CN110441066A - A kind of intelligent driving vehicle is in ring test method and test macro - Google Patents
A kind of intelligent driving vehicle is in ring test method and test macro Download PDFInfo
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- CN110441066A CN110441066A CN201910635717.6A CN201910635717A CN110441066A CN 110441066 A CN110441066 A CN 110441066A CN 201910635717 A CN201910635717 A CN 201910635717A CN 110441066 A CN110441066 A CN 110441066A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
Abstract
The embodiment of the invention discloses a kind of intelligent driving vehicles in ring test method and test macro, adjusts test scene information in real time according to the car status information received by testing service device；Car status information is acquired in real time by dynamometer machine mould group and is sent to testing service device；Simulated roadway environment corresponding with test scene information adjusted is generated by dynamometer machine mould group, so that tested vehicle is run in simulated roadway environment according to test scene information adjusted；The performance of tested vehicle is determined according to vehicle operating parameters by testing service device；Vehicle operating parameters by the testing time section in each car status information and test scene information determine.Technical solution provided in an embodiment of the present invention is associated with test scene information, the status information of tested vehicle in real time with simulated roadway environment, realize vehicle in the whole scene dynamic realtime closed loop test of ring, it is consistent in ring test scene with real road environment, improves measuring accuracy.
Description
Technical field
The present embodiments relate to vehicle testing technical fields more particularly to a kind of intelligent driving vehicle in ring test method
And test macro.
Background technique
With the fast development of Vehicular intelligent driving technology, intelligent perception module, intelligent decision module in vehicle are executed
Software and hardware ability, data fusion ability and the core calculations ability of module constantly quickly update iteration, and intelligent driving vehicle exists
Ring test has become the key link during intelligent driving vehicle development.
Currently, real vehicles need ambient data being input to above-mentioned tested vehicle by emulated versions in ring test
In, control tested vehicle is run in real road, to realize the performance test of tested vehicle.However, existing intelligent driving
Vehicle has only related to the analogue simulation of vehicle-periphery, the driving parameters of tested vehicle and tested vehicle in ring test technology,
Not really association between the analogue simulation of vehicle-periphery, the driving parameters of tested vehicle and real time road information three,
Intelligent driving vehicle testing scene is not implemented and intelligent driving vehicle runs road environment real-time matching, cannot achieve vehicle in ring
Whole scene dynamic realtime closed loop test, cause test result precision low.
Summary of the invention
The present invention provides a kind of intelligent driving vehicle in ring test method and test macro, to realize that intelligent driving vehicle exists
Ring test scene is consistent with real road environment, improves measuring accuracy.
In a first aspect, the embodiment of the invention provides a kind of intelligent driving vehicles in ring test method, comprising:
Test scene information is adjusted according to the car status information received in real time by testing service device；Wherein, described
Car status information is acquired in real time by dynamometer machine mould group and is sent to testing service device；
Simulated roadway environment corresponding with test scene information adjusted is generated by the dynamometer machine mould group, so that by
Measuring car is run in simulated roadway environment according to test scene information adjusted；
The performance of tested vehicle is determined according to vehicle operating parameters by the testing service device；Wherein, the vehicle fortune
Row parameter by the testing time section in each car status information and test scene information determine.
Second aspect, the embodiment of the invention provides a kind of intelligent driving vehicles in ring test system, comprising:
Testing service device, for adjusting test scene information in real time according to the car status information received；According to vehicle
Operating parameter determines the performance of tested vehicle；Wherein, the car status information is acquired and is sent in real time by dynamometer machine mould group
Testing service device, the vehicle operating parameters by the testing time section in each car status information and test scene information it is true
It is fixed；
The dynamometer machine mould group, for generating simulated roadway environment corresponding with test scene information adjusted, with
Run tested vehicle in simulated roadway environment according to test scene information adjusted.
Intelligent driving vehicle provided in an embodiment of the present invention passes through testing service device root in ring test method and test macro
Test scene information is adjusted in real time according to the car status information received；Car status information is acquired simultaneously in real time by dynamometer machine mould group
It is sent to testing service device；Simulated roadway environment corresponding with test scene information adjusted is generated by dynamometer machine mould group,
So that tested vehicle is run in simulated roadway environment according to test scene information adjusted；By testing service device according to vehicle
Operating parameter determines the performance of tested vehicle；Vehicle operating parameters by the testing time section in each car status information and
Test scene information determines.The vehicle that technical solution testing service device provided in an embodiment of the present invention is fed back according to dynamometer machine mould group
Status information adjusts test scene information in real time, so that simulated roadway environment can be with real-time change, so that test scene information, quilt
The status information of measuring car can be associated in real time with simulated roadway environment, realize vehicle in the whole scene dynamic realtime closed loop of ring
Test, is consistent in ring test scene with real road environment, improves measuring accuracy.
