CN112597061A - ACC system performance test method and related equipment - Google Patents
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Abstract
One or more embodiments of the present specification provide an ACC system performance testing method and related apparatus, the method including: determining a basic test scene and a test function for testing the adaptive cruise control ACC system; in response to determining that the basic test scenario is a general environment, classifying the basic test scenario to obtain all sub-scenarios of the basic test scenario; and determining corresponding test parameters based on the selected sub-scenes and the test functions, and generating corresponding test information. The method can enable the test of the ACC system to be realized more easily, and greatly improve the test efficiency.
Description
Technical Field
One or more embodiments of the present disclosure relate to the technical field of an automobile assistant driving system, and in particular, to an ACC system performance testing method and related devices.
Background
An Advanced Driving Assistance System (ADAS) product is a set of automobile system which utilizes various sensor technologies to collect and analyze driving data in real time, can inform drivers of the current driving condition in time, assists or controls vehicle driving and aims at improving traffic safety. In order to ensure that the ADAS product can meet certain standard requirements on functional safety, the functions of the new products need to be tested and certified, and performance evaluation is performed. Therefore, it is very important to develop a set of testing procedures with strict procedures, comprehensive consideration and detailed experience.
An Adaptive Cruise Control (ACC) system is one of ADAS products, an existing ACC system is not sufficiently and effectively combined with a driving scene in the aspects of standard formulation and test certification, so that the ACC system is not tested and verified under enough and necessary scenes, and the current situation possibly causes insufficient performance test and unreasonable evaluation of the ACC system, thereby causing potential product use safety risks. In addition, the complex traffic scenario makes testing of ACC systems difficult and inefficient to implement. Therefore, a method is needed to improve the situation.
Disclosure of Invention
In view of this, one or more embodiments of the present disclosure provide an ACC system performance testing method and related devices, so as to solve the problems that the ACC system is difficult to test and the testing efficiency is low due to a complex traffic scenario.
In view of the above, one or more embodiments of the present specification provide an ACC system performance testing method, including:
determining a basic test scene and a test function for testing the adaptive cruise control ACC system;
in response to the fact that the basic test scene is determined to be a general environment, dividing the basic test scene to obtain all sub-scenes of the basic test scene;
and determining corresponding test parameters based on the selected sub-scenes and the test functions, and generating corresponding test information.
Further, the basic test scene comprises an expressway and an urban road.
Further, the test functions include constant speed cruising, car following functions, stop/stop functions, and overtaking assistance functions.
Further, the general environment is represented as:
the traffic participants of the basic test scene comprise a test vehicle carrying an ACC system and at most one intervener influencing the ACC system, wherein the intervener comprises a motor vehicle, a non-motor vehicle, a pedestrian, an animal and an object.
Further, all sub-scenarios of the base test scenario include: the highway comprises a main highway road, a ramp, a tunnel, a toll station, a service area, an urban main road and an urban intersection.
Further, the test parameters include: the system comprises a test vehicle parameter, a target vehicle parameter, transverse and longitudinal position parameters of the test vehicle and the target vehicle, and a road parameter.
Further, the test vehicle parameters at least comprise initial longitudinal speed of the test vehicle, transverse speed of the test vehicle, longitudinal acceleration of the test vehicle, lane changing time of the test vehicle, offset of a longitudinal axis of the test vehicle and a central line of the test vehicle lane, and offset of the test vehicle and a central line of a target lane;
the target vehicle parameters at least comprise initial longitudinal speed of the target vehicle, transverse speed of the target vehicle, longitudinal acceleration of the target vehicle, lane changing duration of the target vehicle, initial relative transverse distance between the target vehicle and the test vehicle, and initial relative longitudinal distance between the target vehicle and the test vehicle;
the transverse and longitudinal position parameters of the test vehicle and the target vehicle at least comprise the bias rate of the test vehicle and the target vehicle, the collision time of the test vehicle and the target vehicle, and the head time distance of the test vehicle and the target vehicle;
the road parameters at least include lane width, lane line type, lane line color, longitudinal grade, number of lanes, driving lane and curve radius.
