CN106706342B

CN106706342B - Method and field for testing continuous crossing passing capability of automatic driving vehicle

Info

Publication number: CN106706342B
Application number: CN201710085332.8A
Authority: CN
Inventors: 刘春杰; 耿志军; 刘春�; 王海陆
Original assignee: Terlu Beijing Technology Co ltd
Current assignee: Terlu Beijing Technology Co ltd
Priority date: 2017-02-17
Filing date: 2017-02-17
Publication date: 2023-05-09
Anticipated expiration: 2037-02-17
Also published as: CN106706342A

Abstract

The invention relates to the technical field of automatic driving vehicle performance test, in particular to a test method and a test field for the continuous crossing passing capability of an automatic driving vehicle. The test field in the test field and the test method comprises roads, each road comprises at least two intersections which are arranged at intervals, signal lamp equipment and road side equipment for detecting road conditions are arranged corresponding to each intersection, each road side equipment is in communication connection with the corresponding signal lamp equipment to acquire signal lamp information, a vehicle to be tested is placed on the road, and each road side equipment sends first road condition information and signal lamp information to the vehicle to be tested. The test method and the test field are closer to the real driving environment, the test result can more accurately represent the capability of the vehicle to be tested to continuously pass through the intersection, the test method and the test field are safer than a mode of adopting an actual road to test, the test method and the test field are suitable for different automatic driving vehicles, the test method and the test field are used for standardizing the evaluation of the capability of the vehicle to continuously pass through the intersection, and the test result is more authoritative and reliable.

Description

Method and field for testing continuous crossing passing capability of automatic driving vehicle

Technical Field

The invention relates to the technical field of automatic driving vehicle performance test, in particular to a test method and a test field for the continuous crossing passing capability of an automatic driving vehicle.

Background

The automatic driving mainly has five levels, namely, no automatic driving at level 0, auxiliary driving such as information entertainment, navigation and the like at level 1, auxiliary driving (mainly manual) such as traffic safety, traffic efficiency and the like at level 2, automatic driving under specific conditions/roads at level 3, and automatic driving under all-weather and all-road at level 4. From level 1 to level 3 may be referred to as assisted driving, level 4 being unmanned. Thus, the autonomous vehicle includes an assisted-driving vehicle that assists driving by a driver and an unmanned vehicle that is fully automated driving.

At present, the research on automatic driving at home and abroad is gradually in depth, and the automatic driving is continuously advanced from auxiliary driving to unmanned driving. Regardless of the stage of development of autopilot, a test of vehicle performance is required to confirm or enhance vehicle safety.

Among them, it is time-consuming for a vehicle to wait at an intersection with a signal lamp, and particularly, a plurality of red lamps are frequently continuously encountered after one red lamp is encountered, which greatly increases travel time. In order to solve the above-mentioned problems, a green wave band method is generally adopted, that is, when the speed of a road section is regulated on a specified traffic line, a signal controller is required to correspondingly adjust the green light start time of each intersection through which the traffic flow passes according to the distance of the road section, so as to ensure that the traffic flow just meets the green light when reaching each intersection. In summary, a conventional way to solve the above problems is to control the signal lamp. For the automatic driving vehicle, the speed of the automatic driving vehicle can be changed to achieve the purpose of passing through each intersection without stopping and waiting.

Thus, the ability of an autonomous vehicle to continuously pass through an intersection is particularly important, and "continuously pass through an intersection" refers to an intersection where the autonomous vehicle passes through multiple signalled intersections without waiting to stop. The existing theoretical research on adapting an automatic driving vehicle to a signal lamp to control the vehicle speed so as to be capable of waiting without stopping is deep, the actual research and development is not mature, and the automatic driving vehicle needs to be continuously tested for verification and perfection. However, there is currently a lack of a standard test method and test field for the ability of an autonomous vehicle to continuously pass through an intersection, which is close to the real driving environment, and thus, there is a need for a test method and test field for the ability of an autonomous vehicle to continuously pass through an intersection.

Disclosure of Invention

First, the technical problem to be solved

The invention aims to provide a test method and a test field which can be used for carrying out standard test on the continuous crossing capability of an automatic driving vehicle and are close to a real driving environment.

(II) technical scheme

In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:

the invention provides a method for testing the capability of an automatic driving vehicle to continuously pass through an intersection, which comprises the steps of carrying out scene arrangement and vehicle response to be tested on a test field; the scene arrangement is as follows: the test field comprises roads, each road comprises at least two intersections which are arranged at intervals, signal lamp equipment and road side equipment which can detect road conditions and form first road condition information are arranged corresponding to each intersection, each road side equipment is in communication connection with the corresponding signal lamp equipment to acquire the signal lamp information, a vehicle to be tested is placed on the road, and each road side equipment sends the first road condition information and the signal lamp information to the vehicle to be tested; the response of the vehicle to be tested is: the vehicle to be tested runs on the road and receives first road condition information and signal lamp information sent by corresponding road side equipment before passing through each intersection, the vehicle to be tested controls the running speed after analyzing and processing according to the first road condition information and the signal lamp information, and finally the vehicle to be tested passes through all the intersections without stopping.

According to the invention, the scene arrangement further comprises: the test field also comprises an operation test management center, the operation test management center comprises wireless communication equipment with a V2N communication protocol, and the operation test management center sends corresponding second road condition information to the vehicles to be tested before the vehicles to be tested pass through each intersection through the wireless communication equipment; the vehicle response to be measured further includes: and the vehicle to be tested receives the second road condition information sent by the operation test management center, analyzes and processes the second road condition information in combination with the state, and finally passes through all the intersections without stopping.

According to the invention, the scene arrangement further comprises: each road side device sends signal lamp information to an operation test management center, the operation test management center can receive running path information sent by a vehicle to be tested, the operation test management center analyzes and processes the signal lamp information and the second road condition information corresponding to each intersection and the running path information of the vehicle to be tested to form a first recommended running speed of the vehicle to be tested passing through each intersection, and the operation test management center sends the first recommended running speed to the vehicle to be tested; the vehicle response to be measured further includes: before the vehicle to be tested runs to the first intersection, the running path information is sent to the running test management center, the vehicle to be tested receives the first recommended running speed and is analyzed and processed according to the state, and finally the vehicle to be tested passes through all intersections without stopping.

According to the invention, the scene arrangement further comprises: the road side equipment can receive the driving path information sent by the vehicle to be tested, analyze and calculate a second recommended driving speed, and then send the second recommended driving speed to the vehicle to be tested; the vehicle response to be measured further includes: and the vehicle to be tested sends out driving path information to the road side equipment, analyzes and processes the driving path information according to the state of the vehicle to be tested after receiving the second recommended driving speed, and finally passes through all intersections without stopping.

According to the invention, the road side equipment comprises a detector for automatically detecting road conditions, a processing module for analyzing and processing the road condition related information received from the detector to form first road condition information, and wireless communication equipment with a V2I communication protocol, wherein the wireless communication equipment with the V2I communication protocol can receive running path information sent by a vehicle to be tested, and the processing module can analyze and process the running path information in combination with the first road condition information and signal lamp information to form second recommended running speed, and the road side equipment sends the first road condition information and the second recommended running speed to the vehicle to be tested through the wireless communication equipment.

According to the invention, the scene arrangement further comprises: controlling a reference vehicle to run on a road and around a vehicle to be tested; the vehicle response to be measured further includes: the vehicle to be tested passes through all intersections without stopping and is prevented from colliding with the reference vehicle.