Detailed description of the invention
Fig. 1 is a kind of flow chart of intelligent driving vehicle in ring test method of the offer of the embodiment of the present invention one；
Fig. 2 is a kind of flow chart of the intelligent driving vehicle provided by Embodiment 2 of the present invention in ring test method；
Fig. 3 is a kind of structural schematic diagram of intelligent driving vehicle in ring test system of the offer of the embodiment of the present invention three.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure, in addition, in the absence of conflict, this
The feature in embodiment and embodiment in invention can be combined with each other.
Embodiment one
Fig. 1 is a kind of flow chart of the intelligent driving vehicle of the offer of the embodiment of the present invention one in ring test method, this implementation
Example is applicable to intelligent driving vehicle the ring test the case where, and this method can be by executing in ring test system.
Firstly, it is necessary to explanation, intelligent driving vehicle refers to the vehicle using unmanned scheme, unmanned scheme
It is to be realized based on means such as use high-precision map, radar and the location technologies of real vehicle, is fully controlled with expectation by computer
Running car reaches the complete liberation that people crosses in vehicle driving.
In order to guarantee the safety of the vehicle formedness and traveling of performance in different environments, before vehicle typification all
It needs to carry out a series of test experiments, tests the performance etc. of the intelligent driving system of vehicle.Real vehicles are intelligence in ring test
The key link during vehicle development can be driven.Existing vehicle sets certain generally by simulated environment in ring test
Whether some typical test scenes, which meet testing the behavior of intelligent driving vehicle, preset will go.But above-mentioned simulated environment
In, the behavior of other traffic participants is predetermined, and the behavior of true traffic participant is it and environment real-time, interactive
As a result, therefore, existing test method can not be applied to the simulation process of dynamic environment.
As shown in Figure 1, the intelligent driving vehicle of the embodiment of the present invention mainly includes the following steps: in ring test method
S110, test scene information is adjusted according to the car status information received by testing service device in real time；Wherein,
Car status information is acquired in real time by dynamometer machine mould group and is sent to testing service device.
In the present embodiment, testing service device can be understood as to create according to emulation technology, operation, export virtual ring
The terminal device of border information.Testing service device includes but is not limited to: desktop computer, server, mobile electronic device etc. have
The equipment of communication function and data-handling capacity can be used as above-mentioned testing service device.
Test scene information includes at least one of road information, dynamic traffic stream information, location information or at least
Two kinds of combination.Road information can be understood as the condition information of road, such as: the resistance on rainy weather road surface, strong wind weather
Resistance, road grade, road speed-limiting messages and angle of turn of road that vehicle is subject to etc..Dynamic traffic stream information can be managed
Solution is the multidate information of traffic participant, such as: change the state of traffic lights, simulation pedestrian goes across the road.Location information can be with
Be interpreted as location information of the tested vehicle in simulated roadway environment, such as: at a distance from front vehicles, with side vehicle away from
From at a distance from traffic lines, obstacle information etc..Test scene information can be created by intelligent driving emulation testing scene software
It builds, and is generated after importing virtual environment analogue system editor after can acquiring by real roads scene.It is only right in the present embodiment
The generating mode of test scene information is illustrated, and non-limiting.
Testing service device can completely produce intelligent driving emulation testing scene by 3D virtual technology, and according to
The test scene information or travel condition of vehicle of tester's input adjust intelligent driving emulation testing scene in real time.
Car status information can be understood as the status information of tested vehicle in virtual road environment when driving, can wrap
Include current vehicle speed, acceleration of motion, yaw angle, yaw rate and an information longitudinally, laterally, in the displacement of vertical direction etc.
Or multinomial information.
