CN113799790B - Vehicle speed control performance testing method and device, electronic equipment and medium - Google Patents
Vehicle speed control performance testing method and device, electronic equipment and medium Download PDFInfo
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- CN113799790B CN113799790B CN202111215014.1A CN202111215014A CN113799790B CN 113799790 B CN113799790 B CN 113799790B CN 202111215014 A CN202111215014 A CN 202111215014A CN 113799790 B CN113799790 B CN 113799790B
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- 238000011056 performance test Methods 0.000 claims 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W2050/041—Built in Test Equipment [BITE]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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Abstract
The embodiment of the invention discloses a method and a device for testing vehicle speed control performance, electronic equipment and a medium. The method comprises the following steps: when the first vehicle is in a continuous braking state, acquiring braking deceleration of the second vehicle at each moment in a braking time period corresponding to the continuous braking state of the first vehicle, wherein the second vehicle is positioned on the same lane as the first vehicle and behind the first vehicle, and linearly moves forwards along with the first vehicle; determining the response time length, overshoot and stability time length of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking time length; and determining the vehicle speed control performance of the adaptive cruise control system of the second vehicle according to the response time length, the overshoot and the stable time length. The technical scheme of the embodiment of the invention solves the technical problem that the existing test method for the vehicle speed control performance of the ACC has test limitation, and can more quickly and accurately determine the vehicle speed control performance of the vehicle self-adaptive cruise control system.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent automobiles, in particular to a method and a device for testing vehicle speed control performance, electronic equipment and a medium.
Background
The english full name of the automotive ACC function is Adaptive Cruise Control, chinese meaning adaptive cruise control. The adaptive cruise control system is an intelligent automatic control system that has evolved based on the already existing cruise control technology. Currently, ACC functions have been widely used in automobiles, and thus, testing of the vehicle speed control performance of ACC is particularly important.
In the prior art, a method for testing the speed control performance of an ACC generally includes controlling acceleration, deceleration or parking of a front vehicle during the following process of the front vehicle by a rear intelligent driving vehicle, and further, obtaining the following distance and the following speed between the rear intelligent driving vehicle and the front vehicle. Further, the ACC performance of the intelligent driving automobile is determined through the following distance and the following speed.
However, the test method of the vehicle speed control performance of the ACC in the prior art is applicable to situations that the motion state of the front vehicle is greatly changed, and the rear intelligent driving vehicle can control the running speed of the vehicle for a long time after sensing that the front vehicle is changed, and the front vehicle is continuously changed (for example, the front vehicle is continuously decelerated) in the actual running process, so that the test limitation problem exists in the test method of the vehicle speed control performance of the existing ACC, and the evaluation of the safety of the vehicle will be affected.
Disclosure of Invention
The embodiment of the invention provides a method, a device, electronic equipment and a medium for testing vehicle speed control performance, so as to realize more accurate, rapid and effective determination of the vehicle speed control performance of ACC, thereby achieving the effect of improving the safety performance of a vehicle.
In a first aspect, an embodiment of the present invention provides a method for testing vehicle speed control performance, including:
when a first vehicle is in a continuous braking state, acquiring braking deceleration of a second vehicle at various moments in a braking duration corresponding to the continuous braking state of the first vehicle, wherein the second vehicle is positioned on the same lane as the first vehicle and behind the first vehicle, and is driven forward straight along with the first vehicle;
determining the response time length, overshoot and stability time length of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking time length;
and determining the vehicle speed control performance of the adaptive cruise control system of the second vehicle according to the response time length, the overshoot and the stable time length.
In a second aspect, an embodiment of the present invention further provides a device for testing vehicle speed control performance, where the device includes:
A braking deceleration obtaining module, configured to obtain, when a first vehicle is in a continuous braking state, a braking deceleration of a second vehicle at each moment in a braking duration corresponding to the continuous braking state of the first vehicle, where the second vehicle is in the same lane as the first vehicle and is located behind the first vehicle, and follows the first vehicle to travel straight ahead;
the target parameter determining module is used for determining the response time length, the overshoot and the stability time length of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking time length;
and the vehicle speed control performance determining module is used for determining the vehicle speed control performance of the adaptive cruise control system of the second vehicle according to the response time length, the overshoot and the stable time length.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
a storage means for storing one or more programs;
when the program is executed by the processor, the processor is caused to implement a method for testing vehicle speed control performance as provided by any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for testing vehicle speed control performance as provided by any embodiment of the present invention.
According to the technical scheme of the embodiment, when the first vehicle is in the continuous braking state, the braking deceleration of the second vehicle at each moment in the braking duration corresponding to the continuous braking state of the first vehicle is obtained. After the braking deceleration of the second vehicle at each moment in the braking duration is obtained, the response duration, the overshoot and the stability duration of the second vehicle can be determined according to the braking deceleration of the second vehicle at each moment in the braking duration. And the vehicle speed control performance of the adaptive cruise control system of the second vehicle can be determined according to the response time length, the overshoot and the stability time length, the problem of test limitation of the existing test method of the vehicle speed control performance of the ACC is solved, the vehicle speed control performance of the ACC is determined more accurately, rapidly and effectively, and the effect of improving the safety performance of the vehicle is further achieved.
Drawings
In order to more clearly illustrate the technical solution of the exemplary embodiments of the present invention, a brief description is given below of the drawings required for describing the embodiments. It is obvious that the drawings presented are only drawings of some of the embodiments of the invention to be described, and not all the drawings, and that other drawings can be made according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for testing vehicle speed control performance according to an embodiment of the present invention;
fig. 2 is a flow chart of a method for testing vehicle speed control performance according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram of a relationship between braking deceleration and time obtained by a test method based on vehicle speed control performance according to a second embodiment of the present invention;
fig. 4 is a schematic diagram of a device module for testing vehicle speed control performance according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a schematic flow chart of a method for testing vehicle speed control performance according to an embodiment of the present invention, where the method may be implemented by a device for testing vehicle speed control performance, and the device may be implemented in software and/or hardware, and the device may be integrated into an electronic device such as a computer or a server.
As shown in fig. 1, the method of the present embodiment includes:
and S110, when the first vehicle is in the continuous braking state, acquiring braking deceleration of the second vehicle at each moment in a braking duration corresponding to the continuous braking state of the first vehicle.
The first vehicle may be a vehicle traveling straight on a lane. The second vehicle may be a vehicle that is in the same lane as the first vehicle and is located behind the first vehicle, following the first vehicle straight ahead. Braking deceleration may be understood as the amount of change in speed of the second vehicle during braking. The continuous braking state may be understood as a state in which continuous braking of the first vehicle occurs.
Specifically, when the first vehicle is in the continuous braking state, a braking duration corresponding to the first vehicle being in the continuous braking state may be determined. After determining the braking duration corresponding to the first vehicle being in the continuous braking state, the braking deceleration of the second vehicle at each time within the braking duration corresponding to the first vehicle being in the continuous braking state may be obtained.
Alternatively, the first vehicle is determined to be braked by:
if it is detected that the vehicle speed of the first vehicle decreases and the following distance between the first vehicle and the second vehicle becomes smaller, it is determined that braking of the first vehicle occurs.
The following distance is understood to mean the distance between the first vehicle and the second vehicle during the travel of the first vehicle and the second vehicle.
Specifically, if the vehicle speed of the first vehicle at the current time is less than the vehicle speed at the time before the current time, and the following distance between the first vehicle and the second vehicle at the current time is less than the following distance between the first vehicle and the second vehicle at the time before the current time, it may be determined that braking of the first vehicle occurs.
Alternatively, parameters of continuous braking of the first vehicle may be preset before braking of the first vehicle occurs, where the parameters of continuous braking may be a braking frequency, a number of continuous braking, a braking deceleration, and a deceleration change rate. For example, the first vehicle may be continuously braked 3 times, 4 times or 5 times at a braking frequency of 1Hz, and the pre-braking deceleration may be 1m/s 2 The deceleration rate of change may be less than or equal to 3m/s 3 。
Since the time interval from the start to the end of the continuous braking of the first vehicle is short, in order to improve the accuracy of the test, the vehicle speed after the continuous braking of the first vehicle may be determined after the continuous braking of the first vehicle, and the vehicle may be driven for a preset period of time (e.g., 10 seconds) at the vehicle speed after the continuous braking of the first vehicle.
Optionally, the braking deceleration of the second vehicle at each moment in the braking duration corresponding to the first vehicle being in the continuous braking state is obtained by:
and receiving the braking deceleration of the second vehicle at each moment in the braking duration corresponding to the continuous braking state of the first vehicle, which is sent by the acceleration sensor on the second vehicle.
Specifically, before receiving the braking decelerations of the second vehicle at the respective times within the braking period transmitted from the acceleration sensor on the second vehicle, an instruction for acquiring the braking decelerations at the respective times within the braking period corresponding to the continuous braking state of the first vehicle may be transmitted to the acceleration sensor on the second vehicle.
S120, determining the response time length, the overshoot and the stability time length of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking time length.
The response time period is understood to be the time difference between the time when the first vehicle is braked for the first time and the time when the second vehicle is braked for the first time. The overshoot may be a deviation value calculated from the braking deceleration of the second vehicle at each time in the braking period. The stable duration may be understood as the time difference between the moment when the first braking of the second vehicle occurs and the moment when the braking is finished.
Specifically, after determining the braking deceleration of the second vehicle at each time in the braking duration, the response duration, the overshoot, and the stability duration of the second vehicle may be determined according to the braking deceleration of the second vehicle at each time in the braking duration.
S130, determining the vehicle speed control performance of the adaptive cruise control system of the second vehicle according to the response time length, the overshoot and the stable time length.
Specifically, after the response time length, the overshoot amount, and the stability time length of the second vehicle are determined, the vehicle speed control performance of the adaptive cruise control system of the second vehicle may be determined according to the response time length, the overshoot amount, and the stability time length.
According to the technical scheme of the embodiment, when the first vehicle is in the continuous braking state, the braking deceleration of the second vehicle at each moment in the braking duration corresponding to the continuous braking state of the first vehicle is obtained. After the braking deceleration of the second vehicle at each moment in the braking duration is obtained, the response duration, the overshoot and the stability duration of the second vehicle can be determined according to the braking deceleration of the second vehicle at each moment in the braking duration. And the vehicle speed control performance of the adaptive cruise control system of the second vehicle can be determined according to the response time length, the overshoot and the stability time length, the problem of test limitation of the existing test method of the vehicle speed control performance of the ACC is solved, the vehicle speed control performance of the ACC is determined more accurately, rapidly and effectively, and the safety performance of the vehicle is further improved.
Example two
Fig. 2 is a flow chart of a method for testing vehicle speed control performance according to a second embodiment of the present invention, where, based on the foregoing embodiment, optionally, determining a response time length of the second vehicle according to a braking deceleration of the second vehicle at each moment in the braking time length includes: determining a brake response starting moment of the second vehicle according to the brake deceleration of the second vehicle at each moment in the brake duration; and determining the response time of the second vehicle according to the starting moment of the braking response of the second vehicle.
Optionally, the determining the overshoot of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking duration includes: and determining the overshoot of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking duration and a preset braking deceleration threshold value.
Wherein, the technical terms identical to or corresponding to the above embodiments are not repeated herein.
As shown in fig. 2, the method of this embodiment may specifically include:
and S210, when the first vehicle is in the continuous braking state, acquiring braking deceleration of the second vehicle at each moment in a braking duration corresponding to the continuous braking state of the first vehicle.
S220, determining the starting moment of the braking response of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking duration.
The brake response start time is understood to be the time at which the first braking of the second vehicle takes place.
Specifically, after determining the braking deceleration of the second vehicle at each time in the braking duration, the time when the first braking of the second vehicle occurs may be determined according to the braking deceleration of the second vehicle at each time in the braking duration, that is, the braking response starting time of the second vehicle is determined.
Optionally, the braking response starting time of the second vehicle is determined according to the braking deceleration of the second vehicle at each time within the braking duration by the following method:
and when the braking deceleration of the second vehicle in the braking duration is smaller than zero, taking the moment corresponding to the first time when the braking deceleration is smaller than zero as the braking response starting moment of the second vehicle.
Specifically, when the braking deceleration of the second vehicle in the braking period is smaller than zero, the time corresponding to when the braking deceleration of the second vehicle is smaller than zero for the first time may be determined. After the determination, the time corresponding to the braking deceleration being smaller than zero for the first time may be taken as the braking response start time of the second vehicle.
S230, determining the response time of the second vehicle according to the brake response starting time of the second vehicle.
Specifically, after determining the brake response start time of the second vehicle, the response time of the second vehicle may be determined according to the brake response start time of the second vehicle. The determining the response time of the second vehicle according to the brake response starting time of the second vehicle may be to use a time difference between the brake response starting time of the second vehicle and the brake starting time corresponding to the first occurrence of the brake of the first vehicle as the response time of the second vehicle.
S240, determining the vehicle state of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking duration.
The vehicle state may be a state of the second vehicle determined by analyzing a braking deceleration of the second vehicle at each time during a braking period. The vehicle state may include a steady state.
Specifically, after determining the braking deceleration of the second vehicle at each time in the braking duration, the vehicle state of the second vehicle may be determined according to the magnitude change of the braking deceleration of the second vehicle at each time in the braking duration.
S250, if the vehicle state of the second vehicle is in a stable state, determining a steady state starting time corresponding to when the vehicle state of the second vehicle enters the stable state.
The steady state start time may be a time when the vehicle state of the second vehicle enters a steady state.
Specifically, after determining the vehicle state of the second vehicle, if the vehicle state of the second vehicle is in a stable state, a steady state start time corresponding to when the vehicle state of the second vehicle enters the stable state may be determined.
Optionally, the vehicle state of the second vehicle is determined to be in a steady state by:
and when the variation of the braking deceleration of the second vehicle at each moment in the continuous time period is in the preset variation range, determining that the vehicle state of the second vehicle is in a stable state.
The preset variation range may be an interval range set according to experience, and a specific interval range is not limited specifically, and optionally, the preset variation range may be obtained based on a preset experience value and a preset deviation value. Wherein the predetermined deviation value may be 2.5%, then the predetermined variation range may be within 2.5% of the predetermined empirical value.
Specifically, the deceleration threshold value is set in advance, and the amount of change in the braking deceleration of the second vehicle at each time in the continuous period is determined based on the preset deceleration threshold value and the braking deceleration of the second vehicle at each time in the braking period. And when the variation of the braking deceleration of the second vehicle at each moment in the continuous time period is in the preset variation range, determining that the vehicle state of the second vehicle is in a stable state.
And S260, taking the time difference between the steady-state starting time and the brake response starting time as the steady duration of the second vehicle.
Specifically, after the steady-state start time and the brake response start time are obtained, a time difference between the steady-state start time and the brake response start time may be calculated, and the time difference between the steady-state start time and the brake response start time may be used as the steady duration of the second vehicle.
S270, determining the overshoot of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking duration and a preset braking deceleration threshold.
The preset braking deceleration threshold may be a value calculated based on a vehicle controller.
Specifically, a braking deceleration threshold value is set in advance. The overshoot of the second vehicle is determined based on a preset braking deceleration threshold and the braking deceleration of the second vehicle at various times within the braking duration.
The overshoot of the second vehicle is determined according to the braking deceleration of the second vehicle at each moment in the braking duration and a preset braking deceleration threshold in the following two ways:
in the first mode, the minimum braking deceleration among the braking decelerations of the second vehicle at all times within the braking duration is determined, and the difference between the minimum braking deceleration and the preset braking deceleration threshold value is used as the overshoot of the second vehicle.
Specifically, the braking deceleration of the second vehicle at each moment in the braking duration may be ranked according to a preset ranking algorithm, for example, an bubbling ranking algorithm, a selection ranking algorithm, a hill ranking algorithm, and the like, so as to determine the minimum braking deceleration of the second vehicle at each moment in the braking duration. After determining the minimum braking deceleration, a difference between the minimum braking deceleration and a preset braking deceleration threshold may be calculated, and the difference between the minimum braking deceleration and the preset braking deceleration threshold may be used as an overshoot of the second vehicle.
And in a second mode, the braking deceleration of the second vehicle at each moment in the braking duration is respectively calculated with a preset braking deceleration threshold value to obtain braking deceleration deviation corresponding to each moment, the braking deceleration deviation corresponding to each moment is compared in size, and the braking deceleration deviation with the smallest value is used as the overshoot of the second vehicle.
The braking deceleration deviation may be a deviation obtained by calculating a difference between the braking deceleration and a preset braking deceleration threshold.
Specifically, a braking deceleration threshold value is set in advance. After the braking deceleration of the second vehicle at each time in the braking duration is obtained, the braking deceleration of the second vehicle at each time in the braking duration can be respectively calculated as a difference value from the braking deceleration threshold. Further, a braking deceleration deviation corresponding to each time can be obtained. After the braking deceleration deviation corresponding to each time is obtained, the braking deceleration deviation corresponding to each time may be compared in magnitude to determine the braking deceleration deviation having the smallest value. After determining the brake deceleration deviation with the smallest value, the brake deceleration deviation with the smallest value may be used as the overshoot of the second vehicle.
In order to more quickly determine the braking deceleration deviation with the smallest value, a sequencing algorithm can be preset, and based on the preset sequencing algorithm, the braking deceleration deviation corresponding to each moment is sequenced, so that the braking deceleration deviation with the smallest value is determined.
S280, determining the vehicle speed control performance of the adaptive cruise control system of the second vehicle according to the response time length, the overshoot and the stable time length.
It should be noted that, although the embodiments of the present invention describe S210 to S280, in a specific implementation process, the execution sequence may be that S270 or S240 is executed before S220 is executed after S210 is executed, or that S220, S240 and S270 are executed simultaneously.
On the basis of the above embodiment, referring to fig. 3, when the initial braking time corresponding to the first occurrence of braking of the first vehicle is the initial time 0, the initial braking response time of the second vehicle is Td, and the steady state initial time is Ts, then the response time of the second vehicle=td-0, and the steady time=ts-Td. And determining the overshoot of the second vehicle as MP through the braking deceleration of the second vehicle at each moment in the braking duration and a preset braking deceleration threshold value.
According to the technical scheme of the embodiment, the braking response starting moment of the second vehicle is determined according to the braking deceleration of the second vehicle at each moment in the braking duration. Further, a response time period of the second vehicle is determined based on the brake response start time of the second vehicle. And determining the vehicle state of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking duration, and judging the vehicle state of the second vehicle. And if the vehicle state of the second vehicle is in a stable state, determining a steady state starting moment corresponding to the moment when the vehicle state of the second vehicle enters the stable state. And taking the time difference between the steady-state starting time and the brake response starting time as the steady duration of the second vehicle. The overshoot of the second vehicle is determined according to the braking deceleration of the second vehicle at each moment in the braking duration and the preset braking deceleration threshold, optimization of steps of determining the response duration, the overshoot and the stability duration of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking duration is achieved, and the technical effects of more effectively and accurately determining the response duration, the overshoot and the stability duration of the second vehicle are achieved.
Example III
Fig. 4 is a schematic block diagram of a device for testing vehicle speed control performance according to a third embodiment of the present invention, where the device includes: a braking deceleration acquisition module 310, a target parameter determination module 320, and a vehicle speed control performance determination module 330.
The braking deceleration obtaining module 310 is configured to obtain, when a first vehicle is in a continuous braking state, a braking deceleration of a second vehicle at each moment in a braking duration corresponding to the continuous braking state of the first vehicle, where the second vehicle is in the same lane as the first vehicle and is located behind the first vehicle, and follows the first vehicle to travel straight forward;
a target parameter determining module 320, configured to determine a response time length, an overshoot amount, and a stability time length of the second vehicle according to a braking deceleration of the second vehicle at each moment in the braking time length;
the vehicle speed control performance determining module 330 is configured to determine the vehicle speed control performance of the adaptive cruise control system of the second vehicle according to the response time period, the overshoot and the stability time period.
According to the technical scheme of the embodiment, through the brake deceleration obtaining module, when the first vehicle is in the continuous braking state, the brake deceleration of the second vehicle at each moment in the brake duration corresponding to the continuous braking state of the first vehicle is obtained. After the braking deceleration of the second vehicle at each moment in the braking duration is obtained, the response duration, the overshoot and the stability duration of the second vehicle can be determined by the target parameter determining module according to the braking deceleration of the second vehicle at each moment in the braking duration. And the vehicle speed control performance of the adaptive cruise control system of the second vehicle can be determined according to the response time length, the overshoot and the stability time length by the vehicle speed control performance determining module, so that the problem of test limitation of the existing test method of the vehicle speed control performance of the ACC is solved, the vehicle speed control performance of the ACC is determined more accurately, rapidly and effectively, and the safety performance of the vehicle is further improved.
Optionally, the target parameter determining module 320 is configured to determine a braking response starting moment of the second vehicle according to a braking deceleration of the second vehicle at each moment in the braking duration; and determining the response time of the second vehicle according to the starting moment of the braking response of the second vehicle.
Optionally, the target parameter determining module 320 is configured to, when the braking deceleration of the second vehicle in the braking duration is less than zero, take a time corresponding to the braking deceleration being less than zero for the first time as a braking response starting time of the second vehicle.
Optionally, the target parameter determining module 320 is configured to take, as the response duration of the second vehicle, a time difference between a braking response start time of the second vehicle and a braking start time corresponding to a first occurrence of braking of the first vehicle.
Optionally, the target parameter determining module 320 is configured to determine a vehicle state of the second vehicle according to a braking deceleration of the second vehicle at each moment in the braking duration; if the vehicle state of the second vehicle is in a stable state, determining a steady-state starting moment corresponding to the moment when the vehicle state of the second vehicle enters the stable state; and taking the time difference between the steady-state starting time and the brake response starting time as the steady duration of the second vehicle.
Optionally, the target parameter determining module 320 further includes: and the vehicle stable state determining unit is used for determining that the vehicle state of the second vehicle is in a stable state when the variation of the braking deceleration of the second vehicle at each moment in the continuous time period is in a preset variation range.
Optionally, the target parameter determining module 320 is configured to determine an overshoot of the second vehicle according to a braking deceleration of the second vehicle at each moment in the braking duration and a preset braking deceleration threshold.
Optionally, the target parameter determining module 320 is configured to determine a minimum braking deceleration of the braking decelerations of the second vehicle at each moment in the braking duration, and take a difference between the minimum braking deceleration and the preset braking deceleration threshold as an overshoot of the second vehicle; or respectively carrying out difference value calculation on the braking deceleration of the second vehicle at each moment in the braking duration and a preset braking deceleration threshold value to obtain braking deceleration deviation corresponding to each moment, comparing the braking deceleration deviation corresponding to each moment, and taking the braking deceleration deviation with the smallest value as the overshoot of the second vehicle.
Optionally, the apparatus further comprises: and the first vehicle occurrence brake determining module is used for determining that the first vehicle is braked if the speed of the first vehicle is detected to be reduced and the following distance between the first vehicle and the second vehicle is detected to be reduced.
The device can execute the test method of the vehicle speed control performance provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the test method of the vehicle speed control performance.
It should be noted that each unit and module included in the vehicle speed control performance testing device are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be realized; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the embodiments of the present invention.
Example IV
Fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention. Fig. 5 shows a block diagram of an exemplary electronic device 12 suitable for use in implementing any of the embodiments of the invention. The electronic device 12 shown in fig. 5 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention. Device 12 is typically an electronic device that undertakes the processing of configuration information.
As shown in fig. 5, the electronic device 12 is in the form of a general purpose computing device. Components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a memory 28, and a bus 18 connecting the different components, including the memory 28 and the processing unit 16.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include industry standard architecture (Industry Standard Architecture, ISA) bus, micro channel architecture (Micro Channel Architecture, MCA) bus, enhanced ISA bus, video electronics standards association (Video Electronics Standards Association, VESA) local bus, and peripheral component interconnect (Peripheral Component Interconnect, PCI) bus.