According to the invention, at least three intersections are arranged, and the distance between two adjacent intersections is greater than or equal to 150m.

According to the invention, the scene arrangement further comprises: when the vehicle to be tested is a VIP vehicle, the road side equipment can receive the instruction sent by the vehicle to be tested and control the corresponding signal lamp equipment to enable the front driving route of the vehicle to be tested to pass.

Another aspect of the invention provides a test field for the ability of an autonomous vehicle to continuously pass through an intersection, comprising: the road comprises at least two intersections which are arranged at intervals; and each road side device is in communication connection with the corresponding signal lamp device to acquire the signal lamp information, and can send the first road condition information and the signal lamp information to the vehicle to be tested.

According to the present invention, there is also provided: the operation test management center comprises wireless communication equipment with a V2N communication protocol, the operation test management center can send corresponding second road condition information to the vehicle to be tested through the wireless communication equipment before the vehicle to be tested passes through each intersection, and is in communication connection with each road side equipment to receive signal lamp information sent by the road side equipment; a reference vehicle that runs on a road and around a vehicle to be measured; the road side equipment comprises a detector for automatically detecting road conditions, a processing module for analyzing and processing road condition related information received from the detector to form first road condition information, and wireless communication equipment with a V2I communication protocol, wherein the road side equipment can send the first road condition information and signal lamp information to a vehicle to be detected through the wireless communication equipment, the wireless communication equipment with the V2I communication protocol can receive travel path information sent by the vehicle to be detected, the processing module can analyze and process the travel path information in combination with the first road condition information and the signal lamp information to form second recommended travel speed, the wireless communication equipment with the V2I communication protocol can send the second recommended travel speed to the vehicle to be detected, the detector is in communication connection with the processing module, and the processing module is in communication connection with the wireless communication equipment with the V2I communication protocol; setting at least three intersections, wherein the distance between two adjacent intersections is more than or equal to 150m; the signal lamp equipment comprises a signal lamp and a controller for controlling the signal lamp, and the road side equipment is in communication connection with the controller.

(III) beneficial effects

The beneficial effects of the invention are as follows:

in the test method of the present invention, first, during the real driving, the automatic driving vehicle does not judge whether the driving speed is proper by observing the signal lamp, and it receives the signal notification in advance to analyze how to pass through the front intersection without stopping, and the process is also combined with the surrounding environment such as the road on which it is driving. Therefore, the test field adopted by the test method comprises roads, each road comprises at least two intersections which are arranged at intervals, signal lamp equipment and road side equipment which can detect road conditions to form first road condition information are arranged corresponding to each intersection, each road side equipment is in communication connection with the corresponding signal lamp equipment to obtain the signal lamp information, a vehicle to be tested is placed on the road, and each road side equipment sends the first road condition information and the signal lamp information to the vehicle to be tested. Compared with theoretical data of computer simulated traffic running software, the scene is closer to a real running environment, so that the test result can more accurately represent the capability of the vehicle to be tested to continuously pass through the intersection, and the scene is safer than a mode of testing by adopting an actual road. Secondly, the test method provides a response of the vehicle to be tested, which is correspondingly inspected, namely, the vehicle to be tested runs on the road and receives the first road condition information and the signal lamp information sent by the corresponding road side equipment before passing through each intersection, the vehicle to be tested controls the running speed after being analyzed and processed according to the first road condition information and the signal lamp information, and finally, the vehicle to be tested passes through all the intersections without stopping. The scene arrangement is matched with the response of the vehicle to be tested, so that the test method is suitable for different automatic driving vehicles, the capability of the vehicles to continuously pass through the intersection is evaluated in a standardized manner, and the test result is more authoritative and reliable.

The test field of the invention comprises a road comprising at least two intersections arranged at intervals. And each road side device is in communication connection with the corresponding signal lamp device to acquire the signal lamp information, and can send the first road condition information and the signal lamp information to the vehicle to be tested. On one hand, compared with theoretical data of computer simulation traffic running software, the test field is closer to a real running environment, so that the test result can more accurately represent the capability of a vehicle to be tested to continuously pass through an intersection, and is safer than the road test performed by adopting an actual road; on the other hand, the test field can be used as a standardized scene for testing different automatic driving vehicles, so that the test result is more authoritative and reliable.

Drawings

FIG. 1 is a schematic illustration of a test field for the ability of an autonomous vehicle to continuously pass through an intersection, as provided in one embodiment of the present disclosure, wherein a vehicle under test is driven;

FIG. 2 is a schematic illustration of a test field for the ability of an autonomous vehicle to continuously pass through an intersection as provided in example two of the following embodiments, wherein a vehicle under test is driven;

Fig. 3 is a schematic diagram of a test field for the ability of an autonomous vehicle to continuously pass through an intersection, as provided in example four in the following embodiments, in which a vehicle under test is traveling.

[ reference numerals description ]

In the figure:

1: a road; 2: an intersection; 3: a vehicle to be tested; 4: a signal lamp; 5: road side equipment; 6: a controller; 7: operating a test management center; 8: a reference vehicle; l: distance between two intersections.

Detailed Description

The invention will be better explained by the following detailed description of the embodiments with reference to the drawings.

Example 1

Referring to fig. 1, in the present embodiment, a test field for the ability of an autonomous vehicle to continuously pass through an intersection is first provided.

The test field comprises a road 1, the road 1 comprising at least two intersections 2 arranged at intervals. And in the test field, signal lamp equipment and road side equipment 5 are arranged corresponding to each intersection 2, the road side equipment can detect road conditions and form first road condition information, each road side equipment 5 is in communication connection with the corresponding signal lamp equipment to acquire the signal lamp information, and each road side equipment 5 can send the first road condition information and the signal lamp information to the vehicle 3 to be tested. The first road condition information includes information related to road conditions in the area where the intersection 2 is located, for example, including but not limited to road information, traffic flow information, congestion information, accident information, vehicle position information, and the like; the signal lamp information is related information representing the current state of the signal lamp, and comprises, for example and not limited to, static information, real-time state information and steering and phase relation information, wherein the static information comprises signal lamp period and phase, the real-time state information comprises the current state of the signal lamp and countdown, and the steering and phase relation information comprises the corresponding relation between steering at an intersection and signal lamp phase. Of course, it can be understood that the specific content of the first road condition information and the signal lamp information is determined according to the content required by the correlation analysis operation of the tested vehicle to be tested, and the content of the relevant information required by the vehicle to be tested generated in different types and brands of vehicles to be tested or different stages in the development process of the automatic driving vehicle may be different, which is not limited to the above example.

It is understood that the traffic light apparatus and the road side apparatus 5 are provided corresponding to each intersection 2, and therefore, the first road condition information and the traffic light information sent by the road side apparatus 5 are both related to the corresponding intersection 2, and the first road condition information and the traffic light information sent by the plurality of road side apparatuses 5 may be different. Furthermore, a plurality of signal light devices may be disposed at one intersection 2, in this embodiment, at least a necessary signal light device is disposed on a preset driving route of the vehicle 3 to be tested, for example, as shown in fig. 1, the preset driving route of the vehicle 3 to be tested is straight, and then one signal light device is disposed at each intersection 2 to define whether the vehicle 3 to be tested can pass through. Of course, the present invention is not limited thereto, and in other embodiments, a plurality of signal light devices may be provided at one intersection 2 to control the coming vehicles in all directions, and at this time, the road side device may send out signal light information corresponding to the plurality of signal light devices.

