CN113447930A - Vehicle following capability evaluation method and device, vehicle and storage medium - Google Patents

Vehicle following capability evaluation method and device, vehicle and storage medium Download PDF

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Publication number
CN113447930A
CN113447930A CN202110711143.3A CN202110711143A CN113447930A CN 113447930 A CN113447930 A CN 113447930A CN 202110711143 A CN202110711143 A CN 202110711143A CN 113447930 A CN113447930 A CN 113447930A
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vehicle
following
target
evaluated
test
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胡汉亭
汪跃中
林新峰
袁培荣
唐少俊
王书
周旗
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Chery New Energy Automobile Co Ltd
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Chery New Energy Automobile Co Ltd
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Priority to CN202110711143.3A priority Critical patent/CN113447930A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras

Abstract

The application discloses vehicle following capability evaluation method and device of vehicle, vehicle and storage medium, wherein the method comprises the following steps: controlling the vehicle to be evaluated to drive to a preset distance of a target following vehicle at a test speed corresponding to each test item in a preset traffic test scene; controlling a vehicle to be evaluated to enter an automatic driving mode, and acquiring early warning information, braking information and/or steering information in the testing process of a current testing project; and generating a vehicle following capacity evaluation result of the vehicle to be evaluated according to the early warning information, the braking information and/or the steering information of one or more test items and by combining with the collision data of the target vehicle following. Therefore, the problem that the safe distance cannot be effectively kept to run along with the front vehicle due to certain errors in the related technology is solved, the research, development and application of the automatic driving vehicle technology can be effectively guided, special test equipment and instruments do not need to be additionally arranged, the test cost is effectively reduced, and the safety of the vehicle is greatly improved.

Description

Vehicle following capability evaluation method and device, vehicle and storage medium
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a method and an apparatus for evaluating a vehicle following capability of a vehicle, and a storage medium.
Background
With the great increase of the automobile holding capacity, the traffic jam problem becomes more serious. During traffic jam, the driver needs to continuously adjust the state of the vehicle (such as left driving, right driving, straight driving and stopping driving), so that the driver is highly concentrated in spirit and fatigued in driving, and the possibility of traffic accidents is improved. The intelligent car following system can release the driver from the driving fatigue during the traffic jam, and avoids the occurrence of traffic accidents.
In the related technology, the intelligent vehicle following system mainly adopts devices such as a camera and a radar to detect the actual vehicle distance and the offset angle between a vehicle and a front vehicle, then calculates the target vehicle speed to be accelerated or decelerated by the vehicle based on the vehicle speed of the vehicle and the information (the vehicle speed or the vehicle distance) of the front vehicle, and finally keeps a certain safe distance to follow the front vehicle to run.
However, the method has certain errors, cannot effectively keep the safe distance to follow the front vehicle, and needs to be solved urgently.
Content of application
The application provides a vehicle following capacity evaluation method and device, a vehicle and a storage medium of the vehicle, so that the problem that a certain error exists in the correlation technique and the safe distance cannot be effectively kept to follow the front vehicle to run is solved, the research, development and application of the automatic driving vehicle technique can be effectively guided, special test equipment and instruments do not need to be additionally added, the test cost is effectively reduced, and the safety of the vehicle is greatly improved.
An embodiment of a first aspect of the present application provides a vehicle following capability evaluation method for a vehicle, including the following steps:
controlling the vehicle to be evaluated to drive to a preset distance of a target following vehicle at a test speed corresponding to each test item in a preset traffic test scene;
controlling the vehicle to be evaluated to enter an automatic driving mode, and acquiring early warning information, braking information and/or steering information in the testing process of the current testing project; and
and generating a vehicle following capacity evaluation result of the vehicle to be evaluated according to the early warning information, the braking information and/or the steering information of one or more test items and the collision data of the target vehicle following.
