CN112834238A - System and method for testing lane changing performance of automatic driving automobile - Google Patents
System and method for testing lane changing performance of automatic driving automobile Download PDFInfo
- Publication number
- CN112834238A CN112834238A CN202011631114.8A CN202011631114A CN112834238A CN 112834238 A CN112834238 A CN 112834238A CN 202011631114 A CN202011631114 A CN 202011631114A CN 112834238 A CN112834238 A CN 112834238A
- Authority
- CN
- China
- Prior art keywords
- test
- data
- signal
- subsystem
- acquiring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
- G06F11/3668—Software testing
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Hardware Design (AREA)
- Quality & Reliability (AREA)
- General Engineering & Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the technical field of vehicle performance test, in particular to a system and a method for testing lane changing performance of an automatic driving automobile, wherein the system comprises a data acquisition subsystem, a data acquisition subsystem and a data processing subsystem, wherein the data acquisition subsystem is used for acquiring test data in the testing process; the test system further comprises a data storage subsystem, wherein the data storage subsystem is used for acquiring the test starting signal and the test ending signal and sending the test starting signal or the test ending signal to the data acquisition subsystem, and the data acquisition subsystem is further used for starting to acquire various test data when receiving the test starting signal, stopping acquiring the test data when receiving the test ending signal and sending the test data to the data storage subsystem for storage. By adopting the scheme, the technical problem that the time axes among various test data have great difference when the test data are stored in the prior art can be solved.
Description
Technical Field
The invention relates to the technical field of vehicle performance testing, in particular to a system and a method for testing lane changing performance of an automatic driving automobile.
Background
At present, automatic driving automobiles at home and abroad are developed vigorously, and the functions of the automatic driving automobiles are complicated, wherein automatic lane changing is one of the functions of the automatic driving automobiles. And because the automatic driving automobile is finally thrown on a road for driving, strict tests are required to be carried out on the performance of the automatic driving automobile in order to ensure the safety of pedestrians and drivers. The automatic lane changing function of the automatic driving automobile relates to the change of a driving road in the driving process, and if the lane changing function of the automatic driving automobile is lost, the driving of vehicles on two roads related to lane changing can be affected in the lane changing process, and even traffic accidents can be caused.
In the prior art, the test of the automatic lane changing function of the automatic driving automobile is mainly based on analog simulation test, but the analog simulation can not replace the real environment and the real operation condition of the automobile, so that the performance of the automatic lane changing function in the actual driving process needs to be tested by performing drive test. In the prior art, the performance test of the automatic lane changing function is mainly to install various sensors on a test vehicle and collect data of the vehicle in the lane changing process through different sensors, so that the performance test of the automatic lane changing function of the vehicle is completed, and the quality of the automatic driving function of the vehicle is known by analyzing the data obtained through the test.
In the above test process, the acquired data needs to be stored, and the existing storage methods include two types: the first type utilizes the data of self to sign the time stamp for the collection by each sensor or collection equipment, and storage equipment only need to the data of receiving save can, and the second type is by each sensor or collection equipment with the data direct transmission of gathering for storage equipment, by storage equipment according to the data sign time stamp of receiving time. However, in both of the above-mentioned methods, time axes of a plurality of kinds of acquired data may not be aligned, and for example, for the first storage method, it is necessary to keep the system time of each sensor or each acquisition device uniform, but in actual cases, the system time of each sensor or each acquisition device may only be uniform to a level of seconds or more, and may not be uniform to a level of seconds or less. For example, for the second storage mode, it is necessary to store the acquisition frequency and the transmission frequency of each sensor or acquisition device to be the same, but in the actual situation, the acquisition frequency of each sensor or acquisition device is often different, and the transmission frequency of each sensor or acquisition device is also different at different acquisition frequencies, so that a situation that data acquired first is transmitted to the storage device later may occur, that is, the time axis between the multiple types of data stored in the storage device is obviously different from the time axis between the multiple types of data actually acquired. The performance test of the automobile ensures the safety of pedestrians and drivers, the time axes of various stored data are not uniform or have errors, the evaluation of the automobile performance also has errors, and the errors of the performance evaluation may finally cause traffic accidents.
