CN113724532A - Test evaluation system and method for commercial vehicle forward collision early warning - Google Patents
Test evaluation system and method for commercial vehicle forward collision early warning Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention relates to the technical field of vehicle testing, in particular to a test evaluation system and a method for commercial vehicle forward collision early warning, wherein the system comprises a fixed base station which is positioned beside a test lane and comprises a positioning module, an acquisition module, a processing module and an analysis evaluation module which are positioned on a test vehicle; the method comprises the steps that a test vehicle is positioned behind a target vehicle, the vehicle runs in the same direction on a test lane according to preset conditions, field test is carried out according to various test conditions, and when preset parameters of the test vehicle reach preset values, the field test is started; acquiring the identification information of the target vehicle by the forward collision alarm system, and completing the test when the test vehicle meets the end condition; and determining a preset grading range according to the test conditions, judging the position information of the identification information in the preset range, and testing and grading the forward collision alarm system of the test vehicle according to the position information. The invention ensures the sensitivity and the accuracy of the alarm prompt function of the forward collision alarm system.
Description
Technical Field
The invention relates to the technical field of vehicle testing, in particular to a testing and evaluating system and method for commercial vehicle forward collision early warning.
Background
In order to improve the safety of the commercial vehicle in the driving process, the commercial vehicle is provided with a forward collision alarm system to monitor a front vehicle at any time through a radar system, judge the distance, the direction and the relative speed between the vehicle and the front vehicle, and warn a driver by the forward collision alarm system when the potential collision danger is judged.
The reliability of target early warning for a forward collision warning system is currently verified by software simulation during the design of the forward collision warning system. However, in the actual driving process of the commercial vehicle, the actual driving road conditions are complex and variable, and when the current collision warning system is carried to the commercial vehicle for use, the collision monitoring condition and the simulation verification of the vehicle in the actual road conditions may have great difference, so that the fault or the abnormality in the monitoring process of the forward collision warning system cannot be accurately and timely found, and the collision object cannot be accurately detected and early warned.
Disclosure of Invention
The invention aims to provide a test evaluation system for commercial vehicle forward collision early warning, which solves the problem that the forward collision warning system is only subjected to simulation verification to find that the forward collision warning system is in fault or is abnormal and untimely.
The test evaluation of the commercial vehicle forward collision early warning in the scheme comprises the following steps:
the method comprises the following steps that firstly, a test vehicle is located behind a target vehicle, the test vehicle runs in the same direction on a test lane according to preset conditions, field tests are conducted under various test conditions, and when preset parameters of the test vehicle reach preset values, the field tests are started;
step two, acquiring the identification information of the target vehicle by the forward collision alarm system in the running process of the test vehicle, and completing the test when the test vehicle meets the end condition;
and step three, determining a preset range for grading according to the test conditions, judging the position information of the identification information in a plurality of preset ranges, testing and grading the forward collision alarm system of the test vehicle according to the position information, acquiring a corresponding weight value of each test condition, multiplying each weight value by the test grade of each test condition, and summing to obtain a grading result.
The beneficial effect of this scheme is:
the test vehicle and the target vehicle run in the same direction under different test conditions, the identification information of the target vehicle by the upstream collision alarm system of the test vehicle is detected, test scoring is carried out on the identification information, the actual commercial vehicle can be tested, the sensitivity of the fault or abnormity detection early warning function under different running conditions is timely found, and the safe running of the vehicle is ensured.
Further, in the first step, the test conditions include a distance condition, the target vehicle is allowed to be stationary under the distance condition, the test vehicle runs at a position where the difference between the center line of the test vehicle and the center line of the target vehicle is less than or equal to 20% of the width of the target vehicle, and the field test is started when the distance between the test vehicle and the target vehicle is equal to a preset distance;
in the second step, the ending condition includes that the test vehicle collides with the target vehicle, or the distance between the test vehicle and the target vehicle is smaller than the first distance and the target vehicle cannot be detected.