Optionally, before controlling the vehicle to be evaluated to enter the automatic driving mode, the method further includes:
and controlling the target following vehicle to enter a corresponding driving working condition according to the current test item, wherein the driving working condition comprises a static working condition, a low-speed driving working condition, a speed-reducing driving working condition, a cut-in driving working condition, a cut-out driving working condition and a follow-up driving working condition.
Optionally, before acquiring the warning information, the braking information and/or the steering information in the test process, the method further includes:
detecting the actual speed of the vehicle to be evaluated and a collision signal between the vehicle to be evaluated and the target following workshop;
and if the actual vehicle speed and/or the collision signal meet the test termination condition, stopping the current test item.
Optionally, the method further comprises:
determining a target speed, a target deceleration and/or a target position of the target car following according to the current test item;
and before the vehicle to be evaluated enters the automatic driving mode, controlling the target following vehicle to execute the current test item according to the target vehicle speed, the target deceleration and/or the target position.
Optionally, the preset traffic test scenario includes a long straight lane of at least two lanes.
An embodiment of a second aspect of the present application provides a vehicle following ability evaluation device, including:
the first control module is used for controlling the vehicle to be evaluated to drive to a preset distance of a target following vehicle at a test speed corresponding to each test item in a preset traffic test scene;
the acquisition module is used for controlling the vehicle to be evaluated to enter an automatic driving mode and acquiring early warning information, braking information and/or steering information in the test process of the current test item; and
and the evaluation module is used for generating a vehicle following capacity evaluation result of the vehicle to be evaluated according to the early warning information, the braking information and/or the steering information of one or more test items and by combining with the collision data of the target vehicle following.
Optionally, before controlling the vehicle to be evaluated to enter the automatic driving mode, the acquiring module further includes:
and controlling the target following vehicle to enter a corresponding driving working condition according to the current test item, wherein the driving working condition comprises a static working condition, a low-speed driving working condition, a speed-reducing driving working condition, a cut-in driving working condition, a cut-out driving working condition and a follow-up driving working condition.
Optionally, before collecting the early warning information, the braking information, and/or the steering information in the testing process, the collecting module further includes:
detecting the actual speed of the vehicle to be evaluated and a collision signal between the vehicle to be evaluated and the target following workshop;
and if the actual vehicle speed and/or the collision signal meet the test termination condition, stopping the current test item.
Optionally, the method further comprises:
the determining module is used for determining the target speed, the target deceleration and/or the target position of the target car following according to the current test item;
and the second control module is used for controlling the target following vehicle to execute the current test item according to the target vehicle speed, the target deceleration and/or the target position before the vehicle to be evaluated enters the automatic driving mode.
Optionally, the preset traffic test scenario includes a long straight lane of at least two lanes.
An embodiment of a third aspect of the present application provides a vehicle, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being configured to perform a method of evaluating a following ability of a vehicle as described in the above embodiments.
A fourth aspect of the present application provides a computer-readable storage medium storing computer instructions for causing a computer to execute the following capability evaluation method for a vehicle according to the foregoing embodiment.
Therefore, the vehicle to be evaluated can be controlled to drive to a certain distance from the target vehicle following at the test speed corresponding to each test item in a traffic test scene, the vehicle to be evaluated is controlled to enter an automatic driving mode, early warning information, braking information and/or steering information in the test process of the current test item are collected, and the vehicle following capability evaluation result of the vehicle to be evaluated is generated according to the early warning information, the braking information and/or the steering information of one or more test items and the collision data of the vehicle to the target vehicle following. Therefore, the problem that the safe distance cannot be effectively kept to run along with the front vehicle due to certain errors in the related technology is solved, the research, development and application of the automatic driving vehicle technology can be effectively guided, special test equipment and instruments do not need to be additionally arranged, the test cost is effectively reduced, and the safety of the vehicle is greatly improved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a method for evaluating a following capability of a vehicle according to an embodiment of the present application;
FIG. 2 is an exemplary illustration of a target following vehicle in a stationary condition according to one embodiment of the present application;
FIG. 3 is an exemplary diagram of a target following vehicle in a low speed driving condition according to one embodiment of the present application;
FIG. 4 is an exemplary illustration of a target following vehicle in a deceleration driving condition according to one embodiment of the present application;
FIG. 5 is an exemplary illustration of a target following in a cut-in driving condition according to one embodiment of the present application;
FIG. 6 is an exemplary diagram of a target following in a cut-out driving condition according to one embodiment of the present application;
FIG. 7 is an exemplary illustration of a target following in a follow-up driving condition according to one embodiment of the present application;
fig. 8 is an exemplary diagram of a following ability evaluation device of a vehicle according to an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
A following ability evaluation method and apparatus for a vehicle, and a storage medium according to embodiments of the present application are described below with reference to the drawings. The method comprises the steps of controlling a vehicle to be evaluated to drive to a position with a certain distance from a target vehicle to be followed at a test speed corresponding to each test item under a traffic test scene, controlling the vehicle to be evaluated to enter an automatic driving mode, collecting early warning information, braking information and/or steering information in the test process of the current test item, and generating a vehicle following capacity evaluation result of the vehicle to be evaluated according to the early warning information, the braking information and/or the steering information of one or more test items and the collision data of the vehicle to the target vehicle to be followed. Therefore, the problem that the safe distance cannot be effectively kept to run along with the front vehicle due to certain errors in the related technology is solved, the research, development and application of the automatic driving vehicle technology can be effectively guided, special test equipment and instruments do not need to be additionally arranged, the test cost is effectively reduced, and the safety of the vehicle is greatly improved.
Specifically, fig. 1 is a schematic flow chart of a method for evaluating a vehicle following capability of a vehicle according to an embodiment of the present application.
As shown in fig. 1, the following ability evaluation method of the vehicle includes the steps of:
in step S101, under a preset traffic test scenario, the vehicle to be evaluated is controlled to drive to a preset distance from the target following vehicle at the test speed corresponding to each test item.
Optionally, in some embodiments, the preset traffic test scenario includes a long straight lane of at least two lanes.
It should be understood that the preset test scenarios may be various, such as (1) a long straight road including at least one lane, and the vehicle to be evaluated is driven to a stationary target following ahead; (2) the method comprises the following steps that (1) a long straight road at least comprising one lane is used, and a vehicle to be evaluated drives to a forward slow-running target following vehicle (including low-speed and deceleration conditions of the target following vehicle); (3) a long straight road at least comprising two lanes, wherein a middle lane line is a white dotted line, and the lane width is a preset width, such as 3.75 m; (4) the vehicle to be evaluated stably follows a target vehicle in the same lane.
It should be noted that the test speed and the preset distance may be speeds and distances preset by a user, may be speeds and distances obtained through a limited number of experiments, or may be speeds and distances obtained through a limited number of computer simulations, for example, the test speed may be 40km/h, 60km/h, 80km/h, 100km/h, and 120km/h, and the preset distance may be 200m, which is not limited herein.
Optionally, in some embodiments, before controlling the vehicle to be evaluated to enter the automatic driving mode, the method further includes: and controlling the target following vehicle to enter a corresponding driving working condition according to the current test item, wherein the driving working condition comprises a static working condition, a low-speed driving working condition, a speed-reducing driving working condition, a cut-in driving working condition, a cut-out driving working condition and a follow-up driving working condition.
Specifically, the static working condition is that the target following vehicle is in a static state; the low-speed driving working condition is that the target following vehicle is in a low-speed driving state; the deceleration running working condition is that the target following vehicle is in a deceleration running state; the cut-in running working condition is that the target car-following cuts into the lane where the vehicle to be evaluated is located in the process that the vehicle to be evaluated approaches the target car-following; the cut-out running condition is that when the vehicle to be evaluated follows the target following vehicle at a relatively stable following distance, the target following vehicle cuts out the lane where the vehicle to be evaluated is located; the following running working condition is the stable following target following of the vehicle to be evaluated in the same lane.
In step S102, the vehicle to be evaluated is controlled to enter an automatic driving mode, and the warning information, the braking information, and/or the steering information in the test process of the current test item are collected.
It should be understood that the vehicle autonomous driving mode to be evaluated may include longitudinal control, single lane lateral control, single lane longitudinal and lateral combination control, lane change and assistance, and the like. After a vehicle to be evaluated enters an automatic driving mode, early warning information, braking information, steering information, early warning information, braking information and steering information in a testing process can be collected, or three or any two of the early warning information, the braking information and the steering information can be collected.
Optionally, in some embodiments, before collecting the warning information, the braking information, and/or the steering information during the test, further including: detecting the actual speed of the vehicle to be evaluated and a collision signal between the vehicle to be evaluated and a target following workshop; and if the actual vehicle speed and/or the collision signal meet the test termination condition, stopping the current test item.
It should be understood that, in the embodiment of the present application, a corresponding test termination condition may be preset according to a traffic test scenario.
As a first possible implementation manner, when the test scenario is a long straight road including at least one lane, and the vehicle to be evaluated drives to the stationary target ahead to follow the vehicle, the test termination condition may be as follows: (1) in a single test, the vehicle speed is 0 or collision occurs; (2) when collision occurs, the actual speed of the vehicle to be evaluated is more than 50 km/h; (3) the actual speed reduction of the vehicle to be evaluated is less than 5km/h, and when any one of the above conditions is met, the test of the current project can be stopped.
As a second possible implementation manner, when the test scenario is a long straight road including at least one lane, and the vehicle to be evaluated drives to a forward slow-moving target following vehicle (including low-speed and deceleration conditions of the target following vehicle), the test termination condition may be as follows: (1) the actual speed of the vehicle to be evaluated is smaller than the target vehicle following speed or is collided; (2) when collision occurs, the actual speed of the vehicle to be evaluated is more than 50 km/h; (3) the actual speed reduction of the vehicle to be evaluated is less than 5km/h, and when any one of the above conditions is met, the test of the current project can be stopped.
As a third possible implementation manner, when the test scenario is a long straight lane including at least two lanes, the middle lane line is a white dotted line, and the target following is a cut-in driving condition, the test termination condition may be the following condition: and when the actual speed of the vehicle to be evaluated is less than the target vehicle following speed or collision occurs, stopping testing the current item.
As a fourth possible implementation manner, when the test scenario is a long straight lane including at least two lanes, the middle lane line is a white dotted line, and the target following vehicle is a cut-out driving condition, the test termination condition may be the following several conditions: (1) the actual speed of the vehicle to be evaluated is smaller than the target vehicle following speed or is collided; (2) when collision occurs, the actual speed of the vehicle to be evaluated is more than 50 km/h; (3) the actual speed reduction of the vehicle to be evaluated is less than 5km/h, and when any one of the above conditions is met, the test of the current project can be stopped.
As a fifth possible implementation manner, when the test scenario is a long straight lane including at least one lane, and the vehicle to be evaluated follows the target stably in the same lane, the test termination condition may be as follows: (1) the actual speed of the vehicle to be evaluated is smaller than the target vehicle following speed or is collided; (2) when collision occurs, the actual speed of the vehicle to be evaluated is more than 50 km/h; (3) the actual speed reduction of the vehicle to be evaluated is less than 5km/h, and when any one of the above conditions is met, the test of the current project can be stopped. In step S103, a following capability evaluation result of the vehicle to be evaluated is generated according to the early warning information, the braking information and/or the steering information of the one or more test items in combination with the collision data with the target following.
Therefore, the vehicle to be evaluated can be early warned and prevented from colliding with the target vehicle in a braking, steering or combination mode.
In order to enable those skilled in the art to further understand the following capability evaluation method of the vehicle according to the embodiment of the present application, the following description is provided in detail with reference to a plurality of specific embodiments.
Optionally, in some embodiments, the method for evaluating a following capability of a vehicle further includes: determining a target speed, a target deceleration and/or a target position of the target car-following according to the current test item; and before the vehicle to be evaluated enters the automatic driving mode, controlling the target vehicle following to execute the current test item according to the target vehicle speed, the target deceleration and/or the target position.
Example 1: as shown in fig. 2, the test scenario is a long straight road including at least one lane, and the vehicle to be evaluated runs toward the stationary target following ahead.
The test method comprises the following steps: after the automatic driving mode is activated, the set vehicle speed is tested from low to high in sequence, the vehicle to be evaluated reaches the expected vehicle speed before the distance of 200m from the target vehicle to follow, the vehicle is driven to the front static target vehicle to follow in a stable state, and a driver holds the steering wheel with two hands so as not to interfere the normal driving of the vehicle. The set vehicle speed and the target following position of the vehicle to be evaluated are shown in table 1.
TABLE 1
Figure BDA0003133798840000061
Wherein, the target is with car and indicates on the left side of the road: the outer edge of the left wheel of the target following vehicle is superposed with the inner side of the left lane line; the target car-following indicates on the right side of the road: the outer edge of the right wheel of the target following vehicle coincides with the inner side of the right lane line.
Stop the current test item conditions: (1) in a single test, the vehicle speed is 0 or collision occurs; (2) when collision occurs, the actual speed of the vehicle to be evaluated is more than 50 km/h; (3) the actual speed reduction of the vehicle to be evaluated is less than 5km/h, and when any one of the above conditions is met, the test of the current project can be stopped.
Example 2: as shown in fig. 3, the test scenario is a long straight road including at least one lane, and the vehicle to be evaluated is driven toward the forward slow-moving target vehicle.
The test method comprises the following steps: after the automatic driving mode is activated, the set vehicle speed is tested from low to high in sequence, the vehicle to be evaluated reaches the expected vehicle speed before the distance of 200m from the target following vehicle, the vehicle is driven to the front slow-moving target vehicle in a stable state, and a driver holds the steering wheel with two hands so as not to interfere the normal driving of the vehicle. The set vehicle speed and the target following position of the vehicle to be evaluated are shown in table 2.
TABLE 2
Figure BDA0003133798840000071
Wherein, the target is with car and indicates on the left side of the road: the outer edge of the left wheel of the target following vehicle coincides with the inner side of the left lane line. The target car-following indicates on the right side of the road: the outer edge of the right wheel of the target following vehicle coincides with the inner side of the right lane line.
Stop the current test item conditions: (1) in a single test, the vehicle speed is 0 or collision occurs; (2) when collision occurs, the actual speed of the vehicle to be evaluated is more than 50 km/h; (3) the actual speed reduction of the vehicle to be evaluated is less than 5km/h, and when any one of the above conditions is met, the test of the current project can be stopped.
Example 3: as shown in fig. 4, the test scenario is a long straight road including at least one lane, and the vehicle to be evaluated is driven toward the forward slow-moving target vehicle.
The test method comprises the following steps: after the automatic driving mode is activated, setting the speed of the vehicle to be tested from low to high in sequence, driving the vehicle to be evaluated along with the target vehicle at a relatively stable vehicle following distance, and applying 4m/s for the target vehicle following2Of the deceleration of (c). In the process, a driver holds the steering wheel by two hands and the normal driving of the vehicle cannot be disturbed. The set vehicle speed and the target following position of the vehicle to be evaluated are shown in table 3.
TABLE 3
Vehicle to be evaluated set speed (km/h) Target following vehicle speed (km/h) Target vehicle following deceleration
60 40 4m/s2
100 80 4m/s2
Stop the current test item conditions: (1) in a single test, the vehicle speed is 0 or collision occurs; (2) when collision occurs, the actual speed of the vehicle to be evaluated is more than 50 km/h; (3) the actual speed reduction of the vehicle to be evaluated is less than 5km/h, and when any one of the above conditions is met, the test of the current project can be stopped.
Example 4: as shown in fig. 5, the test scenario is a long straight road including at least two lanes, the middle lane line is a white dotted line, and the lane width is 3.75 m. The vehicle to be evaluated and the target car-following run in respective lanes, and the target car-following cuts into the lane where the vehicle to be evaluated is located in the process that the vehicle to be evaluated approaches the target car-following.
The test method comprises the following steps: after the automatic driving mode is activated, the vehicle speed is set to be tested from low to high in sequence, the vehicle to be evaluated reaches the expected vehicle speed before the distance from the target vehicle to follow is 200m, the vehicle is stably driven in the lane, the target vehicle to follow is driven in the same direction at a constant speed along the middle of the adjacent lane at a constant speed and quickly cuts into the lane where the vehicle to be evaluated is located, the vehicle is driven along the middle of the lane, and the steering wheel is held by two hands in the process, so that the normal driving of the vehicle cannot be interfered. The set speed of the vehicle to be evaluated, the target following speed, the distance between the vehicle to be evaluated and the vehicle to be evaluated when the vehicle to be evaluated is cut in, and the target following cut-in process duration are shown in table 4.
TABLE 4
Figure BDA0003133798840000081
Stop the current test item conditions: the actual speed of the vehicle to be evaluated is less than the target vehicle-following speed or a collision occurs.
Example 5: as shown in fig. 6, the test scenario is a long straight road including at least two lanes, the middle lane line is a white dotted line, and the lane width is 3.75 m. The vehicle to be evaluated runs on any lane, and a target following vehicle exists in front of the vehicle to be evaluated.
The test method comprises the following steps: after the automatic driving mode is activated, the set vehicle speed is tested from low to high in sequence, the target following vehicle VT1 runs along the middle of a lane, the vehicle to be evaluated stably runs along the front target following vehicle VT1 at a relatively stable following distance, and the target following vehicle VT1 cuts out the lane behind the static target following vehicle VT2 and runs along the middle of an adjacent lane. The set vehicle speed is tested from low to high in sequence, and in the process, a driver holds the steering wheel by both hands so as not to interfere normal driving of the vehicle. The target following speed, the distance from the target following VT2 when the target following VT1 is cut out, and the duration of the target following VT1 cut-in process are shown in table 5.
TABLE 5
Figure BDA0003133798840000082
Stop the current test item conditions: (1) in a single test, the vehicle speed is 0 or collision occurs; (2) when collision occurs, the actual speed of the vehicle to be evaluated is more than 50 km/h; (3) the actual speed reduction of the vehicle to be evaluated is less than 5km/h, and when any one of the above conditions is met, the test of the current project can be stopped.
Example 6: as shown in fig. 7, the test scenario is a long straight road at least including one lane, the vehicle to be evaluated stably follows the target following in the same lane, the target following is braked until stopped, and the target following starts to accelerate after a certain time
The test method comprises the following steps: after the automatic driving mode is activated, the vehicle to be evaluated runs along with the target following vehicle, the target following vehicle runs at a constant speed of 20km/h in the middle of the lane, the vehicle to be evaluated runs at least 3s along with the target following vehicle at a relatively stable following distance, and the target following vehicle runs at 2m/s2Decelerates until stop. After the vehicle to be evaluated stops for at least 3s, the target following vehicle starts to accelerate and returns to the initial speed, namely the acceleration of 2m/s 2. In the process, a driver holds the steering wheel by two hands and the normal driving of the vehicle cannot be disturbed.
Stop the current test item conditions: sending collision between the vehicle to be evaluated and the target vehicle; (2) the vehicle to be evaluated is running stably. According to the vehicle following capacity evaluation method of the vehicle, the vehicle to be evaluated can be controlled to drive to a certain distance of a target vehicle following at a test speed corresponding to each test item in a traffic test scene, the vehicle to be evaluated is controlled to enter an automatic driving mode, early warning information, braking information and/or steering information in the test process of the current test item are collected, and a vehicle following capacity evaluation result of the vehicle to be evaluated is generated by combining collision data with the target vehicle following according to the early warning information, the braking information and/or the steering information of one or more test items. Therefore, the problem that the safe distance cannot be effectively kept to run along with the front vehicle due to certain errors in the related technology is solved, the research, development and application of the automatic driving vehicle technology can be effectively guided, special test equipment and instruments do not need to be additionally arranged, the test cost is effectively reduced, and the safety of the vehicle is greatly improved.
Next, a following capability evaluation device of a vehicle according to an embodiment of the present application will be described with reference to the drawings.
Fig. 8 is a block diagram schematically illustrating a vehicle following capability evaluation device of a vehicle according to an embodiment of the present application.
As shown in fig. 8, the following ability evaluation device 10 for a vehicle includes: a first control module 100, an acquisition module 200 and an evaluation module 300.
The first control module 100 is configured to control a vehicle to be evaluated to drive to a preset distance from a target following vehicle at a test speed corresponding to each test item in a preset traffic test scene;
the acquisition module 200 is used for controlling a vehicle to be evaluated to enter an automatic driving mode and acquiring early warning information, braking information and/or steering information in the test process of a current test item; and
the evaluation module 300 is configured to generate a following capability evaluation result of the vehicle to be evaluated according to the early warning information, the braking information and/or the steering information of the one or more test items and by combining with the collision data of the target following.
Optionally, in some embodiments, before controlling the vehicle to be evaluated to enter the automatic driving mode, the acquisition module 200 further includes:
and controlling the target following vehicle to enter a corresponding driving working condition according to the current test item, wherein the driving working condition comprises a static working condition, a low-speed driving working condition, a speed-reducing driving working condition, a cut-in driving working condition, a cut-out driving working condition and a follow-up driving working condition.
Optionally, in some embodiments, before collecting the warning information, the braking information and/or the steering information during the test, the collecting module 200 further includes:
detecting the actual speed of the vehicle to be evaluated and a collision signal between the vehicle to be evaluated and a target following workshop;
and if the actual vehicle speed and/or the collision signal meet the test termination condition, stopping the current test item.
Optionally, in some embodiments, the following capability evaluation device 10 of the vehicle further includes:
the determining module is used for determining the target speed, the target deceleration and/or the target position of the target car following according to the current test item;
and the second control module is used for controlling the target car following to execute the current test item according to the target speed, the target deceleration and/or the target position before the vehicle to be evaluated enters the automatic driving mode.
Optionally, in some embodiments, the preset traffic test scenario includes a long straight lane of at least two lanes.
It should be noted that the foregoing explanation of the embodiment of the vehicle following capability evaluation method of the vehicle is also applicable to the vehicle following capability evaluation device of the vehicle of this embodiment, and details are not repeated here.
According to the vehicle following capacity evaluation device of the vehicle, the vehicle to be evaluated can be controlled to drive to a certain distance of a target vehicle following at a test speed corresponding to each test item in a traffic test scene, the vehicle to be evaluated is controlled to enter an automatic driving mode, early warning information, braking information and/or steering information in the test process of the current test item are collected, and a vehicle following capacity evaluation result of the vehicle to be evaluated is generated by combining collision data with the target vehicle following according to the early warning information, the braking information and/or the steering information of one or more test items. Therefore, the problem that the safe distance cannot be effectively kept to run along with the front vehicle due to certain errors in the related technology is solved, the research, development and application of the automatic driving vehicle technology can be effectively guided, special test equipment and instruments do not need to be additionally arranged, the test cost is effectively reduced, and the safety of the vehicle is greatly improved.
Fig. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The electronic device may include:
a memory 901, a processor 902 and a computer program stored on the memory 901 and executable on the processor 902.
The processor 902, when executing the program, implements the following ability evaluation method of the vehicle provided in the above-described embodiment.
Further, the vehicle further includes:
a communication interface 903 for communication between the memory 901 and the processor 902.