In addition, in order to update the information timely, in this embodiment, each roadside device 5 sends out the first road condition information and the signal lamp information at fixed time intervals, for example, each 2s sends out one first road condition information and one signal lamp information, that is, the interval time is 2s, while the first road condition information sent out by each roadside device 5 at different time may be the same or different, and the signal lamp information sent out by two adjacent times is different, for example, 10s of the red lamp remained by the signal lamp 4 sent out last time and 8s of the red lamp remained by the signal lamp 4 next time. Correspondingly, the vehicle 3 to be tested also receives a plurality of first road condition information and a plurality of signal lamp information sent by the road side equipment 5 corresponding to one intersection 2 at intervals in the process of continuously approaching the intersection 2, and when the first road condition information and the signal lamp information are received for each intersection 2 for the first time, the vehicle 3 to be tested carries out intelligent processing, judgment, decision and implementation through the vehicle-mounted system of the vehicle 3 to be tested, and determines how to control the running speed so as to enable the running speed to pass through the intersection 2 in front without stopping, so that a running speed scheme is formed. When the first road condition information and the signal lamp information sent by the same road side equipment 5 are received later, the vehicle 3 to be tested corrects the previous running speed scheme based on the new first road condition information and the signal lamp information, and if necessary, the vehicle is corrected. Of course, the present invention is not limited thereto, and in other embodiments, if the test road 1 is too short, one road side device 5 may send the first road condition information and the traffic light information only once; or when the test requirement is relatively low, one road side device 5 can only send the first road condition information and the signal lamp information once.

The test process using the test field is as follows:

the vehicle 3 to be tested travels on the road 1 in a direction that sequentially passes through all the traffic light apparatuses (in this embodiment, straight through all the intersections 2), and each of the roadside apparatuses 5 sends first road condition information and traffic light information to the vehicle 3 to be tested. It is observed whether the vehicle 3 to be tested receives the first road condition information and the signal lamp information sent by the corresponding road side equipment 5 before passing through each intersection 2, and controls the running speed (for example, acceleration, deceleration, first acceleration to a certain speed, then uniform speed, first deceleration to a certain speed, then uniform speed, etc. of course, the current speed may also be suitable without changing the running speed) after analysis processing is performed according to the first road condition information and the signal lamp information, and finally passes through all intersections 2 without stopping.

On the one hand, in a real driving process, an autonomous vehicle does not determine whether its driving speed is proper by observing a traffic light, and it is necessary to receive a signal in advance to analyze how to pass through a front intersection without stopping, and this process is also combined with the surrounding environment such as the road on which it is driving. In this embodiment, the simulated real driving environment sends the first road condition information and the signal lamp information to the vehicle 3 to be tested, when each intersection 2 is adjacent, the vehicle 3 to be tested needs to be intelligently processed, judged, decided and implemented through its own vehicle-mounted system, and it is determined how the driving speed should be controlled to pass through the front intersection 2 without stopping, and then finally pass through all intersections 2. Therefore, compared with theoretical data of computer simulation traffic running software, the test field is closer to a real running environment, so that the test result can more accurately represent the capability of the vehicle 3 to be tested to continuously pass through the intersection, and is safer than the road test performed by adopting an actual road.

On the other hand, the test field can be used as a standardized scene for testing different automatic driving vehicles, so that the test result is more authoritative and reliable. Meanwhile, the test field also fills up the blank of the existing automatic driving test field, and provides powerful guarantee for the policy of road test at the end of 2017 and automatic driving vehicle business in 2020 formulated in China. And the invention is beneficial to the establishment of professional detection and acceptance processes in the test field provided by the invention, and provides a guarantee for the driving on the road of the automatic driving vehicle.

Accordingly, in the present embodiment, there is also provided a method for testing the capability of an autonomous vehicle to continuously pass through an intersection, the method comprising scene arrangement and vehicle response to be tested for the above-mentioned test field (refer to fig. 1).

The scene arrangement is as follows: the test field comprises a road 1, the road 1 comprises at least two intersections 2 arranged at intervals, signal lamp equipment and road side equipment 5 are arranged corresponding to each intersection 2, and the road side equipment 5 can automatically detect road conditions and form first road condition information. Each road side device 5 is in communication connection with the corresponding signal lamp device to acquire signal lamp information, the vehicle 3 to be tested is placed on the road 1, and each road side device 5 sends first road condition information and signal lamp information to the vehicle 3 to be tested. The first road condition information includes information related to road conditions in the area where the intersection 2 is located, for example, including but not limited to road information, traffic flow information, congestion information, accident information, and the like; the signal lamp information comprises static information, real-time state information and steering and phase relation information, wherein the static information comprises signal lamp periods and phases, the real-time state information comprises signal lamp current states and countdown, and the steering and phase relation information comprises corresponding relation between steering at intersections and signal lamp phases.

It is understood that the test field may be regarded as a hardware facility including the road 1, the signal lamp equipment and the roadside equipment 5, and other equipment mentioned in this and subsequent embodiments, etc. (e.g., the operation test management center 7, the reference vehicle 8, etc.), while the scene includes the hardware facility and an arrangement made on the hardware facility, which may include the roadside equipment 5 for transceiving information, the arrangement of the vehicle 3 to be tested, and other arrangements mentioned in this and subsequent embodiments (e.g., the operation test management center 7 for transceiving information, the arrangement of the reference vehicle 8, etc.).

The response of the vehicle to be tested is: the vehicle 3 to be tested runs on the road 1 and receives the first road condition information and the signal lamp information sent by the corresponding road side equipment 5 before passing through each intersection 2, the vehicle 3 to be tested controls the running speed after analysis and processing according to the first road condition information and the signal lamp information, and finally passes through all the intersections 2 without stopping. It can be understood that the first road condition information and the signal lamp information sent by the road side device 5 corresponding to the intersection 2 are received before each vehicle 3 to be tested passes through one intersection 2, so that the analysis and the processing are performed before each vehicle 3 to be tested passes through one intersection 2 to form a scheme how to control the running speed to pass through the intersection 2 without stopping, and then the running speed (such as acceleration, deceleration, acceleration to a certain speed first, then uniform speed first, deceleration to a certain speed first, then uniform speed first, and the like) is controlled according to the scheme, and the current speed is possible to be proper without changing the running speed of the vehicle until the vehicle passes through the last intersection 2, and the vehicle can pass through all the intersections 2 without stopping.

Thus, in the present embodiment, the response performance of the autonomous vehicle to be detected is the performance of the continuous passing intersection, and therefore, when the vehicle 3 to be detected completes the response of driving on the road 1 and receiving the first road condition information and the signal lamp information sent by the corresponding roadside apparatus 5 before passing through each intersection 2, controlling the driving speed after performing the analysis processing based on the first road condition information and the signal lamp information, and finally passing through all the intersections 2 without stopping, the capability of the vehicle 3 to be detected continuously passing through the intersections is regarded as reaching (passing) the standard.

First, in a real driving process, an autonomous vehicle does not determine whether its driving speed is proper by observing a traffic light, and it receives a signal in advance to analyze how to pass through a front intersection without stopping, and the process is also combined with the surrounding environment such as a road on which it is driving. Therefore, the test field adopted by the test method comprises a road 1, the road 1 comprises at least two intersections 2 arranged at intervals, signal lamp equipment and road side equipment 5 capable of detecting road conditions are arranged corresponding to each intersection 2, each road side equipment 5 is in communication connection with the corresponding signal lamp equipment to acquire signal lamp information, a vehicle 3 to be tested is arranged on the road 1, and each road side equipment 5 sends first road condition information and signal lamp information to the vehicle 3 to be tested. Compared with theoretical data of computer simulated traffic running software, the scene is closer to a real running environment, so that the test result can more accurately represent the capability of the vehicle to be tested to continuously pass through the intersection, and is safer than a mode of testing by adopting an actual road 1.