Further, in the first step, the test conditions include a first static condition, the test vehicle is enabled to run on a central line of the test lane under the first static condition, the target vehicles are respectively located at two sides of the test lane and press lane lines for testing, and the field test is started when the distance between the test vehicle and the target vehicle is equal to the preset distance and the speed reaches the preset speed;
in the second step, the ending condition includes that the distance between the test vehicle and the target vehicle is smaller than a second distance.
The beneficial effects are that: the detection of the target vehicles which are statically parked on the two sides of the lane is tested, so that the road conditions of different static target vehicles can be covered, and the test evaluation of the forward collision alarm system is more complete.
Further, in the first step, the test conditions include a second stationary condition in which the target vehicle is stationary at the center of the test road, the test vehicle travels toward the target at a set speed on the test road at a position coaxial with the target vehicle, and the field test is started when the distance between the test vehicle and the target vehicle is equal to a second distance;
in the second step, the ending condition includes that the identification information is alarm information, or the distance to collision time is less than 90% of the minimum allowable value for the forward collision alarm system to alarm.
The beneficial effects are that: the detection of the target vehicle which is still parked in the center of the lane is tested, and the completeness of the coverage of the test condition is improved.
Further, in the first step, the test condition includes a deceleration condition in which the test vehicle and the target vehicle travel along the center of the test lane at a set speed and with a set distance maintained, and when the distance between the test vehicle and the target vehicle is smaller than a second distance, the target vehicle is caused to perform braking deceleration at a constant deceleration and a field test is started.
The beneficial effects are that: the speed reduction condition of the actual road condition is tested, and the sensitivity of the forward collision alarm system to the speed reduction condition can be tested.
Further, in the step one, the test conditions include a low speed condition, the test vehicle runs at a set speed and the target vehicle runs at a constant speed along the center of the test lane at an initial speed, and the initial speed is equal to seven-thirds of the set speed.
The beneficial effects are that: aiming at the low-speed condition, the test vehicle runs at a constant speed which is higher than that of the target vehicle, the forward collision alarm system detects and alarms the target vehicle which is about to approach, the actual road condition is closer, and the test evaluation result is more accurate.
Further, in the first step, the test conditions include cut-in conditions and cut-out conditions, the center lines of the test vehicle and the target vehicle are kept parallel under the cut-in conditions, the test vehicle runs on the adjacent running lanes of the test lane at a constant speed at the running speed and the target vehicle at a contrast speed, when the distance between the test vehicle and the target vehicle is smaller than a second distance, a field test is started, and the target vehicle is cut into the running lanes of the test vehicle;
under the cutting-out condition, the test vehicle, the first comparison vehicle and the second comparison vehicle sequentially run on the same test lane from back to front, the test vehicle and the first comparison vehicle run at a constant speed and keep a preset inter-vehicle distance, the second comparison vehicle runs at a constant speed, when the distance collision time of the first comparison vehicle and the second comparison vehicle is equal to a preset time length, a field test is started, and the first comparison vehicle is cut out of the test lane;
and in the second step, determining the position information according to whether the alarm information is received within the preset collision time.
The beneficial effects are that: when the vehicle cuts in or cuts out the lane, different test conditions are used, the road condition of the vehicle in the actual driving process can be accurately covered, and the forward collision alarm system of the vehicle can be accurately evaluated.
Further, in the second step, the identification information includes the vehicle speed of the vehicle under test and the collision speed after the vehicle is tested under the test condition, the braking deceleration amount is obtained by subtracting the vehicle speed from the collision speed, the position information of the braking deceleration amount in a plurality of preset ranges is judged according to the test condition, and in the third step, the preset range corresponds to the score information.
The beneficial effects are that: and different results and parameter evaluations are performed under different test conditions, so that the accuracy of the test evaluation of the vehicle forward collision alarm system is improved.