Disclosure of Invention
One of the objectives of the present invention is to provide a lane change performance testing system for an auto-driven vehicle, so as to solve the technical problem in the prior art that when test data is stored, time axes of multiple test data have large differences.
The invention provides a basic scheme I:
a lane change performance test system of an automatic driving automobile comprises a data acquisition subsystem, a lane change performance test system and a lane change performance test system, wherein the data acquisition subsystem is used for acquiring test data in a test process; the test system further comprises a data storage subsystem, wherein the data storage subsystem is used for acquiring the test starting signal and the test ending signal and sending the test starting signal or the test ending signal to the data acquisition subsystem, and the data acquisition subsystem is further used for starting to acquire various test data when receiving the test starting signal, stopping acquiring the test data when receiving the test ending signal and sending the test data to the data storage subsystem for storage.
The beneficial effects of the first basic scheme are as follows: the test starting signal and the test ending signal can be controlled manually, for example, a switch button is arranged, and the button is clicked to generate the test starting signal or the test ending signal; the system can also control, for example, to generate a test start signal when a turn signal of the vehicle is triggered, a test end signal when the vehicle detects that the vehicle is located in the middle of the two lane lines after changing lanes, and the like. The test data is various data collected in the automobile test process, including automobile speed, lane changing time, transverse speed, transverse acceleration, steering wheel rotation angle and the like.
The data storage subsystem acquires a test starting signal and a test ending signal and sends the test starting signal and the test ending signal to the data acquisition subsystem, which is equivalent to the fact that the data storage subsystem is a command issuer, and the data storage subsystem controls the starting and ending of data acquisition. The data acquisition subsystem starts to acquire test data when receiving a test start signal, stops acquiring the test data when receiving a test end signal, and transmits the test data, so that the test data acquired by the data acquisition subsystem have consistent duration. By means of simultaneous acquisition starting and simultaneous acquisition ending, the time length of the acquired various test data is ensured to be consistent, and therefore the time axes of the various test data during storage are unified.
Further, the data storage subsystem comprises a signal acquisition unit, and the signal acquisition unit is used for acquiring the fed-back test starting signal and the test ending signal. Has the advantages that: and when the testing personnel feeds back a testing start signal, the testing starts, and when the testing personnel feeds back a testing end signal, the testing ends. The tester feeds back the test starting signal and the test ending signal, namely the starting acquisition and the ending acquisition of the test data are manually controlled.
Further, the data storage subsystem is used for aligning the test data according to the time stamp and storing the test data when the test data are received. Has the advantages that: the test data are aligned according to the time stamps, so that the time axes of various test data during storage are unified, various test data at the same moment can be conveniently extracted, and the performance evaluation of the vehicle can be quickly completed.
And the test evaluation subsystem is used for calling the test data stored by the data storage subsystem and generating a performance evaluation result according to the test data. Has the advantages that: the test evaluation subsystem can automatically generate a performance evaluation result according to the stored test data, and is rapid in analysis and convenient to use.
The invention also aims to provide a method for testing the lane change performance of the automatic driving automobile.
The invention provides a second basic scheme:
a method for testing lane change performance of an automatic driving automobile uses the lane change performance testing system of the automatic driving automobile and comprises the following steps:
a data storage step: acquiring a test starting signal and a test ending signal;
a data acquisition step: when a test starting signal is acquired in the data storage step, acquiring various test data generated in the test process of the test vehicle; acquiring a test ending signal in the data storage step, and stopping acquiring test data;
the data storage step further comprises: and storing the collected various test data when the data collection step stops collecting the test data.
The second basic scheme has the beneficial effects that: the data storage step is used for acquiring a test starting signal and a test ending signal, and the test starting signal and the test ending signal can be controlled manually, such as setting a switch button and clicking the button to generate a test starting signal or a test ending signal; the system can also control, for example, to generate a test start signal when a turn signal of the vehicle is triggered, a test end signal when the vehicle detects that the vehicle is located in the middle of the two lane lines after changing lanes, and the like.
