CN114993705A

CN114993705A - Real vehicle test system for emergency lane keeping in overtaking scene

Info

Publication number: CN114993705A
Application number: CN202210683702.9A
Authority: CN
Inventors: 谷原野; 崔岩; 王升鑫; 刘德利; 孙运玺; 王晰聪; 白爽; 孟煊; 崔庆珊; 王全庆
Original assignee: FAW Bestune Car Co Ltd
Current assignee: FAW Bestune Car Co Ltd
Priority date: 2022-06-16
Filing date: 2022-06-16
Publication date: 2022-09-02

Abstract

The invention discloses a real vehicle test system for emergency lane keeping in a overtaking scene, which is characterized by comprising the following components: the vehicle-mounted power supply device, the GPS/RTK antenna module, the data acquisition and processing module, the vehicle-vehicle communication module, the signal acquisition module, the vehicle CAN box tool and the upper computer acquire the data of a vehicle controller and the position information of an external vehicle and the vehicle in a CAN data mode, and the data CAN be synchronously stored in the upper computer in real time, so that the verification and evaluation of a test function of emergency avoidance of a overtaking scene by a tester are met, the workload of the tester for post-processing the data is reduced, and the test efficiency and the quality of the emergency lane keeping function under the overtaking scene are optimized.

Description

Real vehicle test system for emergency lane keeping in overtaking scene

Technical Field

The invention relates to the field of automobile electrical testing, in particular to a real automobile testing system for emergency lane keeping in an overtaking scene.

Background

With the continuous development of the automobile industry technology, consumers increasingly attach importance and favor to automobiles equipped with the intelligent networking function, and the intelligent networking function becomes a new competitive track for products of various automobile host factories. An Emergency Lane Keeping function (Emergency Lane Keeping) has also received wide attention, and there are differences in the specific configuration schemes of manufacturers, and generally speaking, the Emergency Lane Keeping function is combined by one or more of the following sub-functions, including Emergency Lane Keeping in a road edge scene, Emergency Lane Keeping in an opposite meeting scene, and Emergency Lane Keeping in a rear passing scene; the brand new driving assistance function also brings brand new challenges to the test and verification work of the electrical functions of the automobile.

At present, aiming at the verification of the driving auxiliary functions such as emergency lane keeping and the like, a virtual simulation verification method is intensively applied for verification and evaluation, although the test mode can realize the building of a test scene and the automatic execution of a sequence, the test result cannot completely replace the performance of a real vehicle in a real external environment because the model has ideal characteristics; the existing real vehicle test system has a series of problems of poor test data precision, difficulty in synchronizing various test data, data format differentiation and the like.

Disclosure of Invention

Aiming at the problems in the prior art, the invention discloses a real vehicle test system for emergency lane keeping in a overtaking scene, which acquires the data of a vehicle controller and the position information of an external vehicle and the vehicle in the form of CAN data, and the data CAN be synchronously stored in an upper computer in real time, thereby meeting the verification and evaluation of the emergency avoidance test function of a tester in the overtaking scene.

The technical scheme adopted for realizing the invention is as follows: the utility model provides a real vehicle test system of urgent lane keeping under scene of overtaking, characterized by, it includes: the device comprises a vehicle-mounted power supply device, a GPS/RTK antenna module, a data acquisition processing module, a vehicle communication module, a signal acquisition module, a vehicle CAN box tool and an upper computer, wherein an ELK-ot equipped test vehicle is a tested vehicle, an auxiliary test vehicle is a target vehicle, a GPS mobile base station is erected in a test site, the tested vehicle and the target vehicle are both provided with the GPS/RTK antenna module and the vehicle communication module, the target vehicle is provided with the signal acquisition device, the tested vehicle is provided with the data acquisition processing module, the data acquisition processing module calculates and processes position data of the tested vehicle and the target vehicle, converts the position data into CAN signals and transmits the CAN signals to the upper computer through a second channel, the data of a tested vehicle controller is converted into CAN signals and transmitted to the upper computer through a first channel, the test system is powered by a vehicle-mounted power supply.

Further, the CAN signal is 500 KB.

The real vehicle test system for emergency lane keeping under the overtaking scene has the advantages that:

the utility model provides a real vehicle test system that urgent lane kept under scene of overtaking, under real road environment, obtain urgent lane keeping function test data under the scene of overtaking, the high accuracy of positioning data, with the synchronous display and the storage of the CAN signal that vehicle control unit sent, high accuracy test data, not only include the real-time vertical/horizontal distance of two cars, vertical/horizontal speed, information such as acceleration, CAN also direct display by the collision TTC information of vehicle under test and rear target car, the work load of tester post processing data has been alleviateed, the efficiency of test verification has been promoted, test efficiency and quality of urgent lane keeping function under the scene of overtaking have been optimized.

Drawings

FIG. 1 is an architecture diagram of an emergency lane keeping real vehicle testing system in a overtaking scenario;

FIG. 2 is a schematic diagram of a rear overtaking scene in the embodiment;

FIG. 3 is a schematic diagram of test case composition in the embodiment.

Detailed Description

The present invention will be described in further detail with reference to the accompanying fig. 1-3 and the specific embodiments described herein, which are provided for illustration only and are not intended to limit the present invention.

Example 1:

1) constructing a test system:

as shown in fig. 1, a real vehicle testing system for emergency lane keeping in overtaking scene comprises: the device comprises a vehicle-mounted power supply device, a GPS/RTK antenna module, a data acquisition and processing module, a vehicle-vehicle communication module, a signal acquisition module, a vehicle CAN box tool and an upper computer, wherein an ELK-ot equipped test vehicle is a tested vehicle, an auxiliary test slave vehicle is a target vehicle, a GPS mobile base station is erected on a test site, the tested vehicle and the target vehicle are both provided with the GPS/RTK antenna module and the vehicle-vehicle communication module, the target vehicle is provided with the signal acquisition device, the tested vehicle is provided with the data acquisition and processing module, the data acquisition and processing module is used for calculating and processing position data of the tested vehicle and the target vehicle, converting the position data into a 500KB CAN signal and transmitting the CAN signal to the upper computer through a second channel, the data of a controller of the tested vehicle is converted into a 500KB CAN signal and transmitted to the upper computer through a first channel, the test system is powered by a vehicle-mounted power supply.

2) Calibration, in order to obtain accurate position data, such as TTC time of a collision point of two vehicles, a collision reference point of the two vehicles needs to be set in the system, taking a passing vehicle behind a right lane as an example, as shown in fig. 2, the positions of a headlight on the right rear side of the vehicle and a headlight on the left side of a target vehicle are set as calculation reference points of collision occurrence of the two vehicles, the two vehicles are driven to respectively travel for about one kilometer, horizontal errors of a test site are eliminated through dynamic motion, then the positions of the two vehicles are moved to make the collision points aligned, the vehicles are kept static, the distance of the output position of the system is adjusted to zero, and the system error is eliminated, so that the output data of the system and actual information tend to be consistent.

3) Selecting a vehicle motion state:

as shown in the attached figure 3, vehicle gear states, vehicle running postures and vehicle speeds of a detected vehicle and a target vehicle are selected, the vehicle gear selections comprise different D/N/M/S gears, the vehicle running postures comprise straight running, left side fast/slow deviation and right side fast/slow deviation, the left deviation corresponds to the left rear part of the target vehicle, the right deviation corresponds to the right rear part of the target vehicle, and the vehicle speed selects a typical value: 25km/h, 35km/h, 45km/h and 55km/h, and the tester obtains complete vehicle motion state elements by combining the three variables.

4) External environmental conditions:

as shown in fig. 3, the external environmental conditions of the vehicle to be detected and the target vehicle are light environment, road environment and road curvature, the light environment includes clear front light/back light, cloudy day, no street lamp at night, the road environment includes two side lane lines, a right single line, a left single line, a right double line, a left double line and no lane line according to the lane lines, and the road curvature includes a right turn, a left turn and a straight lane. The tester obtains the complete external environment state element by combining the three variables.

5) Matching the motion state elements of the tested vehicle and the target vehicle with the external environment state elements, sequentially generating specific test items, and sorting and summarizing the test items to form a test case;

6) after the test cases are generated, test verification is carried out according to the cases one by one, and during the test execution period, the test results of all items are recorded, wherein the test results comprise the CAN signals of the vehicle controller and the position information of the two vehicles output by the positioning system. Including but not limited to the following data: the speed signal, the gear signal, the hand torque signal of the steering wheel and the ELK working state signal of the vehicle to be detected. And signals of lateral velocity, acceleration, collision distance, TTC, etc. at the time of lateral intervention provided by the positioning device.

7) After the test is finished, corresponding signals are stored, and are analyzed and compared with test data item by item according to system function indexes and performance requirements.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.

Claims

1. The utility model provides a real vehicle test system of urgent lane keeping under scene of overtaking, characterized by, it includes: the device comprises a vehicle-mounted power supply device, a GPS/RTK antenna module, a data acquisition processing module, a vehicle communication module, a signal acquisition module, a vehicle CAN box tool and an upper computer, wherein an ELK-ot equipped test vehicle is a tested vehicle, an auxiliary test vehicle is a target vehicle, a GPS mobile base station is erected in a test site, the tested vehicle and the target vehicle are both provided with the GPS/RTK antenna module and the vehicle communication module, the target vehicle is provided with the signal acquisition device, the tested vehicle is provided with the data acquisition processing module, the data acquisition processing module calculates and processes position data of the tested vehicle and the target vehicle, converts the position data into CAN signals and transmits the CAN signals to the upper computer through a second channel, the data of a tested vehicle controller is converted into CAN signals and transmitted to the upper computer through a first channel, the test system is powered by a vehicle-mounted power supply.

2. The system of claim 1, wherein the CAN signal is 500 KB.