CN113091744B - Intelligent vehicle pile winding autonomous following test evaluation method - Google Patents
Intelligent vehicle pile winding autonomous following test evaluation method Download PDFInfo
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- CN113091744B CN113091744B CN202110351571.XA CN202110351571A CN113091744B CN 113091744 B CN113091744 B CN 113091744B CN 202110351571 A CN202110351571 A CN 202110351571A CN 113091744 B CN113091744 B CN 113091744B
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- 238000012360 testing method Methods 0.000 title claims abstract description 89
- 238000004804 winding Methods 0.000 title claims abstract description 25
- 238000011156 evaluation Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 claims description 13
- 235000008733 Citrus aurantifolia Nutrition 0.000 claims description 6
- 235000011941 Tilia x europaea Nutrition 0.000 claims description 6
- 239000000428 dust Substances 0.000 claims description 6
- 239000004571 lime Substances 0.000 claims description 6
- 239000004576 sand Substances 0.000 claims description 6
- 230000009191 jumping Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000010998 test method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The application relates to the technical field of vehicle testing, and particularly discloses an intelligent vehicle pile winding autonomous following test evaluation method, which comprises the following steps: s1, determining a starting point and a finishing point, and arranging a plurality of test piles between the starting point and the finishing point; s2, setting a path sequence of a guide member from a starting point to an ending point to travel around the pile; s3, starting timing when the guide starts from the starting point; s4, inputting a following instruction to the tested vehicle when the guided vehicle starts, so that the tested vehicle follows the guided vehicle; s5, recording the running track of the tested vehicle; s6, stopping timing when the forefront end of the vehicle to be tested passes through the end point, and ending pile winding; and S7, calculating the evaluation score of the tested vehicle according to a preset scoring rule based on the running track of the tested vehicle. By adopting the technical scheme of the application, the autonomous following capability can be accurately tested.
Description
Technical Field
The application relates to the technical field of vehicle testing, in particular to an intelligent vehicle pile winding autonomous following test evaluation method.
Background
Definition, classification, functions, human-machine interface (HMI), detection methods and the like of lane departure warning systems suitable for passenger vehicles and commercial vehicles are specified in GB/T26773-2011 intelligent transportation system lane departure warning system performance requirements and detection methods. The above method is only applicable to the case of a regular lane marking, but is not applicable to a road section (such as a road construction area) having temporary and irregular lane markings.
The current standards and files of the self-adaptive cruise control system test procedure i-VISTA+SM-ADAS-ACCT-A0-2018 and the self-adaptive cruise control system evaluation procedure i-VISTA+SM-ADAS-ACCR-A0-2018 mainly examine the lane departure control capability, the straight track following capability and the lane change following capability of a flat road.
For complex pavements with obstacles such as road piles, accurate tests on intelligent vehicles cannot be performed at present.
Disclosure of Invention
The application provides an intelligent vehicle pile winding autonomous following test evaluation method which can accurately test autonomous following capability.
In order to solve the technical problems, the application provides the following technical scheme:
an intelligent vehicle pile winding autonomous following test evaluation method comprises the following steps:
s1, determining a starting point and a finishing point, and arranging a plurality of test piles between the starting point and the finishing point;
s2, setting a path sequence of a guide member from a starting point to an ending point to travel around the pile;
s3, starting timing when the guide starts from the starting point;
s4, inputting a following instruction to the tested vehicle when the guided vehicle starts, so that the tested vehicle follows the guided vehicle;
s5, recording the running track of the tested vehicle;
s6, stopping timing when the forefront end of the vehicle to be tested passes through the end point, and ending pile winding;
and S7, calculating the evaluation score of the tested vehicle according to a preset scoring rule based on the running track of the tested vehicle.
The basic scheme principle and the beneficial effects are as follows:
according to the scheme, the tested vehicle can follow the guide to travel through the test pile, the driving track of the vehicle is recorded, whether the test pile is missed or not in the following process can be known, the test pile is touched or the situation that the test pile is too close to the test pile is met, the purpose of comprehensively testing and evaluating the autonomous following capacity of the intelligent vehicle is achieved, and the basis is provided for the autonomous following capacity of the intelligent vehicle.
In the step S1, the test pile pitch is 1.5 times as small as the vehicle width, and the test pile pitch is 3 times as large as the vehicle width; and includes test pile spacings of 1.5 times, 2 times, 2.5 times and 3 times the vehicle width.
