株式会社ジェイテクト | Motion control method of driving simulator and vehicle test system |
| CN104502122A (en) * | 2015-01-12 | 2015-04-08 | 交通运输部公路科学研究所 | Unmanned vehicle remote control brake performance testing and assessment method |
-
2016
- 2016-07-28 CN CN201610606329.1A patent/CN106017949B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1460409A1 (en) * | 2003-03-11 | 2004-09-22 | Société de Technologie Michelin | System and method for testing deflated tyre handling |
| JP2014215243A (en) * | 2013-04-26 | 2014-11-17 | 株式会社ジェイテクト | Motion control method of driving simulator and vehicle test system |
| CN104502122A (en) * | 2015-01-12 | 2015-04-08 | 交通运输部公路科学研究所 | Unmanned vehicle remote control brake performance testing and assessment method |
Non-Patent Citations (2)
| Title |
|---|
| 任有: "交通环境下驾驶行为模拟与应急驾驶可靠性建模", 《中国博士学位论文全文数据库 工程科技Ⅱ辑》 * |
| 曹诚伟等: "基于飞思卡尔MC9S12XS128 芯片的智能车刹车系统的研究", 《江苏科技信息》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106710028A (en) * | 2016-11-28 | 2017-05-24 | 百度在线网络技术（北京）有限公司 | Method and device for testing waking time consumption of unmanned vehicles |
| CN106597155A (en) * | 2016-12-09 | 2017-04-26 | 江铃汽车股份有限公司 | Method and device for testing reliability performance of electric drive system of hybrid vehicle |
| CN106597155B (en) * | 2016-12-09 | 2020-02-07 | 江铃汽车股份有限公司 | Method and device for testing reliability performance of electric drive system of hybrid electric vehicle |
| CN108648490A (en) * | 2018-07-03 | 2018-10-12 | 公安部交通管理科学研究所 | A kind of test method of autonomous driving vehicle speed-limiting messages responding ability |
| CN108648490B (en) * | 2018-07-03 | 2021-09-17 | 公安部交通管理科学研究所 | Method for testing speed limit information response capability of automatic driving automobile |
| CN109118760A (en) * | 2018-08-16 | 2019-01-01 | 山东省科学院自动化研究所 | Automatic driving vehicle traffic sign vision-based detection and response integrated test system and method |
| CN111123730A (en) * | 2018-10-31 | 2020-05-08 | 百度在线网络技术（北京）有限公司 | Unmanned driving fault simulation method, device, equipment and computer readable medium |
| CN111123730B (en) * | 2018-10-31 | 2022-09-06 | 百度在线网络技术（北京）有限公司 | Unmanned driving fault simulation method, device, equipment and computer readable medium |
| CN110595799A (en) * | 2019-09-24 | 2019-12-20 | 广州文远知行科技有限公司 | Method, device, equipment and storage medium for testing unmanned vehicle |
| CN112278017A (en) * | 2020-11-03 | 2021-01-29 | 中车青岛四方机车车辆股份有限公司 | Vehicle alarm method and device and train |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106017949B (en) | 2019-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106017949A (en) | Method and device for testing emergency response time of unmanned vehicle | |
| CN103043057B (en) | Abnormal driving based on vehicle position information judges and warning system | |
| CN103625459B (en) | The dynamic monitoring of running brake efficiency and warning system | |
| CN107543726B (en) | A kind of test method and device of unmanned vehicle Ride Control System manipulation precision | |
| CN103192853A (en) | Train speed measurement and location method and system based on network distributed redundancy framework | |
| CN105279958A (en) | Fleet management system and method | |
| CN111105622B (en) | Illegal parking correction method and device and storage medium | |
| CN105253060A (en) | Vehicle-mounted fording depth detection and early warning apparatus | |
| US20180286153A1 (en) | Vehicle state monitoring apparatus, vehicle state monitoring system, and vehicle state monitoring method | |
| CN105976526A (en) | Method and system for vehicle management based on V2X | |
| CN107742417B (en) | Vehicle accident alarm method and device | |
| US20150211846A1 (en) | Event location analysis system and measurement processing method | |
| CN107490485A (en) | Vehicle health degree detection method, device and vehicle | |
| Li et al. | Collision risk analysis based train collision early warning strategy | |
| CN111311921A (en) | Method, device, computer equipment and storage medium for road overweight warning | |
| CN106248392A (en) | The method of testing of a kind of unmanned vehicle lane change time and device | |
| CN203825447U (en) | Passenger vehicle OBD (On-Board Diagnostics) monitoring platform | |
| CN105632203B (en) | A kind of traffic security early warning method of traffic control and system | |
| CN105313900A (en) | Driving control system and method | |
| CN109747680A (en) | The status assessment and fault early warning method, device, equipment of train traction system | |
| CN111800314B (en) | Automatic driving fault monitoring system | |
| CN105096659A (en) | Traffic early-warning method, device and system | |
| CN116558469A (en) | Distance error evaluation method, device, electronic equipment and storage medium | |
| CN204341099U (en) | A kind of railway large-scale maintenance machinery runs anti-collision prewarning apparatus | |
| KR20150119763A (en) | Method for determining car accident using On-Board Diagnostics |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |