CN113340615B - Automobile automatic driving function simulation test system and method - Google Patents
Automobile automatic driving function simulation test system and method Download PDFInfo
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- CN113340615B CN113340615B CN202110697229.5A CN202110697229A CN113340615B CN 113340615 B CN113340615 B CN 113340615B CN 202110697229 A CN202110697229 A CN 202110697229A CN 113340615 B CN113340615 B CN 113340615B
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Abstract
The invention discloses a method for simulating and testing an automatic driving function of an automobile, which is characterized by comprising the following steps of: setting a target vehicle to run at a specified lane at a constant speed or at a variable speed, recording position information and road information of the target vehicle, running the test main vehicle at a set speed after the target vehicle, and performing one or more automatic driving function tests on the test main vehicle in different test scenes; when the test main vehicle fails in the test, the test main vehicle acquires and stores the theoretical position information and the theoretical road information of the target vehicle, closes or unloads a sensing system of the test main vehicle, and independently retries the failed test; if the main vehicle still fails after the retest, determining that the control program of the main vehicle for testing has a problem; and if the test is passed, determining that the sensing system of the test master vehicle has a problem. By using the method of the invention, vehicle-vehicle cooperation can be realized, the reason of the test failure can be quickly confirmed when the test of the main vehicle fails, and the test efficiency can be greatly improved.
Description
Technical Field
The invention belongs to the technical field of automatic driving tests of automobiles, and particularly relates to an automatic driving function simulation test system and method for an automobile.
Background
At present, the development of automobiles tends to be intelligent, and advanced Assistant Driving (ADAS) automobiles and unmanned automobiles are all used for meeting the intelligent requirement. In the development stage, the automobile manufacturer needs to perform a large amount of intelligent related tests. Besides basic debugging of software and hardware, real vehicle testing of vehicle-to-vehicle coordination (V2V) is the most important part, and related problems of software, hardware and systems can be found and solved in advance.
The tests of an automatic emergency braking system and a front collision early warning system in the high-grade driving-assisted real vehicle road test are also a V2V test, and a large amount of V2V scene tests are required. In the public road test, a license plate needs to be applied for public test in advance, so that the time is long; moreover, the safety of the tester and the test vehicle can not be effectively ensured. Moreover, typical test scenarios required by the test are relatively dispersed, and the repeatability of the test is poor.
At present, for ADAS tests, such as tests of an automatic emergency braking system and a front collision early warning system, the related test sites for automatic driving in China only provide dynamic tests of a straight-line road part, and dynamic test scenes are incomplete, and the test sites are particularly dependent on actual road tests. Moreover, domestic related test sites lack the error action test scene of a static typical road scene and also depend on actual road test.
The document with publication number CN109765877A discloses a method, an apparatus, a system and a storage medium for detecting an automatic driving process, wherein it is disclosed that whether the performance of an automatic driving system meets the requirements is detected by making various items of a test site for an automatically driven vehicle interact with the environment. But only relates to the interaction capability between the vehicle and the environment, and does not relate to the detection of the coordination capability between the vehicles of the unmanned system; although it is mentioned that for the performance which does not meet the requirement, the reason which does not meet the requirement needs to be determined and improved, no specific reason determination mode is given, and no specific optimization method is given.
The publication No. CN109632339A discloses a real vehicle test system for traffic coordination of an autonomous vehicle, in which coordination between a vehicle to be tested, a balloon vehicle and a background vehicle is used to test coordination performance between the autonomous vehicle and other vehicles, but no test for different application scenarios is involved.
The document with publication number CN110398374A discloses a multi-channel scene fusion automobile simulation test system, method and device, wherein a plurality of channels are provided, and each channel provides different road conditions, so as to realize the test of different road conditions. But no means to determine the test failure, let alone no specific optimization method, is given.
Disclosure of Invention
The invention provides an automatic driving function simulation test method by designing a dynamic test scene and a test method, which simulates an automatic driving scene of test vehicle cooperation and a test scene of interactive cooperation of the test vehicle and a road scene. And when the test result does not meet the requirement, quickly determining the reason causing the test to not meet the requirement.
The technical scheme of the method for simulating and testing the automatic driving function of the automobile for realizing one of the purposes of the invention is as follows:
setting a target vehicle to run at a constant speed or at a variable speed in a specified lane, recording position information and road information of the target vehicle, running the test main vehicle at a set speed after the target vehicle, and performing one or more automatic driving function tests on the test main vehicle in different test scenes;
when the test master vehicle fails, the test master vehicle acquires and stores the theoretical position information and the theoretical road information of the target vehicle acquired in the steps, closes or unloads a sensing system of the test master vehicle, and independently retries the failed test;
if the test still fails after the retest, determining that the control program of the main test vehicle has problems; and if the test is passed, determining that the sensing system of the test master vehicle has a problem.
The different test scenarios include: simulating overtaking from a middle lane of a self-vehicle unchanged lane on an actual road; simulating overtaking from a left lane of a self-vehicle unchanged lane on an actual road; simulating overtaking from the vehicle to the lane on the actual road; simulating the braking of target vehicles of adjacent lanes on the actual road; simulating the change of the adjacent lane target vehicles from the left side to overtake on the actual road; simulating the change of the adjacent lane target vehicles from the right side to overtake on the actual road; and (3) simulating the braking of target vehicles of adjacent lanes on the left-turn road and the right-turn road.
When the test main car does not pass the test, the data comprehensive analysis system arranged on the data acquisition and analysis equipment of the test main car sends the theoretical position data of the target car to the data acquisition and analysis equipment of the test main car, the test main car determines the running route and the running speed of the test main car according to the received theoretical position data of the target car, and controls the related control systems of the car, including an emergency braking system and a collision early warning system.
The data acquisition and analysis equipment of the test main vehicle is arranged on the test main vehicle and comprises acquisition and analysis equipment and a data comprehensive system, wherein the data acquisition and analysis equipment is used for receiving the position information and road information of the test main vehicle and the target vehicle, the information of sensors of the test main vehicle and the target vehicle and the reference data when the test main vehicle and the target vehicle are controlled.
The data comprehensive analysis system is arranged on data acquisition and analysis equipment of the test main vehicle and is used for analyzing the acquired position information and road information of the test main vehicle and the target vehicle and determining vehicle control under a set test scene for the two vehicles according to an analysis result. The analysis comprises the following steps: and receiving the running information of the test main vehicle and the target vehicle, which is input by the data synchronization module, wherein the running information comprises relative vehicle speed, relative distance and deviation distance, and calculating relative deviation amount by contrasting theoretical position information and theoretical road information.
The theoretical position information is calculated according to the speed set by the target vehicle and the running track to obtain theoretical position data based on a site coordinate system, and the theoretical position data comprises the running track, the coordinate position of the vehicle on the set site and vehicle speed information; the field coordinate system is a high-precision two-dimensional coordinate system established in a test field, a certain point near the central zone of the test field is selected as a coordinate origin, the length and the width of the field are used as a horizontal coordinate and a vertical coordinate according to the actual field condition, and the two-dimensional coordinate system needs to cover the whole test field.
The theoretical road information includes a distance from the lane line and a lateral speed approaching or deviating from the lane line when the vehicle is traveling.
When the secondary test still fails, the sensor is closed at the moment, and a problem occurs in a control program of the main test vehicle, wherein the control program comprises an emergency braking system and a collision early warning system; when the test is passed again, the control program of the test main vehicle has no problem, and the sensor has a problem, so that the specific reason of the problem can be positioned.
The further technical scheme comprises the following steps: the test main vehicle comprises a data acquisition and analysis device, receives the position information, road information and sensor information of the test main vehicle and the target vehicle, and calculates the position information, vehicle speed information and road information deviation amount by comparing theoretical position information and theoretical road information for reference when the test main vehicle and the target vehicle are controlled.
The further technical scheme comprises the following steps: the data acquisition and analysis equipment of the test master vehicle comprises acquisition and analysis equipment and a data comprehensive system; the acquisition and analysis equipment is used for receiving the position information and road information of the test main vehicle and the target vehicle and the information of the sensors of the test main vehicle and the target vehicle and transmitting the information to the data comprehensive analysis system; and the data comprehensive analysis system is used for analyzing the acquired position information and road information of the test main vehicle and the target vehicle and determining to control the vehicles of the two vehicles according to the analysis result.
The analysis comprises the following steps: and receiving running information of the test main vehicle and the target vehicle, which is input by the data synchronization module, wherein the running information comprises relative vehicle speed, relative distance and deviation distance, and calculating relative deviation amount by contrasting theoretical position information and theoretical road information.
The further technical scheme comprises the following steps: when the test main vehicle is closed or the sensing system of the test main vehicle is detached, and the failed test is retried, the target vehicle does not need to actually run in the test scene.
The running track, the running speed and the acceleration of the target vehicle are set, after the target vehicle runs, the data of the target vehicle can be transmitted to the test main vehicle through the inertial navigation equipment, the test main vehicle determines the running route and the running speed of the test main vehicle according to the obtained data, and after the data are obtained, the test of the test main vehicle can be carried out without the target vehicle.
The further technical scheme comprises the following steps: the method comprises the following steps: setting a target vehicle to run at a constant speed or at a variable speed on a specified lane, recording position information and road information of the target vehicle, testing whether the main vehicle runs at a set speed for one time or more times after running on the target vehicle, and testing whether the main vehicle is in misoperation under the following test scenes; the scene comprises the following steps: the test main vehicle overtakes from the middle lane of the target vehicle or the left lane of the target vehicle, changes the lane of the target vehicle to overtake, brakes the target vehicle of the adjacent lane or changes the lane of the left side or the right side of the test main vehicle to overtake, brakes the target vehicle of the adjacent lane on the left turn road or the right turn road.
The further technical scheme comprises the following steps: when the test of the test main vehicle fails, the test main vehicle independently retries the test which fails, the test main vehicle directly reads the stored cooperative data of the test main vehicle and the target vehicle when the test does not pass, and simultaneously sets a virtual target vehicle on a data comprehensive analysis system of the test main vehicle, when the test main vehicle reaches the speed and the acceleration when the test of the last time fails, and reaches the relative distance and the relative speed with the virtual target vehicle, the time point is taken as the starting mark time, and the test main vehicle performs the same actions as the previous test when the test does not pass at the time, such as acceleration, overtaking or braking, or the virtual target vehicle performs the same actions as the first test, such as acceleration, overtaking or braking, completes the repeated test, and records the test data, so as to achieve the purpose of repeating the scene test.
The cooperative data are coordinate position, speed, acceleration, relative longitudinal distance, relative transverse deviation distance and relative speed information of the test host vehicle and the target vehicle in the period from the test beginning to the test ending on the same time axis.
Both the host vehicle and the target vehicle are provided with a timer which counts from 0 at a set time T1 after the test is started, and the information of the target vehicle is recorded with a time stamp of the timer. T1 may be based on the specific requirements of each test scenario, such as setting the test subject velocity to accelerate to the set velocity and stabilize for 3 seconds. Then, when the previous test is repeated again, the timer of the test master vehicle starts to count time at the time T1, and then the travel information of the target vehicle at the time of the previous test recorded on the storage device is read at a fixed frequency, and the time stamp T of the travel information is read n Assume that the timer of the current test subject is T s Then select T n And T s The difference value of (a) is smaller than the set value, such as the current timer T s Is 20s, then T is selected n The time precision of the running information at the same time of 20 s-21 s can be set according to the actual test requirement, and the aim of repeating the scene test can be achieved.
Meanwhile, a virtual target vehicle is arranged on the data comprehensive analysis system of the test main vehicle, namely, running data of the target vehicle when the previous test of the target vehicle is failed is stored in the acquisition and analysis equipment on the test main vehicle to replace the target vehicle when the test is carried out again, and the target vehicle does not need to participate in the test again.
The second object of the present invention is achieved by an automatic driving function simulation test system for an automobile, comprising:
the data acquisition and analysis module is used for receiving and storing theoretical position information and theoretical road information of the test main vehicle and the target vehicle and analyzing test signals;
a data synchronization module: the method is used for communication between vehicles, and comprises the steps of carrying out data cooperation of a test main vehicle and a target vehicle, and sharing the information including the positions, the speeds and the running tracks of the test main vehicle and the target vehicle; receiving the position, the speed and the running track information of the vehicle transmitted by the inertial navigation module of the test main vehicle and the target vehicle, calculating the relevant information of the test main vehicle and the target vehicle, wherein the relevant information comprises the relative speed, the relative distance and the deviation distance, and inputting the calculated values into the data acquisition and analysis module;
the data synchronization module comprises a module host and signal receiving devices respectively arranged on the host and the vehicle, and the communication between the vehicles is carried out through the signal receiving devices.
An inertial navigation module: the system comprises a data synchronization module, a data acquisition module, a data transmission module and a data processing module, wherein the data acquisition module is used for acquiring data of a vehicle;
a difference base station module: the system comprises a main test vehicle and a target vehicle, wherein the main test vehicle and the target vehicle are used for receiving information of the main test vehicle and the target vehicle, the information comprises vehicle positions and vehicle running track signals, and the information is respectively sent back to the main test vehicle and the target vehicle after the accuracy is improved so as to realize the required positioning accuracy in a test scene;
the differential base station module comprises a base station host and signal receiving devices respectively arranged on the host, the test main car and the target car, and is used for sending and receiving information including the positions, the speeds and the signal precision of the running tracks of the test main car and the target car, and improving the positioning precision of a test field to meet the requirement of the positioning precision required by a test scene.
The vehicle-controlled robot module: the device is used for controlling basic vehicle operations of braking, accelerating and steering of the test main vehicle and the target vehicle, and realizes automatic control of the test vehicle.
The further technical scheme includes that the system also comprises a CAN data acquisition equipment module: the method is used for collecting bus data of the whole vehicle and data of an automatic emergency braking system and a front collision early warning system.
The further technical scheme comprises that the system also comprises a data acquisition module: the device is used for collecting signals of the vehicle-mounted radar and the camera.
The system further comprises a monitoring and calculating module, and the monitoring and calculating module is used for judging whether the vehicle collides or not according to the position of the test main vehicle, theoretical position data and theoretical reason data of the target vehicle, which are obtained from the acquisition and analysis equipment of the test main vehicle, and the actual collision with the target vehicle is not needed.
By utilizing the method, vehicle-vehicle cooperation can be realized by constructing the coordinate data of the test site and arranging the data receiving and sending equipment in the test site, after the unqualified condition is triggered by the test main vehicle, the theoretical position data of the target vehicle and the theoretical road condition information are output to the test main vehicle through the data receiving and sending equipment, so that the test main vehicle can complete the tests under different application scenes on the premise of closing the sensor, and the reason causing the triggering of the unqualified condition of the tested main vehicle is quickly confirmed according to the test result;
meanwhile, under the application scene of the adjacent lane target vehicle and the lane overtaking, when the collision early warning is triggered by the main test vehicle, the target vehicle is enabled to avoid through acceleration or steering, meanwhile, the theoretical position data of the target vehicle is sent to the main test vehicle through data sending equipment, and whether the collision occurs or not is judged on the premise that the actual collision does not occur;
the test technical means can be popularized and applied to scene tests of other functions related to Advanced Driver Assistance (ADAS), and after test cases and functions are combined, a targeted test scene and a test method are combined, so that the test efficiency can be greatly improved.
Drawings
FIG. 1 is a schematic diagram of a test integrated site of an automatic emergency braking system and a front collision early warning system according to the present invention;
FIG. 2 is a schematic diagram of an application scenario according to the present invention;
FIG. 3 is a diagram illustrating a second exemplary application scenario according to the present invention;
FIG. 4 is a schematic diagram of a third exemplary application scenario of the present invention;
FIG. 5 is a diagram illustrating a fourth exemplary application scenario of the present invention;
FIG. 6 is a diagram illustrating an application scenario five of the present invention;
fig. 7 is a sixth schematic view of an application scenario according to the present invention;
fig. 8 is a schematic diagram of a seventh application scenario and an eighth application scenario according to the present invention.
Detailed Description
The following detailed description is provided for the purpose of explaining the claimed embodiments of the present invention so that those skilled in the art can understand the claims. The scope of the invention is not limited to the following specific implementation configurations. It is within the purview of one skilled in the art to effect the invention in variations of the embodiments described below including what is claimed herein and other embodiments.
In this embodiment, 8 test scenarios are designed, and the test scenarios are sequentially performed in 6 test areas shown in fig. 1. The 8 test scenes comprise an automatic emergency braking system test and a front collision early warning system test.
In this embodiment, a test master vehicle (SV) is defined as a test sample vehicle equipped with an automatic emergency braking system and a front collision warning system and the system operates normally.
A Target Vehicle (TV) is defined as a front vehicle which is closest to a test host vehicle (SV) on a driving trajectory line in front of the host vehicle and is aimed by a vehicle automatic emergency braking system and a front collision early warning system when working. If the target vehicle exists in both lanes, the target vehicle defined in the lane is defined as TV1, and the target vehicle defined in the adjacent lane is defined as TV 2.
X is defined as the longitudinal distance of SV and TV, i.e., the component of the distance between the head of SV and the tail of TV in the longitudinal direction.
Definition V SV For testing the speed of the host vehicle (SV) in the X direction, V TV For the speed of a Target Vehicle (TV) in the X direction, V r ＝V SV -V TV The relative speed of SV and TV. Wherein V TV1 Speed of TV1, V TV2 Is the speed of the TV 2.
Defining TTC as the time to collision, defined as the time required for SV and TV to collide when SV and TV relative velocities are not zero, assuming both vehicles remain unchanged,
wherein X is the distance between two vehicles, V r Is the relative speed of the two vehicles. When X is less than the set distance, data recording is started, and when TTC is less than or equal to the set value, the vehicle-mounted control system (the steering robot, the braking and accelerating robot) takes braking or steering measures or the braking and steering measures and the braking and the steering measures are carried out simultaneously to avoid vehicle collision.
Test preparation:
1. the test master vehicle (SV) and the Target Vehicle (TV) are provided with the following instrument devices: the system comprises a steering robot, a braking and accelerating robot, data acquisition and analysis equipment, inertial navigation equipment, CAN (controller area network) data acquisition equipment, radar camera data acquisition equipment and data synchronization equipment;
the steering robot, the braking and accelerating robot are used for controlling basic vehicle operations such as braking, accelerating and steering of the test main vehicle and the target vehicle;
the inertial navigation equipment is used for measuring the position, the speed and the running track of the vehicle in real time and improving the positioning precision of the position of the vehicle through a differential base station (BaseStation);
the data synchronization equipment is used for transmitting data by a Target Vehicle (TV) through the data synchronization equipment, testing the data received by a master vehicle (SV) and ensuring the data synchronization of the TV and the SV;
the CAN data acquisition equipment is used for acquiring bus data of the whole vehicle and data of an automatic emergency braking system and a front collision early warning system;
the radar and camera data acquisition equipment is used for acquiring signals of a vehicle-mounted radar and a vehicle-mounted camera.
The data synchronization equipment is used for carrying out data synchronization on all the test signals, so that unified acquisition and analysis are facilitated;
the data acquisition and analysis equipment is used for acquiring and analyzing all the test signals.
2. The base station comprises a base station host and signal receiving devices respectively arranged on the host and the vehicles, and is used for sending and receiving signal precision including the positions of the two vehicles, the speed of the vehicles and the running track of the vehicles, and improving the positioning precision of a test site so as to meet the requirement of the positioning precision required by a test scene.
And (3) testing a scene:
step 1, selecting a test site. A high-precision two-dimensional coordinate system is established in a test field, a certain point near a central zone of the test field is selected as an origin of coordinates, the length and the width of the field are used as horizontal and vertical coordinates according to the actual field condition, and the two-dimensional coordinate system needs to cover the whole test field.
And 2, respectively installing inertial navigation equipment on the SV of the test main vehicle and the TV of the target vehicle, and measuring the position, the speed and the information of the running track of the vehicle.
And 3, installing and arranging a differential base station (base station) on the test site to communicate with inertial navigation equipment of the test main vehicle and the target vehicle so as to improve the precision of signals including the position, the speed and the running track of the vehicle, and improving the positioning precision of the test site so that the test data of the vehicle can meet the precision requirement.
And 4, installing a data synchronization system in a test site, testing inertial navigation equipment installed on the SV and the TV of the main vehicle and the target vehicle according to the SV and the TV, and combining a differential base station to send and receive signals, perform cooperation of the two vehicles and share information including the positions, the speed and the running track of the two vehicles.
And 5, the target vehicle enters a test site, the data synchronization system accesses the target vehicle into the site coordinate system in the step 1, and real-time state information including vehicle speed and acceleration is accessed through the vehicle inertial navigation system. And starting the vehicle to accelerate to a preset position of the test site by controlling the robot.
And 6, testing the main vehicle to enter a test site, accessing the main vehicle into a site coordinate system through the vehicle real-time positioning system by the differential base station, and accessing real-time state information including vehicle acceleration through the vehicle inertial navigation system. And driving to a preset position of a test site by the accelerating robot and the steering robot.
And 7, after the target vehicle and the main test vehicle enter a test site, starting to perform V2V test according to different test scenes, and recording data.
And 8, arranging data acquisition and analysis equipment on the test main vehicle, and simultaneously receiving vehicle state test data and cooperative data of the two vehicles, which are transmitted by the test main vehicle and the target vehicle through measurement of inertial navigation equipment and receiving and sending of a differential base station, wherein the vehicle state test data and the cooperative data of the two vehicles comprise longitudinal distance, transverse deviation and speed difference of the two vehicles. After the test data is analyzed, according to the state data of the main test vehicle and the target vehicle, the robots (steering robots, braking and accelerating robots) are controlled through the vehicle state to control the main test vehicle and the target vehicle, and the main test vehicle and the target vehicle are ensured to run according to the track, the speed and the acceleration meeting the requirements in the test case.
And 9, if any one of the test vehicle and the target vehicle does not perform the operation including driving, braking and lane changing according to the test case set by the simulation scene, the data comprehensive analysis system on the data acquisition and analysis equipment judges that the automatic driving function of the vehicle is unqualified.
Optionally, while step 6 is executed, if the test main vehicle and the target vehicle have potential collision safety risks, the data comprehensive analysis system can immediately control the vehicles to avoid dangers, and directly control the vehicles to brake, stop or steer for collision avoidance.
Step 10, receiving analysis data, sending theoretical position information and theoretical road information of a target vehicle to data acquisition and analysis equipment of a test main vehicle, closing or detaching a sensing system of the test main vehicle, testing again, and determining that a control program of an unqualified vehicle has a problem if the tested vehicle still triggers an unqualified condition; if the vehicle under test does not trigger an unacceptable condition, then a problem is identified with the sensing system of the unacceptable vehicle.
The following describes the above steps 4 to 7 with reference to 8 application scenarios.
Detailed description of the preferred embodiment
The application scene one: as shown in fig. 2, the overtaking from the middle lane of the vehicle in the unchanged lane on the actual road is simulated.
And 4.1, enabling the target vehicle and the test main vehicle to enter the first half section of the straight-line road.
And 5.1, controlling the test main vehicle SV to pass through the middle lane, wherein two target vehicles TV respectively run on two lanes at constant speed, and the speeds of the TV are both 20 km/h. And ensuring the stable speed of the SV of the main test vehicle before the longitudinal distance X between the main test vehicle and the target vehicle reaches 100 m. After the SV headstock and the TV (left side or right side) tailstock keep the distance of 15 (+ -1.2) m for more than 3s, the TV (left side or right side) keeps the distance of 3 (+ -0.3) m/s 2 And (5) deceleration braking.
And 6.1, carrying out automatic emergency braking system test and front collision early warning system test.
Specifically, the automatic emergency braking system test: this test was performed 3 times. The SV test vehicle speeds were 30, 45, 65km/h, respectively. If SV braking occurs, the test is finished, and the test is failed. Testing a front collision early warning system: this test was performed 3 times. The test vehicle speeds of the SV are respectively 50, 60 and 75 km/h. The test was started when X was 100 meters and the data was recorded. If the system gives an alarm, the test is finished, and the test does not pass.
And 7.1, closing a sensor of the automatic emergency braking system and a sensor of the front collision early warning, inputting the position and road condition information of the two target vehicles TV recorded in the step 5.1 into data acquisition and analysis equipment of the SV of the test main vehicle, controlling the test main vehicle to repeat the step 6.1 (the target vehicle TV does not need to be arranged), if the test is not qualified, determining that the running route control system of the target main vehicle has problems, and if the test is qualified, determining that the sensor of the automatic emergency braking system or the sensor of the front collision early warning has problems, such as insensitive recognition, leading the target main vehicle not to detect the front vehicle in time, so that the running route cannot be adjusted in time, for example, the recognition is too sensitive, and leading the emergency braking or the front collision early warning to be triggered by mistake.
Detailed description of the invention
Application scenario two: as shown in fig. 3, the overtaking from the left lane of the vehicle in the unchanged lane of the vehicle on the actual road is simulated.
And 4.2, enabling the target vehicle and the test main vehicle to enter the second half section of the straight-line road.
And 5.2, testing the acceleration of the main vehicle SV to pass through the left lane of the target vehicle TV. The TV speed was 20 km/h.
And 6.2, carrying out automatic emergency braking system test and front collision early warning system test.
Testing an automatic emergency braking system: this test was performed 3 times. The SV test vehicle speeds were 30, 45, 65km/h, respectively. The test is ended if the following conditions occur: 1. SV stopping; 2. SV is not braked and stopped but braking action occurs, and the test is failed. Testing a front collision early warning system: this test was performed 3 times. The test vehicle speeds of the SV are respectively 50, 60 and 75 km/h. The test was started and the data recorded at a distance X of 100 meters between the two vehicles. If the system gives an alarm, the test is finished, and the test does not pass.
And 7.2, closing a sensor of the automatic emergency braking system and a sensor for early warning of front collision, inputting the position and road condition information of the target vehicle TV recorded in the step 5.2 into an ECU (electronic control unit) of the SV of the test main vehicle, controlling the test main vehicle to repeat the step 6.2 (the target vehicle TV does not need to be arranged), if the test is not qualified, determining that the running route control system of the target main vehicle has problems, and if the test is qualified, determining that the sensor of the automatic emergency braking system or the sensor for early warning of front collision has problems.
Detailed description of the preferred embodiment
Application scenario three: as shown in fig. 4, the actual road overtaking from the vehicle to the lane is simulated.
And 4.3, enabling the target vehicle and the test main vehicle to enter a straight-line road II.
And 5.3, testing that the SV of the main vehicle and the TV of the target vehicle run at a constant speed on the same lane, wherein the SV follows the rear part of the TV, and the speed of the TV is 20 km/h. And before the distance X between the two vehicles is 100m, the stability of the speed of the SV of the main vehicle is ensured. The SV headstock and the TV (left side or right side) tailstock keep a distance of more than 15 (+ -1.2) m3 s.
And 6.3, carrying out automatic emergency braking system test and front collision early warning system test.
Specifically, the automatic emergency braking system test: this test was performed 3 times. The testing vehicle speeds of the SV are respectively 30, 45 and 65 km/h. If the following conditions occur after the main vehicle lane change is tested, the test is finished: 1. SV stopping; 2. SV is not braked and stopped but braking action occurs, and the test is failed. Testing a front collision early warning system: this test was performed 3 times. The test vehicle speeds of the SV are respectively 50, 60 and 75 km/h. The test was started when X was 100 meters and the data was recorded. If the SV has not finished lane changing, when the collision time TTC is more than or equal to 2.0, the system gives an alarm, or when the system has not given an alarm after the TTC is less than or equal to 1.8s (90% of 2.0 s), or after the SV finishes lane changing, the system gives an alarm again, the test is finished, and the test does not pass.
And 7.3, closing a sensor of the automatic emergency braking system and a sensor of the front collision early warning, inputting the position and road condition information of the target vehicle TV recorded in the step 5.3 into data acquisition and analysis equipment of the SV of the test main vehicle, controlling the test main vehicle to repeat the step 6.3 (the target vehicle TV does not need to be arranged), if the test is not qualified, determining that the running route control system of the target main vehicle has problems, and if the test is qualified, determining that the sensor of the automatic emergency braking system or the sensor of the front collision early warning has problems.
Detailed description of the invention
And an application scene four: as shown in fig. 5, the braking of the target vehicle of the adjacent lane on the actual road is simulated.
And 4.4, enabling the target vehicle and the test main vehicle to enter the front half section of the straight-line road.
And 5.4, testing the SV of the main vehicle, a target vehicle TV1 in the same lane and a target vehicle TV2 of an adjacent lane, wherein the speed of the vehicles is 40km/h, and the vehicles run on a straight road at a constant speed. When SV and TV1 are maintained at 15 + -1.2 m for at least 3s, adjacent lane target vehicle TV2 is braked at a deceleration of 3 + -0.3 m/s 2 。
And 6.4, carrying out automatic emergency braking system test and front collision early warning system test.
Specifically, the automatic emergency braking system test: this test was performed 3 times. The test is ended if the following conditions occur: 1. SV stopping; 2. SV is not braked and stopped but braking action occurs, and the test is failed.
Testing a front collision early warning system: this test was performed 3 times. When the SV system sends out collision early warning alarm, the test is finished and the test is not passed.
And 7.4, closing a sensor of the automatic emergency braking system and a sensor of the front collision early warning, inputting the position and road condition information of the target vehicle TV recorded in the step 5.4 into data acquisition and analysis equipment of the SV of the test main vehicle, controlling the test main vehicle to repeat the step 6.4 (the target vehicle TV does not need to be arranged), if the test is not qualified, determining that the running route control system of the target main vehicle has problems, and if the test is qualified, determining that the sensor of the automatic emergency braking system or the sensor of the front collision early warning has problems.
Detailed description of the preferred embodiment
Application scenario five: as shown in fig. 6, the lane change overtaking from the left side of the adjacent lane target vehicle on the actual road is simulated.
And 4.5, enabling the target vehicle and the test main vehicle to enter the second half section of the straight-line road.
And 5.5, testing that the main vehicle SV runs at a constant speed, and inserting the target vehicle TV into a lane in front of the SV from the left lane.
And 6.5, carrying out automatic emergency braking system test and front collision early warning system test.
Specifically, the automatic emergency braking system test: this test was performed 3 times. The SV test vehicle speeds were 30, 45, 65km/h, respectively. The test is ended if the following conditions occur: 1. SV is not braked; 2. the SV brakes but contact occurred with both cars, failing this test. Testing a front collision early warning system: this test was performed 3 times. The test vehicle speeds of the SV were 50, 60 and 75km/h, respectively. The test was started when X was 100 meters and the data was recorded. When the TTC is more than or equal to 2.0, the system alarms, and the test is passed; or the system does not give an alarm when the TTC is less than or equal to 1.8s (90% of 2.0 s), the test is finished, and the test does not pass.
Optionally, when the test master vehicle triggers a front collision warning, the test master vehicle controls the target vehicle to avoid by accelerating or steering, and simultaneously sends theoretical position data of the target vehicle (position data calculated according to the preset speed and the preset running track of the target vehicle instead of actual position data of the target vehicle) to the data acquisition and analysis device of the test master vehicle according to the preset speed and the preset running track of the target vehicle, and the test master vehicle controls the emergency braking system and the collision warning system according to the received position data of the target vehicle. The monitoring system judges whether the two vehicles actually collide according to the position of the tested main vehicle and the theoretical position data of the target vehicle.
And 7.5, closing a sensor of the automatic emergency braking system and a sensor of the front collision early warning, inputting the position and road condition information of the target vehicle TV recorded in the step 5.5 into an ECU of the SV of the test main vehicle, controlling the test main vehicle to repeat the step 6.5 (the target vehicle TV does not need to be arranged), if the test is not qualified, determining that the running route control system of the target main vehicle has a problem, and if the test is qualified, determining that the sensor of the automatic emergency braking system or the sensor of the front collision early warning has a problem.
Detailed description of the preferred embodiment
Application scenario six: as shown in fig. 7, the lane change overtaking from the right side of the adjacent lane target vehicle on the actual road is simulated.
And 4.6, enabling the target vehicle and the test main vehicle to enter the second half section of the straight-line road.
And 5.6, testing that the main vehicle SV runs at a constant speed, and inserting the target vehicle TV into a lane in front of the SV from the left lane.
And 6.6, testing an automatic emergency braking system and a front collision early warning system.
Specifically, the automatic emergency braking system test: this test was performed 3 times. The testing vehicle speeds of the SV are respectively 30, 45 and 65 km/h. The test is ended if the following conditions occur: 1. SV is not braked; 2. SV brakes, but both vehicles come into contact and fail this test. Testing a front collision early warning system: this test was performed 3 times. The test vehicle speeds of the SV are respectively 50, 60 and 75 km/h. The test was started when X was 100 meters and the data was recorded. When the TTC is more than or equal to 2.0, the system gives an alarm, or when the system does not give an alarm when the TTC is less than or equal to 1.8s (90% of 2.0 s), the test is ended.
And 7.6, closing a sensor of the automatic emergency braking system and a sensor of the front collision early warning, inputting the position and road condition information of the target vehicle TV recorded in the step 5.6 into data acquisition and analysis equipment of the SV of the test main vehicle, controlling the test main vehicle to repeat the step 6.6 (the target vehicle TV does not need to be arranged), if the test is not qualified, determining that the running route control system of the target main vehicle has problems, and if the test is qualified, determining that the sensor of the automatic emergency braking system or the sensor of the front collision early warning has problems.
Detailed description of the preferred embodiment
Application scenarios seven and eight: as shown in fig. 8, the braking of the target vehicle of the adjacent lane on the left-hand turn road and the right-hand turn road is simulated.
And 4.7, enabling the target vehicle and the main testing vehicle to enter bend testing roads, namely a left-turn bend and a right-turn bend.
And 5.7, testing and testing the SV of the main vehicle, the TV1 of the target vehicle on the same lane and the TV2 of the target vehicle on the adjacent lane to run at a constant speed of 40 km/h. After SV and TV1 are maintained at 15 + -1.2 m for at least 3s, the speed of adjacent lane target vehicle TV2 is braked and the deceleration is 3 + -0.3 m/s 2 。
And 6.7, testing an automatic emergency braking system and a front collision early warning system.
Specifically, the automatic emergency braking system test: this test was performed 3 times. This test is ended if the following conditions occur: 1. SV stopping; 2. SV is not braked and stopped but braking action occurs, and the test is failed. Testing a front collision early warning system: this test was performed 3 times. When the SV system sends out collision early warning alarm, the test is finished and the test does not pass.
And 7.7, closing a sensor of the automatic emergency braking system and a sensor of the front collision early warning, inputting the position and road condition information of the target vehicle TV recorded in the step 5.7 into data acquisition and analysis equipment of the SV of the test main vehicle, controlling the test main vehicle to repeat the step 6.7 (the target vehicle TV does not need to be arranged), if the test is not qualified, determining that the running route control system of the target main vehicle has problems, and if the test is qualified, determining that the sensor of the automatic emergency braking system or the sensor of the front collision early warning has problems.
The invention is suitable for all-level automatic driving vehicles, and can be power battery vehicles or fuel vehicles.
Claims (9)
1. A method for simulating and testing the automatic driving function of an automobile is characterized by comprising the following steps:
setting a target vehicle to run at a specified lane at a constant speed or at a variable speed, recording position information and road information of the target vehicle, running the test main vehicle at a set speed after the target vehicle, and performing one or more automatic driving function tests on the test main vehicle in different test scenes;
when the test master vehicle fails, the test master vehicle acquires and stores the theoretical position information and the theoretical road information of the target vehicle acquired in the steps, closes or unloads a sensing system of the test master vehicle, and independently retries the failed test;
if the test still fails after the retest, determining that the control program of the main test vehicle has problems; if the test is passed, determining that the sensing system of the main test vehicle has a problem;
when the test main vehicle fails in the test, and the test main vehicle independently retries the failed test, the test main vehicle directly reads the stored cooperative data of the test main vehicle and the target vehicle when the test main vehicle fails, and simultaneously sets a virtual target vehicle on a data comprehensive analysis system of the test main vehicle, when the test main vehicle reaches the vehicle speed and the acceleration when the last test fails, and reaches the relative distance and the relative speed with the virtual target vehicle, the time point is taken as the initial marking time, and the test main vehicle performs the same actions as the previous test failure at the time, including acceleration, overtaking or braking, or the virtual target vehicle performs the same actions as the first test, including acceleration, overtaking or braking, so as to complete the repeated test, and record the test data, so as to achieve the purpose of repeating the scene test.
2. The simulation test method for the automatic driving function of the automobile as claimed in claim 1, wherein the test master vehicle includes a data acquisition and analysis device for receiving the position information, the road information and the sensor information of the test master vehicle and the target vehicle, and calculating the position information, the vehicle speed information and the road information deviation amount for reference in controlling the test master vehicle and the target vehicle by comparing the theoretical position information and the theoretical road information.
3. The simulation test method for the automatic driving function of the automobile as claimed in claim 2, wherein the data acquisition and analysis device of the test master vehicle comprises an acquisition and analysis device and a data synthesis system; the acquisition and analysis equipment is used for receiving the position information and road information of the test main vehicle and the target vehicle and the information of the sensors of the test main vehicle and the target vehicle and transmitting the information to the data comprehensive analysis system; and the data comprehensive analysis system is used for analyzing the acquired position information and road information of the test main vehicle and the target vehicle and determining to control the vehicles of the two vehicles according to the analysis result.
4. The method as claimed in claim 1, wherein when the test vehicle is closed or the sensing system of the test vehicle is detached and the failed test is retried, the target vehicle is not required to actually run in the test scene.
5. The simulation test method for the automatic driving function of the automobile as claimed in claim 1, characterized by comprising the following test methods: setting a target vehicle to run at a constant speed or at a variable speed on a specified lane, recording position information and road information of the target vehicle, testing whether the main vehicle runs for one time or more times at a set speed after running on the target vehicle, and testing whether the main vehicle has misoperation under the following test scene; the scene comprises the following steps: the test main vehicle overtakes from the middle lane of the target vehicle or the left lane of the target vehicle, changes the lane of the target vehicle to overtake, brakes the target vehicle of the adjacent lane or changes the lane of the left side or the right side of the test main vehicle to overtake, brakes the target vehicle of the adjacent lane on the left turn road or the right turn road.
6. An automotive autopilot function simulation test system according to the method of claim 1 and comprising:
the data acquisition and analysis module is used for receiving and storing theoretical position information and theoretical road information of the test main vehicle and the target vehicle and analyzing test signals;
a data synchronization module: the method is used for communication between vehicles, and comprises the steps of carrying out data cooperation of a test main vehicle and a target vehicle, and sharing the information comprising the positions, the vehicle speed and the vehicle running track of the test main vehicle and the target vehicle; receiving the position, the speed and the vehicle running track information of the vehicle transmitted by the inertial navigation module of the test main vehicle and the target vehicle, calculating the relevant information of the test main vehicle and the target vehicle, wherein the relevant information comprises the relative speed, the relative distance and the deviation distance, and inputting the calculated value to the data acquisition and analysis module;
an inertial navigation module: the system comprises a data synchronization module, a data synchronization module and a data acquisition module, wherein the data synchronization module is used for measuring the position, the speed and the running track of a vehicle in real time and sending measured data to the data synchronization module;
a difference base station module: the system comprises a main test vehicle and a target vehicle, wherein the main test vehicle and the target vehicle are used for receiving information of the main test vehicle and the target vehicle, the information comprises vehicle positions and vehicle running track signals, and the information is respectively sent back to the main test vehicle and the target vehicle after the accuracy is improved so as to realize the required positioning accuracy in a test scene;
the vehicle-controlled robot module: the device is used for controlling basic vehicle operations of braking, accelerating and steering of the test main vehicle and the target vehicle, and realizes automatic control of the test vehicle.
7. The automobile automatic driving function simulation test system according to claim 6, further comprising a CAN data acquisition device module: the method is used for collecting bus data of the whole vehicle and data of an automatic emergency braking system and a front collision early warning system.
8. The vehicle autopilot function simulation test system of claim 6 further comprising a data acquisition module: the device is used for collecting signals of the vehicle-mounted radar and the camera.
9. The simulation test system for automotive automatic driving functions of claim 6, further comprising a monitoring and calculating module for determining whether a collision will occur without actually colliding with the target vehicle, based on the position of the test host vehicle, the theoretical position data and the theoretical reason data of the target vehicle obtained from the collecting and analyzing device of the test host vehicle.
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| CN114047361B (en) * | 2022-01-11 | 2022-04-05 | 深圳佑驾创新科技有限公司 | Calibration system of ADAS visual equipment |
| CN114414259A (en) * | 2022-01-12 | 2022-04-29 | 奇瑞新能源汽车股份有限公司 | Anti-collision test method and device for vehicle, electronic equipment and storage medium |
| CN114235442B (en) * | 2022-02-23 | 2022-05-10 | 国汽智控(北京)科技有限公司 | Method, device and equipment for testing performance of automatic driving vehicle and storage medium |
| CN114526929A (en) * | 2022-02-25 | 2022-05-24 | 智己汽车科技有限公司 | Lane change testing method and device and vehicle |
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| CN112525547B (en) * | 2020-11-24 | 2022-03-01 | 东风汽车集团有限公司 | Test method for automatic emergency braking system and collision early warning system |
| CN112649208A (en) * | 2020-11-30 | 2021-04-13 | 北京智能车联产业创新中心有限公司 | Device and method for testing emergency braking function of automatic driving vehicle |
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