CN106017949B - A kind of test method and device of unmanned vehicle emergency response time - Google Patents
A kind of test method and device of unmanned vehicle emergency response time Download PDFInfo
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- CN106017949B CN106017949B CN201610606329.1A CN201610606329A CN106017949B CN 106017949 B CN106017949 B CN 106017949B CN 201610606329 A CN201610606329 A CN 201610606329A CN 106017949 B CN106017949 B CN 106017949B
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- 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
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- 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
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Abstract
The invention discloses the test methods and device of a kind of unmanned vehicle emergency response time.The test method includes: the running data information based on acquired unmanned vehicle, determines emergency response time when unmanned vehicle failure occurs；Response time testing standard based on setting, determines the standard response time of the unmanned vehicle；Compare the emergency response time and the standard response time, to determine the test result of unmanned vehicle emergency response time.Utilize this method, the response time testing standard of setting can be passed through, realize the test of unmanned vehicle emergency response time, it therefore ensures that unmanned vehicle has good working performance during actual travel, and then guarantees operational safety, the safety of transportation enviromnent and the life security of passenger of vehicle itself when unmanned vehicle drives.
Description
Technical field
The present embodiments relate to unmanned vehicle the field of test technology more particularly to a kind of surveys of unmanned vehicle emergency response time
Method for testing and device.
Background technique
Unmanned vehicle, that is, pilotless automobile is a kind of numerous technologies such as automatic control, vision calculating, architecture that collect in one
The intelligent automobile of the high development of body relies primarily on the interior Ride Control System based on computer system to realize nobody
It drives.Unmanned vehicle can be used as the important symbol for measuring national a research strength and industrial level, lead in national defence and national economy
Domain has broad application prospects.
Currently, achieving initial achievements to the research of unmanned vehicle both at home and abroad, but to realize the requirement of unmanned vehicle commercialization, reach
To the purpose to drive safely on city, highway, it is still desirable to carry out deeper exploration to it.Especially unmanned vehicle
When emergency occurs in driving process, can unmanned vehicle carry out emergency processing to emergency in time and be related to vehicle itself
The life security of operational safety, the safety of transportation enviromnent and passenger, and unmanned vehicle carries out the key of emergency processing in time
It is unmanned vehicle to the response time of emergency, if the response time is longer, unmanned vehicle exists cannot be in safe range
The possibility of emergency processing is carried out in time.
In the research and probe to unmanned vehicle, an important link is had become to the test of unmanned vehicle working performance, thus
There are the test methods much for unmanned vehicle test, however, in existing unmanned vehicle test method, there is no specific to
The test of emergency response time when emergency.
Summary of the invention
The present invention provides the test methods and device of a kind of unmanned vehicle emergency response time, urgent to unmanned vehicle to realize
The test of spent emergency response time when failure.
The embodiment of the present invention uses following technical scheme:
In a first aspect, the embodiment of the invention provides the test method of unmanned vehicle emergency response time a kind of, this method packet
It includes:
Running data information based on acquired unmanned vehicle determines emergency response time when unmanned vehicle failure occurs；
Response time testing standard based on setting, determines the standard response time of the unmanned vehicle；
Compare the emergency response time and the standard response time, to determine the test of unmanned vehicle emergency response time
As a result.
Second aspect, the embodiment of the invention also provides the test device of unmanned vehicle emergency response time a kind of, the devices
Include:
Emergency response time determining module determines unmanned vehicle event for the running data information based on acquired unmanned vehicle
Emergency response time when barrier occurs；
Standard response time determining module determines the unmanned vehicle for the response time testing standard based on setting
Standard response time；
Test result determining module, for the emergency response time and the standard response time, to determine nothing
The test result of people's vehicle emergency response time.