Dynamometer machine mould group can be understood as the mechanism for acquiring car status information for simulated roadway environment and in real time.It is described
Car status information is acquired in real time by dynamometer machine mould group.The dynamometer machine mould group is arranged at the tire location of tested vehicle, uses
In the real time status information of acquisition vehicle.The state letter of vehicle is acquired by the way that the dynamometer machine mould group at tested vehicle tire is arranged in
Breath, can make collected car status information more accurate, and dynamometer machine mould group collects vehicle-state letter Real-time Feedback
To testing service device.It is that car status information is acquired by the acquisition device in tested vehicle in the prior art, then by being tested
The controller of vehicle is forwarded to testing service device, the technical solution of the present embodiment solve controller and remote testing server it
Between the low problem of measuring accuracy as caused by transmission signal delay.
Further, test scene information is being adjusted according to the car status information received by testing service device in real time
Before, further includes: after receiving test assignment by testing service device, run initial testing scene letter corresponding with test assignment
Breath, and it is sent to dynamometer machine mould group and tested vehicle.
In the present embodiment, test assignment may include test content and Simulation Test Environment, such as: test content can be with
For the Decision Control algorithm of vehicle, then test assignment can be the test vehicle Decision Control algorithm under specific simulated environment
Performance.It should be noted that user can put into test instruction, testing service device by the human-computer interaction interface of testing service device
Obtain test assignment corresponding with test instruction.Appoint it should be noted that only obtaining test to testing service device in the present embodiment
The method of business is illustrated, and non-limiting.
In the present embodiment, it after testing service device gets test assignment, creates and runs corresponding with test assignment
Initial testing scene information, and initial testing scene information is sent to dynamometer machine mould group and tested vehicle.Dynamometer machine mould group root
Corresponding simulated roadway environment is generated according to initial scrnario testing information, tested vehicle is according to initial testing scene information in simulation road
It is run in the environment of road.Dynamometer machine mould group acquires the car status information of tested vehicle in real time and feeds back to testing service device simultaneously,
Testing service device adjusts test scene information according to the car status information received in real time, and test scene adjusted is believed
Breath is sent to dynamometer machine mould group and tested vehicle.Repeatedly, until this test assignment is completed.
This test assignment is completed, it can be understood as the terminal or tested vehicle of vehicle driving to test scene are in mould
Length when driving in quasi- road environment reaches preset duration or tested vehicle and breaks down in simulated roadway environment.
S120, simulated roadway environment corresponding with test scene information adjusted is generated by dynamometer machine mould group, so that
Tested vehicle is run in simulated roadway environment according to test scene information adjusted.
In the present embodiment, simulated roadway environment can be understood as dynamometer machine mould group pass through according to test scene information band vehicle
The 4 wheel driven axis coupling dynamometer machine generation of turning function is taken turns, it is real-time with the intelligent driving emulation testing scene of testing service device operation
The road environment being consistent.
In the present embodiment, dynamometer machine mould group determines corresponding environmental parameter according to test scene information, and according to environment
Parameter operation.Such as: when test scene information be in crossroad of the fine day without traffic lights, it is corresponding when pedestrian jaywalks
Environmental parameter is surface resistance 9kN, then the state that 4 wheel driven axis coupling dynamometer machine simulated roadway resistance is 9kN.
In the present embodiment, tested vehicle receives test scene information adjusted, and according to test scene adjusted
Information and preset Decision Control algorithm generate and execute corresponding operation instruction, so that tested vehicle is in simulated roadway environment
Middle operation.Tested vehicle is run in simulated roadway environment can be understood as 4 wheel driven of the tested vehicle driving with wheel steering function
Axis couples dynamometer machine operation.
Such as: test scene information adjusted is in crossroad of the fine day without traffic lights, and pedestrian jaywalks, and is tested
After vehicle receives above-mentioned scene information, according to the Decision Control algorithm prestored in the controller of tested vehicle, determine tested
The operational order that the executing agency of vehicle should execute, and operational order is sent to corresponding executing agency, so that the machine of execution
Structure executes aforesaid operations instruction.If above-mentioned operational order is braking instruction, then execution structure is braked according to braking instruction and executes system
Dynamic operation is then turned to and is held so that tested vehicle Reduced Speed Now or Brake stop, such as above-mentioned operational order are turning avoidance instruction
Row mechanism executes instruction execution according to steering and turns to bypass barrier movement, so that tested vehicle changes form, track gets around obstacle
Object.
S130, the performance for determining tested vehicle according to vehicle operating parameters by testing service device；Wherein, vehicle operation ginseng
Several each car status informations and test scene information by testing time section determine.