Secondly, the test method provides a response of the vehicle to be tested, which is correspondingly inspected, namely, the vehicle to be tested 3 runs on the road 1 and receives the first road condition information and the signal lamp information sent by the corresponding road side equipment 5 before passing through each intersection 2, the vehicle to be tested 3 controls the running speed after being analyzed and processed according to the first road condition information and the signal lamp information, and finally, the vehicle to be tested passes through all the intersections 2 without stopping. The scene arrangement is matched with the response of the vehicle to be tested, so that the test method is suitable for different automatic driving vehicles, the capability of the vehicles to continuously pass through the intersection is evaluated in a standardized manner, and the test result is more authoritative and reliable. Meanwhile, the testing method also makes up for the blank of the existing automatic driving testing method, and provides powerful guarantee for the policy of road test at the end of 2017 and automatic driving vehicle business in 2020 formulated in China. And the method is beneficial to making professional detection and acceptance procedures according to the test method provided by the invention, and provides a guarantee for the driving on the road of the automatic driving vehicle.

In this embodiment, the vehicle response to be measured may further include: the variable of the vehicle 3 to be measured when the vehicle speed is increased or decreased is 10% or less per second. In this way, discomfort to personnel in the vehicle caused by abrupt shifting of the automatically driven vehicle is avoided.

Based on the above test field and test method, the intersection 2 may be any intersection where signal lamp equipment may exist, such as a crossroad, a t-intersection, and the like. In this embodiment, the road 1 is a straight road, at least three intersections 2 are set, and the setting of more than three intersections 2 makes the test result more accurate. Of course, the present invention is not limited thereto, and the road section connected to the intersection 2 may be a straight road or a curved road, and the driving route of the vehicle 3 to be measured may be a straight road, or may be a combination of straight road and one or more of turning or turning around.

Based on the test field and the test method, the distance L between two adjacent intersections 2 is more than or equal to 150m. The red light duration and the green light duration of each intersection 2 are related to the distance between the intersections 2, and the larger the distance between the intersections 2 is, the longer the red light duration and the green light duration are, and conversely, the smaller the distance between the intersections 2 is, the smaller the red light duration and the green light duration are. For example, when the distance L between two adjacent intersections 2 is 150m, the red light duration and the green light duration lie in the range of 15-20 s. In general, the distance between the intersections 2 is more close to the real driving environment when the distance is more than 150m, but the same effect as the real driving environment can be achieved by reducing the distance between the intersections 2 and the duration of the red light and the green light, the area for a test field can be saved, and the cost is reduced.

On the basis of the test field and the test method, the road 1 can be an asphalt road or a concrete road to be close to a real driving environment.

On the basis of the test field and the test method, the duration of red lights in all the signal lamp equipment are different from each other, and the duration of green lights in all the signal lamp equipment are different from each other, so that the difficulty of the vehicle 3 to be tested to continuously pass through all the intersections 2 is increased, and the test result is more accurate, authoritative and reliable.

The road side equipment 5 may be installed at the intersection 2, beside the intersection 2, or beside a road section connected to the intersection 2 on the basis of the above-described test field and test method. The traffic light apparatus includes a traffic light 4 and a controller 6, the traffic light 4 is disposed above the intersection 2, the controller 6 controls the traffic light 4 to change a traffic state, and traffic light information such as on-off time of each indicator light of the traffic light 4 is stored in the controller 6. The roadside apparatus 5 may be connected to the controller 6 by wired or wireless means to acquire signal lamp information. Preferably, the road side equipment 5 is connected with the controller 6 by wire, and the wire connection is more stable.

On the basis of the above test field and test method, the road side device 5 includes a detector, a processing module, and a wireless communication device having a V2I (vehicle to infrastructure) communication protocol, the detector is communicatively connected (may be in a wired connection or a wireless connection manner) to the processing module, the processing module is communicatively connected (may be in a wired connection or a wireless connection manner) to the wireless communication device having the V2I communication protocol for information transmission, and the autonomous vehicle has the wireless communication device having the V2I communication protocol therein, so that the road side device 5 and the vehicle 3 to be tested can be interconnected by the wireless communication devices each having the V2I communication protocol for information transmission. Specifically, the detector automatically detects road conditions through monitoring means such as roadside photographing, millimeter wave radar, microwave radar, ultrasonic radar, infrared and the like, the processing module analyzes and processes the road condition related information received from the detector to form first road condition information, and the roadside equipment 5 sends the first road condition information formed by the processing module and signal lamp information obtained from the signal lamp equipment to the vehicle 3 to be detected through wireless communication equipment with a V2I communication protocol. Of course, the road side device 5 may also send out the above-described first road condition information and traffic light information to other vehicles passing through the road section other than the vehicle 3 to be tested.

Further, most of the existing road side devices 5 have a radiation distance of 500m or less, and the specific radiation distance varies according to different brand models and environments. In the test field and the test method of the embodiment, the radiation distance of the road side equipment 5 is in the range of 150-300m, the numerical range is more close to the urban traffic environment, and the analysis processing time and the vehicle speed adjusting time of the vehicle 3 to be tested are moderate, so that the test result is more reliable.

Further, it can be understood that, in this embodiment, since the radiation distance of the road side device 5 is in the range of 150-300m, and the distance L between two adjacent intersections 2 is greater than or equal to 150m, the vehicle to be tested may receive the first road condition information and the signal lamp information sent by more than two road side devices 5 together, so that the capability of the vehicle to be tested to distinguish different information sent by different road side devices and calculate the running speed correspondingly can be examined. Furthermore, on the basis of the test field and the test method, the simplest method is to indirectly reflect whether the first road condition information and the signal lamp information sent by the corresponding road side equipment 5 are received or not and control the running speed after analysis processing according to the first road condition information and the signal lamp information only by observing whether the vehicle 3 to be tested passes through all the intersections 2 without stopping when running on the road 1. That is, in the present embodiment, it is regarded that the vehicle 3 to be tested has made a response that should be made, i.e., a test pass, as long as it is observed that the vehicle 3 to be tested satisfies passing through all the intersections 2 without stopping. Wherein, whether the vehicle 3 to be tested passes through all the intersections 2 without stopping when running on the road 1 can be intuitively observed by a tester through naked eyes in the running process of the vehicle 3 to be tested (especially when the speed needs to be changed to ensure that the vehicle passes through the intersections 2 without stopping, the control of the vehicle 3 to be tested on the speed can be directly observed); the driving image acquisition system can be arranged in the test field, the driving image of the test vehicle is shot through the image acquisition system, the external driving state and the operation behavior of the vehicle 3 to be tested are recorded, and then the driving process of the vehicle 3 to be tested is judged according to the driving image; the test field may be provided with an acquisition module in communication with the vehicle 3 to be tested to acquire the travel path information of the vehicle 3 to be tested. Of course, the invention is not limited to the examples described above, but may take any other form.

Furthermore, on the basis of the test field and the test method, the collecting module may collect the receiving and transmitting information of the vehicle 3 to be tested to observe whether the vehicle 3 to be tested receives the first road condition information and the signal lamp information sent by the corresponding road side device 5.

Furthermore, based on the test field and the test method, the data of the vehicle 3 to be tested can be collected by the collecting module to observe whether the vehicle 3 to be tested forms a scheme for controlling the running speed according to the analysis and the processing of the first road condition information and the signal lamp information.