Based on the same inventive concept, one or more embodiments of the present specification further provide an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the method as described in any one of the above items when executing the program.
Based on the same inventive concept, one or more embodiments of the present specification also provide a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method as any one of the above.
As can be seen from the above, in the ACC system testing method provided in one or more embodiments of the present disclosure, from the perspective of the function of the ACC system, a test scenario with high occurrence frequency and high occurrence probability is further divided into a plurality of component scenarios, and corresponding test parameters are further selected to generate corresponding test information. The sub-scenes are split into a plurality of sub-scenes, so that the test of the ACC system is more realized, and the test efficiency of the ACC system is greatly improved.
Drawings
In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only one or more embodiments of the present specification, and that other drawings may be obtained by those skilled in the art without inventive effort from these drawings.
FIG. 1 is a flowchart of an ACC system performance testing method according to one or more embodiments of the present disclosure;
FIG. 2 is a schematic diagram of an ACC system performance testing apparatus according to one or more embodiments of the present disclosure;
fig. 3 is a schematic structural diagram of an electronic device according to one or more embodiments of the present disclosure.
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present specification should have the ordinary meaning as understood by those of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
As described in the background section, in order to enable the ACC system to meet certain standard requirements in terms of functional safety, the function of the ACC system needs to be tested and authenticated; however, the existing ACC system is not sufficiently and effectively combined with a driving scene in the aspects of standard formulation and test certification, so that safety risk exists, and the complex traffic scene makes the ACC system testing time easy to implement and the testing efficiency low.
In view of this, one or more embodiments of the present disclosure provide an ACC system performance testing method, which, with reference to fig. 1, includes the following steps:
step S101: and determining a basic test scene and a test function for testing the adaptive cruise control ACC system.
In this step, the basic test scenario of the ACC system includes an expressway and an urban road, and the test functions of the ACC system specifically include a cruise control function, a car following function, a stop/stop function, and an overtaking assist function. It is to be understood that the above-described test functions are basic functions of the ACC system, and therefore, the test functions may be determined according to the actual functions of the ACC system, and are not specifically limited herein.
Step S102: in response to the fact that the basic test scene is determined to be a general environment, dividing the basic test scene to obtain all sub-scenes of the basic test scene;
in this step, the traffic participants whose general environment is represented as an expressway or an urban road include a test vehicle on which the ACC system is mounted, and at most one kind of interventionalist who affects the ACC system.
In a practical driving environment, traffic participants include not only motor vehicles but also non-motor vehicles, pedestrians, animals and objects. The above-mentioned motor vehicles, non-motor vehicles, pedestrians, animals, and objects may become interventionalists that affect the sensor devices of the ACC system, and thus it is necessary to determine whether the basic test scenario is a general environment.
Accordingly, the general environment described above can be classified into the following cases: one is that the traffic participant of the expressway or urban road only includes the test vehicle carrying ACC system; the other type of traffic participants of the expressway or the urban road comprises one of an intervening non-motor vehicle, an intervening pedestrian, an intervening animal and an intervening object besides a test vehicle carrying the ACC system. And if the basic test scene is not the general environment, not testing.
Further, all the sub-scenes of the basic test scene comprise an expressway main road, an expressway ramp, an expressway tunnel, an expressway toll station, an expressway service area, an urban main road and an urban intersection. All the sub-scenes of the basic test scene are divided based on the scene types with high occurrence probability, strong influence and reference significance, the types of all the scenes do not need to be exhausted, and the waste of test resources is avoided.
Step S103: and determining corresponding test parameters based on the selected sub-scenes and the test functions, and generating corresponding test information.
In this step, the test parameters include test vehicle parameters, target vehicle parameters, lateral and longitudinal position parameters of the test vehicle and the target vehicle, and road parameters. It can be understood that different test vehicle behaviors and target vehicle behaviors can be generated by testing different ACC system functions, so that corresponding test parameters are determined according to the test functions of the ACC system, that is, corresponding test parameters are determined according to the test vehicle behaviors and the target vehicle behaviors corresponding to the test functions.