In the present embodiment, testing time section can be understood as testing service device to receive test assignment complete to tested vehicle
At this period of test assignment.Testing service device is according to each car status information and test scene in testing time section
Information determines.
The various car status informations that each period can be acquired during the test, each car status information is united
Meter generates the corresponding vehicle operating parameters of test scene information.Such as: confirmly detect the four crossway in fine day without traffic lights
Mouthful, when pedestrian jaywalks, when vehicle braking, is 3 seconds a length of, and it is 4 seconds that preset requirement, which is fine day braking time, it is determined that tested
The braking ability of vehicle is met the requirements.
It should be noted that can only measure a vehicle performance in a test process, can also measure simultaneously more
Item vehicle performance.Such as: the braking ability of tested vehicle can be the duration slave driving status to halted state of measurement vehicle,
It is also possible to decelerate to the duration of second speed from First Speed, wherein First Speed is greater than second speed.
It should be noted that only vehicle performance is illustrated in the present embodiment, and it is non-limiting, existing vehicle
Braking ability, accelerating ability, performance of avoiding barrier etc. require to be tested, and can complete in primary test, can also
Repeatedly to be tested respectively.
Intelligent driving vehicle provided in an embodiment of the present invention is in ring test method, by testing service device according to receiving
Car status information adjusts test scene information in real time；Car status information is acquired in real time by dynamometer machine mould group and is sent to test
Server；Simulated roadway environment corresponding with test scene information adjusted is generated by dynamometer machine mould group, so that tested vechicle
It is run in simulated roadway environment according to test scene information adjusted；By testing service device according to vehicle operating parameters
Determine the performance of tested vehicle；Vehicle operating parameters are by each car status information and test scene letter in testing time section
Breath determines.Technical solution testing service device provided in an embodiment of the present invention is real according to the car status information that dynamometer machine mould group is fed back
When adjust test scene information so that simulated roadway environment can be with real-time change, so that the shape of test scene information, tested vehicle
State information can be associated in real time with simulated roadway environment, realize vehicle in the whole scene dynamic realtime closed loop test of ring, in ring
Test scene is consistent with real road environment, improves measuring accuracy.
Embodiment two
Fig. 2 is a kind of flow chart of intelligent driving vehicle in ring test method of the offer of the embodiment of the present invention one, above-mentioned
On the basis of embodiment, the embodiment of the present invention has advanced optimized intelligent driving vehicle in ring test method, as shown in Fig. 2, excellent
Mainly include the following steps: after change in ring test method
S210, test scene information is adjusted according to the car status information received by testing service device in real time；Wherein,
Car status information is acquired in real time by dynamometer machine mould group and is sent to testing service device.
In the present embodiment, adjustment test scene information can be understood as test scene and become with time change in real time
Change, such as: scene 2 is become from scene 1, can be one of any test scene information, scene 2 is also possible to any test
One of scene information.
It should be noted that the status information of surrounding traffic environmental change and vehicle has the effect of interaction, for example, working as
Corresponding running resistance and corresponding running resistance is different when 60km/h when speed when speed is 90km/h.Therefore, root
It adjusts test scene information in real time according to car status information, test scene information, simulated roadway environment and tested vehicle can be made
State keep realtime uniform so that vehicle is consistent in ring test scene with real road environment to improve the precision of test.
S220, test scene information adjusted is received by measurement of power controller, and believed according to test scene adjusted
Breath generates measurement of power control instruction.
In the present embodiment, dynamometer machine mould group includes measurement of power controller and the 4 wheel driven axis coupling measurement of power with wheel steering function
Machine, measurement of power controller are communicatively coupled with testing service device.Measurement of power controller and test clothes can be designed according to the actual situation
Connection relationship between business device.Such as: it can be and be attached by wire cable, realize communication and data-transformation facility.
For another example: can be by being wirelessly connected, realize communication and data-transformation facility.Wireless connection can be bluetooth connection, mobile
Cellular data connection and WIFI connection in any one or it is a variety of.In the present embodiment, only to measurement of power controller and test
Connection relationship between server is illustrated, and non-limiting.
Measurement of power controller receives the test scene that testing service device is sent by the communication connection between testing service device
Information generates measurement of power control instruction according to test scene information.
S230, dynamometer machine execution measurement of power control instruction is coupled by 4 wheel driven axis, generate corresponding simulated roadway environment.