In summary, an acquisition module may be disposed in the test field to acquire information (including transceiver information, travel path information, analysis and calculation process data, etc.) in the vehicle 3 to be tested.

Example two

Referring to fig. 2, in this embodiment, the test field is modified on the basis of embodiment one, specifically as follows:

the test field further comprises an operation test management center 7, the operation test management center 7 comprises wireless communication equipment with a V2N (vehicle-to-cloud) communication protocol, and the wireless communication equipment in the automatic driving vehicle has the V2N communication protocol, so that the vehicle 3 to be tested and the operation test management center 7 can perform information interaction through the respective wireless communication equipment. In this embodiment, the operation test management center 7 can send out corresponding second road condition information to the vehicle 3 to be tested before the vehicle 3 to be tested passes through each intersection 2 through its wireless communication device. The second road condition information includes information related to road conditions in the area where the corresponding intersection 2 is located and in the surrounding area, for example, including but not limited to road information, traffic flow information, congestion information, accident information, vehicle position information, and the like. Of course, it can be understood that the specific content of the second road condition information is determined according to the content required by the correlation analysis operation of the tested vehicle to be tested, and the content of the relevant information required by different types and brands of vehicles to be tested or vehicles to be tested generated at different stages in the development process of the automatic driving vehicle may be different, which is not limited to the above example.

Specifically, the second road condition information corresponding to each intersection 2 may be previously programmed to be stored in the operation test management center 7; alternatively, the operation test management center 7 includes an analysis module for collecting data of various aspects and analyzing the second road condition information, whereby the operation test management center 7 can collect information on road conditions in the test field and obtain the second road condition information corresponding to each intersection 2 by analysis. For example, in this embodiment, the operation test management center 7 is communicatively connected to each road side device 5, each road side device 5 sends the first road condition information to the operation test management center 7, and the vehicle-mounted device on the vehicle 3 to be tested scans, photographs and captures images of surrounding environments such as the front road 1, so that the road condition information uploading operation test management center 7 can be formed. Therefore, the operation test management center 7 integrates the first road condition information and other information to form second road condition information corresponding to each intersection 2 (one intersection 2 corresponds to at least one second road condition information, and may intermittently send the second road condition information to be updated continuously along with the process that the vehicle 3 to be tested approaches a certain intersection 2).

Specifically, the operation test management center can be ensured to send corresponding second road condition information to the vehicle to be tested before the vehicle to be tested passes through each intersection in the following manner: after the test is started, each road side device 5, the operation test management center 7 and other devices for forming the second road condition information are started, the operation test management center 7 receives the information of each aspect and sends out the second road condition information in time after calculating the second road condition information, and the second road condition information is continuously sent out for updating at intervals of preset time. The starting point of the vehicle to be tested is far enough from the first intersection 2 to enable the vehicle to be tested to firstly receive the second road condition information corresponding to the first intersection 2 after starting driving and then pass through the first intersection 2, so that the vehicle to be tested is likely to receive the corresponding second road condition information before passing through the rear intersection 2. For example, it is possible that the vehicle to be tested receives the second road condition information corresponding to the second intersection 2 before the first intersection 2. Of course, the method is not limited to the above, and the vehicle to be tested may continuously send positioning information to the operation test management center 7, and the operation test management center 7 may receive the positioning information and send only the second road condition information corresponding to the next intersection 2 to be passed according to the position of the vehicle to be tested.

Further, the road side device 5 further sends the signal lamp information to the operation test management center 7, the operation test management center 7 can receive the driving path information sent by the vehicle to be tested, and the operation test management center 7 analyzes and processes the signal lamp information and the second road condition information corresponding to each intersection 2 and the driving path information to form a plurality of first recommended driving speeds corresponding to each intersection 2 (one intersection 2 corresponds to at least one first recommended driving speed, and possibly intermittently sends the plurality of first recommended driving speeds to be updated continuously along with the process that the vehicle to be tested 3 approaches a certain intersection 2). Wherein, the first recommended driving speed means: the vehicle 3 to be measured can be stopped at the intersection 2 without stopping according to the traveling speed. The travel path information contains information of the travel route of the vehicle to be measured (including positioning information of the position of the vehicle to be measured 3, position information of its destination, a specific travel route, and the like).

Specifically, the analysis module of the operation test management center 7 can analyze and process the second road condition information, the signal lamp information and the driving path information to form a first recommended driving speed, and the wireless communication device of the operation test management center 7 is in communication connection (can adopt a wired connection or a wireless connection mode) with the analysis module to transmit data. The operation test management center 7 can be communicatively connected with the wireless communication device of the roadside device 5 through its wireless communication device to transmit information. The operation test management center 7 also receives travel path information through its wireless communication device and transmits the first recommended travel speed to the vehicle under test. Similarly, the operation test management center 7 may send a corresponding first recommended driving speed to the vehicle to be tested before the vehicle to be tested passes through each intersection, so as to ensure that the design mode is the same as the transmission of the second road condition information, which is not described herein.

The test process using the test field is as follows:

the vehicle 3 to be tested runs on the road 1 along the direction of sequentially passing through all signal lamp equipment, each road side equipment 5 sends first road condition information and signal lamp information to the vehicle 3 to be tested and the operation test management center 7, the vehicle 3 to be tested sends road condition information and running path information collected by the vehicle 3 to be tested to the operation test management center 7, the operation test management center 7 integrates the first road condition information and the road condition information sent by the vehicle 3 to be tested to form second road condition information, and the first recommended running speed is formed by combining the signal lamp information and the running path information, and then the second road condition information and the first recommended running speed are sent to the vehicle 3 to be tested. It is observed whether the vehicle 3 to be tested transmits the driving route information to the operation test management center 7 before passing through the first intersection, and whether the first road condition information and the signal lamp information transmitted from the corresponding road side equipment 5 and the second road condition information and the first recommended driving speed transmitted from the operation test management center 7 are received before passing through each intersection 2, and whether the driving speed is controlled (for example, acceleration, deceleration, first acceleration to a certain speed, then uniform speed, first deceleration to a certain speed, then uniform speed) after performing analysis processing according to each of the above information, and finally passes through all the intersections 2 without stopping.

The vehicle 3 to be tested integrates and analyzes the first road condition information, the second road condition information and the signal lamp information to form a scheme of how to control the driving speed to pass through the intersection 2 in front without stopping, namely, a preliminary driving speed scheme is calculated, and then the first recommended driving speed is adopted for correction based on the driving speed scheme.

In this embodiment, the test method is modified on the basis of the first embodiment, and reference is made to fig. 2:

the scene arrangement further comprises: the test field further comprises an operation test management center 7, the operation test management center 7 comprises wireless communication equipment with a V2N communication protocol, and the operation test management center 7 sends corresponding second road condition information to the vehicles 3 to be tested before the vehicles 3 to be tested pass through each intersection 2 through the wireless communication equipment. The operation test management center 7 can also receive the driving path information sent by the vehicle to be tested through the wireless communication equipment, each road side equipment 5 is in communication connection with the wireless communication module of the operation test management center 7 through the wireless communication module, signal lamp information is sent to the operation test management center 7, the operation test management center 7 analyzes and processes the signal lamp information and the second road condition information corresponding to each intersection 2 and the driving path information to form a first recommended driving speed of the vehicle 3 to be tested passing through each intersection 2, and the operation test management center 7 sends the first recommended driving speed to the vehicle to be tested.

