CN112765722A - Test scene design method for test field of automatic driving automobile - Google Patents
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Abstract
The invention relates to the technical field of automatic driving automobile testing, in particular to a test scene design method for an automatic driving automobile test field, which comprises a V2V technology, a V2I technology, a V2P technology and a V2N technology, wherein the application scenes of the V2V technology comprise a straight-going application scene, a steering application scene, an intersection auxiliary application scene and a lane change application scene, and the application scenes of the V2I technology comprise a weather early warning, a lane change speed limit early warning, a red light early warning, a pedestrian early warning of a humanoid crosswalk and a speed limit construction area early warning. According to the design method for the test scene of the automatic driving automobile test field, the test cases are obtained through virtual simulation modeling, the test cases are derived from a functional scene and a logic scene, the scene parameter distribution has good continuity, the scene element arrangement and combination has diversity, a standard driving scene data interface is developed by means of a virtual simulation tool chain, the test cases can be imported in batch and modeled, a high-performance simulation server is used for realizing batch simulation tests, and the time cost and the labor cost are saved.
Description
Technical Field
The invention relates to the technical field of automatic driving automobile testing, in particular to a test scene design method for an automatic driving automobile test field.
Background
The research and development speed of the automatic driving automobile in China is very fast, the automatic driving automobiles of multiple enterprises begin to test on roads, but the current road test has a series of limitations such as high test cost, long test period, more test accidents and the like, and the automatic driving automobile test is simplified, atypical and incapable of covering all complex special scenes.
The automatic driving test in China is greatly advanced, but the automatic driving test is faced with many problems, the scene is a very important ring in an automatic driving test system, but the current test scene does not have Chinese driving scene characteristics, can not completely accord with standard regulations, artificial experience data, Chinese traffic accident data, natural driving data and the like at the same time, and the construction of a scientific and efficient automatic driving capability test scene must be accelerated, and the evaluation environment of the automatic driving capability test is built, so that the design method of the test scene of the automatic driving automobile test field is urgently needed for the technical field of the current automatic driving automobile test.
Disclosure of Invention
The invention provides a test scene design method for an automatic driving automobile test field, which aims to solve the problems in the prior art.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to the embodiment of the invention, the method for designing the test scene of the automatic driving automobile test field comprises an automobile, a cloud terminal, a V2V technology, a V2I technology, a V2P technology and a V2N technology, wherein the V2V technology application scene comprises a straight-going application scene, a steering application scene, an intersection auxiliary application scene and a lane-changing application scene, the V2I technology application scene comprises a weather early warning, a lane-changing speed-limiting early warning, a red light early warning, a pedestrian-shaped crosswalk early warning, a curve speed-limiting early warning and a speed-limiting construction area early warning, the V2P technology application scene comprises a road pedestrian early warning and a reversing early warning, the V2N technology scene mainly carries out remote data transmission and timely reports the cloud terminal to interact with the automobile in case of danger, the test scene is smoothly communicated with a cloud terminal traffic police command center, the automobile can possibly encounter traffic jam and traffic accident conditions in the driving process, and is effective, the vehicle and traffic information are reported to the cloud end in real time by the self vehicle, the cloud end can monitor road condition information in real time, the cloud end can send traffic jam and accident conditions to the vehicle through broadcasting, the vehicle can also select a route according to the road condition information to ensure smooth traveling, the direct-driving application scene comprises front collision early warning, vehicle out-of-control early warning and a sudden braking lamp, and the steering application scene comprises the prohibition of passing through early warning and left turn assisting.
Further, the front collision early warning is divided into four categories according to the state of the front vehicle, including front vehicle braking, front vehicle deceleration, normal driving and sudden insertion of the vehicle in front of the V2X experiment vehicle, when the front vehicle brakes, the V2X receives relevant information to process information, and the experiment vehicle performs deceleration or braking action to prevent collision with the front vehicle; when the current vehicle decelerates, the test vehicle makes a deceleration or braking action after receiving the deceleration signal, so as to prevent the collision action; when the current vehicle normally runs, the test vehicle keeps running at the safe distance and the current speed; when the vehicle is suddenly inserted in front of the experimental vehicle, the V2X can timely receive the information, and then the vehicle performs braking action to avoid rear-end collision.
Further, the vehicle out-of-control early warning means that when the vehicle itself is out of control in the traffic flow, the vehicle state can be timely sent to the surroundings, the surrounding vehicles can sense out-of-control signals, the V2X needs to be tested for sending and receiving the out-of-control signals respectively, the test vehicle A and the test vehicle B are respectively driven on a test road at a constant speed, the vehicle A is in front, the vehicle B is behind, the two vehicles keep a certain safety distance, the vehicle A is firstly made to simulate out-of-control, the out-of-control signal is sent out, whether the vehicle B receives the out-of-control signal of the vehicle A and decelerates, and then the vehicle B is made to simulate out-of-control, and whether the vehicle A receives the out-of.
Furthermore, in the emergency braking light scene, when peripheral vehicles perform emergency braking, the double flashes are automatically lightened as an early warning signal, the test vehicle and the front vehicle keep a safe distance, the two vehicles run at a constant speed, the front vehicle can be in the same lane as the test vehicle or in different lanes from the test vehicle, the front vehicle performs emergency braking and opens the double flashes in the running process, and whether the test vehicle performs deceleration is detected.
Further, the prohibition-passing early warning includes an experimental vehicle a, an assistant vehicle B and an assistant vehicle C, the assistant vehicle B serves as a front vehicle for the experimental vehicle a to overtake, the assistant vehicle C serves as a counter vehicle, the experimental vehicle a overtakes after the assistant vehicle B is followed at a constant speed for a period of time, the assistant vehicle C is also in a running state and is close to the assistant vehicle B, and whether the experimental vehicle a can give feedback to the situation is detected.
Further, when the vehicle turns left in the left-turning auxiliary scene, the system detects whether the vehicle approaches, if so, the system reminds or decelerates the vehicle, the test vehicle turns left at a lower speed, and meanwhile, the coming vehicle approaches the test vehicle at a certain speed, and the response behavior of the test vehicle is tested.
Furthermore, the intersection needs to be assisted by testing the left turn, the right turn and the straight movement of the intersection, identifying various behaviors of the signal lamp, understanding the driving intention of the opposite side and reducing the probability of accidents.
Further, the lane change application scene comprises a social vehicle serving as a front vehicle and an experimental vehicle serving as a rear vehicle, the overtaking behavior is simulated, when the rear vehicle carries out lane change to prepare overtaking, the front vehicle is intentionally and transversely close to the rear vehicle, and the timeliness of the behavior that the rear vehicle sends out an alarm to remind is detected.
Furthermore, in the weather early warning scene, under severe weather conditions such as foggy weather or rain, snow and the like, the test vehicle runs at a constant speed, the system detects the weather condition in front, and whether the test vehicle runs at a reduced speed or brakes is observed and tested.
Further, in the curve speed limit early warning, when the vehicle enters a turning working condition from a straight road, the V2X equipment timely reminds the driver to slow down and walk after receiving a related curve speed limit signal, and when the test vehicle enters a sharp turning working condition at a higher speed from the straight road, the test vehicle is tested whether to make a deceleration action.
Furthermore, in the red light early warning, when the test vehicle approaches the intersection with the traffic signal lamp, the red light is about to be lighted, and the V2X equipment judges that the vehicle cannot pass through the intersection in time, the test vehicle is decelerated and stopped in time, and particularly the intersection without the traffic light countdown display screen has the function of 'predicting' the time of the traffic light.
Furthermore, pedestrian detection sensors are installed on pedestrian crossing lines in pedestrian crossing pedestrian early warning, when vehicles are close to the pedestrian crossing, traffic signal facilities send pedestrian information to surrounding vehicles to prompt the vehicles to decelerate and stop, the test vehicle runs at normal speed, meanwhile, pedestrians on the opposite pedestrian crossing pass through the test vehicle at normal speed, and whether the test vehicle can decelerate and stop is tested.
Further, the test vehicle runs at a speed higher than the speed limit in the early warning of the speed limit construction area, and when the vehicle runs close to the speed limit area, whether the test vehicle can slow down to a speed lower than the speed limit or not is detected.
Further, the road pedestrian early warning reminds when detecting that there is collision hidden danger between the self-vehicle and the pedestrian, effectively avoids the occurrence of collision accidents, and the general early warning mode has sound and images.
Furthermore, the early warning of backing a car is that the vehicle is in the in-process of backing a car and going out of the warehouse, probably crowd appears in driver's vision blind area, produces the collision hidden danger, and then the process of sending out the police dispatch newspaper, and the pedestrian is when the car that is backing a car and going out of the warehouse, because driver's vision blind area fails in time to discover surrounding crowd, takes place the traffic accident very easily.
The invention has the following advantages:
according to the design method for the test scene of the automatic driving automobile test field, the test cases are obtained through virtual simulation modeling, the test cases are derived from a functional scene and a logic scene, the scene parameter distribution has good continuity, the scene element arrangement and combination has diversity, a standard driving scene data interface is developed by means of a virtual simulation tool chain, the test cases can be imported in batch and modeled, a high-performance simulation server is used for realizing batch simulation tests, and the time cost and the labor cost are saved.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the present specification, the terms "upper", "lower", "left", "right", "middle", and the like are used for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications in the relative relationship may be made without substantial changes in the technical content.
The invention provides the technical scheme that:
a design method for a test scene of an automatic driving automobile test field comprises a self-automobile, a cloud terminal, a V2V technology, a V2I technology, a V2P technology and a V2N technology, wherein the scene of the V2V technology application comprises a straight-going application scene, a steering application scene, an intersection auxiliary application scene and a lane-changing application scene, the scene of the V2I technology application comprises a weather early warning, a lane-changing early warning and speed-limiting, a red light early warning, a pedestrian-shaped crosswalk early warning, a curve speed-limiting early warning and a speed-limiting construction area early warning, the scene of the V2P technology application comprises a pedestrian early warning and a backing-up early warning, the V2N technology scene mainly carries out remote data transmission and timely reports to the cloud terminal for interaction when a danger occurs, the communication between the test scene and a cloud terminal traffic police command center is smooth, the self-automobile can possibly encounter traffic jam and traffic accident conditions during the driving process, and the vehicle and traffic information are reported to, the cloud end can be to road conditions information real time monitoring, and the cloud end can be with traffic jam, the accident situation sends for the vehicle through the broadcast, and the vehicle also can carry out route selection according to road conditions information, ensures that the trip is smooth and easy, and direct driving application scene includes preceding collision early warning, vehicle early warning and the emergency braking lamp of out of control, turns to the application scene including forbidding to pass through early warning and the left turn is supplementary.
In the invention: the front collision early warning is divided into four categories according to the state of the front vehicle, including front vehicle braking, front vehicle deceleration, normal driving and sudden insertion of a vehicle in front of a V2X experiment vehicle, when the front vehicle brakes, the V2X receives relevant information to process information, and the experiment vehicle performs deceleration or braking action to prevent collision with the front vehicle; when the current vehicle decelerates, the test vehicle makes a deceleration or braking action after receiving the deceleration signal, so as to prevent the collision action; when the current vehicle normally runs, the test vehicle keeps running at the safe distance and the current speed; when the vehicle is suddenly inserted in front of the experimental vehicle, the V2X can timely receive the information, and then the vehicle performs braking action to avoid rear-end collision.
In the invention: the early warning of vehicle out of control means that when the vehicle itself appears out of control in the traffic stream, can in time send self state to around, let vehicle around can perceive out of control signal, need test V2X to the sending and receiving of out of control signal respectively, let experiment car A and experiment car B respectively with the uniform velocity travel on the test road, A car is in the front, B car is in the back, two cars keep certain safe distance, let A car simulation out of control at first, send out of control signal, detect whether B car receives the out of control signal of A car and slow down, afterwards, let B car simulation out of control, detect whether A car receives out of control signal and slow down, the testing result is yes, then explain that the experiment item is effective.
In the invention: in the emergency braking lamp scene, when peripheral vehicles are in emergency braking, the double flashes are automatically lightened as an early warning signal, the test vehicle and the front vehicle keep a safe distance, the two vehicles run at a constant speed, the front vehicle and the test vehicle can run on the same lane or different lanes, the front vehicle is subjected to emergency braking and is turned on the double flashes in the running process, whether the test vehicle performs deceleration behavior is detected, and if the detection result is yes, the experimental item is indicated to be effective.
In the invention: the method comprises the steps that the early warning is forbidden, the assisting vehicle B and the assisting vehicle C are included, the assisting vehicle B serves as a front vehicle for the experiment vehicle A to overtake, the assisting vehicle C serves as a counter-direction coming vehicle, the experiment vehicle A makes overtaking behaviors after the assisting vehicle B is followed for a period of time at a constant speed, the assisting vehicle C is also in a running state and is close to the assisting vehicle B, whether the experiment vehicle A can make feedback on the situation or not is detected, and if the detection result is yes, the fact that the experiment item is effective is explained.
In the invention: when the vehicle performs left-turn behavior in the left-turn auxiliary scene, the system detects whether the opposite direction has the vehicle to approach, if so, the system reminds or decelerates the vehicle, the test vehicle performs left-turn behavior at a lower speed, meanwhile, the opposite direction coming vehicle approaches the test vehicle at a certain speed, the response behavior of the test vehicle is tested, and if the detection result is yes, the test item is effective.
In the invention: the intersection needs to be assisted by testing the left turn, the right turn and the straight movement of the intersection, identifying various behaviors of a signal lamp, understanding the driving intention of the other side and reducing the probability of accidents.
In the invention: the lane changing application scene comprises a social vehicle serving as a front vehicle and an experimental vehicle serving as a rear vehicle, the overtaking behavior is simulated, when the rear vehicle carries out lane changing to prepare overtaking, the front vehicle is intentionally and transversely close to the rear vehicle, the timeliness of the behavior that the rear vehicle sends out an alarm to remind is detected, and if the detection result is yes, the experimental item is effective.
In the invention: in the weather early warning scene, under the severe weather conditions of fog, rain, snow and the like, the test vehicle runs at a constant speed, the system detects the weather condition in front, whether the test vehicle runs at a reduced speed or brakes is observed, and if the detection result is yes, the experimental item is proved to be effective.
In the invention: in the curve speed-limiting early warning, when a vehicle enters a turning working condition from a straight road, the V2X equipment receives a related curve speed-limiting signal and then timely reminds a driver to slow down and walk slowly, when a test vehicle enters a sharp turning working condition at a higher speed from the straight road, whether the test vehicle performs a deceleration action is tested, and if the test result is yes, the test item is effective.
In the invention: in the red light early warning, when the test vehicle approaches the intersection with the traffic signal lamp, the test vehicle is about to turn on the red light, and the V2X equipment judges that the vehicle cannot pass through the intersection in time, so that the test vehicle can decelerate and stop in time, and particularly has the function of 'predicting' the time of the traffic light at the intersection without a traffic light countdown display screen.
In the invention: pedestrian detection sensors are installed on pedestrian crossing lines in pedestrian crossing pedestrian early warning, when vehicles are close to pedestrian crossings, traffic signal facilities send pedestrian information to surrounding vehicles to prompt the vehicles to decelerate and stop, an experimental vehicle runs at normal speed, pedestrians on opposite pedestrian crossings pass through at normal speed, whether the experimental vehicle decelerates and stops is tested, and if the detection result is yes, the experimental item is indicated to be effective.
In the invention: the method comprises the steps that a test vehicle runs at a speed higher than a speed limit in early warning of a speed limit construction area, when the vehicle runs close to the speed limit area, whether the test vehicle can slow down to a speed lower than the speed limit or not is detected, and if the detection result is yes, the experimental item is effective.
In the invention: the road pedestrian early warning reminds when detecting that there is collision hidden danger with the pedestrian from the car, effectively avoids the emergence of collision accident, and general early warning mode has sound and image.
In the invention: the early warning of backing a car is that the vehicle is at the in-process of backing a car and going out of garage, probably crowd appears in driver's vision blind area, produces the collision hidden danger, and then the process of sending out the police dispatch newspaper, and the pedestrian is when the car that is backing a car and going out of garage, because driver's vision blind area fails in time to discover peripheral crowd, takes place the traffic accident very easily.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (15)
1. The design method of the test scene of the automatic driving automobile test field comprises the following steps of self-driving, cloud, V2V technology, V2I technology, V2P technology and V2N technology, and is characterized in that: the scene of the V2V technical application comprises a straight-going application scene, a steering application scene, an intersection auxiliary application scene and a lane change application scene, the scene of the V2I technical application comprises a weather early warning, a lane change speed limit early warning, a red light early warning, a pedestrian early warning on a pedestrian crosswalk, a curve speed limit early warning and a speed limit construction area early warning, the scene of the V2P technical application comprises a road pedestrian early warning and a backing-up early warning, the V2N technical scene mainly carries out remote data transmission and timely reports the interaction between a cloud and the cloud when a danger occurs, the smooth communication between the test scene and a cloud traffic police command center is realized, the vehicle can possibly encounter traffic jam and traffic accident conditions during the driving process, the vehicle reports the vehicle and traffic information to the cloud in real time, the cloud can monitor the road condition information in real time, and the cloud can send the traffic jam and accident conditions to the vehicle through broadcasting, the vehicle can also select a route according to road condition information to ensure smooth travel, the straight-going application scene comprises a front collision early warning, a vehicle out-of-control early warning and a sudden braking lamp, and the steering application scene comprises the prohibition of passing the early warning and the left-turning assistance.
2. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: the front collision early warning is divided into four categories according to the state of the front vehicle, including front vehicle braking, front vehicle deceleration, normal driving and sudden insertion of a vehicle in front of a V2X experiment vehicle, when the front vehicle brakes, the V2X receives relevant information to process information, and the experiment vehicle performs deceleration or braking action to prevent collision with the front vehicle; when the current vehicle decelerates, the test vehicle makes a deceleration or braking action after receiving the deceleration signal, so as to prevent the collision action; when the current vehicle normally runs, the test vehicle keeps running at the safe distance and the current speed; when the vehicle is suddenly inserted in front of the experimental vehicle, the V2X can timely receive the information, and then the vehicle performs braking action to avoid rear-end collision.
3. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: the vehicle out-of-control early warning is that when the vehicle itself is out of control in traffic flow, the vehicle can timely send the state to the surroundings, the surrounding vehicles can sense out-of-control signals, V2X needs to be tested respectively for sending and receiving the out-of-control signals, an experimental vehicle A and an experimental vehicle B are respectively driven on a test road at a constant speed, the vehicle A is in front, the vehicle B is in back, the two vehicles keep a certain safety distance, the vehicle A simulates out-of-control, the out-of-control signal is sent out, whether the vehicle B receives the out-of-control signal of the vehicle A and decelerates, and then the vehicle B simulates out-of-control, and whether the vehicle A receives the out-of-control signal and decelerates.
4. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: in the emergency braking lamp scene, when peripheral vehicle carries out the emergency braking action, the automatic double flash that lights is as early warning signal, and the experimental car keeps safe distance with the front truck, and two cars are at the uniform velocity and are gone, and the front truck can also can different lanes with the same lane of experimental car, and the in-process front truck emergency brake is opened double flash, detects whether the experimental car makes the deceleration action.
5. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: the prohibition includes an experimental vehicle A, an assistant vehicle B and an assistant vehicle C through early warning, the assistant vehicle B serves as a front vehicle for overtaking the experimental vehicle A, the assistant vehicle C serves as a counter vehicle, the experimental vehicle A makes overtaking behaviors after the assistant vehicle B is followed at a constant speed for a period of time, the assistant vehicle C is also in a running state and is close to the assistant vehicle B, and whether the experimental vehicle A can make feedback on the situation or not is detected.
6. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: when the vehicle turns left in the left turn auxiliary scene, the system detects whether the opposite direction has the vehicle to approach, if so, the system reminds or decelerates the vehicle, the test vehicle turns left at a lower speed, and meanwhile, the opposite direction approaches the test vehicle at a certain speed to test the response behavior of the test vehicle.
7. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: intersection assistance needs to test intersection left turn, right turn, go straight, identifies the multiple behaviors of signal lamp, understands the other side's intention of traveling, reduces the probability that the accident takes place.
8. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: the lane changing application scene comprises a social vehicle serving as a front vehicle and an experimental vehicle serving as a rear vehicle, the overtaking behavior is simulated, when the rear vehicle carries out lane changing to prepare overtaking, the front vehicle is intentionally and transversely close to the rear vehicle, and the timeliness of the behavior that the rear vehicle sends out an alarm to remind is detected.
9. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: in the weather early warning scene, under severe weather conditions such as foggy weather or rain and snow, the test vehicle runs at a constant speed, the system detects the weather condition in front, and whether the test vehicle runs at a reduced speed or brakes is observed and tested.
10. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: in the curve speed-limiting early warning, when a vehicle enters a turning working condition from a straight road, the V2X equipment receives a related curve speed-limiting signal and then timely reminds a driver to slow down and move slowly, and when a test vehicle enters a sharp turning working condition at a higher speed from the straight road, the test vehicle is tested to determine whether the test vehicle makes a deceleration behavior.
11. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: in the red light early warning, when the test vehicle approaches the intersection with the traffic signal lamp, the red light is about to be lighted, and the V2X equipment judges that the vehicle cannot pass through the intersection in time, so that the test vehicle can be decelerated and stopped in time, and particularly has the function of 'predicting' the time of the traffic light at the intersection without a traffic light countdown display screen.
12. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: pedestrian detection sensors are installed on pedestrian crossing lines in pedestrian crossing pedestrian early warning, when vehicles are close to pedestrian crossings, traffic signal facilities send pedestrian information to surrounding vehicles, the vehicles are prompted to decelerate and stop, an experimental vehicle runs at normal speed, pedestrians on opposite pedestrian crossings pass through at normal speed, and whether the experimental vehicle can decelerate and stop is tested.
13. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: the test vehicle runs at a speed higher than the speed limit in the early warning of the speed limit construction area, and when the vehicle runs close to the speed limit area, whether the test vehicle can slow down to a speed below the speed limit or not is detected.
14. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: road pedestrian early warning reminds when detecting that there is collision hidden danger with the pedestrian from the car, effectively avoids the emergence of collision accident, and general early warning mode has sound and image.
15. The method for designing the test scenario of the autopilot test yard of claim 1, wherein: the early warning of backing a car is that the vehicle is at the in-process of backing a car and going out of garage, probably crowd appears in driver's vision blind area, produces the collision hidden danger, and then the process of sending out the police dispatch newspaper, and the pedestrian is when the car that is backing a car and going out of garage, because driver's vision blind area fails in time to discover peripheral crowd, takes place the traffic accident very easily.
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| CN113447276A (en) * | 2021-05-26 | 2021-09-28 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Vehicle testing system and vehicle testing method |
| CN113484040A (en) * | 2021-06-21 | 2021-10-08 | 上汽通用五菱汽车股份有限公司 | Emergency lane keeping function test method, device and system and storage medium |
| CN113505446A (en) * | 2021-09-10 | 2021-10-15 | 腾讯科技（深圳）有限公司 | Traffic simulation method, traffic simulation device, electronic equipment and computer storage medium |
| CN114354215A (en) * | 2021-12-30 | 2022-04-15 | 信通院车联网创新中心(成都)有限公司 | Speed-limiting early warning function detection method for Internet of vehicles application |
| CN114379454A (en) * | 2022-01-29 | 2022-04-22 | 重庆长安汽车股份有限公司 | Service-oriented architecture (SOA) -based steering lamp function service system |
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| CN115775457A (en) * | 2023-01-31 | 2023-03-10 | 江苏天一航空工业股份有限公司 | Method and system for testing cooperative path of vehicle and road in civil aviation airport |
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| CN114354215A (en) * | 2021-12-30 | 2022-04-15 | 信通院车联网创新中心(成都)有限公司 | Speed-limiting early warning function detection method for Internet of vehicles application |
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| CN115410366A (en) * | 2022-07-22 | 2022-11-29 | 武汉光庭信息技术股份有限公司 | Intersection collision early warning test method and system, electronic device and storage medium |
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| CN115798080A (en) * | 2023-02-02 | 2023-03-14 | 江苏天一航空工业股份有限公司 | Method for testing cooperative exit mechanism of civil aviation airport vehicle and road |
| CN115798215A (en) * | 2023-02-03 | 2023-03-14 | 江苏天一航空工业股份有限公司 | Method for testing cooperative behavior capability of vehicle and road in civil aviation airport |
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| CN115830922A (en) * | 2023-02-23 | 2023-03-21 | 江苏天一航空工业股份有限公司 | Method for testing vehicle-road cooperative obstacle avoidance capability of civil aviation airport |
| CN118067417A (en) * | 2024-04-16 | 2024-05-24 | 中国汽车技术研究中心有限公司 | Driving comfort evaluation method and system based on automatic driving automobile |
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