The test system for the commercial vehicle forward collision early warning comprises a fixed base station which is positioned beside a test lane, and comprises a positioning module, an acquisition module, a processing module and an analysis and evaluation module which are positioned on a test vehicle;
the fixed base station is used for receiving the positioning signal, calculating fixed position information and sending the fixed position information to the processing module;
the positioning module is used for positioning the real-time position of the test vehicle and sending the real-time position to the processing module;
the acquisition module is used for acquiring the identification information of the target vehicle by the forward collision alarm system on the test vehicle under the test condition and sending the identification information to the processing module;
the processing module is used for acquiring fixed position information and real-time position to calculate the test state of the test vehicle, judging whether the test vehicle starts a field test according to the test state, judging whether the test vehicle meets an end condition according to the test state when the test vehicle starts the field test, and sending the received identification information to the analysis and evaluation module when the end condition is met;
and the analysis evaluation module is used for determining preset ranges for grading according to the test conditions, judging the position information of the identification information in the preset ranges, testing and grading the forward collision alarm system of the test vehicle according to the position information, acquiring a corresponding weight value of each test condition, multiplying each weight value by the test grade of each test condition, and summing to obtain a grading result.
The beneficial effect of this scheme is:
the test vehicle can be accurately positioned through the fixed base station and the positioning module so as to accurately monitor the test state of the test vehicle; the vehicle collision warning system is tested in the actual running process of the vehicle, and the sensitivity and the accuracy of the warning prompt function of the vehicle collision warning system in the running process of the vehicle are guaranteed.
Drawings
FIG. 1 is a flow chart of a method for testing and evaluating a commercial vehicle forward collision warning according to an embodiment of the invention;
fig. 2 is a schematic block diagram of a test evaluation system for a commercial vehicle forward collision warning according to an embodiment of the present invention.
Detailed Description
The following is a more detailed description of the present invention by way of specific embodiments.
Example one
A test evaluation system for commercial vehicle forward collision early warning is shown in figure 2: the system comprises a fixed base station positioned beside a test lane, wherein the fixed base station is positioned beside the test lane on the basis of not influencing test tests; the vehicle-mounted collision warning system further comprises a positioning module, an acquisition module, a processing module and an analysis and evaluation module which are positioned on the test vehicle, and the test vehicle can use the conventional commercial vehicle provided with a forward collision warning system.
The fixed base station is used for receiving positioning signals, calculating fixed position information and sending the fixed position information to the processing module, the fixed base station receives GPS signals, acquires ground observation data and sends the ground observation data to the processing module, the positioning module is used for positioning the real-time position of a test vehicle and sending the real-time position to the processing module, the positioning module receives the GPS signals, acquires mobile observation data and sends the mobile observation data to the processing module, the fixed base station and the positioning module jointly realize real-time dynamic differential positioning of the vehicle, the principle of the real-time dynamic differential positioning is the prior art, and the description is omitted.
The acquisition module is used for acquiring identification information of the target vehicle of the on-board forward collision alarm system of the test vehicle under the test condition and sending the identification information to the processing module, the acquisition module comprises a sound collector and a camera, the sound collector acquires sound information of the early warning prompt, the camera acquires image information of a dashboard of the test vehicle, and the sound information and the image information are used as identification information or other information identified by the forward collision alarm system.
The processing module obtains fixed position information and real-time position information to calculate a test state of a test vehicle, the test state is calculated as preset parameters of the test vehicle, the preset parameters comprise real-time speed, lateral deviation distance, acceleration and the like, the processing module judges whether the test vehicle starts a field test according to the test state, whether the field test is started according to the test state is judged whether the preset parameters reach preset values, when the test vehicle starts the field test, the preset parameters are equal to the preset values, the processing module judges whether the test vehicle meets an end condition according to the test state, and when the test state of the test vehicle meets the end condition, the processing module sends received identification information to the analysis and evaluation module.
The analysis and evaluation module determines preset ranges for grading according to the test conditions, judges the position information of the identification information in the preset ranges, tests and grades the forward collision alarm system of the test vehicle according to the position information, obtains a corresponding weight value of each test condition, multiplies each weight value by the test grade of each test condition, and then sums to obtain a grading result.