Electronic device 12 typically includes a variety of computer-readable media. Such media can be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
Memory 28 may include computer device readable media in the form of volatile memory, such as random access memory (Random Access Memory, RAM) 30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, commonly referred to as a "hard disk drive"). Although not shown in the drawings, a disk drive for reading from and writing to a removable nonvolatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from and writing to a removable nonvolatile optical disk (e.g., a Compact Disc-Read Only Memory (CD-ROM), digital versatile Disc (Digital Video Disc-Read Only Memory, DVD-ROM), or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. Memory 28 may include at least one program product 40, with program product 40 having a set of program modules 42 configured to perform the functions of embodiments of the present invention. Program product 40 may be stored, for example, in memory 28, such program modules 42 include, but are not limited to, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, mouse, camera, etc., and display), with one or more devices that enable a user to interact with the electronic device 12, and/or with any device (e.g., network card, modem, etc.) that enables the electronic device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks (e.g., local area network (Local Area Network, LAN), wide area network Wide Area Network, WAN) and/or a public network, such as the internet) via the network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 over the bus 18. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk array (Redundant Arrays of Independent Disks, RAID) devices, tape drives, data backup storage devices, and the like.
The processor 16 executes various functional applications and data processing by running a program stored in the memory 28, for example, to implement a test method of vehicle speed control performance provided by the above-described embodiment of the present invention, the method including:
When a first vehicle is in a continuous braking state, acquiring braking deceleration of a second vehicle at various moments in a braking duration corresponding to the continuous braking state of the first vehicle, wherein the second vehicle is positioned on the same lane as the first vehicle and behind the first vehicle, and is driven forward straight along with the first vehicle; determining the response time length, overshoot and stability time length of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking time length; and determining the vehicle speed control performance of the adaptive cruise control system of the second vehicle according to the response time length, the overshoot and the stable time length.
Of course, those skilled in the art will understand that the processor may also implement the technical scheme of the method for testing the vehicle speed control performance provided by any embodiment of the present invention.
Example five
A fifth embodiment of the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, is a method for testing vehicle speed control performance provided by the foregoing embodiment of the present invention, for example, the method includes:
when a first vehicle is in a continuous braking state, acquiring braking deceleration of a second vehicle at various moments in a braking duration corresponding to the continuous braking state of the first vehicle, wherein the second vehicle is positioned on the same lane as the first vehicle and behind the first vehicle, and is driven forward straight along with the first vehicle; determining the response time length, overshoot and stability time length of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking time length; and determining the vehicle speed control performance of the adaptive cruise control system of the second vehicle according to the response time length, the overshoot and the stable time length.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. A method for testing vehicle speed control performance, comprising:
when a first vehicle is in a continuous braking state, acquiring braking deceleration of a second vehicle at various moments in a braking duration corresponding to the continuous braking state of the first vehicle, wherein the second vehicle is positioned on the same lane as the first vehicle and behind the first vehicle, and is driven forward straight along with the first vehicle;
determining the response time length, overshoot and stability time length of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking time length;
Determining the vehicle speed control performance of the adaptive cruise control system of the second vehicle according to the response time length, the overshoot and the stable time length;
the continuous braking state is determined based on braking frequency, continuous braking times, braking deceleration and deceleration change rate, the response time length is a time difference between the time when the first vehicle generates first braking and the time when the second vehicle transmits first braking, the overshoot is a deviation value calculated according to the braking deceleration of the second vehicle at each time within the braking time length, and the stable time length is a time difference between the time when the second vehicle generates first braking and the time when the second vehicle finishes braking;
wherein determining the overshoot of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking duration includes: determining the overshoot of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking duration and a preset braking deceleration threshold;
the determining the overshoot of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking duration and a preset braking deceleration threshold value comprises the following steps:
Determining the minimum braking deceleration of the second vehicle at each moment in the braking duration, and taking the difference value between the minimum braking deceleration and the preset braking deceleration threshold value as the overshoot of the second vehicle; or,
and respectively carrying out difference value calculation on the braking deceleration of the second vehicle at each moment in the braking duration and a preset braking deceleration threshold value to obtain braking deceleration deviation corresponding to each moment, comparing the braking deceleration deviation corresponding to each moment, and taking the braking deceleration deviation with the smallest value as the overshoot of the second vehicle.
2. The method of claim 1, wherein determining a response time period of the second vehicle based on the braking deceleration of the second vehicle at each time within the braking time period comprises:
determining a brake response starting moment of the second vehicle according to the brake deceleration of the second vehicle at each moment in the brake duration;
and determining the response time of the second vehicle according to the starting moment of the braking response of the second vehicle.
3. The method according to claim 2, wherein the determining a brake response start timing of the second vehicle based on the brake deceleration of the second vehicle at each time within the brake duration includes:
And when the braking deceleration of the second vehicle in the braking duration is smaller than zero, taking the moment corresponding to the first time when the braking deceleration is smaller than zero as the braking response starting moment of the second vehicle.
4. The method of claim 2, wherein determining the response time of the second vehicle based on the brake response time of the second vehicle comprises:
and taking the time difference between the braking response starting time of the second vehicle and the braking initial time corresponding to the first braking of the first vehicle as the response time of the second vehicle.
5. The method according to claim 2, wherein determining the stable period of the second vehicle from the braking deceleration of the second vehicle at each time within the braking period comprises:
determining a vehicle state of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking duration;
if the vehicle state of the second vehicle is in a stable state, determining a steady-state starting moment corresponding to the moment when the vehicle state of the second vehicle enters the stable state;
and taking the time difference between the steady-state starting time and the brake response starting time as the steady duration of the second vehicle.
6. The method of claim 5, wherein the method further comprises:
and when the variation of the braking deceleration of the second vehicle at each moment in the continuous time period is in a preset variation range, determining that the vehicle state of the second vehicle is in a stable state.
7. The method according to claim 1, wherein the method further comprises:
and if the speed of the first vehicle is detected to be reduced and the following distance between the first vehicle and the second vehicle is detected to be reduced, determining that the first vehicle brakes.
8. A vehicle speed control performance test device, characterized by comprising:
a braking deceleration obtaining module, configured to obtain, when a first vehicle is in a continuous braking state, a braking deceleration of a second vehicle at each moment in a braking duration corresponding to the continuous braking state of the first vehicle, where the second vehicle is in the same lane as the first vehicle and is located behind the first vehicle, and follows the first vehicle to travel straight ahead;
the target parameter determining module is used for determining the response time length, the overshoot and the stability time length of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking time length;
The vehicle speed control performance determining module is used for determining the vehicle speed control performance of the adaptive cruise control system of the second vehicle according to the response time length, the overshoot and the stable time length;
the continuous braking state is determined based on braking frequency, continuous braking times, braking deceleration and deceleration change rate, the response time length is a time difference between the time when the first vehicle generates first braking and the time when the second vehicle transmits first braking, the overshoot is a deviation value calculated according to the braking deceleration of the second vehicle at each time within the braking time length, and the stable time length is a time difference between the time when the second vehicle generates first braking and the time when the second vehicle finishes braking;
the target parameter determining module is used for determining the overshoot of the second vehicle according to the braking deceleration of the second vehicle at each moment in the braking duration and a preset braking deceleration threshold;
the target parameter determining module is specifically configured to determine a minimum braking deceleration among braking decelerations of the second vehicle at each moment in the braking duration, and take a difference value between the minimum braking deceleration and the preset braking deceleration threshold value as an overshoot of the second vehicle; or respectively carrying out difference value calculation on the braking deceleration of the second vehicle at each moment in the braking duration and a preset braking deceleration threshold value to obtain braking deceleration deviation corresponding to each moment, comparing the braking deceleration deviation corresponding to each moment, and taking the braking deceleration deviation with the smallest value as the overshoot of the second vehicle.
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| NL1015517C2 (en) * | 2000-06-23 | 2001-12-28 | Tno | Scheme for conducting research on intelligent road vehicles. |
| CN102749208B (en) * | 2012-07-24 | 2016-05-11 | 潍柴动力股份有限公司 | A kind of actual road test method and system of realizing vehicle automatic transmission |
| CN108896321A (en) * | 2018-08-10 | 2018-11-27 | 安徽江淮汽车集团股份有限公司 | For assessing the test device of automatic breaking system |
| CN111409454A (en) * | 2019-01-07 | 2020-07-14 | 上汽通用汽车有限公司 | Method for controlling deceleration of vehicle and vehicle deceleration control system |
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| CN111189650A (en) * | 2020-01-22 | 2020-05-22 | 长安大学 | Unmanned vehicle cooperative driving capability test system and test method |
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