In the present embodiment, four tires of tested vehicle are arranged in the 4 wheel driven axis coupling dynamometer machine with wheel steering function
Position, simulate tire and road environment.
Simulated roadway environment can be understood as the various context conversions in real road being specific parameter, when by 4 wheel driven
When axis coupling dynamometer machine is run according to special parameter, road environment corresponding with special parameter can be simulated.Illustratively, it surveys
It include the operating parameter of 4 wheel driven axis coupling dynamometer machine in function control instruction.Such as: if control instruction be 90N resistance, four
It drives axis coupling dynamometer machine and the resistance of 90N is provided.
S240, test scene information adjusted is converted to by perception letter corresponding with perception mould group by signal adapter
Number, and it is sent to perception mould group.
In the present embodiment, perception mould group include: millimetre-wave radar, ultrasonic radar, laser radar, full-view camera,
Intelligent video camera head and at least one of with positioning navigation module, the locating module includes global positioning system (Global
Positioning System, GPS) module and/or Beidou satellite navigation (BeiDou Navigation Satellite, BDS)
Module.
Further, testing service device believes test scene before test scene information is sent to signal adapter
Breath is classified according to the type of each perception device in perception mould group.Sorted test scene information is sent to signal
After converter, perception mould group is sent to by signal adapter.Further, millimetre-wave radar, ultrasonic radar, laser radar,
The test scene information that full-view camera, intelligent video camera head and GPS module and/or Beidou module various pieces receive is different
, GPS module and/or Beidou module receive location information, the video for the surrounding scenes that full-view camera, intelligent video camera head acquire
Information.Collected millimetre-wave radar, ultrasonic radar, laser radar are radar signals.Therefore, test scene information is carried out
Classification can make to perceive the corresponding information of mould group acquisition, and perception mould group is avoided to get garbage, occupied information transmission channel.
Further, signal adapter be test scene information is converted to perception mould group can be with perceptual signal, checkout area
Scape information is to indicate the information of test scene, and perceptual signal is that perception mould group can be with collected signal.Such as: by test scene
The information for needing to pass to radar in information is converted to ultrasonic wave, laser or millimeter wave etc. that radar can identify, for another example:
The information of GPS module and/or Beidou module will be needed to pass in test scene information, is converted to GPS module and/or Beidou mould
The location information etc. that block can identify.For another example: will need to pass to the information of camera in test scene information, be converted to camera shooting
The video format etc. that head can identify.
S250, by perception mould group according to the perceptual signal build environment signal monitored, and be sent to tested vehicle
Controller.
Testing service device is sent to according to by the perceptual signal monitored by perception mould group；By testing service device according to
The perceptual signal and test scene information received, determines the accuracy of perceptual signal.
In the present embodiment, after perception mould group detects perceptual signal, perceptual signal is back to testing service device, is surveyed
Examination server matches perceptual signal perceptual signal corresponding with test scene information, if successful match, it is determined that sense
Know the accurate of signal, if matching is unsuccessful, test scene information is adjusted according to perception information.
S260, tested vehicle controller according to environmental signal and preset decision rule generation execute instruction, with control
Tested vehicle processed is run in simulated roadway environment.
In the present embodiment, the environmental signal that perception mould group will test is transmitted to the decision model in tested vehicle controller
Block executes instruction tested vehicle according to the generation of preset decision rule, will execute instruction and be sent to corresponding executing agency, with
Run executing agency in simulated roadway environment according to driving 4 wheel driven axis coupling dynamometer machine movement, realization is executed instruction.
It should be noted that the perceptual signal that sensing module detects is simulation, the environmental signal that sensing module generates
The case where generating the actual working state executed instruction be in tested vehicle with controller, being not simulation.
S270, dynamometer machine acquisition real-time vehicle status information is coupled by 4 wheel driven axis.
S280, car status information is forwarded to by testing service device by measurement of power controller.
After executing agency's driving 4 wheel driven axis coupling dynamometer machine operation of tested vehicle, it is real-time that 4 wheel driven axis couples dynamometer machine acquisition
Car status information is forwarded to testing service device by measurement of power controller by car status information.
S290, the performance for determining tested vehicle according to vehicle operating parameters by testing service device；Wherein, vehicle operation ginseng
Several each car status informations and test scene information by testing time section determine.