The present invention provides the test methods and device of a kind of unmanned vehicle emergency response time, firstly, based on acquired
The running data information of unmanned vehicle determines the emergency response time spent when unmanned vehicle failure occurs；It is then based on and has set
Response time testing standard, determine the standard response time of unmanned vehicle；Finally, it is rung by comparing emergency response time and standard
Size between seasonable determines the test result of unmanned vehicle emergency response time.Using technical solution of the present invention, can pass through
The response time testing standard of setting realizes the test of unmanned vehicle emergency response time, therefore ensures that unmanned vehicle in actual travel
There is good working performance in the process, and then guarantee the operational safety of vehicle itself, transportation enviromnent when unmanned vehicle drives
Safety and passenger life security.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the test method for unmanned vehicle emergency response time that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart of the test method of unmanned vehicle emergency response time provided by Embodiment 2 of the present invention；
Fig. 3 a is a kind of flow chart of the test method for unmanned vehicle emergency response time that the embodiment of the present invention three provides；
Fig. 3 b is the flow chart that fault detection and emergency processing are carried out to unmanned vehicle that the embodiment of the present invention three provides；
Fig. 4 is a kind of structure chart of the test device for unmanned vehicle emergency response time that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
It also should be noted that only the parts related to the present invention are shown for ease of description, in attached drawing rather than
Full content.It should be mentioned that some exemplary embodiments are described before exemplary embodiment is discussed in greater detail
At the processing or method described as flow chart.Although operations (or step) are described as the processing of sequence by flow chart,
It is that many of these operations can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of operations can be by again
It arranges.The processing can be terminated when its operations are completed, it is also possible to have the additional step being not included in attached drawing.
The processing can correspond to method, function, regulation, subroutine, subprogram etc..
Embodiment one
Fig. 1 is a kind of flow chart of the test method for unmanned vehicle emergency response time that the embodiment of the present invention one provides, this
Embodiment is applicable to the case where testing when emergency occurs in unmanned vehicle the emergency response time of failure, and this method can
It is executed with test device by the unmanned vehicle emergency response time.The device can be realized by way of hardware and/or software, and
It can generally be integrated in the test equipment for testing unmanned vehicle work in every performance.
As shown in Figure 1, the test method of unmanned vehicle emergency response time provided in this embodiment a kind of, specifically includes:
S110, the running data information based on acquired unmanned vehicle, when determining emergency response when unmanned vehicle failure occurs
Between.
Generally, to unmanned vehicle working performance test mainly according to the running data information of acquired unmanned vehicle into
Row.Wherein, the running data information specifically can be regarded as obtaining based on the data monitoring equipment installed on unmanned vehicle
Data information in unmanned vehicle driving process, the running data information can be relevant operation in unmanned vehicle driving process when
Intermediate node information is also possible to more specific location information captured in driving process etc..In addition, the data monitoring equipment can be
Vehicle GPS mobile terminal or the radar equipment etc. being mounted on unmanned vehicle.
It in the present embodiment, can be with after monitoring device based on the data detects the running data information of unmanned vehicle
When the running data information being transferred to the execution present invention the provided unmanned vehicle emergency response of implementation by wireless transmitting-receiving equipments
Between test method test equipment, thus obtain the running data information of the unmanned vehicle.It should be noted that the data
Monitoring device is high to the monitoring accuracy of data information in unmanned vehicle driving process, therefore, row acquired in the test equipment
The precision of required data information when sailing the precision of data information much higher than test.
Specifically, in order to ensure the safety traffic of unmanned vehicle, it can be in real time by being mounted in unmanned vehicle driving process
Self-checking system on unmanned vehicle carries out fault detection, if detecting that some component of unmanned vehicle breaks down based on self-checking system
Or some part goes wrong in traveling, then can issue emergent management and instruct to the Ride Control System of unmanned vehicle, to nobody
Vehicle carries out emergency braking.In the present embodiment, the emergency response time specifically can be regarded as from detect unmanned vehicle failure send out
The raw emergent management issued to Ride Control System reception instructs the time it takes.
S120, the response time testing standard based on setting, determine the standard response time of the unmanned vehicle.