The test evaluation method of the commercial vehicle forward collision early warning based on the test evaluation system of the commercial vehicle forward collision early warning, as shown in fig. 1, comprises the following steps:
the method comprises the steps that firstly, a test vehicle is located behind a target vehicle, the test vehicle runs on a test lane in the same direction according to preset conditions, field tests are conducted under various test conditions, and when preset parameters of the test vehicle reach preset values, the field tests are started. In the test process, the test vehicle is dynamically differentially positioned in real time through the fixed base station on the ground and the positioning module on the test vehicle, the processing module is used for obtaining the real-time speed, the transverse deviation distance, the acceleration and the like of the test vehicle to calculate the test state, and whether the test vehicle starts the field test or not is judged according to the test state.
Acquiring identification information of a target vehicle by a forward collision alarm system in the running process of the test vehicle, namely after the on-site test is started, judging whether the test vehicle meets an end condition or not according to a real-time test state by a processing module according to the identification information of the target vehicle by the forward collision alarm system on the test vehicle through an acquisition module, and finishing the test when the test vehicle meets the end condition;
and step three, the processing module acquires the identification information and sends the identification information to the analysis and evaluation module, the analysis and evaluation module determines a preset range for grading according to the test conditions, judges the position information of the identification information in a plurality of preset ranges respectively, tests and grades the forward collision alarm system of the test vehicle according to the position information, acquires a corresponding weight value of the test conditions, multiplies the test grade of each weight value by the test grade of each test condition to obtain a single grade value, and sums the grade values to obtain a grade result.
In this embodiment, the test vehicle detects the target vehicle in front through the existing radar sensor and carries out the range finding.
The above test procedure is described by taking each test condition as an example.
In the first step, the test condition comprises a distance condition, the target vehicle is allowed to be static under the distance condition, the test vehicle runs at a position where the difference value between the test vehicle and the center line of the target vehicle is less than or equal to 20% of the width of the target vehicle, the test vehicle runs at a preset speed, namely the preset condition is the preset speed, the preset speed is set to be 5km/h, the on-site test is started when the distance between the test vehicle and the target vehicle is equal to the preset distance, the preset distance is 200m, namely the preset parameter is the distance between the test vehicle and the target vehicle, and the preset parameter is the preset distance; in the second step, the ending condition includes that the test vehicle collides with the target vehicle, or the distance between the test vehicle and the target vehicle is smaller than a first distance and the target vehicle cannot be detected, wherein the first distance is 2 m.
In the first step, the test conditions comprise first static conditions, wherein the test vehicle is enabled to run on a central line of a test lane under the first static conditions, and the target vehicle is respectively located at two sides of the test lane to press lane lines for testing, namely, the right side wheel of the target vehicle presses the right side lane line, the left side wheel of the target vehicle presses the left side lane line, when the distance between the test vehicle and the target vehicle is equal to a preset distance and the speed reaches a preset speed, a field test is started, and the preset speed is 5km/h, namely, preset parameters are the distance between the test vehicle and the target vehicle and the speed; in the second step, the ending condition comprises that the distance between the test vehicle and the target vehicle is smaller than a second distance, and the second distance is 150 m; during testing, according to relevant regulations, the minimum detection horizontal transverse width of the forward collision alarm system to the target vehicle at the position of the maximum detection distance is not less than 3.75 m.
In the first step, the test condition comprises a second static condition, the target vehicle is enabled to be statically positioned at the center of the test road under the second static condition, the test vehicle drives towards the target at a set speed on the position where the test road and the target vehicle are coaxial, the set speed is 70km/h, namely the preset condition is the set speed, and the field test is started when the distance between the test vehicle and the target vehicle is equal to a second distance; in the second step, the ending condition includes that the identification information is alarm information, or the distance to collision time is less than 90% of the minimum allowable value for alarming by the forward collision alarm system, for example, the relevant standard stipulates that the forward collision alarm system of the vehicle should be capable of giving an alarm when the distance to collision time is 2.1s, and 90% of the minimum allowable value is 1.9 s.
In the first step, the test condition comprises a deceleration condition, the test vehicle and the target vehicle run along the center of the test lane at a set speed and at a set distance under the deceleration condition, the set distance is 30m, namely the preset condition is the set distance, when the distance between the test vehicle and the target vehicle is smaller than a second distance, the target vehicle is braked and decelerated at a constant deceleration and a field test is started, and the constant deceleration is 0.3 g; under the test condition, in the second step, the ending condition includes that the identification information is alarm information, or the distance to the collision time is less than 90% of the minimum allowable value for alarming by the forward collision alarm system, under the deceleration condition, the forward collision alarm system should be capable of giving an alarm when the minimum allowable value to the collision time is 2.4s, and then the minimum allowable value is 2.2 s.
In the first step, the test conditions comprise a low-speed condition, wherein the low-speed condition means that the target vehicle runs at a constant speed at an initial speed, the test vehicle runs at a set speed and the target vehicle runs at a constant speed along the center of the test lane at the initial speed under the low-speed condition, and the initial speed is 30 km/h; under the test condition, in the second step, the ending condition includes that the identification information is alarm information, or the distance to collision time is less than 90% of the minimum allowable value for alarming by the forward collision alarm system, for example, the forward collision alarm system should be capable of giving an alarm when the minimum allowable value of TTC is 2s, and the minimum allowable value is 1.8 s.
In the first step, the test conditions comprise cut-in conditions and cut-out conditions, the central lines of the test vehicle and the target vehicle are kept parallel under the cut-in conditions, the test vehicle runs on the adjacent running lanes of the test lane at a constant speed at a running speed of 40km/h and at a contrast speed of 12km/h, when the distance between the test vehicle and the target vehicle is smaller than a second distance, the distance is a front-rear distance, a field test is started, and the target vehicle is cut into the running lanes of the test vehicle;
under the cutting-out condition, a test vehicle, a first comparison vehicle and a second comparison vehicle sequentially run on the same test lane from back to front, the test vehicle and the first comparison vehicle run at a constant speed and keep a preset inter-vehicle distance, the preset inter-vehicle distance is 30m, the second comparison vehicle runs at a constant speed, when the collision time between the first comparison vehicle and the second comparison vehicle is equal to the preset time, the preset time is 2.0s, a field test is started, and the first comparison vehicle is cut out of the test lane; under the cut-in or cut-out test condition, in the second step, the ending condition comprises that the identification information is alarm information.
And in the second step, according to whether the alarm information is subjected to determined position information within the preset distance collision time or not, the identification information comprises the real-time speed of the test vehicle and the collision speed tested under the test condition, the braking deceleration quantity is obtained by subtracting the speed of the vehicle from the collision speed, the position information of the braking deceleration quantity within a plurality of preset ranges is judged according to the test condition, in the third step, the preset ranges correspond to the score information one by one, the results shown in the tables 1, 2, 3 and 4 are obtained, and the weight values corresponding to the test condition are shown in the table 5.
TABLE 1 target vehicle static test scenario
TABLE 2 target vehicle deceleration test scenario
TABLE 3 Low speed test scenarios for target vehicles
TABLE 4 cut-in and cut-out discrimination ability score
| Test scenario | Target vehicle cut-in identification capability test | Target vehicle cut-out discrimination capability test |
| Issuing an alarm within a TTC | 12 | 12 |
TABLE 5 weight values corresponding to test conditions
According to the embodiment I, road tests under various test conditions are respectively carried out on a test vehicle, monitoring information of the test vehicle under different test conditions by a forward collision alarm system on the test vehicle is acquired, grading is carried out according to the monitoring information, a grading result is obtained by multiplying the monitoring information by corresponding weight values and then summing, the test results of the test vehicle in multiple aspects are combined for evaluation, the integrity and the comprehensiveness of evaluation of the test vehicle are improved, and the evaluation of the forward collision alarm system on the test vehicle is more accurate.
Example two
The difference from the first embodiment is that the test evaluation system for the commercial vehicle forward collision early warning further comprises a shooting module, an identification module, a counting module and a storage module, wherein the shooting module is used for shooting a foreground image right ahead of the test vehicle, the processing module is used for acquiring the foreground image of the shooting module and sending the foreground image to the identification module, the identification module is used for identifying a target vehicle contour and a target vehicle position on the foreground image and sending identification information to the processing module, the target vehicle contour is identified through an existing Canny function, the identification information comprises the target vehicle contour and the target vehicle position, the target vehicle position is a pixel coordinate on the foreground image of the target vehicle, the target vehicle position in front of the test vehicle is represented by the pixel coordinate, the processing module sends a counting signal to the counting module when receiving the identification information, the counting module counts according to the counting signal to obtain a counting value and sends the counting value to the processing module, the processing module judges the test conditions of the current test according to the count value, the direction and the real-time speed before starting the field test, the processing module sends a single scoring signal to the analysis evaluation module according to the test conditions when receiving the identification information, the analysis evaluation module carries out test scoring according to the single scoring signal and multiplies the single scoring value by the weighted value to obtain the scoring value of a single item, the processing module obtains the scoring value and adds a test label, the processing module sends the scoring value added with the test label to the storage module for storage, the processing module compares the judged test conditions with the prestored test conditions, when the judged test conditions cover the prestored test conditions, the processing module judges that the test is finished and obtains the scoring value in the storage module to send to the analysis evaluation module for summation operation to obtain a scoring result.
The method for testing and evaluating the commercial vehicle forward collision early warning further comprises the following steps:
the method comprises the steps of firstly, shooting a foreground image right ahead of a test vehicle after the test vehicle starts to run, identifying a target vehicle outline and a target vehicle direction on the foreground image, wherein identification information comprises the target vehicle outline and the target vehicle direction, counting according to the direction in the identification information to obtain a counting value, judging a test condition of a current test according to the counting value, the direction and the real-time speed, judging the test condition of the current test according to the counting value, the direction and the real-time speed before starting the field test, and judging the test condition of the current test according to the counting value, the direction and the real-time speed.
And step three, when the processing module receives the identification information, sending a single scoring signal according to the test condition, scoring according to the single scoring signal, multiplying the single scoring signal by the weight value to obtain the score value of a single item, adding a test label for storage, comparing the judged test condition with the pre-stored test condition, judging that the test is finished and obtaining the score value for summation operation when the judged test condition completely covers the pre-stored test condition, and obtaining a scoring result.
Through gathering corresponding test information at the beginning, can carry out corresponding test score and calculate the score value of individual item when every test condition accomplishes the test, improve the computational rate of the result of grading after the test is finished to, can not let the test score under the multiple test condition cause the confusion.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (9)
1. The method for testing and evaluating the commercial vehicle forward collision early warning is characterized by comprising the following steps of:
the method comprises the following steps that firstly, a test vehicle is located behind a target vehicle, the test vehicle runs in the same direction on a test lane according to preset conditions, field tests are conducted under various test conditions, and when preset parameters of the test vehicle reach preset values, the field tests are started;
step two, acquiring the identification information of the target vehicle by the forward collision alarm system in the running process of the test vehicle, and completing the test when the test vehicle meets the end condition;
and step three, determining a preset range for grading according to the test conditions, judging the position information of the identification information in a plurality of preset ranges, testing and grading the forward collision alarm system of the test vehicle according to the position information, acquiring a corresponding weight value of each test condition, multiplying each weight value by the test grade of each test condition, and summing to obtain a grading result.
2. The method for testing and evaluating the commercial vehicle forward collision warning according to claim 1, characterized in that: in the first step, the test conditions comprise distance conditions, the target vehicle is allowed to stand still under the distance conditions, the test vehicle runs at a position where the difference value between the center line of the test vehicle and the center line of the target vehicle is less than or equal to 20% of the width of the target vehicle, and the field test is started when the distance between the test vehicle and the target vehicle is equal to a preset distance;
in the second step, the ending condition includes that the test vehicle collides with the target vehicle, or the distance between the test vehicle and the target vehicle is smaller than the first distance and the target vehicle cannot be detected.
3. The method for testing and evaluating the commercial vehicle forward collision warning according to claim 2, characterized in that: in the first step, the test conditions comprise first static conditions, the test vehicle is enabled to run on a central line of the test lane under the first static conditions, the target vehicles are respectively located at two sides of the test lane to press lane lines for testing, and the on-site test is started when the distance between the test vehicle and the target vehicles is equal to the preset distance and the speed reaches the preset speed;
in the second step, the ending condition includes that the distance between the test vehicle and the target vehicle is smaller than a second distance.