Intelligent driving vehicle provided in an embodiment of the present invention is in ring test method, by testing service device according to receiving
Car status information adjusts test scene information in real time；Car status information is acquired in real time by dynamometer machine mould group and is sent to test
Server；Simulated roadway environment corresponding with test scene information adjusted is generated by dynamometer machine mould group, so that tested vechicle
It is run in simulated roadway environment according to test scene information adjusted；By testing service device according to vehicle operating parameters
Determine the performance of tested vehicle；Vehicle operating parameters are by each car status information and test scene letter in testing time section
Breath determines.Technical solution testing service device provided in an embodiment of the present invention is real according to the car status information that dynamometer machine mould group is fed back
When adjust test scene information so that simulated roadway environment can be with real-time change, so that the shape of test scene information, tested vehicle
State information can be associated in real time with simulated roadway environment, realize vehicle in the whole scene dynamic realtime closed loop test of ring, in ring
Test scene is consistent with real road environment, improves measuring accuracy.
Embodiment three
Fig. 3 is a kind of structural schematic diagram of intelligent driving vehicle in ring test system of the offer of the embodiment of the present invention three, this
Embodiment is applicable to intelligent driving vehicle the ring test the case where, as shown in figure 3, intelligent driving vehicle is in ring test system master
Include:
Testing service device 201, for adjusting test scene information in real time according to the car status information received；According to vehicle
Operating parameter determines the performance of tested vehicle；Wherein, car status information is acquired in real time by dynamometer machine mould group and is sent to survey
Try server, vehicle operating parameters by the testing time section in each car status information and test scene information determine；It surveys
Function machine mould group, for generating corresponding with test scene information adjusted simulated roadway environment so that tested vehicle according to
Test scene information adjusted is run in simulated roadway environment.
Testing service device 201 after being also used to receive test assignment, runs initial testing corresponding with the test assignment
Scene information, and it is sent to the dynamometer machine mould group and the tested vehicle.
The test scene information include: at least one of road information, dynamic traffic stream information, location information or
At least two combination.
Further, the dynamometer machine mould group includes: 4 wheel driven axis coupling dynamometer machine 205 and measurement of power controller 203；The survey
Function controller 203 generates measurement of power control for receiving test scene information adjusted, and according to test scene information adjusted
System instruction.The 4 wheel driven axis coupling dynamometer machine 205 generates corresponding simulated roadway environment for executing measurement of power control instruction.
Further, the 4 wheel driven axis couples dynamometer machine 205, is also used to acquire real-time vehicle status information；Measurement of power control
The car status information is forwarded to the testing service device by device 203.
Further, signal adapter 202, it is corresponding with perception mould group for being converted to test scene information adjusted
Perceptual signal, and be sent to perception mould group 204；Mould group 204 is perceived according to the perceptual signal build environment signal monitored, and
It is sent to the controller 206 of institute's tested vehicle；The controller 206 of tested vehicle is according to environmental signal and preset decision rule
Generation executes instruction, and is run with controlling tested vehicle in simulated roadway environment.
In the present embodiment, between testing service device 201 and measurement of power controller 203, signal adapter 202 and perception mould group
It is communicatively coupled by way of bus.
Further, the perception mould group include: millimetre-wave radar, ultrasonic radar, laser radar, full-view camera,
Intelligent video camera head and at least one of with positioning navigation module, the locating module includes that GPS module and/or big-dipper satellite are led
Model plane block.
Further, control tested vehicle is run in simulated roadway environment, comprising: control tested vehicle drives 4 wheel driven axis
Dynamometer machine operation is coupled, so that 4 wheel driven axis coupling dynamometer machine acquires real-time vehicle status information.
Further, the perception mould group 204 is also used to be sent to the test clothes according to by the perceptual signal monitored
Business device.
The testing service device 201 is also used to be determined according to the perceptual signal and the test scene information that receive
The accuracy of the perceptual signal.