The distance between the test piles is ensured to reflect various actual traffic scenes.
Further, in the step S1, the sequence of the intervals between the test piles is randomly adjusted, and the maximum distance between two test piles which are farthest among the three adjacent test piles is not less than 0.5 times of the vehicle length, and the maximum distance is greater than or equal to 2 meters of the vehicle length.
The sequence of the test pile spacing is randomly adjusted, so that the test pile spacing can be more close to an actual driving scene.
Further, in the step S1, the maximum outer diameter of the test pile is less than or equal to 0.06m, and the height is greater than or equal to 1.5m.
Further, in the step S1, the distance between the start point and the first test pile is 3 times of the vehicle width; the traffic width of the origin is at least 2 meters wider than the vehicle width.
In S1, the traffic width at the start point is 3 times the vehicle width.
Further, in the step S1, the distance between the end point and the last test pile is 2 times of the vehicle width; the traffic width of the terminal point is at least 2 meters wider than the vehicle width.
In S1, the passing width of the destination is 3 times the vehicle width.
Further, the step of recording the driving track of the vehicle under test in S5 includes:
s501, defining a wheel track recording belt on two sides of a test pile connecting line, and defining a wheel track recording ring by taking the test pile as a circle center;
s502, covering sand dust or lime on the wheel track recording belt and the wheel track recording ring;
s503, erecting a camera, and shooting a road surface image of the tested vehicle after running;
s504, extracting the running track of the tested vehicle from the road surface image.
When the test vehicle runs through the wheel track recording belt and the wheel track recording ring, the vehicle rolls sand dust or lime to leave marks, and when the vehicle leaves the wheel track recording belt, the sand dust or lime carried by the vehicle leaves marks on a normal road surface, so that the continuity of the wheel track can be ensured.
Further, in S503, there are a plurality of cameras, and at least 1 camera is controlled to capture the road surface image of the vehicle under test after running, and at least 1 camera is also controlled to capture the image of the vehicle under test after running.
Drawings
FIG. 1 is a schematic diagram of a test pile arrangement in a first embodiment;
fig. 2 is a schematic view of a wheel track recording tape and a wheel track recording ring in the first embodiment.
Detailed Description
The following is a further detailed description of the embodiments:
the labels in the drawings of this specification include: test stake 1, wheel track record area 2, wheel track record ring 3.
Example 1
The intelligent vehicle pile winding autonomous following test evaluation method comprises the following steps:
as shown in fig. 1, S1, determining a start point and an end point, arranging a plurality of test piles between the start point and the end point, wherein the test pile spacing is 1.5 times as small as the vehicle width and 3 times as large as the vehicle width, the test pile spacing comprises 1.5 times, 2 times, 2.5 times and 3 times as large as the vehicle width, and the sequence of the test pile spacing is randomly adjusted; the maximum distance between the two furthest test piles of the adjacent three test piles should be not less than 0.5 times the length of the vehicle, and the maximum distance should be at least 2 meters longer than the length of the vehicle. The maximum outer diameter of the test pile is not more than 0.06m, and the height is more than or equal to 1.5m.
The distance from the start point to the first test pile is 3 times the vehicle width. The width of the traffic at the start point is 3 times of the width of the vehicle, and at least 2 meters wider than the width of the vehicle. The distance of the end point from the last test pile is 2 times of the vehicle width. The width of the terminal point is 3 times of the width of the vehicle, and at least 2 meters wider than the width of the vehicle.
In this embodiment, the number of test piles is 10.
S2, setting the path sequence of the guide around the pile. For example, first bypass the first test stake from the left or bypass the first test stake from the right.
S3, starting the guide from a starting point to an ending point according to the path sequence, and starting timing when the guide starts;
s4, inputting a following instruction to the tested vehicle when the guide starts from the starting point, so that the tested vehicle follows the guide;
s5, recording the running track of the tested vehicle in real time.
The recording mode in this embodiment specifically includes:
as shown in fig. 2, S501, a wheel track recording band is defined on two sides of a test pile connecting line; the linear distance between the wheel track record belt and the test pile is smaller than 2 times of the vehicle width. Defining a wheel track recording ring by taking the test pile as a circle center; in this embodiment, the diameter of the outer ring of the wheel track recording ring is 3 meters.
S502, uniformly covering sand ash or lime in the wheel track recording belt and the wheel track recording ring;
s503, erecting a camera, and shooting road surface images of the tested vehicle after running in real time;
s504, extracting the running track of the tested vehicle from the road surface image.
In other embodiments, if the budget is sufficient, a plurality of piezoelectric sensors can be uniformly arranged under the test pavement, and the wheels of the tested vehicle are in direct contact with the pavement, so that the wheels apply force to the pavement, the force is transmitted to the piezoelectric sensors to be recorded, and then the running track of the tested vehicle can be obtained through acquisition and processing of a computer at the background.
S6, stopping timing when the forefront end of the vehicle to be tested passes through the end point, and ending pile winding;
and S7, calculating the evaluation score of the tested vehicle according to a preset scoring rule based on the running track of the tested vehicle.
Specifically, test piles are marked from the road surface image, the reference proportion is determined according to the pixel distance between the test piles, and the actual distance between the running track of the tested vehicle and each test pile is determined based on the reference proportion.
In this embodiment, the scoring rule is:
a basic score
The basic components are 10 minutes, and 8 minutes are qualified.
The vehicles to be tested bypass the test piles one by one according to the appointed sequence, and the total amount of 0.8 minutes is added to the pile-winding action which is successfully reached to the end point when the pile-winding action is completed.
And winding piles irregularly, and buckling 1 minute each time a test pile is knocked off or missed, until the pile winding project is 0 minute.
The time is divided into 2 minutes, and the time can be obtained after not less than 5 pile winding actions are successfully completed.
And recording the completion time, wherein the time exceeds 10 minutes, the task is forcedly ended, the time is divided into 0 points, and the total point of the task is calculated according to the effective passing vertical pile score.
The total score of the daytime is more than or equal to 8 minutes, and the night test can be carried out;
the total score at night is more than or equal to 8 minutes, and the next test can be carried out.
B additional sub-items
After the basic score is more than or equal to 8 scores, the square can calculate the additional score.
The vertical piles are wound one by one according to the appointed sequence, the test piles are not touched or the test piles are not wound, the shortest time is used, and 1 minute is added.
In the following process of the tested vehicle, the smallest maximum distance between the left side and the right side of the vehicle body is added by 1 minute.
Can continuously and smoothly follow the guiding person to advance, and the score is 1. In this embodiment, continuous, smooth following of the leader means that the vehicle under test cannot stop while following.
The nearest distance between the tested vehicle and the tested pile is close to the ideal distance (the ideal distance is (the distance between two adjacent piles is the vehicle width)/2), and 1 minute is added.
Evaluation score = base score + additional score.
When the base score is less than 8, the evaluation score=base score+additional score 0.
When the basic score is equal to or greater than 8, the evaluation score=basic score+additional score 1
Example two
The difference between the embodiment and the first embodiment is that in S503 of the embodiment, there are a plurality of cameras, at least 1 camera is controlled to shoot the road surface image of the tested vehicle after running in real time, and at least 1 camera is also controlled to shoot the image of the tested vehicle after running in real time; in this embodiment, the number of cameras is greater than 3.
S505, the server judges whether the running track of the tested vehicle is smooth, if not, whether the running track of the tested vehicle is smooth or not is judged based on the running image of the tested vehicle; if not, not processing is performed, if so, jumping to S506;
s506, controlling at least 1 camera to shoot a footprint image of the leader and a walking image of the leader, judging whether the walking of the leader is smooth based on the walking image of the leader, if so, judging whether the depths of the footprints of the leader are consistent, and if not, jumping S507;
s507, controlling at least 2 cameras to shoot road surface images of the tested vehicle after running in real time.
Because the wheel track recording belt and the wheel track recording ring are covered with sand dust or lime dust, even coverage is required, but uneven coverage can still occur due to factors such as manual coverage, strong wind of outdoor sites and the like. When the coverage is uneven, the variation of the depth of the trace of the vehicle is easy to be caused, and the accuracy of the follow-up extraction of the running trace of the tested vehicle is affected. According to the scheme, the situation that the vehicle marks are different in depth caused by unsmooth running of the vehicle can be eliminated, whether a place with uneven coverage exists in front of the detected vehicle or not is judged through the depth of the footprint of a guide person, if so, at least 2 cameras are controlled to shoot road images of the detected vehicle after running in real time, the definition of the shot road images is ensured through multi-angle shooting, the running track of the detected vehicle is conveniently extracted subsequently, and misjudgment caused by the fact that the running track is extracted intermittently and the vehicle runs smoothly is avoided. In other embodiments, if the coverage is uniform, more cameras may be scheduled to aim at the vehicle under test or the pilot, etc., with each camera functioning the most when appropriate.
The foregoing is merely an embodiment of the present application, the present application is not limited to the field of this embodiment, and the specific structures and features well known in the schemes are not described in any way herein, so that those skilled in the art will know all the prior art in the field before the application date or priority date of the present application, and will have the capability of applying the conventional experimental means before the date, and those skilled in the art may, in light of the present application, complete and implement the present scheme in combination with their own capabilities, and some typical known structures or known methods should not be an obstacle for those skilled in the art to practice the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (9)
1. The intelligent vehicle pile winding autonomous following test evaluation method is characterized by comprising the following steps:
s1, determining a starting point and a finishing point, and arranging a plurality of test piles between the starting point and the finishing point;
s2, setting a path sequence of a guide member from a starting point to an ending point to travel around the pile;
s3, starting timing when the guide starts from the starting point;
s4, inputting a following instruction to the tested vehicle when the guided vehicle starts, so that the tested vehicle follows the guided vehicle;
s5, recording the running track of the tested vehicle, which specifically comprises the following steps:
s501, defining a wheel track recording belt on two sides of a test pile connecting line, and defining a wheel track recording ring by taking the test pile as a circle center;
s502, covering sand dust or lime on the wheel track recording belt and the wheel track recording ring;
s503, erecting a plurality of cameras, and shooting road surface images of the tested vehicle after running;
s504, extracting the running track of the tested vehicle from the road surface image;
s505, the server judges whether the running track of the tested vehicle is smooth, if not, whether the running of the tested vehicle is smooth or not is judged based on the running image of the tested vehicle; if not, not processing is performed, if so, jumping to S506;
s506, controlling at least 1 camera to shoot a footprint image of the leader and a walking image of the leader, judging whether the walking of the leader is smooth based on the walking image of the leader, if so, judging whether the depths of the footprints of the leader are consistent, and if not, jumping S507;
s507, controlling at least 2 cameras to shoot road surface images of the tested vehicle after running in real time;
s6, stopping timing when the forefront end of the vehicle to be tested passes through the end point, and ending pile winding;
and S7, calculating the evaluation score of the tested vehicle according to a preset scoring rule based on the running track of the tested vehicle.
2. The intelligent vehicle winding pile autonomous following test evaluation method according to claim 1, wherein the method comprises the following steps: in the step S1, the minimum distance between the test piles is 1.5 times of the vehicle width, and the maximum distance between the test piles is 3 times of the vehicle width; and includes test pile spacings of 1.5 times, 2 times, 2.5 times and 3 times the vehicle width.
3. The intelligent vehicle winding pile autonomous following test evaluation method according to claim 2, wherein the method comprises the following steps: in the step S1, the sequence of the intervals of the test piles is randomly adjusted, and the maximum distance of the two test piles farthest in the three adjacent test piles is not smaller than 0.5 times of the length of the vehicle, and the maximum distance is larger than or equal to 2 meters of the length of the vehicle.
4. The intelligent vehicle winding pile autonomous following test evaluation method according to claim 3, wherein the method comprises the following steps: in the step S1, the maximum outer diameter of the test pile is smaller than or equal to 0.06m, and the height is larger than or equal to 1.5m.
5. The intelligent vehicle winding pile autonomous following test evaluation method according to claim 4, wherein the method comprises the following steps: in the step S1, the distance between the starting point and the first test pile is 3 times of the vehicle width; the traffic width of the origin is at least 2 meters wider than the vehicle width.
6. The intelligent vehicle winding pile autonomous following test evaluation method according to claim 5, wherein the method comprises the following steps: in the step S1, the traffic width at the start point is 3 times the vehicle width.
7. The intelligent vehicle winding pile autonomous following test evaluation method according to claim 4, wherein the method comprises the following steps: in the step S1, the distance between the end point and the last test pile is 2 times of the vehicle width; the traffic width of the terminal point is at least 2 meters wider than the vehicle width.
8. The intelligent vehicle winding pile autonomous following test evaluation method according to claim 7, wherein the method comprises the following steps: in the step S1, the passing width of the terminal point is 3 times of the vehicle width.
9. The intelligent vehicle winding pile autonomous following test evaluation method according to claim 1, wherein the method comprises the following steps: in S503, at least 1 camera is controlled to capture the road surface image of the vehicle under test after running, and at least 1 camera is also controlled to capture the image of the vehicle under test after running.
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