Specifically, the test vehicle parameters at least comprise an initial longitudinal speed of the test vehicle, a transverse speed of the test vehicle, a longitudinal acceleration of the test vehicle, lane changing time of the test vehicle, an offset between a longitudinal axis of the test vehicle and a central line of the test vehicle lane, and an offset between the test vehicle and a central line of a target lane; the target vehicle parameters at least comprise initial longitudinal speed of the target vehicle, transverse speed of the target vehicle, longitudinal acceleration of the target vehicle, lane changing duration of the target vehicle, initial relative transverse distance between the target vehicle and the test vehicle, and initial relative longitudinal distance between the target vehicle and the test vehicle; the transverse and longitudinal position parameters of the test vehicle and the target vehicle at least comprise the bias rate of the test vehicle and the target vehicle, the Time To Collision (TTC) of the test vehicle and the target vehicle, and The Headway (THW) of the test vehicle and the target vehicle; the road parameters at least comprise lane width, lane line type, lane line color, longitudinal gradient, lane number, driving lane and curve radius.
The following description is given for determining test parameters, for example, a sub-scene is an urban intersection, the following function of the ACC system is tested, if the behavior of the target vehicle is intersection straight, the behavior of the test vehicle is also intersection straight, the test parameters selected by the target vehicle intersection straight include the initial longitudinal speed of the target vehicle, the longitudinal acceleration of the target vehicle, the relative transverse distance between the target vehicle and the test vehicle, and the initial relative longitudinal distance between the target vehicle and the test vehicle; the parameters of the straight-going selection of the test vehicle intersection comprise the initial longitudinal speed of the test vehicle, the offset of the longitudinal axis of the test vehicle and the central line of the test vehicle lane; the system also comprises the bias rate of the test vehicle and the target vehicle, the collision time of the test vehicle and the target vehicle, and the head time distance of the test vehicle and the target vehicle; and finally, selecting road parameters of the urban intersection, including lane width, lane line type, lane line color, longitudinal gradient and lane number driving lanes (n-th lane from left to right).
Further, generating corresponding test information according to the selected basic test scenario, the sub-scenario of the basic test scenario, and the test parameters, and explaining the generated test information by way of example, for example:
(1) basic test scenario: urban road
(2) ACC system test function: car following function
(3) A sub-scene: city crossing
(4) Testing parameters: initial longitudinal speed of target vehicle, longitudinal acceleration of target vehicle, target vehicle and measuring
The relative transverse distance of the test car and the initial relative longitudinal distance of the target car and the test car are obtained; the initial longitudinal speed of the test car, the offset of the longitudinal axis of the test car and the central line of the test lane; the offset rate of the test vehicle and the target vehicle, the collision time of the test vehicle and the target vehicle, and the head time distance of the test vehicle and the target vehicle; lane width, lane line type, lane line color, longitudinal slope, number of lanes (n-th lane from left to right).
As an optional embodiment, the value of the test parameter is determined according to the test parameter.
Specifically, for example, the test car lane change time: 4.7-13.1 s; the initial longitudinal speed of the test vehicle is 60-80 km/h; the transverse speed of the test vehicle is as follows: 0.52-1.29 m/s; longitudinal acceleration of the test vehicle: -2.55-1.68 m/s; the initial relative transverse distance between the target vehicle and the test vehicle is as follows: 80-150 m; offset of the longitudinal axis of the test car and the central line of the test lane: -0.375-0.375 m; the offset ratio of the test vehicle to the target vehicle is as follows: 25%, ± 75%, ± 50, 100%. The value of the test parameter can be determined according to the traffic regulation and the test function under the actual sub-scene, and is not limited specifically here.
It can be seen that, in the ACC system performance testing method provided in one or more embodiments of the present specification, the ACC system is not placed in a driving environment with many traffic participants and abnormal complex behaviors, but the basic testing scenario is further divided into sub-scenarios with high occurrence frequency and high occurrence probability, so that the ACC system testing is easier to implement and has higher efficiency, the ACC system performance is fully tested, the sub-scenarios are combined to further reproduce the complex driving scenario, and the final testing result is favorable for reasonably evaluating the ACC system performance, and is favorable for reducing the safety risk when the ACC system is actually applied.