Intelligent driving vehicle provided in an embodiment of the present invention is in ring test system, by testing service device according to receiving
Car status information adjusts test scene information in real time；Car status information is acquired in real time by dynamometer machine mould group and is sent to test
Server；Simulated roadway environment corresponding with test scene information adjusted is generated by dynamometer machine mould group, so that tested vechicle
It is run in simulated roadway environment according to test scene information adjusted；By testing service device according to vehicle operating parameters
Determine the performance of tested vehicle；Vehicle operating parameters are by each car status information and test scene letter in testing time section
Breath determines.Technical solution testing service device provided in an embodiment of the present invention is real according to the car status information that dynamometer machine mould group is fed back
When adjust test scene information so that simulated roadway environment can be with real-time change, so that the shape of test scene information, tested vehicle
State information can be associated in real time with simulated roadway environment, realize vehicle in the whole scene dynamic realtime closed loop test of ring, in ring
Test scene is consistent with real road environment, improves measuring accuracy.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of intelligent driving vehicle is in ring test method characterized by comprising
Test scene information is adjusted according to the car status information received in real time by testing service device；Wherein, the vehicle
Status information is acquired in real time by dynamometer machine mould group and is sent to testing service device；
Simulated roadway environment corresponding with test scene information adjusted is generated by the dynamometer machine mould group, so that tested vechicle
It is run in simulated roadway environment according to test scene information adjusted；
The performance of tested vehicle is determined according to vehicle operating parameters by the testing service device；Wherein, the vehicle operation ginseng
Several each car status informations and test scene information by testing time section determine.
2. the method according to claim 1, wherein it is described by testing service device according to the vehicle shape received
State information is adjusted in real time before test scene information, further includes:
After receiving test assignment by testing service device, initial testing scene information corresponding with the test assignment is run,
And it is sent to the dynamometer machine mould group and the tested vehicle.
3. the method according to claim 1, wherein the test scene information includes: road information, dynamic friendship
At least one of through-flow information, location information or at least two combination.
4. the method according to claim 1, wherein the dynamometer machine mould group includes: 4 wheel driven axis coupling dynamometer machine
With measurement of power controller；
Correspondingly, described generate simulated roadway ring corresponding with test scene information adjusted by the dynamometer machine mould group
Border, comprising:
Test scene information adjusted is received by the measurement of power controller, and is generated according to test scene information adjusted
Measurement of power control instruction；
Dynamometer machine is coupled by the 4 wheel driven axis and executes measurement of power control instruction, generates corresponding simulated roadway environment.
5. according to the method described in claim 4, it is characterized by further comprising:
Dynamometer machine, which is coupled, by the 4 wheel driven axis acquires real-time vehicle status information；
The car status information is forwarded to the testing service device by measurement of power controller.
6. according to the method described in claim 5, it is characterized in that, the tested vehicle is according to test scene information adjusted
It is run in simulated roadway environment, comprising:
Test scene information adjusted is converted into perceptual signal corresponding with perception mould group by signal adapter, and is sent
To perception mould group；
By perception mould group according to the perceptual signal build environment signal monitored, and it is sent to the control of the tested vehicle
Device；
The controller of the tested vehicle is executed instruction according to environmental signal and the generation of preset decision rule, tested to control
Vehicle is run in simulated roadway environment.
7. according to the method described in claim 6, it is characterized in that, the perception mould group includes: millimetre-wave radar, ultrasonic wave thunder
It reaches, at least one of laser radar, full-view camera, intelligent video camera head and positioning navigation module, the locating module includes
Global position system GPS module and/or Beidou satellite navigation system BDS module.
8. according to the method described in claim 6, it is characterized in that, the control tested vehicle is transported in simulated roadway environment
Row, comprising:
It controls the tested vehicle and drives the 4 wheel driven axis coupling dynamometer machine operation, so that 4 wheel driven axis coupling dynamometer machine acquisition
Real-time vehicle status information.
9. according to the method described in claim 5, it is characterized in that, being generated by perception mould group according to the perceptual signal monitored
After environmental signal, further includes:
The testing service device is sent to according to the perceptual signal that will be monitored by the perception mould group；
By the testing service device according to the perceptual signal and the test scene information received, the perception letter is determined
Number accuracy.
10. a kind of intelligent driving vehicle is in ring test system characterized by comprising
Testing service device, for adjusting test scene information in real time according to the car status information received；It is run according to vehicle
Parameter determines the performance of tested vehicle；Wherein, the car status information is acquired in real time by dynamometer machine mould group and is sent to test
Server, the vehicle operating parameters by the testing time section in each car status information and test scene information determine；
The dynamometer machine mould group, for generating simulated roadway environment corresponding with test scene information adjusted, so that by
Measuring car is run in simulated roadway environment according to test scene information adjusted.
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