And setting the data acquisition step, namely acquiring the test data when the test starting signal is acquired in the data storage step, namely controlling the start and the end of the test data acquisition by the data storage step. In the data acquisition step, the test data is acquired when the test start signal is acquired in the data storage step, and the test data acquisition is stopped when the test end signal is acquired, so that the test data acquired in the data acquisition step have consistent duration. By means of simultaneous acquisition starting and simultaneous acquisition ending, the time length of the acquired various test data is ensured to be consistent, and therefore the time axes of the various test data during storage are unified.
Further, the method also comprises the signal acquisition step: and collecting a test starting signal or a test ending signal which is fed back, and sending the test starting signal and the test ending signal when the test starting signal or the test ending signal is collected, wherein the test starting signal and the test ending signal are generated through a button. Has the advantages that: the information acquisition step is set, a test starting signal or a test ending signal fed back by a tester is acquired, the starting acquisition and the ending acquisition of test data are manually controlled, and compared with system control, the starting and the ending of the test are manually controlled, so that the integrity of the acquired test data is higher, and the test data better meets the test requirements.
Further, the data storing step further comprises: when storing the plurality of kinds of test data, the plurality of kinds of test data are aligned by time stamps. Has the advantages that: in the data storage step, when the test data are stored, the test data are stored after being aligned according to the time stamps, so that the time axes of various test data during storage are unified, various test data at the same moment can be conveniently extracted, and the performance evaluation of the vehicle can be quickly completed.
Further, the method also comprises the following test evaluation steps: and calling the stored test data, and generating a performance evaluation result according to the test data. Has the advantages that: the performance evaluation result can be automatically generated according to the stored test data by setting the test evaluation steps, the analysis is quick, and the use is convenient.
Drawings
FIG. 1 is a logic block diagram of an embodiment of a lane change performance testing system of an auto-pilot vehicle according to the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
examples
During testing, the test is carried out by using the reference vehicle and the tested vehicle, the tested vehicle and the reference vehicle can run in the same direction and opposite directions, the reference vehicle can run on the same lane, adjacent lanes on the left side and the right side or separated lanes of the tested vehicle, and the reference vehicle can be positioned in front of and behind the tested vehicle or parallel to the tested vehicle in the running direction. In the present embodiment, the number of reference vehicles is one, and in other embodiments, the number of reference vehicles may also be extended to two or more. The test road comprises a straight road and curves with various curvatures, and the tested vehicle changes the road in the test process.
A lane change performance test system of an automatic driving automobile is shown in figure 1 and comprises a data acquisition subsystem, a data storage subsystem and a test evaluation subsystem.
The data storage subsystem is used for acquiring a test starting signal and a test ending signal and sending the test starting signal or the test ending signal to the data acquisition subsystem, and specifically, the data storage subsystem comprises a signal acquisition unit and a data recording storage unit, the signal acquisition unit comprises a starting button and an ending button, the starting button and the ending button are both arranged on a tested vehicle, the information acquisition unit is used for acquiring the test starting signal and the test ending signal which are fed back, the test starting signal is acquired when the starting button is pressed, and the test ending signal is acquired when the ending button is pressed.
The data acquisition subsystem is used for starting to acquire various test data in the test process when receiving the test starting signal; and stopping collecting the test data when receiving the test ending signal, and sending the test data to the data storage subsystem for storage. Specifically, the data acquisition subsystem comprises a double-vehicle communication unit, a communication transmitting antenna, a communication receiving antenna, a DGPS differential base station, a base station communication antenna, a GPS antenna, a vehicle attitude and position information acquisition and calculation unit, a steering wheel steering information acquisition and calculation unit, an accelerator pedal information acquisition and calculation unit, a brake pedal information acquisition and calculation unit, a camera and a vehicle bus signal acquisition unit. The test data includes vehicle position, heading angle, lateral-longitudinal velocity, lateral-longitudinal acceleration, lateral-longitudinal distance, steering wheel steering angle, steering angle rate, steering torque, rate of change of steering torque, depth of accelerator pedal and pedal acceleration information, depth of brake pedal and pedal acceleration information, and video information.
The reference vehicle and the detected vehicle are respectively provided with a double-vehicle communication unit, a communication transmitting antenna and a communication receiving antenna, the double-vehicle communication unit on the same vehicle is connected with the communication transmitting antenna and the communication receiving antenna, and the communication transmitting antenna and the communication receiving antenna are connected for data communication of the two vehicles. The DGPS differential base station is placed on a roadside and is still, a reference vehicle and a measured vehicle are respectively provided with a GPS antenna, a base station communication antenna and a vehicle attitude and position information acquisition and calculation unit, the number of the GPS antennas is two, the GPS antennas are respectively distributed on the center line of the top of the vehicle front and back, the base station communication antenna is arranged on the roof, the base station communication antenna receives a DGPS differential base station signal and transmits the DGPS differential base station signal to the vehicle attitude and position information acquisition and calculation unit, the vehicle attitude and position information acquisition and calculation unit is used for acquiring the position and the course angle of the vehicle, the transverse and longitudinal speed, the transverse and longitudinal acceleration and the transverse and longitudinal distance are calculated according to the position and the course angle of the vehicle and transmitted to the data recording and storing unit, the transverse and longitudinal speed comprises the transverse speed and the longitudinal speed, the transverse. The steering wheel steering information acquisition and calculation unit, the accelerator pedal information acquisition and calculation unit, the brake pedal information acquisition and calculation unit, the camera and the vehicle bus signal acquisition unit are all arranged on a tested vehicle. The steering wheel steering information acquisition and calculation unit is arranged on a steering wheel of the tested vehicle and used for acquiring and calculating the steering angle, the turning angle rate, the steering torque and the steering torque change rate of the steering wheel of the tested vehicle and transmitting the steering angle, the turning angle rate, the steering torque and the steering torque change rate to the data recording and storing unit. The accelerator pedal information acquisition and calculation unit is arranged on an accelerator pedal of the detected vehicle and used for acquiring and calculating the depth of the accelerator pedal and transmitting the pedal acceleration information to the data recording and storing unit. The brake pedal information acquisition and calculation unit is arranged on a brake pedal of the tested vehicle and used for acquiring and calculating the depth of the brake pedal and transmitting pedal acceleration information to the data recording and storing unit. The camera is installed in the vehicle under test for gather the video information transmission of vehicle under test and reference vehicle, lane line and arrive the data record memory cell, the camera can be installed in the front of vehicle under test, back, left front, left back, right front, right back or other directions according to actual test needs, in this embodiment, the same quantity of making a video recording is six, installs respectively in the front of vehicle under test, back, left front, left back, right front and right back. The bus signal acquisition unit is arranged on the tested vehicle and used for acquiring the bus signals of the tested vehicle and transmitting the bus signals to the data recording and storing unit. The self-sensor is a sensor equipped for realizing corresponding functions of a vehicle-mounted system of the detected vehicle, such as a camera, a radar and the like.
And the data storage subsystem is used for aligning the test data according to the time stamp and storing the test data when receiving the test data. The test data includes vehicle position, heading angle, lateral-longitudinal velocity, lateral-longitudinal acceleration, lateral-longitudinal distance, accelerator pedal depth rate of change, brake pedal depth rate of change, video information, and bus signals. Specifically, the data recording and storing unit is used for adding a current timestamp of a received signal to the received various test data in real time and then storing the data in an aligned manner according to the timestamp.
The test evaluation subsystem is used for calling the test data stored by the data storage subsystem and generating a performance evaluation result according to the test data. Specifically, the test evaluation subsystem comprises a lane change judging and marking unit, a longitudinal evaluation unit, a lane change time evaluation unit, a transverse evaluation unit, a TTC evaluation unit, a steering evaluation unit, a pedal evaluation unit and a bus evaluation unit.
The lane change judging and marking unit is used for calling the video information stored by the data storage subsystem, judging whether the tested vehicle changes lanes or not according to lane lines in the video information, and marking time nodes from the beginning to the end of lane change of the tested vehicle when the tested vehicle changes lanes, wherein the time nodes comprise a starting time point and an ending time point.
The longitudinal evaluation unit is used for calling the longitudinal speed of the starting time point according to the time node, and generating a performance evaluation result when the longitudinal speed is greater than or equal to 135 km/h; and when the longitudinal speed is less than 135km/h, judging whether the longitudinal speed is more than 10 km/h. The longitudinal evaluation unit is also used for calling the longitudinal acceleration from the starting time point to the ending time point according to the time node, judging whether the longitudinal acceleration is more than 3 meters per square second or not, and if the longitudinal acceleration is more than 3 meters per square second, generating or updating a performance evaluation result. And when the longitudinal speed is greater than or equal to 135km/h, generating a performance evaluation result, updating the performance evaluation result, and otherwise, generating the performance evaluation result.
The lane change time evaluation unit is used for calculating lane change time according to the starting time point and the ending time point in the time node, judging whether the lane change time is more than 15 seconds or not when the longitudinal evaluation unit judges that the longitudinal speed is more than 10km/h, and generating or updating a performance evaluation result if the longitudinal speed is more than 10 km/h; and when the longitudinal evaluation unit judges that the longitudinal speed is less than or equal to 10km/h, judging whether the lane changing time is more than 10 seconds, and if so, generating or updating a performance evaluation result.
The transverse evaluation unit is used for calling the transverse speed and the transverse acceleration from the starting time point to the ending time point according to the time node, judging whether the transverse speed is greater than 10m/s, if so, generating or updating a performance evaluation result, and judging whether the transverse acceleration is greater than 2.3m/s2And if the evaluation result is larger than the preset evaluation result, generating or updating the performance evaluation result.
The TTC evaluation unit is used for calling the transverse and longitudinal distance and the transverse and longitudinal speed according to the starting time point, calculating the transverse and longitudinal TTC according to the transverse and longitudinal distance and the transverse and longitudinal speed, wherein the transverse and longitudinal TTC comprises the transverse TTC and the longitudinal TTC, and if the transverse and longitudinal TTC is less than or equal to 1.8 seconds, generating or updating a performance evaluation result.
The steering evaluation unit is used for calling the steering torque, the steering torque change rate, the steering angle and the turning angle rate from the starting time point to the ending time point according to the time node, and if the steering torque is larger than 3nm or the steering torque change rate is larger than 0.5nm/s2Or the steering angle is greater than 30 degrees, or the turning angle rate is greater than 10 degrees/s, a performance evaluation result is generated or updated.
The pedal evaluation unit is used for calling the accelerator pedal depth, the accelerator pedal depth change rate, the brake pedal depth and the brake pedal depth change rate from the starting time point to the ending time point according to the time node, and when the accelerator pedal depth is greater than 30%, or the accelerator pedal depth change rate is greater than 30%/s, or the brake pedal depth is greater than 30%, or the brake pedal depth change rate is greater than 30%/s, a performance evaluation result is generated or updated.
The bus evaluation unit is used for comparing the bus signal with the test data to generate a comparison result and generating or updating a performance evaluation result according to the comparison result.
The bus signal is acquired by data acquired by a vehicle sensor, and the test data is acquired and calculated by units other than the vehicle sensor. The precision of the test data is higher than that of the bus signals, performance evaluation is carried out based on the test data, the performance of the tested vehicle is judged from each characteristic data, and the accuracy of the test result is ensured. Meanwhile, the data of the tested vehicle is corrected based on comparison between the test data and the bus signal, so that the reliability of the data is ensured.
The automatic driving automobile lane changing performance test system is used for testing lane changing performance of an automatic driving automobile.
The method comprises the following steps:
a signal acquisition step: the method comprises the steps of collecting a feedback test starting signal or test ending signal, sending the test starting signal and the test ending signal when the test starting signal or the test ending signal is collected, wherein the test starting signal and the test ending signal are generated through buttons which comprise a starting button and an ending button, the test starting signal is obtained when the starting button is pressed, and the test ending signal is collected when the ending button is pressed.