It is to be appreciated that the method can be performed by any apparatus, device, platform, cluster of devices having computing and processing capabilities.
It should be noted that the method of one or more embodiments of the present disclosure may be performed by a single device, such as a computer or server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the devices may perform only one or more steps of the method of one or more embodiments of the present disclosure, and the devices may interact with each other to complete the method.
It should be noted that the above description describes certain embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Based on the same inventive concept, one or more embodiments of the present specification further provide an ACC system performance testing apparatus. With reference to fig. 2, the ACC system performance testing device includes:
a determination module: configured to determine a base test scenario for testing the adaptive cruise control ACC system and a test function;
a judging module: configured to divide the base test scenario to obtain all sub-scenarios of the base test scenario in response to determining that the base test scenario is a general environment;
a generation module: configured to determine corresponding test parameters based on the selected sub-scenario and the test function, and generate corresponding test information.
For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functionality of the modules may be implemented in the same one or more software and/or hardware implementations in implementing one or more embodiments of the present description.
The apparatus of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Fig. 3 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the electronic device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called to be executed by the processor 1010.
The input/output interface 1030 is used for connecting an input/output module to input and output information. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The communication interface 1040 is used for connecting a communication module (not shown in the drawings) to implement communication interaction between the present apparatus and other apparatuses. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).
It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.
The electronic device of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present description as described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present description, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
It is intended that the one or more embodiments of the present specification embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (10)
1. An ACC system performance testing method is characterized by comprising the following steps:
determining a basic test scene and a test function for testing the adaptive cruise control ACC system;
in response to determining that the basic test scenario is a general environment, dividing the basic test scenario to obtain all sub-scenarios of the basic test scenario;
and determining corresponding test parameters based on the selected sub-scenes and the test functions, and generating corresponding test information.
2. The method of claim 1, wherein the base test scenario includes an expressway and an urban road.
3. The method of claim 1, wherein the test functions include cruise control, car following, stop/go, and cut-in assist functions.
4. The method of claim 1, wherein the general environment is represented as:
the traffic participants of the basic test scene comprise a test vehicle carrying an ACC system and at most one intervener influencing the ACC system, wherein the intervener comprises a motor vehicle, a non-motor vehicle, a pedestrian, an animal and an object.
5. The method of claim 1, wherein all sub-scenarios of the base test scenario include: the highway comprises a main highway road, a ramp, a tunnel, a toll station, a service area, an urban main road and an urban intersection.
6. The method of claim 1, wherein the test parameters comprise: the system comprises a test vehicle parameter, a target vehicle parameter, transverse and longitudinal position parameters of the test vehicle and the target vehicle, and a road parameter.
7. The method of claim 6, wherein the test vehicle parameters include at least test vehicle initial longitudinal velocity, test vehicle lateral velocity, test vehicle longitudinal acceleration, test vehicle lane change time, test vehicle longitudinal axis to test vehicle lane centerline offset, test vehicle to target lane centerline offset;
the target vehicle parameters at least comprise initial longitudinal speed of the target vehicle, transverse speed of the target vehicle, longitudinal acceleration of the target vehicle, lane changing duration of the target vehicle, initial relative transverse distance between the target vehicle and the test vehicle, and initial relative longitudinal distance between the target vehicle and the test vehicle;
the transverse and longitudinal position parameters of the test vehicle and the target vehicle at least comprise the bias rate of the test vehicle and the target vehicle, the collision time of the test vehicle and the target vehicle, and the head time distance of the test vehicle and the target vehicle;
the road parameters at least include lane width, lane line type, lane line color, longitudinal grade, number of lanes, driving lane and curve radius.
8. An ACC system performance testing apparatus, comprising:
a determination module: configured to determine a base test scenario for testing the adaptive cruise control ACC system and a test function;
a judging module: configured to divide the base test scenario to obtain all sub-scenarios of the base test scenario in response to determining that the base test scenario is a general environment;
a generation module: configured to determine corresponding test parameters based on the selected sub-scenario and the test function, and generate corresponding test information.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the program.
10. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 7.
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