4. The method for testing and evaluating the commercial vehicle forward collision warning according to claim 3, characterized in that: in the first step, the test conditions comprise a second static condition, the target vehicle is enabled to be statically positioned at the center of the test road under the second static condition, the test vehicle drives towards the target at a set speed on the position where the test road and the target vehicle are coaxial, and the field test is started when the distance between the test vehicle and the target vehicle is equal to a second distance;
in the second step, the ending condition includes that the identification information is alarm information, or the distance to collision time is less than 90% of the minimum allowable value for the forward collision alarm system to alarm.
5. The method for testing and evaluating the commercial vehicle forward collision warning according to claim 4, characterized in that: in the first step, the test conditions comprise deceleration conditions, the test vehicle and the target vehicle run along the center of the test lane at a set speed and at a set distance, and when the distance between the test vehicle and the target vehicle is smaller than a second distance, the target vehicle is braked and decelerated at a constant deceleration and a field test is started.
6. The method for testing and evaluating the commercial vehicle forward collision warning according to claim 4, characterized in that: in the first step, the test conditions include a low-speed condition, the test vehicle runs at a set speed and the target vehicle runs at a constant speed along the center of the test lane at an initial speed, and the initial speed is equal to seven-thirds of the set speed.
7. The method for testing and evaluating the commercial vehicle forward collision warning according to claim 4, characterized in that: in the first step, the test conditions comprise cut-in conditions and cut-out conditions, the central lines of the test vehicle and the target vehicle are kept parallel under the cut-in conditions, the test vehicle runs on the adjacent running lanes of the test lane at a constant speed at the running speed and the target vehicle at a contrast speed, and when the distance between the test vehicle and the target vehicle is smaller than a second distance, a field test is started, and the target vehicle is cut into the running lanes of the test vehicle;
under the cutting-out condition, the test vehicle, the first comparison vehicle and the second comparison vehicle sequentially run on the same test lane from back to front, the test vehicle and the first comparison vehicle run at a constant speed and keep a preset inter-vehicle distance, the second comparison vehicle runs at a constant speed, when the distance collision time of the first comparison vehicle and the second comparison vehicle is equal to a preset time length, a field test is started, and the first comparison vehicle is cut out of the test lane;
and in the second step, determining the position information according to whether the alarm information is received within the preset collision time.
8. The method for testing and evaluating the commercial vehicle forward collision warning according to claim 6, characterized in that: in the second step, the identification information comprises the speed of the vehicle and the collision speed of the vehicle after being tested under the test condition, the braking deceleration quantity is obtained by subtracting the speed of the vehicle from the collision speed, the position information of the braking deceleration quantity in a plurality of preset ranges is judged according to the test condition, and in the third step, the preset ranges correspond to the score information one by one.
9. Test evaluation system of commercial car forward collision early warning, its characterized in that: the system comprises a fixed base station positioned beside a test lane, and a positioning module, an acquisition module, a processing module and an analysis and evaluation module which are positioned on a test vehicle;
the fixed base station is used for receiving the positioning signal, calculating fixed position information and sending the fixed position information to the processing module;
the positioning module is used for positioning the real-time position of the test vehicle and sending the real-time position to the processing module;
the acquisition module is used for acquiring the identification information of the target vehicle by the forward collision alarm system on the test vehicle under the test condition and sending the identification information to the processing module;
the processing module is used for acquiring fixed position information and real-time position to calculate the test state of the test vehicle, judging whether the test vehicle starts a field test according to the test state, judging whether the test vehicle meets an end condition according to the test state when the test vehicle starts the field test, and sending the received identification information to the analysis and evaluation module when the end condition is met;
and the analysis evaluation module is used for determining preset ranges for grading according to the test conditions, judging the position information of the identification information in the preset ranges, testing and grading the forward collision alarm system of the test vehicle according to the position information, acquiring a corresponding weight value of each test condition, multiplying each weight value by the test grade of each test condition, and summing to obtain a grading result.
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