The vehicle response to be measured further includes: before the vehicle 3 to be tested runs to the first intersection, the running path information is sent to the running test management center 7, the vehicle 3 to be tested sends road condition information to the running test management center 7, the vehicle 3 to be tested receives the second road condition information and the first recommended running speed corresponding to each intersection 2 sent by the running test management center 7, and the second road condition information and the first recommended running speed are analyzed and processed according to the state of the second road condition information and the first recommended running speed, and finally the second road condition information and the first recommended running speed pass through all the intersections 2 without stopping.

In the real driving process, the automatic driving vehicle and the road side equipment 5 report road condition information to the traffic management center, and the traffic management center can integrally manage and control the respective driving vehicles based on the information of each party. Thus, this embodiment uses the operation test management center 7 to simulate a traffic center, which includes wireless communication devices having V2N communication protocols as a traffic center. In this embodiment, the ability of the vehicle 3 to be tested to integrate a plurality of road condition information and to formulate or correct a running speed scheme is examined, the vehicle is closer to a real running state, and the test result is more comprehensive, accurate and reliable.

Further, when the vehicle 3 to be tested receives the second road condition information/the first recommended driving speed, the vehicle 3 to be tested may be in a state that the driving speed scheme is not started, may be in a state that the driving speed scheme is being formulated, may be in a state that the driving speed scheme is already formulated, and the vehicle 3 to be tested should have the capability of obtaining the second road condition information/the first recommended driving speed and then performing analysis processing in combination with the current state to obtain the final driving speed scheme.

Further, on the basis of the test field and the test method, whether the vehicle 3 to be tested receives the second road condition information/the first recommended driving speed sent by the operation test management center 7 or not and whether the vehicle 3 to be tested sends the road condition information and the driving path information to the operation test management center 7 or not are observed, and the receiving and sending information of the vehicle 3 to be tested may be collected through a collecting module set in the test field. Of course, the invention is not limited to the examples described above, but may take any other form.

Further, on the basis of the test field and the test method, the operation test management center 7 may send the second road condition information/the first recommended traveling speed to the vehicle 3 to be tested, send the second road condition information/the first recommended traveling speed to the road side device, and then the road side device forwards the second road condition information/the first recommended traveling speed to the vehicle to be tested, at this time, the vehicle to be tested also needs to analyze and process according to the second road condition information/the first recommended traveling speed sent by the road side device and combine the present state, and finally pass through all intersections without stopping.

Example III

In this embodiment, the test field is modified on the basis of the first embodiment or the second embodiment, and the following is taken as an example of modification on the basis of the second embodiment, referring to fig. 2:

The vehicle 3 to be tested can send driving path information to the road side equipment 5 in the driving process, the road side equipment 5 can receive the driving path information through the wireless communication equipment with the V2I communication protocol, the processing module of the road side equipment 5 can analyze and process the driving path information in combination with the first road condition information and the signal lamp information to form a second recommended driving speed, and the wireless communication equipment with the V2I communication protocol of the road side equipment 5 can send the second recommended driving speed. The travel path information contains information of a travel route of the vehicle 3 to be measured (including positioning information of a position where the vehicle 3 to be measured is located, position information of a destination thereof, a specific travel route, and the like); the second recommended travel speed means: the vehicle 3 to be tested can travel at this speed without stopping at the intersection 2 ahead.

Of course, each road side device 5 forms at least one second recommended driving speed (at least one intersection 2 corresponds to one second recommended driving speed, and a plurality of second recommended driving speeds may be intermittently sent to be continuously updated along with the process that the vehicle 3 to be tested approaches a certain intersection 2); the driving path information of the vehicle to be tested can also be sent for updating at intervals; the specific content of the driving path information is determined according to the content required by the road side device to actually perform the correlation analysis operation, and the content of the relevant information required by the road side device of different types and brands or the road side device corresponding to the vehicle to be tested generated at different stages in the development process of the automatic driving vehicle may be different, which is not limited to the above example.

The test process using the test field is as follows:

the vehicle 3 to be tested runs on the road 1 along the direction of sequentially passing through all signal lamp equipment, each road side equipment 5 sends first road condition information and signal lamp information to the vehicle 3 to be tested and the operation test management center 7, the vehicle 3 to be tested sends road condition information collected by the vehicle 3 to be tested to the operation test management center 7, the operation test management center 7 integrates the first road condition information and the road condition information sent by the vehicle 3 to be tested to form second road condition information and combines signal lamp information analysis processing to form a first recommended running speed, and then the first recommended running speed and the second road condition information are sent to the vehicle 3 to be tested. The vehicle 3 to be tested transmits the travel path information to the road side equipment 5, and the road side equipment 5 analyzes and processes the first road condition information, the signal lamp information and the travel path information to form a second recommended travel speed and transmits the second recommended travel speed to the vehicle 3 to be tested. And observing whether the vehicle 3 to be tested receives the first road condition information, the signal lamp information, the second road condition information, the first recommended driving speed and the second recommended driving speed before passing through each intersection 2, controlling the driving speed (such as accelerating, decelerating, accelerating to a certain speed and then uniform, decelerating to a certain speed and then uniform) after analyzing and processing according to the information, and finally passing through all the intersections 2 without stopping.

The vehicle 3 to be tested integrates and analyzes the first road condition information, the second road condition information and the signal lamp information to form a scheme of how to control the driving speed to pass through the intersection 2 in front without stopping, namely, a preliminary driving speed scheme is calculated, and then the first recommended driving speed and the second recommended driving speed are adopted for correction based on the driving speed scheme.

In this embodiment, the test method is modified based on the first embodiment or the second embodiment, and the following is taken as an example of modification based on the second embodiment, referring to fig. 2:

the scene arrangement further comprises: the road side device 5 can receive the travel path information sent by the vehicle 3 to be tested and analyze and calculate a second recommended travel speed, and then send the second recommended travel speed to the vehicle 3 to be tested;

the vehicle response to be measured further includes: the vehicle 3 to be tested sends out the traveling path information to the road side equipment 5, and the vehicle 3 to be tested analyzes and processes in combination with the state after receiving the second recommended traveling speed, and finally passes through all the intersections 2 without stopping.

In summary, in the test field and the test method of the embodiment, the road side device 5 sends the second recommended running speed, which increases the difficulty of integrating information and correcting the running speed scheme of the vehicle 3 to be tested, is closer to the real running environment, and the test result is more authoritative and reliable.

Further, when the vehicle 3 to be tested receives the second recommended running speed, the vehicle 3 to be tested may be in a state that the running speed scheme is not started, may be in a state that the running speed scheme is being formulated, may be in a state that the running speed scheme is already formulated, and may be in a state that the first recommended running speed is already received, and the vehicle 3 to be tested should have the capability of obtaining the second recommended running speed and then performing analysis processing in combination with the current state to obtain the final running speed scheme. Further, on the basis of the test field and the test method, whether the vehicle 3 to be tested receives the second recommended running speed sent by the road side device 5 or not may be observed, and the receiving and transmitting information of the vehicle 3 to be tested may be collected by a collecting module set in the test field. Of course, the invention is not limited to the examples described above, but may take any other form.

Example IV

In this embodiment, the test field is modified on the basis of the first to third embodiments, and the following is taken as an example of modification on the basis of the third embodiment, referring to fig. 3:

the test field further includes a reference vehicle 8 that runs around the vehicle 3 to be tested on the road 1, where the reference vehicle 8 may run in the same direction as the vehicle 3 to be tested in front of, behind, and beside the vehicle 3 to be tested, may run in a side lane of the vehicle 3 to be tested opposite to the vehicle 3 to be tested, and may also run at an included angle with the vehicle 3 to be tested (for example, a right-turn vehicle running from a lane on the right side of the lane where the vehicle 3 to be tested is located).

The test process using the test field is as follows:

the vehicle 3 to be tested runs on the road 1 along the direction of sequentially passing through all signal lamp equipment, each road side equipment 5 sends first road condition information and signal lamp information to the vehicle 3 to be tested and the operation test management center 7, the vehicle 3 to be tested sends the road condition information collected by the vehicle 3 to be tested to the operation test management center 7, the operation test management center 7 integrates the first road condition information and the road condition information sent by the vehicle 3 to be tested to form second road condition information and combines signal lamp information analysis processing to form first recommended running speed, and then the second road condition information and the first recommended running speed are sent to the vehicle 3 to be tested. The vehicle 3 to be tested transmits the travel path information to the roadside apparatus 5, and the roadside apparatus 5 forms a second recommended travel speed based on the first road condition information, the signal lamp information, and the travel path information analysis processing, transmits the second recommended travel speed to the vehicle 3 to be tested, and travels around the vehicle 3 to be tested with reference to the vehicle 8. It is observed whether the vehicle 3 to be measured receives the first road condition information, the signal lamp information, the second road condition information, the first recommended traveling speed and the second recommended traveling speed before passing through each intersection 2, and whether the traveling speed (for example, acceleration, deceleration, acceleration to a certain speed first, deceleration to a certain speed second) is controlled and finally passes through all the intersections 2 without stopping after analysis processing is performed according to the above information, while the vehicle 3 to be measured is prevented from colliding with the reference vehicle 8.

In this embodiment, the test method is modified on the basis of embodiment one to embodiment three, and the following is taken as an example of modification on the basis of embodiment three, referring to fig. 3:

the scene arrangement further comprises: the control reference vehicle 8 runs on the road 1 and around the vehicle 3 to be tested.

The vehicle response to be measured further includes: the vehicle 3 to be tested is prevented from colliding with the reference vehicle 8 while passing through all the intersections 2 without stopping.

In the real driving environment, the vehicle 3 to be tested is not only in the real driving environment, and other vehicles are likely to drive around the vehicle 3 to be tested, and the vehicle 3 to be tested also avoids collision with other vehicles while controlling the driving speed. Therefore, the arrangement of the reference vehicle 8 is closer to the actual running condition, and the test result is more comprehensive and reliable.

Based on the above-described test method and test field, the reference vehicle 8 may be a normal vehicle or an autonomous vehicle (may be an assisted driving vehicle or an unmanned vehicle therein), so that the method of driving the reference vehicle 8 on the road 1 and around the vehicle 3 to be tested includes: if the reference vehicle 8 is a normal vehicle, the driver can be allowed to drive the reference vehicle 8, and if the reference vehicle 8 is an autonomous vehicle, the travel route (including the travel position, the travel speed, and the like) thereof is set in advance in the reference vehicle 8 as an autonomous vehicle; alternatively, the running route (including the running position, the running speed, and the like) of the reference vehicle 8 is stored or manually input in the operation test management center 7, the reference vehicle 8 includes a wireless communication module having a V2N communication protocol, and the operation test management center 7 is communicatively connected with the reference vehicle 8 through respective wireless communication devices having the V2N communication protocol to control the running of the reference vehicle 8. Preferably, the reference vehicle 8 is an unmanned vehicle.

Based on the above-mentioned test method and test field, in the present embodiment, the reference vehicle 8 is located in front of the vehicle 3 to be tested and runs in the same direction, and when the running speed of the vehicle 3 to be tested is accelerated, the vehicle may collide with the reference vehicle 8, so that the vehicle 3 to be tested must adjust its running route (i.e. exceed the vehicle 3 to be tested in a lateral overtaking manner) to pass through the intersection 2 in front without stopping. Of course, without being limited thereto, the reference vehicle 8 may also travel behind the vehicle under test 3, and if the travel speed profile of the vehicle under test 3 is decelerating, it may collide with the reference vehicle 8, and therefore the vehicle under test 3 must adjust its travel route (i.e., enter an adjacent lane to slow down the speed).

Of course, a plurality of reference vehicles 8 may be provided, and a plurality of reference vehicles 8 may travel in a line, or may travel in different manners around the vehicle 3 to be tested.

Based on the above-described test method and test field, the reference vehicle 8 includes a wireless communication device having a V2V (vehicle-to-vehicle) communication protocol, and the wireless communication device of the vehicle 3 to be tested, which is an autonomous vehicle, also has the V2V (vehicle-to-vehicle) communication protocol. The V2V communication technology can enable vehicles approaching each other to send out basic safety information such as position, speed and running direction, so that occurrence of vehicle collision accidents is greatly reduced, and traffic jam is relieved. The vehicle under test 3 and the reference vehicle 8 can be communicatively connected by respective wireless communication devices to communicate information. The vehicle response to be measured may further include: the vehicle 3 to be measured sends out early warning information to the reference vehicle 8, the early warning information comprising the driving route and/or the driving speed of the vehicle 3 to be measured to be changed. In a real running environment, the automatic driving vehicle can interact with surrounding vehicles to remind the surrounding vehicles of paying attention to sudden road conditions or special road conditions, so that the test field and the test method can also test the capability of the vehicle 3 to be tested for sending early warning information to the surrounding vehicles, and the test result is more comprehensive and reliable and is closer to the real running condition.

Further, whether the vehicle 3 to be measured sends early warning information to the reference vehicle 8 is observed, the receiving and transmitting information of the vehicle 3 to be measured can be directly collected through the collecting module, or the reference vehicle 8 is interconnected with the collecting module, and the receiving and transmitting information of the reference vehicle 8 is collected through the collecting module. Of course, the invention is not limited to the examples described above, but may take any other form.

Example five

In this embodiment, the test field is modified on the basis of the first to fourth embodiments, and as follows, the modification on the basis of the fourth embodiment is taken as an example, and reference may be continued with reference to fig. 3:

when the vehicle 3 to be measured is a VIP vehicle, the roadside apparatus 5 can receive the instruction sent by the vehicle 3 to be measured, and the roadside apparatus 5 controls the corresponding signal lamp apparatus according to the instruction so that the front traveling route of the vehicle 3 to be measured can pass, for example, changes the duration of the straight red light of the signal lamp apparatus so that the straight green light is turned on when the straight vehicle 3 to be measured reaches the intersection 2 at the current speed.

In this embodiment, the test method is modified on the basis of the first to fourth embodiments, and as follows, the modification on the basis of the fourth embodiment is taken as an example, and reference may be continued with reference to fig. 3:

the scene arrangement further comprises: when the vehicle 3 to be tested is a VIP vehicle, the road side device 5 can receive the instruction sent by the vehicle 3 to be tested and control the corresponding signal lamp device to enable the front running route of the vehicle 3 to be tested to pass, and the road side device 5 sends road condition information of the intersection 2 to other vehicles.

In combination with the above test field and test method, VIP vehicles include emergency rescue vehicles (e.g., ambulances, fire trucks), police, military, foreign light receiving government agency enforcement vehicles, and other special government record vehicles. Such a vehicle 3 to be tested not only has the capability described in the first to fourth embodiments, but also notifies (directly or through the operation test management center 7) the roadside device 5 in advance before controlling the driving speed, so that the roadside device 5 changes the corresponding parameters of the signal lamp 4, so that the VIP vehicle can pass through all the intersections 2 without stopping without changing the speed.

Further, based on the above-mentioned test method and test field, the operation test management center 7 can receive the driving path information sent by the VIP vehicle, the operation test management center 7 makes a path planning suggestion and a partial road section management and control scheme, and when the VIP vehicle changes the path, the operation test management center 7 adjusts according to the requirements of the VIP vehicle. The operation test management center 7 also issues road condition information to other vehicles, wherein the road condition information comprises information such as road congestion, VIP vehicle passing request, and the like. The vehicle response to be tested also includes that the VIP vehicle first transmits the travel path information to the operation test management center 7 when starting the test.

Further, the test fields described in the first to fifth embodiments are all embodiments of the test field provided by the present invention, and therefore, the description of the test field provided by the present invention is not repeated.

In addition, it should be noted that the vehicle 3 to be measured actively controls the running speed if it is an unmanned vehicle, and assists the driver to control the running speed if the vehicle 3 to be measured is an assisted driving vehicle. But whatever the autonomous vehicle, the test fields, test procedures and test methods mentioned herein are applicable.

The foregoing is merely exemplary of the present invention and variations in terms of embodiments and applications will occur to those of ordinary skill in the art upon reading the teachings herein, and the disclosure is not to be construed as limiting the invention. And, any feature of the above embodiments is selected to be arranged and combined, which falls within the scope of the present invention.

Claims

1. A method for testing the capability of an automatic driving vehicle to continuously pass through an intersection is characterized by comprising the steps of carrying out scene arrangement and vehicle response to be tested on a test field;

the scene is arranged as follows:

the test field comprises roads, each road comprises at least two intersections which are arranged at intervals, signal lamp equipment and road side equipment which can detect road conditions and form first road condition information are arranged corresponding to each intersection, each road side equipment is in communication connection with the corresponding signal lamp equipment to obtain the signal lamp information, a vehicle to be tested is placed on each road, and each road side equipment sends the first road condition information and the signal lamp information to the vehicle to be tested;

The response of the vehicle to be tested is as follows:

the vehicle to be tested runs on the road and receives first road condition information and signal lamp information sent by corresponding road side equipment before passing through each intersection, the vehicle to be tested controls the running speed after being analyzed and processed according to the first road condition information and the signal lamp information, and finally passes through all the intersections without stopping;

the scene arrangement further comprises: the road side equipment can receive the driving path information sent by the vehicle to be tested, analyze and calculate a second recommended driving speed, and then send the second recommended driving speed to the vehicle to be tested;

the vehicle response to be measured further includes: and the vehicle to be tested sends out driving path information to the road side equipment, analyzes and processes the state of the vehicle to be tested after receiving the second recommended driving speed, and finally passes through all intersections without stopping.

2. The method for testing the ability of an autonomous vehicle to continuously pass through an intersection as claimed in claim 1, wherein,

the scene arrangement further comprises: the test field further comprises an operation test management center, the operation test management center comprises wireless communication equipment with a V2N communication protocol, and the operation test management center sends corresponding second road condition information to the vehicle to be tested before the vehicle to be tested passes through each intersection through the wireless communication equipment;

The vehicle response to be measured further includes: and the vehicle to be tested receives the second road condition information sent by the operation test management center and analyzes and processes the second road condition information in combination with the state, and finally passes through all the intersections without stopping.

3. The method for testing the ability of an autonomous vehicle to continuously pass through an intersection as claimed in claim 2, wherein,

the scene arrangement further comprises: each road side device sends signal lamp information to the operation test management center, the operation test management center can receive driving path information sent by a vehicle to be tested, the operation test management center analyzes and processes the signal lamp information and the second road condition information corresponding to each intersection and the driving path information of the vehicle to be tested to form a first recommended driving speed of the vehicle to be tested passing through each intersection, and the operation test management center sends the first recommended driving speed to the vehicle to be tested;

the vehicle response to be measured further includes: and the vehicle to be tested sends driving path information to the operation test management center before driving to the first intersection, receives the first recommended driving speed and analyzes and processes the first recommended driving speed according to the state, and finally passes through all intersections without stopping.

4. The method for testing the ability of an autonomous vehicle to continuously pass through an intersection as claimed in claim 1, wherein,

the road side equipment comprises a detector for automatically detecting road conditions, a processing module for analyzing and processing road condition related information received from the detector to form first road condition information and wireless communication equipment with a V2I communication protocol, wherein the wireless communication equipment with the V2I communication protocol can receive driving path information sent by a vehicle to be detected, the processing module can analyze and process the driving path information in combination with the first road condition information and signal lamp information to form second recommended driving speed, and the road side equipment sends the first road condition information and the second recommended driving speed to the vehicle to be detected through the wireless communication equipment.

5. The method for testing the ability of an autonomous vehicle to continuously pass through an intersection as claimed in claim 1, wherein,

the scene arrangement further comprises: controlling a reference vehicle to run on the road and around the vehicle to be tested;

the vehicle response to be measured further includes: the vehicle to be tested is prevented from colliding with the reference vehicle while passing through all intersections without stopping.

6. The method for testing the ability of an autonomous vehicle to continuously pass through an intersection as claimed in claim 1, wherein,

at least three intersections are arranged, and the distance between two adjacent intersections is greater than or equal to 150m.

7. The method for testing the ability of an autonomous vehicle to continuously pass through an intersection as claimed in claim 1, wherein,

the scene arrangement further comprises:

when the vehicle to be tested is a VIP vehicle, the road side equipment can receive the instruction sent by the vehicle to be tested and control the corresponding signal lamp equipment to enable the front driving route of the vehicle to be tested to pass.

8. A test field for the ability of an autonomous vehicle to continuously pass through an intersection, comprising:

the road comprises at least two intersections which are arranged at intervals;

the road side equipment is in communication connection with the corresponding signal lamp equipment to acquire the signal lamp information, and can send the first road condition information and the signal lamp information to a vehicle to be tested;

the road side equipment comprises a detector for automatically detecting road conditions, a processing module for analyzing and processing road condition related information received from the detector to form first road condition information and wireless communication equipment with a V2I communication protocol, the road side equipment can send the first road condition information and signal lamp information to a vehicle to be detected through the wireless communication equipment, the wireless communication equipment with the V2I communication protocol can receive driving path information sent by the vehicle to be detected, the processing module can analyze and process the driving path information in combination with the first road condition information and the signal lamp information to form second recommended driving speed, the wireless communication equipment with the V2I communication protocol can send the second recommended driving speed to the vehicle to be detected, the detector is in communication connection with the processing module, and the processing module is in communication connection with the wireless communication equipment with the V2I communication protocol.

9. The test field for the ability of an autonomous vehicle to continuously pass through an intersection of claim 8, further comprising:

the operation test management center comprises wireless communication equipment with a V2N communication protocol, the operation test management center can send corresponding second road condition information to the vehicle to be tested through the wireless communication equipment before the vehicle to be tested passes through each intersection, the operation test management center is in communication connection with each road side equipment to receive signal lamp information sent by the road side equipment, and the operation test management center can receive running path information sent by the vehicle to be tested, analyze and process the second road condition information and the signal lamp information corresponding to each intersection and the running path information to form a first recommended running speed of the vehicle to be tested passing through each intersection and send the first recommended running speed to the vehicle to be tested;

a reference vehicle that runs on the road and around the vehicle to be measured;

setting at least three intersections, wherein the distance between two adjacent intersections is more than or equal to 150m;

the signal lamp equipment comprises a signal lamp and a controller for controlling the signal lamp, and the road side equipment is in communication connection with the controller.