A data storage step: a test start signal and a test end signal are acquired.
A data acquisition step: when a test starting signal is acquired in the data storage step, acquiring various test data generated in the test process of the test vehicle; and in the data storage step, acquiring a test ending signal and stopping acquiring the test data. The test data includes vehicle position, heading angle, lateral-longitudinal velocity, lateral-longitudinal acceleration, lateral-longitudinal distance, steering wheel steering angle, steering angle rate, steering torque, rate of change of steering torque, depth of accelerator pedal and pedal acceleration information, depth of brake pedal and pedal acceleration information, and video information.
The data storage step further comprises: when the data acquisition step stops acquiring the test data, the acquired various test data are stored, when the various test data are stored, the various test data are aligned according to the time stamp, and particularly, the received various test data are added in real time and the signals are received, and then the data are aligned according to the time stamp and stored.
And (3) testing and evaluating: and calling the stored test data, and generating a performance evaluation result according to the test data. Specifically, the stored video information is called, whether the tested vehicle changes lane is judged according to the lane line in the video information, and when the tested vehicle changes lane, time nodes from the beginning to the end of the lane change of the tested vehicle are marked, wherein the time nodes comprise a starting time point and an ending time point.
Calling the longitudinal speed of the starting time point according to the time node, and generating a performance evaluation result when the longitudinal speed is greater than or equal to 135 km/h; and when the longitudinal speed is less than 135km/h, judging whether the longitudinal speed is more than 10 km/h. And calling the longitudinal acceleration from the starting time point to the ending time point according to the time node, judging whether the longitudinal acceleration is more than 3 meters per square second, and if so, generating or updating a performance evaluation result.
Calculating the lane changing time according to the starting time point and the ending time point in the time node, judging whether the lane changing time is more than 15 seconds or not when the longitudinal speed is more than 10km/h, and generating or updating a performance evaluation result if the lane changing time is more than 15 seconds; and when the longitudinal speed is less than or equal to 10km/h, judging whether the lane changing time is more than 10 seconds, and if so, generating or updating a performance evaluation result.
Calling the transverse speed and the transverse acceleration from the starting time point to the ending time point according to the time node, judging whether the transverse speed is greater than 10m/s, if so, generating or updating a performance evaluation result, and judging whether the transverse acceleration is greater than 2.3m/s2And if the evaluation result is larger than the preset evaluation result, generating or updating the performance evaluation result.
And calling the transverse and longitudinal distance and the transverse and longitudinal speed according to the starting time point, calculating the transverse and longitudinal TTC according to the transverse and longitudinal distance and the transverse and longitudinal speed, wherein the transverse and longitudinal TTC comprises the transverse TTC and the longitudinal TTC, and if the transverse and longitudinal TTC is less than or equal to 1.8 seconds, generating or updating a performance evaluation result.
And calling the steering torque, the steering torque change rate, the steering angle and the corner rate from the starting time point to the ending time point according to the time node, and if the steering torque is greater than 3nm, or the steering torque change rate is greater than 0.5nm/s, or the steering angle is greater than 30 degrees, or the corner rate is greater than 10 degrees/s, generating or updating a performance evaluation result.
And calling the accelerator pedal depth, the accelerator pedal depth change rate, the brake pedal depth and the brake pedal depth change rate from the starting time point to the ending time point according to the time node, and when the accelerator pedal depth is more than 30%, or the accelerator pedal depth change rate is more than 30%/s, or the brake pedal depth is more than 30%, or the brake pedal depth change rate is more than 30%/s, generating or updating a performance evaluation result.
And comparing the bus signal with the test data to generate a comparison result, and generating or updating a performance evaluation result according to the comparison result.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (8)
1. A lane change performance test system of an automatic driving automobile comprises a data acquisition subsystem, a lane change performance test system and a lane change performance test system, wherein the data acquisition subsystem is used for acquiring test data in a test process; the method is characterized in that: the test system further comprises a data storage subsystem, wherein the data storage subsystem is used for acquiring the test starting signal and the test ending signal and sending the test starting signal or the test ending signal to the data acquisition subsystem, and the data acquisition subsystem is further used for starting to acquire various test data when receiving the test starting signal, stopping acquiring the test data when receiving the test ending signal and sending the test data to the data storage subsystem for storage.