In the present embodiment, for unmanned vehicle, the unmanned vehicle emergency response time spent after breaking down is shorter,
It can illustrate that the response performance of the unmanned vehicle is better.In order to assess the emergency response performance of the unmanned vehicle, institute can be based on
The response time testing standard of setting tests the emergency response time of the unmanned vehicle.
In the present embodiment, the response time testing standard can specifically be set before carrying out emergency response time test
It is fixed.Generally, the response time testing standard is considered as the various criterion response time and the mapping of friction speed range is closed
System, that is, different velocity intervals is corresponding, and there are a standard response times.Therefore, knowing unmanned vehicle current driving speed
In the case of, the current standard response time of unmanned vehicle can be determined based on set response time testing standard.
It in the present embodiment, can be based on corresponding safe space between motorcars and service brake under the friction speed range
Distance determines corresponding standard response time, finally sets the velocity interval and the mapping relations of the standard response time
It is set to response time testing standard.
Emergency response time described in S130, comparison and the standard response time, to determine the unmanned vehicle emergency response time
Test result.
It in the present embodiment, can be by being tested compared with the standard response time the emergency response time
Whether emergency response time of the unmanned vehicle when breaking down meets testing standard.Specifically, if the emergency response time
Greater than the standard response time, then it can determine that the emergency response time of the unmanned vehicle does not meet testing standard；Otherwise may be used
Meet the response time testing standard with the emergency response time of the determination unmanned vehicle.
The technical solution that the embodiment of the present invention one provides, firstly, the running data information based on acquired unmanned vehicle, really
Determine the emergency response time spent when unmanned vehicle failure occurs；It is then based on the response time testing standard set, is determined
The standard response time of unmanned vehicle；Finally, nobody is determined by comparing the size of emergency response time and standard response time
The test result of vehicle emergency response time.Using technical solution of the present invention, can by the response time testing standard of setting,
The test for realizing the unmanned vehicle emergency response time therefore ensures that unmanned vehicle has good workability during actual travel
Can, and then guarantee the operational safety, the safety of transportation enviromnent of vehicle itself and the life of passenger peace when unmanned vehicle drives
Entirely.
Embodiment two
Fig. 2 is a kind of flow chart of the test method of unmanned vehicle emergency response time provided by Embodiment 2 of the present invention, this
Embodiment optimizes on the basis of the above embodiments, in the present embodiment, embodies further the response time test mark
Quasi- setting means, further, the setting means of the response time testing standard, comprising: determine at least one speed model
Corresponding safe space between motorcars are enclosed, and determine the corresponding service brake distance of at least one described velocity interval；Based on it is described extremely
The safe space between motorcars and service brake distance of a few velocity interval determine the corresponding standard of at least one described velocity interval
Response time, to obtain the response time testing standard.
It in the present embodiment, can be when obtaining the emergency response of unmanned vehicle to the setting of the response time testing standard
Between before carry out, can also be carried out before the standard response time for determining unmanned vehicle.As shown in Fig. 2, the embodiment of the present invention two
The test method of the unmanned vehicle emergency response time provided a kind of, specifically includes:
S210, the corresponding safe space between motorcars of at least one velocity interval are determined, and determines at least one described speed model
Enclose corresponding service brake distance.
Generally, motor vehicle on road when driving, travel speed will meet the method rules and regulations of national communication safety law
It is fixed, and for different travels, the travel speed range of the allowed motor-driven vehicle going of law article is different, meanwhile, it is different
Required safe space between motorcars are not also identical under travel speed range.Illustratively, e.g., People's Republic of China's road traffic
The 80th article of safety law implementing regulations regulation, on a highway when driving, speed is public no more than 120 per hour for motor vehicle
In, and when motor vehicle speed is more than 100 kilometers per hour, it should be kept with same lane front truck at a distance from 100 meters or more, work as vehicle
When speed is lower than 100 kilometers per hour, 50 meters must not be less than with same lane leading vehicle distance.