A memory 901 for storing computer programs executable on the processor 902.
Memory 901 may comprise high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 901, the processor 902, and the communication interface 903 are implemented independently, the communication interface 903, the memory 901, and the processor 902 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 9, but this does not indicate only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 901, the processor 902, and the communication interface 903 are integrated on a chip, the memory 901, the processor 902, and the communication interface 903 may complete mutual communication through an internal interface.
The processor 902 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
The present embodiment also provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements the following ability evaluation method of a vehicle as above.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

Claims (10)

1. A method for evaluating a following ability of a vehicle, comprising the steps of:
controlling the vehicle to be evaluated to drive to a preset distance of a target following vehicle at a test speed corresponding to each test item in a preset traffic test scene;
controlling the vehicle to be evaluated to enter an automatic driving mode, and acquiring early warning information, braking information and/or steering information in the testing process of the current testing project; and
and generating a vehicle following capacity evaluation result of the vehicle to be evaluated according to the early warning information, the braking information and/or the steering information of one or more test items and the collision data of the target vehicle following.
2. The method according to claim 1, further comprising, before controlling the vehicle under evaluation to enter the autonomous driving mode:
and controlling the target following vehicle to enter a corresponding driving working condition according to the current test item, wherein the driving working condition comprises a static working condition, a low-speed driving working condition, a speed-reducing driving working condition, a cut-in driving working condition, a cut-out driving working condition and a follow-up driving working condition.
3. The method of claim 1, further comprising, prior to collecting the warning information, the braking information, and/or the steering information during the testing process:
detecting the actual speed of the vehicle to be evaluated and a collision signal between the vehicle to be evaluated and the target following workshop;
and if the actual vehicle speed and/or the collision signal meet the test termination condition, stopping the current test item.
4. The method of claim 1, further comprising:
determining a target speed, a target deceleration and/or a target position of the target car following according to the current test item;
and before the vehicle to be evaluated enters the automatic driving mode, controlling the target following vehicle to execute the current test item according to the target vehicle speed, the target deceleration and/or the target position.
5. The method of claim 1, wherein the predetermined traffic test scenario comprises a long straight lane of at least two lanes.
6. A vehicle following ability evaluation device for a vehicle, comprising:
the first control module is used for controlling the vehicle to be evaluated to drive to a preset distance of a target following vehicle at a test speed corresponding to each test item in a preset traffic test scene;
the acquisition module is used for controlling the vehicle to be evaluated to enter an automatic driving mode and acquiring early warning information, braking information and/or steering information in the test process of the current test item; and
and the evaluation module is used for generating a vehicle following capacity evaluation result of the vehicle to be evaluated according to the early warning information, the braking information and/or the steering information of one or more test items and by combining with the collision data of the target vehicle following.
7. The apparatus of claim 6, wherein prior to controlling the vehicle under evaluation into the autonomous driving mode, the acquisition module further comprises:
and controlling the target following vehicle to enter a corresponding driving working condition according to the current test item, wherein the driving working condition comprises a static working condition, a low-speed driving working condition, a speed-reducing driving working condition, a cut-in driving working condition, a cut-out driving working condition and a follow-up driving working condition.
8. The apparatus of claim 6, wherein before collecting the warning information, the braking information and/or the steering information during the test, the collecting module further comprises:
detecting the actual speed of the vehicle to be evaluated and a collision signal between the vehicle to be evaluated and the target following workshop;
and if the actual vehicle speed and/or the collision signal meet the test termination condition, stopping the current test item.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the following ability evaluation method of a vehicle according to any one of claims 1 to 5.
10. A computer-readable storage medium on which a computer program is stored, characterized in that the program is executed by a processor for implementing the following ability evaluation method of a vehicle according to any one of claims 1 to 5.
CN202110711143.3A 2021-06-25 2021-06-25 Vehicle following capability evaluation method and device, vehicle and storage medium Pending CN113447930A (en)

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