2. The automatic lane change performance testing system of claim 1, wherein: the data storage subsystem comprises a signal acquisition unit, and the signal acquisition unit is used for acquiring the fed-back test starting signal and the test ending signal.
3. The automatic lane change performance testing system of claim 1, wherein: and the data storage subsystem is used for aligning the test data according to the time stamp and storing the test data when receiving the test data.
4. The automatic lane change performance testing system of claim 1, wherein: the test evaluation subsystem is used for calling the test data stored by the data storage subsystem and generating a performance evaluation result according to the test data.
5. A method for testing lane change performance of an automatic driving automobile is characterized by comprising the following steps: use of an autopilot lane change performance testing system as claimed in any one of claims 1 to 4, comprising the steps of:
a data storage step: acquiring a test starting signal and a test ending signal;
a data acquisition step: when a test starting signal is acquired in the data storage step, acquiring various test data generated in the test process of the test vehicle; acquiring a test ending signal in the data storage step, and stopping acquiring test data;
the data storage step further comprises: and storing the collected various test data when the data collection step stops collecting the test data.
6. The method for testing the lane change performance of the automatic driven automobile according to claim 5, wherein: further comprising the signal acquisition step: and collecting a test starting signal or a test ending signal which is fed back, and sending the test starting signal and the test ending signal when the test starting signal or the test ending signal is collected, wherein the test starting signal and the test ending signal are generated through a button.
7. The method for testing the lane change performance of the automatic driven automobile according to claim 5, wherein: the data storage step further comprises: when storing the plurality of kinds of test data, the plurality of kinds of test data are aligned by time stamps.
8. The method for testing the lane change performance of the automatic driven automobile according to claim 5, wherein: the method also comprises the following test evaluation steps: and calling the stored test data, and generating a performance evaluation result according to the test data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011631114.8A CN112834238B (en) | 2020-12-31 | 2020-12-31 | Automatic driving automobile lane change performance test system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011631114.8A CN112834238B (en) | 2020-12-31 | 2020-12-31 | Automatic driving automobile lane change performance test system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112834238A true CN112834238A (en) | 2021-05-25 |
| CN112834238B CN112834238B (en) | 2023-07-25 |
Family
ID=75924934
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011631114.8A Active CN112834238B (en) | 2020-12-31 | 2020-12-31 | Automatic driving automobile lane change performance test system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112834238B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114354220A (en) * | 2022-01-07 | 2022-04-15 | 苏州挚途科技有限公司 | Driving data processing method and device and electronic equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101922979A (en) * | 2009-06-15 | 2010-12-22 | 湖北中烟工业有限责任公司 | Device and method for measuring gas phase temperature of a cigarette combustion cone |
| CN103531042A (en) * | 2013-10-25 | 2014-01-22 | 吉林大学 | Rear-end collision pre-warning method based on driver types |
| CN109816811A (en) * | 2018-10-31 | 2019-05-28 | 杭州云动智能汽车技术有限公司 | A kind of nature driving data acquisition device |
| CN110285978A (en) * | 2019-07-01 | 2019-09-27 | 百度在线网络技术（北京）有限公司 | Kinetic parameter test method, device, storage medium and the electronic equipment of vehicle |
| CN110375991A (en) * | 2019-06-19 | 2019-10-25 | 山东省科学院自动化研究所 | A kind of test road, system and method for automatic driving vehicle lane-change ability |
| CN110864725A (en) * | 2019-10-24 | 2020-03-06 | 大连理工大学 | Panoramic three-dimensional color laser scanning system and method based on lifting motion |
| CN111289266A (en) * | 2020-03-27 | 2020-06-16 | 中国汽车工程研究院股份有限公司 | Test evaluation method for vehicle active lane changing system |