In the present embodiment, unmanned vehicle is also considered as motor vehicle, it is possible thereby to the different roads based on law article defined
On travel speed determine at least one velocity interval, while can determine peace corresponding at least one described velocity interval
Full running distance.Illustratively, a velocity interval can be determined as by 100 kilometers/hour to 120 kilometers/hour, it can be with
It provides the safe space between motorcars under the velocity interval being determined as 100 meters based on law article.
In the present embodiment, in order to set the testing standard of response time, it is also necessary to determine friction speed range lower it is right
The service brake distance answered.The service brake distance specifically can be regarded as unmanned vehicle and be based on the received process instruction of institute or braking
Unmanned vehicle is formed by operating range when instruction decelerates to stationary state by current driving speed.It follows that the driving system
Dynamic distance and the travel speed of the unmanned vehicle are contacted in the presence of certain, for the ease of the setting of response time testing standard, originally
Inventive embodiments regard a velocity interval as an entirety, and only for velocity interval it is corresponding determine a service brake away from
From.
Further, the corresponding service brake distance of at least one velocity interval described in the determination, comprising:
Set brake parameters when unmanned vehicle braking；Based in the brake parameters and at least one described velocity interval
Maximum speed value, determine the corresponding service brake distance of at least one velocity interval.
In the present embodiment, a brake parameters can be set first, and the brake parameters can regard a history warp as
Value is tested, be averaged retro-speed and history braking distance of history when being based primarily upon automobile braking determines；It is then possible to determine
Maximum speed value in friction speed range；It finally, can be based on the brake parameters and at least one velocity interval most
Big velocity amplitude determines the service brake distance of at least one velocity interval, wherein the service brake distance is equal to described
The product of brake parameters and the maximum speed value.
S220, the safe space between motorcars based at least one velocity interval and service brake distance, determination are described extremely
Few corresponding standard response time of a velocity interval, to obtain the response time testing standard.
In the present embodiment, the response time testing standard is set, when also needing to further determine that the normal response
Between, wherein the determination of the standard response time has with the safe space between motorcars and service brake distance and velocity interval
It closes, and the velocity interval is one-to-one relationship with the standard response time.
Further, the safe space between motorcars and service brake distance based at least one velocity interval, really
The corresponding standard response time of at least one fixed described velocity interval, comprising:
The calculation formula of established standards response time is T=(S1-S2)/V, wherein T indicates the corresponding standard of velocity interval
Response time, S1 indicate that the corresponding safe space between motorcars of velocity interval, S2 indicate the corresponding service brake distance of velocity interval, V
Indicate the maximum speed value in velocity interval；Safe driving based on the calculation formula and at least one velocity interval
Distance and service brake distance determine the corresponding standard response time of at least one described velocity interval.
In the present embodiment, it after determining standard response time corresponding to friction speed range, has determined that described
Thus the mapping relations of friction speed range and the standard response time can ring the friction speed range and the standard
The testing standard of mapping relations between seasonable time in response, to realize the setting of the response time testing standard.
S230, the running data information based on acquired unmanned vehicle, when determining emergency response when unmanned vehicle failure occurs
Between.
Illustratively, can based on the running data for the data monitoring equipment monitoring unmanned vehicle installed in the unmanned vehicle,
And the running data information is transferred to based on the wireless transmitting-receiving equipments, the provided test method of present invention implementation is provided
Test equipment, to obtain the running data information for test.
S240, the response time testing standard based on setting, determine the standard response time of the unmanned vehicle.
Illustratively, the current driving data value of the unmanned vehicle can be determined based on acquired running data information,
And determine velocity interval corresponding to unmanned vehicle current driving speed value, when being thus based on again comprising velocity interval with normal response
Between mapping relations response time testing standard, determine that the current corresponding standard response time of the unmanned vehicle.
Emergency response time described in S250, comparison and the standard response time, to determine the unmanned vehicle emergency response time
Test result.
Illustratively, if the emergency response time of acquired unmanned vehicle is 2.75 seconds, when identified normal response
Between be 2.72 seconds, then can determine that the emergency response time of the unmanned vehicle does not meet testing standard at this time.
Technical solution provided by Embodiment 2 of the present invention embodies the setting process of response time testing standard, set
Fixed response time testing standard can be used as a part in unmanned vehicle correlation total quality testing standard, for the relevant technologies people
Member assesses the related work performance of unmanned vehicle, to be answered based on set response time testing standard realization unmanned vehicle
The test of anxious response time therefore ensures that unmanned vehicle has good working performance during actual travel, and then guarantees nothing
Operational safety, the safety of transportation enviromnent and the life security of passenger of vehicle itself when people's vehicle drives.
Embodiment three
Fig. 3 a is a kind of flow chart of the test method for unmanned vehicle emergency response time that the embodiment of the present invention three provides.This
Embodiment optimizes on the basis of the above embodiments, in the present embodiment, by the running data based on acquired unmanned vehicle
Information determines emergency response time when unmanned vehicle failure occurs, is embodied as: the running data letter based on acquired unmanned vehicle
Breath determines that unmanned vehicle detects that occurs for failure when failure occurs and receives unmanned vehicle self-checking system and issues processing to refer at the moment
The command reception moment of order；The time difference of the described instruction time of reception and failure generation moment are denoted as the unmanned vehicle
The emergency response time.
Further, the response time testing standard based on setting, determines the standard response time of the unmanned vehicle, specifically
It turns to: the travel speed before the generation of unmanned vehicle failure is determined based on the running data information；It determines belonging to the travel speed
Velocity interval in set response time testing standard corresponding standard response time, to obtain the mark of the unmanned vehicle
The quasi- response time.
As shown in Figure 3a, a kind of test method for unmanned vehicle emergency response time that the embodiment of the present invention three provides.Specifically
Include:
S310, the corresponding safe space between motorcars of at least one velocity interval are determined, and determines at least one described speed model
Enclose corresponding service brake distance.
S320, the safe space between motorcars based at least one velocity interval and service brake distance, determination are described extremely
Few corresponding standard response time of a velocity interval, to obtain the response time testing standard.
In the present embodiment, step S310 and S320 is specifically described in the above-described embodiments, and I will not elaborate.
S330, the running data information based on acquired unmanned vehicle confirmly detect failure when unmanned vehicle failure occurs
The moment occurs and receives the command reception moment of emergent management instruction.
In the present embodiment, monitoring device can monitor the running data information of the unmanned vehicle based on the data, and
The running data information can be sent to the test equipment by the data monitoring equipment, and thus test equipment can obtain described
Running data information.In addition, in the driving process of unmanned vehicle, can based on the self-checking system being integrated on unmanned vehicle in real time into
Row fault detection.
In the present embodiment, the moment occurs for failure when unmanned vehicle failure detected by self-checking system occurs can be as one
A timing node information is by the data monitoring equipment monitoring, and the test equipment can be based on the running data information later
Get timing node when failure occurs；Similarly, when detecting that unmanned vehicle breaks down, self-checking system can drive to unmanned vehicle
Sail control system issue emergent management instruction, and unmanned vehicle Ride Control System receive emergent management instruction command reception when
Carving also can be as a timing node by the data monitoring equipment monitoring.Therefore, based on the traveling number of acquired unmanned vehicle
It is believed that the timing node information in breath, can determine that failure when unmanned vehicle failure occurs occurs the moment and receives urgent place
Manage the command reception moment of instruction.
S340, the emergency that the time difference that the moment occurs for the described instruction time of reception and the failure is denoted as to the unmanned vehicle
Response time.
In the present embodiment, the failure when determining that the unmanned vehicle failure occurs occurs the moment and receives urgent
After the command reception moment of process instruction, so that it may which the described instruction time of reception and the failure to that the time difference at moment occur
It is denoted as the emergency response time of the unmanned vehicle.
In addition, in the present embodiment, the detailed process that unmanned vehicle carries out fault detection and emergency processing is given,
In, Fig. 3 b is the flow chart that fault detection and emergency processing are carried out to unmanned vehicle that the embodiment of the present invention three provides.Such as Fig. 3 b institute
Show, step S301 is to carry out fault detection to unmanned vehicle based on self-checking system；Step S302 is whether just to detect the unmanned vehicle
Often operation, if so, return step S301, if it is not, thening follow the steps S303；Step S303 is that self-checking system issues emergent management
It instructs so that unmanned vehicle carries out emergency processing；Step S304 is that the emergent management that Ride Control System reception self-checking system issues refers to
It enables, step S305 is to instruct to carry out brake operating and carry out restarting certainly for Ride Control System based on the emergent management.
Illustratively, as shown in Figure 3b, it is assumed that when detecting that the unmanned vehicle is not normally functioning based on step S302
Moment is T1, and executing at the time of step S304 receives emergent management instruction is T2, then the emergency response time of the unmanned vehicle
For T2-T1.
S350, the travel speed before unmanned vehicle failure occurs is determined based on the running data information.
In the present embodiment, it is believed that travel speed is to drive at a constant speed, and be based on institute when the unmanned vehicle normally travel
Travel speed in unmanned vehicle normal driving process can also be monitored by stating data monitoring equipment, it is possible thereby to determine unmanned vehicle therefore
Travel speed before barrier generation.
S360, determine that velocity interval belonging to the travel speed is corresponding in set response time testing standard
Standard response time, to obtain the standard response time of the unmanned vehicle.
In the present embodiment, after the travel speed before the generation of unmanned vehicle failure being determined based on step S350, so that it may determine
Velocity interval belonging to the travel speed.Illustratively, if the travel speed before the unmanned vehicle failure occurs is 110 public
In/hour, it may be considered that the travel speed belongs to 100 kilometers/hour~120 kilometers/hour of velocity interval.
In the present embodiment, after determining velocity interval belonging to the travel speed, based on the response time set
Testing standard can then determine that there are the standard response times of mapping relations with the velocity interval, it is possible thereby to will be identified
Standard response time corresponding standard response time under the travel speed as unmanned vehicle.
Emergency response time described in S370, comparison and the standard response time, to determine the unmanned vehicle emergency response time
Test result.
The technical solution that the embodiment of the present invention three provides, embodies the determination process of unmanned vehicle emergency response time, together
When embody the determination process of unmanned vehicle standard response time.Using the test method, the response time of setting can be passed through
Testing standard realizes the test of unmanned vehicle emergency response time, and it is good to therefore ensure that unmanned vehicle has during actual travel
Working performance, and then guarantee unmanned vehicle drive when vehicle itself operational safety, the safety of transportation enviromnent and passenger
Life security.
Example IV
Fig. 4 is a kind of structure chart of the test device for unmanned vehicle emergency response time that the embodiment of the present invention four provides.This
Embodiment is applicable to the case where testing when emergency occurs in unmanned vehicle the emergency response time of failure, which can
It is realized by way of hardware and/or software, and the test that can be generally integrated in for testing unmanned vehicle work in every performance is set
In standby.As shown in figure 4, a kind of test device for unmanned vehicle emergency response time that the embodiment of the present invention four provides, specifically includes:
Emergency response time determining module 41, standard response time determining module 42 and test result determining module 43.
Wherein, emergency response time determining module 41 determines nothing for the running data information based on acquired unmanned vehicle
Emergency response time when people's vehicle failure occurs.
Standard response time determining module 42 determines the unmanned vehicle for the response time testing standard based on setting
Standard response time.
Test result determining module 43, for the emergency response time and the standard response time, with determination
The test result of unmanned vehicle emergency response time.
In the present embodiment, which passes through row of the emergency response time determining module 41 based on acquired unmanned vehicle first
Data information is sailed, determines emergency response time when unmanned vehicle failure occurs；Then pass through standard response time determining module 42
Response time testing standard based on setting, determines the standard response time of the unmanned vehicle；It is determined finally by test result
The emergency response time of module 43 and the standard response time, to determine the test knot of unmanned vehicle emergency response time
Fruit.
The technical solution that the embodiment of the present invention four provides, can realize nobody by the response time testing standard of setting
The test of vehicle emergency response time therefore ensures that unmanned vehicle has good working performance, Jin Erbao during actual travel
Demonstrate,prove operational safety, the safety of transportation enviromnent and the life security of passenger of vehicle itself when unmanned vehicle drives.
Further, test device, further includes: testing standard setting module.Wherein, the testing standard setting module
It include: running distance determination unit, for determining the corresponding safe space between motorcars of at least one velocity interval；Braking distance determines
Unit, for determining the corresponding service brake distance of at least one described velocity interval；Testing standard determination unit, for being based on
The safe space between motorcars and service brake distance of at least one velocity interval determine that at least one described velocity interval is corresponding
Standard response time, to obtain the response time testing standard.
Further, the braking distance determination unit, is particularly used in:
Set brake parameters when unmanned vehicle braking；Based in the brake parameters and at least one described velocity interval
Maximum speed value, determine the corresponding service brake distance of at least one velocity interval.
Further, the testing standard determination unit, is particularly used in:
The calculation formula of established standards response time is T=(S1-S2)/V, wherein T indicates the corresponding standard of velocity interval
Response time, S1 indicate that the corresponding safe space between motorcars of velocity interval, S2 indicate the corresponding service brake distance of velocity interval, V
Indicate the maximum speed value in velocity interval；Safe driving based on the calculation formula and at least one velocity interval
Distance and service brake distance determine the corresponding standard response time of at least one described velocity interval, to obtain the response
Time test standard.
Further, the emergency response time determining module 41, is particularly used in:
Running data information based on acquired unmanned vehicle, when confirmly detecting failure generation when unmanned vehicle failure occurs
Carve and receive the command reception moment of emergent management instruction；Moment is occurred into for the described instruction time of reception and the failure
Time difference is denoted as the emergency response time of the unmanned vehicle.
Further, the standard response time determining module 42, is specifically used for:
The travel speed before the generation of unmanned vehicle failure is determined based on the running data information；Determine the travel speed institute
The velocity interval of category corresponding standard response time in set response time testing standard, to obtain the unmanned vehicle
Standard response time.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (12)
1. a kind of test method of unmanned vehicle emergency response time characterized by comprising
Running data information based on acquired unmanned vehicle determines emergency response time when unmanned vehicle failure occurs, wherein institute
The emergency response time is stated to instruct institute from detecting that unmanned vehicle failure occurs to receive the emergent management that issues to Ride Control System
The time of cost；
Response time testing standard based on setting, determines the standard response time of the unmanned vehicle, wherein the response time
Testing standard includes the mapping relations of friction speed range Yu various criterion response time；
Compare the emergency response time and the standard response time, to determine the test knot of unmanned vehicle emergency response time
Fruit.
2. the method according to claim 1, wherein the setting means of the response time testing standard, comprising:
It determines the corresponding safe space between motorcars of at least one velocity interval, and determines the corresponding row of at least one described velocity interval
Vehicle braking distance；
Safe space between motorcars and service brake distance based at least one velocity interval determine at least one described speed
The corresponding standard response time of range, to obtain the response time testing standard.
3. according to the method described in claim 2, it is characterized in that, the corresponding row of at least one velocity interval described in the determination
Vehicle braking distance, comprising:
Set brake parameters when unmanned vehicle braking；
Based on the maximum speed value in the brake parameters and at least one described velocity interval, at least one described speed is determined
Spend the corresponding service brake distance of range.
4. according to the method described in claim 2, it is characterized in that, the security row based at least one velocity interval
Vehicle distance and service brake distance determine the corresponding standard response time of at least one described velocity interval, comprising:
The calculation formula of established standards response time is T=(S1-S2)/V, wherein T indicates the corresponding normal response of velocity interval
Time, S1 indicate that the corresponding safe space between motorcars of velocity interval, S2 indicate the corresponding service brake distance of velocity interval, and V is indicated
Maximum speed value in velocity interval；
Safe space between motorcars and service brake distance based on the calculation formula and at least one velocity interval determine
The corresponding standard response time of described at least one velocity interval.
5. the method according to claim 1, wherein the running data information based on acquired unmanned vehicle,
Determine emergency response time when unmanned vehicle failure occurs, comprising:
Running data information based on acquired unmanned vehicle, confirmly detect unmanned vehicle failure occur when failure occur the moment with
And receive the command reception moment of emergent management instruction；
The time difference that moment occurs for the described instruction time of reception and the failure is denoted as to the emergency response time of the unmanned vehicle.
6. -5 any method according to claim 1, which is characterized in that the response time based on setting tests mark
Standard determines the standard response time of the unmanned vehicle, comprising:
The travel speed before the generation of unmanned vehicle failure is determined based on the running data information；
Determine the corresponding normal response in set response time testing standard of velocity interval belonging to the travel speed
Time, to obtain the standard response time of the unmanned vehicle.
7. a kind of test device of unmanned vehicle emergency response time characterized by comprising
Emergency response time determining module determines that unmanned vehicle failure is sent out for the running data information based on acquired unmanned vehicle
Emergency response time when raw, wherein the emergency response time is from detecting that unmanned vehicle failure occurs to Driving control system
System receives the emergent management issued and instructs the time it takes；
Standard response time determining module determines the standard of the unmanned vehicle for the response time testing standard based on setting
Response time, wherein the response time testing standard includes that friction speed range and the mapping of various criterion response time are closed
System；
Test result determining module, for the emergency response time and the standard response time, to determine unmanned vehicle
The test result of emergency response time.
8. device according to claim 7, which is characterized in that it further include testing standard setting module,
Wherein, the testing standard setting module includes:
Running distance determination unit, for determining the corresponding safe space between motorcars of at least one velocity interval；
Braking distance determination unit, for determining the corresponding service brake distance of at least one described velocity interval；
Testing standard determination unit, for based at least one velocity interval safe space between motorcars and service brake away from
From the corresponding standard response time of at least one determining described velocity interval, to obtain the response time testing standard.
9. device according to claim 8, which is characterized in that the braking distance determination unit is specifically used for:
Set brake parameters when unmanned vehicle braking；
Based on the maximum speed value in the brake parameters and at least one described velocity interval, at least one described speed is determined
Spend the corresponding service brake distance of range.
10. device according to claim 8, which is characterized in that the testing standard determination unit is specifically used for:
The calculation formula of established standards response time is T=(S1-S2)/V, wherein T indicates the corresponding normal response of velocity interval
Time, S1 indicate that the corresponding safe space between motorcars of velocity interval, S2 indicate the corresponding service brake distance of velocity interval, and V is indicated
Maximum speed value in velocity interval；
Safe space between motorcars and service brake distance based on the calculation formula and at least one velocity interval determine
The corresponding standard response time of described at least one velocity interval, to obtain the response time testing standard.
11. device according to claim 7, which is characterized in that the emergency response time determining module is specifically used for:
Running data information based on acquired unmanned vehicle, confirmly detect unmanned vehicle failure occur when failure occur the moment with
And receive the command reception moment of emergent management instruction；
The time difference that moment occurs for the described instruction time of reception and the failure is denoted as to the emergency response time of the unmanned vehicle.
12. according to any device of claim 7-11, which is characterized in that the standard response time determining module is specific
For:
The travel speed before the generation of unmanned vehicle failure is determined based on the running data information；
Determine the corresponding normal response in set response time testing standard of velocity interval belonging to the travel speed
Time, to obtain the standard response time of the unmanned vehicle.
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| 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 |
| 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 |
| CN109118760B (en) * | 2018-08-16 | 2020-10-30 | 山东省科学院自动化研究所 | Comprehensive test system and method for unmanned vehicle traffic sign visual detection and response |
| 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 |
| CN112278017B (en) * | 2020-11-03 | 2022-09-02 | 中车青岛四方机车车辆股份有限公司 | Vehicle alarm method and device and train |
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