| CN112118623A (en) * | 2020-09-22 | 2020-12-22 | 东南大学 | Network time synchronization method and system for multi-node sensor acquisition system |
-
2020
- 2020-12-31 CN CN202011631114.8A patent/CN112834238B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101922979A (en) * | 2009-06-15 | 2010-12-22 | 湖北中烟工业有限责任公司 | Device and method for measuring gas phase temperature of a cigarette combustion cone |
| CN103531042A (en) * | 2013-10-25 | 2014-01-22 | 吉林大学 | Rear-end collision pre-warning method based on driver types |
| CN109816811A (en) * | 2018-10-31 | 2019-05-28 | 杭州云动智能汽车技术有限公司 | A kind of nature driving data acquisition device |
| CN110375991A (en) * | 2019-06-19 | 2019-10-25 | 山东省科学院自动化研究所 | A kind of test road, system and method for automatic driving vehicle lane-change ability |
| CN110285978A (en) * | 2019-07-01 | 2019-09-27 | 百度在线网络技术（北京）有限公司 | Kinetic parameter test method, device, storage medium and the electronic equipment of vehicle |
| CN110864725A (en) * | 2019-10-24 | 2020-03-06 | 大连理工大学 | Panoramic three-dimensional color laser scanning system and method based on lifting motion |
| CN111289266A (en) * | 2020-03-27 | 2020-06-16 | 中国汽车工程研究院股份有限公司 | Test evaluation method for vehicle active lane changing system |
| CN112118623A (en) * | 2020-09-22 | 2020-12-22 | 东南大学 | Network time synchronization method and system for multi-node sensor acquisition system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114354220A (en) * | 2022-01-07 | 2022-04-15 | 苏州挚途科技有限公司 | Driving data processing method and device and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112834238B (en) | 2023-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111781855B (en) | Traffic is automatic driving simulation system in ring | |
| US20220126871A1 (en) | Lane Change Monitoring Method and Lane Change Monitoring System for Autonomous Vehicle | |
| EP2460337B1 (en) | Method and device for the communication with another vehicle or with an infrastructure device | |
| CN113340615B (en) | Automobile automatic driving function simulation test system and method | |
| US20080221767A1 (en) | Vehicle Control Apparatus and Vehicle Control Method | |
| CN103700160A (en) | Motor vehicle onboard terminal based on microsensor and driving behavior judgment method | |
| DE102011118147A1 (en) | Method for determining a speed of a vehicle and vehicle | |
| EP3625725A1 (en) | Method, device, and system for determining a road construction site | |
| CN111196233B (en) | System and method for detecting lane keeping performance of a vehicle | |
| CN111372279B (en) | Tunnel test method based on V2X | |
| DE102012007367A1 (en) | Method for determining e.g. information related to position of jam fronts, in navigation system of hybrid car in fleet, involves utilizing merged, modified, selected, adjusted and plausibility checked contents of information in system | |
| US11380142B2 (en) | Method for measuring a driving event, server device, and system comprised of the server device and a plurality of motor vehicles | |
| DE102007046765A1 (en) | Control procedure and system | |
| CN106379321A (en) | Method, device and system for recognizing sudden turning of vehicle | |
| CN103303309A (en) | Automobile rear-end collision early-warning method and system | |
| CN109870675B (en) | System and method for detecting degradation of detection capability of millimeter wave radar for vehicle | |
| DE102007039200B4 (en) | Vehicle position detection system and method | |
| WO2023207812A1 (en) | Emergency lane keeping test system and method for high-precision positioning vehicle-meeting scenario | |
| CN112937598A (en) | Method and device for evaluating and/or adjusting vehicle driving assistance or automatic driving functions | |
| DE19521917A1 (en) | Method and device for determining the position of a vehicle | |
| CN112834238B (en) | Automatic driving automobile lane change performance test system and method | |
| CN111947669A (en) | Method for using feature-based positioning maps for vehicles | |
| CN112816226B (en) | Automatic driving test system and method based on controllable traffic flow | |
| CN114184218A (en) | Method, device and storage medium for testing a sensor system of a motor vehicle | |
| Maile et al. | Objective testing of a cooperative intersection collision avoidance system for traffic signal and stop sign violation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |