CN115775457B - Method and system for testing cooperative paths of civil aviation airport roads - Google Patents
Method and system for testing cooperative paths of civil aviation airport roads Download PDFInfo
- Publication number
- CN115775457B CN115775457B CN202310046279.6A CN202310046279A CN115775457B CN 115775457 B CN115775457 B CN 115775457B CN 202310046279 A CN202310046279 A CN 202310046279A CN 115775457 B CN115775457 B CN 115775457B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- test
- module
- early warning
- testing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 215
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 238000013461 design Methods 0.000 claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- 230000006870 function Effects 0.000 claims description 21
- 238000004088 simulation Methods 0.000 claims description 20
- 238000002474 experimental method Methods 0.000 claims description 18
- 230000008859 change Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 12
- 238000007726 management method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 11
- 230000002159 abnormal effect Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 9
- 238000011156 evaluation Methods 0.000 claims description 9
- 230000004044 response Effects 0.000 claims description 9
- 238000012423 maintenance Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 101001093748 Homo sapiens Phosphatidylinositol N-acetylglucosaminyltransferase subunit P Proteins 0.000 claims description 3
- 230000006399 behavior Effects 0.000 claims description 3
- 238000013135 deep learning Methods 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000013139 quantization Methods 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 230000009545 invasion Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000013142 basic testing Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012812 general test Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention discloses a method and a system for testing a cooperative path of a vehicle road of a civil aviation airport, which relate to the technical field of cooperative testing of the vehicle road and comprise the following steps: the method comprises the steps of performing scene design through a network cloud platform, deploying hardware, planning a test path, collecting early warning information of a current test vehicle, and performing test; after the test is started, monitoring and collecting detection data parameters in real time through a video monitoring system, and outputting a detection result; and verifying whether the tested result meets the corresponding test case requirement, and ending the test when the test meets the preset condition. The method for testing the cooperative paths of the civil aviation airport roads reduces the manual operation to enable the driving test to be accurately performed after the paths are preset, can complete unmanned operation, and realizes automatic test of the test paths and preset scenes. The labor cost can be saved, the testing range and the testing scale can reach a certain level, and the testing requirement is met.
Description
Technical Field
The invention relates to the technical field of vehicle-road cooperative testing, in particular to a method and a system for testing a vehicle-road cooperative path of a civil aviation airport.
Background
The current airport unmanned equipment is used for improving operation guarantee, based on full-factor people, vehicles, intelligent road cooperation models and intelligent road cooperation big data, intelligent vehicles and intelligent roads are definitely used for serving people, the airport traffic efficiency is improved, the vehicle road cooperation automatic driving is built to be applied to test points in an airport operation scene, industry standards of the field are established, and the demonstration application of national intelligent airports is led.
The unmanned equipment and the intelligent operation equipment are applied to the propulsion, so that unmanned operation of fewer people and unmanned operation of full-type equipment in a flight area is gradually realized, the operation safety technical protection level of an apron is enhanced, the energy consumption of airport equipment is reduced, and the ground guarantee cooperative capability is improved. The intelligent real-time risk identification technology is applied to realize dynamic identification and intelligent decision-making of risks such as surrounding invasion, sliding conflict, unmanned aircraft invasion, bird invasion, pavement abnormality and the like, and realize unmanned and self-adaptive operation of fewer prevention and control facilities.
The vehicle-road cooperation V2X, data communication and path planning are adopted to realize the path re-planning after an event is encountered, realize unmanned path guiding, and realize the effects of reducing risk, reducing cost, saving energy and reducing emission.
Disclosure of Invention
The present invention has been made in view of the above-described problems.
Therefore, the technical problems solved by the invention are as follows: the existing unmanned equipment in the airport is not applicable to the standard, and meanwhile, the traditional method needs to consume a large amount of manpower and material resources, so that resource waste is caused.
In order to solve the technical problems, the invention provides the following technical scheme: a method for testing a cooperative path of a civil aviation airport road comprises the following steps:
the method comprises the steps of performing scene design through a network cloud platform, deploying hardware, planning a test path, collecting early warning information of a current test vehicle, and performing test;
after the test is started, monitoring and collecting detection data parameters in real time through a video monitoring system, and outputting a detection result;
and verifying whether the tested result meets the corresponding test case requirement, and ending the test when the test meets the preset condition.
As an optimal scheme of the method for testing the cooperative paths of the civil aviation airport roads, the Internet cloud platform comprises the following components:
the method comprises the steps of acquiring vehicle running information and equipment state information in real time, further supporting the functions of traffic state analysis and remote control, and realizing the functions of storing and analyzing network traffic running data.
As a preferred scheme of the method for testing the cooperative path of the civil aviation airport road, the scene design comprises:
automatic parking; testing a safety leaning machine; V2X is driven along with the vehicle; speed limiting reminding; emergency braking early warning; V2X disadvantaged traffic participants avoid; prompting dangerous conditions of the road; fast passing; V2X collaborative lane changing; early warning of crossing collision; a V2X beyond-the-horizon obstacle alert; automatic reversing and warehousing;
the automatic parking includes testing that the vehicle is parked autonomously in an automatic driving mode;
the safety leaning machine test comprises that the safety leaning machine test is arranged between roads, and any leaning machine ground equipment needs to run at a stable, reliable and impact-free slow speed and a low speed according to the test requirement so as to be in butt joint with an airplane;
the V2X vehicle following driving comprises that after the vehicle following driving, the distance between two vehicles is kept within +/-25% of a set distance and the maximum distance is not more than 20m, and when the vehicle is not stopped according to the set distance, the remote driving equipment performs manual operation and adjusts;
the speed limit reminding comprises the step that when the tested vehicle reaches a speed limit sign, the speed of the vehicle is not higher than the speed shown by the speed limit sign;
the emergency braking early warning comprises the steps that the test vehicle sends out warning information before braking, including optical and acoustic warning signals, so that the test vehicle is prevented from colliding with an obstacle;
As a preferred scheme of the method for testing the cooperative path of the civil aviation airport road, the V2X weak traffic participant avoiding method comprises the following steps:
when the test vehicle passes through the weak traffic participant mark, the vehicle speed is not higher than 30km/h; the speed of the pedestrian can be reduced in advance, and the pedestrian can safely pass through the lane where the vehicle is located; when the vehicle stops in front of the crosswalk, after the pedestrian passes through the lane where the test vehicle is located, the vehicle can be automatically started to continue running, the starting time is not more than 5s, and when the starting time is more than 5s, if the vehicle does not normally run, the remote driving equipment performs manual operation and adjustment;
the road hazard condition prompt comprises testing that the vehicle should avoid collision with a front obstacle through braking, steering or a combination mode;
the rapid transit includes testing that the vehicle should be parked waiting during a red light and not crossing a stop line
When the signal lamp is changed from a red lamp to a green lamp, the test vehicle should start to pass in time, the starting time is not longer than 5s, and when the starting time is longer than 5s, if the signal lamp is not normally operated, the remote driving equipment is manually operated and adjusted.
As an optimal scheme of the method for testing the cooperative paths of the civil aviation airport roads, the V2X cooperative lane change comprises the following steps:
When no lane change exists in the adjacent lane, the test vehicle starts a correct steering lamp, and starts steering after the steering lamp is started for at least 3 s; the time from the beginning of steering to the completion of the action of merging the adjacent lanes of the test vehicle is not more than 5s, and when the steering lamp is turned on for 3s, if the test vehicle is not normally operated, the remote driving equipment performs manual operation and adjusts the test vehicle;
when the adjacent lane has a lane change, the test vehicle can keep running in the original lane and does not collide with the target vehicle;
the intersection collision early warning comprises that when a sight line of a driver of a main vehicle is possibly blocked by an obstacle at an intersection or due to other reasons, the driver of the main vehicle cannot judge vehicles which drive to the intersection at the left side or the right side of the current intersection, and the intersection collision early warning function carries out early warning on the driver; the test vehicle should not collide with the obstacle; the test vehicle should turn on the correct turn signal; the test vehicles should comply with traffic rules to realize traffic and enter corresponding lanes for running;
the V2X beyond visual range obstacle reminding comprises the steps of reminding a driver when detecting that an obstacle in front of a test vehicle blocks or a distant vehicle running in the same direction on an adjacent lane appears in a blind zone of the test vehicle, wherein the warning at least comprises optical and acoustic reminding signals; the method comprises the steps of testing that a vehicle does not collide with an obstacle or an object vehicle;
The automatic reversing and warehousing comprises the steps that when the reversing and warehousing speed is not more than 5km/h, the accuracy of the parked position after parking is less than or equal to 20cm, a tested vehicle autonomously identifies a parking space, a parking path is reasonably planned, and the vehicle slowly enters the parking space;
when the precision is more than 20cm, automatically adjusting the position until the required precision is reached; when the parking space is not identified, the parking space is not more than 10km/h to continue searching; stopping in time when the test vehicle has collision danger in the parking process;
the planning of the test path comprises the steps of selecting corresponding hardware for deployment according to scene design and carrying out preset route test.
As an preferable scheme of the method for testing the cooperative paths of the civil aviation airport vehicular routes, the deployment of the hardware comprises the following steps:
the intelligent road side terminal module, the Internet connection V2X tracking type microwave radar module, the Internet connection V2X video event detection camera module, the V2X video event GPU server module, the mobile intelligent Internet connection traffic light module, the intelligent vehicle-mounted terminal OBU module, the remote driving equipment module, the central management system and the cloud supervision system;
the early warning information comprises forward collision early warning, left turn assistance, blind zone early warning, lane change early warning, reverse overtaking early warning, emergency braking early warning, abnormal vehicle warning, road dangerous condition warning, vehicle out-of-control early warning, speed limit early warning, red light running early warning, weak traffic participant collision early warning, in-vehicle sign, front congestion warning and emergency vehicle warning;
The data parameters comprise test time, vehicle speed, vehicle acceleration, vehicle course angle, vehicle position, vehicle yaw rate, workshop time interval, vehicle collision time and vehicle distance.
As a preferred scheme of the method for testing the cooperative path of the civil aviation airport road, the meeting of the preset condition includes:
when the tested vehicle V2X application receives a response to the test case in the performance evaluation stage, judging that the test case is normal, and continuing to detect;
when the tested vehicle V2X application receives a response to the test case in the performance evaluation stage, and when the test case does not run according to the set path, the test case is judged to be abnormal, the worker maintains according to the error reason, and the test is continued after the maintenance passes;
when the tested vehicle V2X application receives a response to the test case in the performance evaluation stage, judging that the test case is abnormal when the scene design does not reach the preset standard, and maintaining by a worker according to the error reason, and continuing to test after the maintenance is passed;
for the test cases in a single test scene, each test case should be subjected to 10 repeated experiments and pass 7 times or more, and the tested vehicle is considered to pass the test case.
The invention provides the following technical scheme: a system for testing a cooperative path of a civil aviation airport roadway, comprising:
the intelligent road side terminal module, the Internet connection V2X tracking type microwave radar module, the Internet connection V2X video event detection camera module, the V2X video event GPU server module, the environment simulation module, the intelligent vehicle-mounted terminal OBU module, the remote driving equipment module, the central management system and the cloud supervision system;
the intelligent road side terminal module is used for acquiring traffic information equipment and pushing the traffic information equipment to the central management system;
the online V2X tracking type microwave radar module is used for detecting the instant position and the instant speed of a pedestrian target and transmitting detection data to the intelligent road side terminal module;
the network V2X video event detection camera module is used for detecting the intrusion targets of pedestrians and non-motor vehicles in the stop area of the sightseeing station, sending the detection targets to the V2X video event GPU server module, extracting traffic targets in videos, including pedestrians, non-motor vehicles and motor vehicles, feeding the processed structured data back to the intelligent road side terminal module, and combining the deep learning detectable event function;
the V2X video event GPU server module is used for processing camera videos erected on intersections or road sections, extracting traffic targets in the videos, including pedestrians, non-motor vehicles and motor vehicles, and feeding the processed structured data back to the intelligent road side terminal module;
The environment simulation module is used for realizing the functions of a traffic sign board, a signal lamp, a road cone, a weak traffic participant sign, traffic signal control equipment, LTE-V equipment, WIFI communication equipment, a high-precision map and information induction equipment;
the intelligent vehicle-mounted terminal OBU module is used for a multimode plug and play platform and comprises a DSRC/LTE-V, WIFI, GPS/Beidou and 4G communication mode;
the remote driving equipment module is used for feeding back the driving state of the operating vehicle, the driving environment of the vehicle, the driving map of the remote vehicle and the current position information in real time by the remote driving system;
the central management system is used for receiving the equipment information of the intelligent road side terminal module and transmitting the information to the cloud supervision system;
the cloud supervision system is used for performing real-time monitoring and recording and playing back operation data; the system can intuitively monitor the running states of all intelligent vehicles in the system, timely master the dynamic information of the vehicles and improve the safety of the system;
as a preferred solution of the present invention for a civil aviation airport road cooperative path testing system, the remote driving device module includes:
a remote cockpit module, a vehicle platform module, a vehicle sensor module;
The remote cockpit module comprises control buttons for providing driving, steering and braking execution mechanisms, acquires analog data of the equipment through a controller, carries out quantization coding, forms vehicle operation control information, and transmits the control information to a vehicle end through a special network;
the vehicle platform module comprises a remote cockpit module, a remote control module and a remote control module, wherein after the remote cockpit module is assembled and debugged, the remote cockpit module performs vehicle control function debugging, and a driver performs control action simulation on the vehicle platform module to ensure that the action simulation takes effect on a vehicle;
the vehicle sensor module comprises cameras which are respectively arranged at 8 places, wherein the cameras comprise left and right sides of a vehicle head, the vicinity of a left rearview mirror, the vicinity of a right rearview mirror, the upper part of a windshield glass in the vehicle, the cameras are arranged at two sides of the vehicle body for vision blind areas, the cameras are ensured to be stable after being arranged, and the cameras cannot fall off and continuously shake in the driving process;
the collected information is uploaded to a remote cockpit module through a link of a vehicle-mounted controller, a cloud supervision system, a 5G core network, a cloud supervision system and a remote cockpit, and a remote driving instruction can be issued to a vehicle through the link to perform remote vehicle control;
The acquired information is transmitted through a 5G channel, so that the video uplink time delay is ensured to be less than 100ms, and the downlink control instruction time delay is ensured to be more than 20ms.
As a preferred solution of the present invention for a civil aviation airport road cooperative path testing system, the remote driving device module further includes:
the driving simulator has the advantages that the driving behavior simulating function of a driver is almost real, the road information of the forward direction, the left direction, the right direction and the backward direction of the pose of the driver of the vehicle is obtained in real time, meanwhile, the brake pedal and steering wheel force sensing simulation system gives operation feedback which is almost real according to the running state of the vehicle, and the required scene and traffic condition are led into the driving simulator.
The invention has the beneficial effects that: the method for testing the cooperative paths of the civil aviation airport roads provided by the invention can be used for re-planning the paths after encountering the event through the cooperative V2X of the roads, the data communication and the path planning, so that the unmanned path guiding is realized, the efficiency is improved, the effects of reducing the risk, the cost and the energy conservation and emission reduction are also realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is an overall flow chart of a method for testing a cooperative path of a civil aviation airport road according to an embodiment of the present invention;
FIG. 2 is a block diagram of a system for testing a cooperative path of a civil aviation airport road according to an embodiment of the present invention;
fig. 3 is a simulated road map for a meeting test in a method for testing a cooperative path of a civil aviation airport road according to a second embodiment of the present invention.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
While the embodiments of the present invention have been illustrated and described in detail in the drawings, the cross-sectional view of the device structure is not to scale in the general sense for ease of illustration, and the drawings are merely exemplary and should not be construed as limiting the scope of the invention. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Also in the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper, lower, inner and outer", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first, second, or third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected, and coupled" should be construed broadly in this disclosure unless otherwise specifically indicated and defined, such as: can be fixed connection, detachable connection or integral connection; it may also be a mechanical connection, an electrical connection, or a direct connection, or may be indirectly connected through an intermediate medium, or may be a communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1-2, for one embodiment of the present invention, there is provided a method for testing a cooperative path of a civil aviation airport road, including:
as shown in fig. 1, a scene design is performed through a network cloud platform, hardware is deployed, a test path is planned, early warning information of a current test vehicle is collected, and testing is performed;
after the test is started, monitoring and collecting detection data parameters in real time through a video monitoring system, and outputting a detection result;
and verifying whether the tested result meets the corresponding test case requirement, and ending the test when the test meets the preset condition.
The networking cloud platform comprises: the method comprises the steps of acquiring vehicle running information and equipment state information in real time, further supporting the functions of traffic state analysis and remote control, and realizing the functions of storing and analyzing network traffic running data.
The scene design includes: automatic parking; testing a safety leaning machine; V2X is driven along with the vehicle; speed limiting reminding; emergency braking early warning; V2X disadvantaged traffic participants avoid; prompting dangerous conditions of the road; fast passing; V2X collaborative lane changing; early warning of crossing collision; a V2X beyond-the-horizon obstacle alert; automatic reversing and warehousing;
automatic parking includes testing that the vehicle is parked autonomously in an automatic driving mode;
the safety leaning machine test comprises that the safety leaning machine is arranged between roads, and any leaning machine ground equipment needs to run at a stable, reliable and impact-free slow speed and a low speed according to the test requirement so as to be in butt joint with an airplane;
V2X vehicle following driving comprises that after the vehicle following driving, the distance between two vehicles is kept within +/-25% of a set distance, the maximum distance is not more than 20m, and when the vehicle is not stopped according to the set distance, the remote driving equipment is manually operated and adjusted;
the speed limit reminding comprises the step that when the tested vehicle reaches a speed limit sign, the speed is not higher than the speed shown by the speed limit sign;
the emergency braking early warning comprises the steps that the test vehicle sends out warning information before braking, including optical and acoustic warning signals, so that the test vehicle is prevented from colliding with an obstacle;
the V2X weak traffic participant avoiding comprises the step that the speed of the vehicle is not higher than 30km/h when the vehicle passes through the weak traffic participant mark; the speed of the pedestrian can be reduced in advance, and the pedestrian can safely pass through the lane where the vehicle is located; when the vehicle stops in front of the crosswalk, after the pedestrian passes through the lane where the test vehicle is located, the vehicle can be automatically started to continue running, the starting time is not more than 5s, and when the starting time is more than 5s, if the vehicle does not normally run, the remote driving equipment performs manual operation and adjustment;
Road hazard conditions cues include testing that the vehicle should be able to avoid collision with a forward obstacle by braking, steering, or a combination;
rapid transit includes testing that the vehicle should be parked waiting during a red light and not crossing a stop line;
when the signal lamp is changed from a red lamp to a green lamp, the test vehicle should start to pass in time, the starting time is not longer than 5s, and when the starting time is longer than 5s, if the signal lamp is not normally operated, the remote driving equipment is manually operated and adjusted;
the V2X collaborative lane change comprises the steps of testing that a vehicle turns on a correct steering lamp when no lane change exists in an adjacent lane, and starting steering after the steering lamp turns on for at least 3 s; the time from the beginning of steering to the completion of the action of merging the adjacent lanes of the test vehicle is not more than 5s, and when the steering lamp is turned on for 3s, if the test vehicle is not normally operated, the remote driving equipment performs manual operation and adjusts the test vehicle;
when the adjacent lane has a lane change, the test vehicle can keep running in the original lane and does not collide with the target vehicle;
the intersection collision early warning comprises that when the sight of a main vehicle driver is possibly blocked by an obstacle at the intersection or due to other reasons, the main vehicle driver cannot judge vehicles which drive to the intersection at the left side or the right side of the current intersection, and the intersection collision early warning function carries out early warning on the driver; the test vehicle should not collide with the obstacle; the test vehicle should turn on the correct turn signal; the test vehicles should comply with traffic rules to realize traffic and enter corresponding lanes for running;
The V2X beyond-vision distance obstacle reminding comprises the steps of reminding a driver when detecting that an obstacle in front of a test vehicle blocks or a distant vehicle running in the same direction on an adjacent lane appears in a blind zone of the test vehicle, wherein the warning at least comprises optical and acoustic reminding signals; the method comprises the steps of testing that a vehicle does not collide with an obstacle or an object vehicle;
the automatic backing and warehousing comprises the steps that when the backing and warehousing speed is not more than 5km/h, the accuracy of the parked position after parking is less than or equal to 20cm, a tested vehicle autonomously identifies a parking space, a parking path is reasonably planned, and the vehicle slowly enters the parking space;
when the precision is more than 20cm, automatically adjusting the position until the required precision is reached; when the parking space is not identified, the parking space is not more than 10km/h to continue searching; stopping in time when the test vehicle has collision danger in the parking process;
planning a test path comprises selecting corresponding hardware for deployment according to scene design, and carrying out preset route test;
the hardware deployment comprises the following steps: the intelligent road side terminal module, the Internet connection V2X tracking type microwave radar module, the Internet connection V2X video event detection camera module, the V2X video event GPU server module, the mobile intelligent Internet connection traffic light module, the intelligent vehicle-mounted terminal OBU module, the remote driving equipment module, the central management system and the cloud supervision system;
The early warning information comprises: forward collision early warning, left turn assistance, blind zone early warning, lane change early warning, reverse overtaking early warning, emergency braking early warning, abnormal vehicle reminding, road dangerous condition reminding, vehicle out-of-control early warning, speed limit early warning, red light running early warning, weak traffic participant collision early warning, in-vehicle sign, front congestion reminding and emergency vehicle reminding;
the data parameters include: test time, vehicle speed, vehicle acceleration, vehicle heading angle, vehicle position, vehicle yaw rate, vehicle headway, vehicle collision time, vehicle distance.
Meeting the preset condition includes:
when the tested vehicle V2X application receives a response to the test case in the performance evaluation stage, judging that the test case is normal, and continuing to detect;
when the tested vehicle V2X application receives a response to the test case in the performance evaluation stage, and when the test case does not run according to the set path, the test case is judged to be abnormal, the worker maintains according to the error reason, and the test is continued after the maintenance passes;
when the tested vehicle V2X application receives a response to the test case in the performance evaluation stage, judging that the test case is abnormal when the scene design does not reach the preset standard, and maintaining by a worker according to the error reason, and continuing to test after the maintenance is passed;
For the test cases in a single test scene, each test case should be subjected to 10 repeated experiments and pass 7 times or more, and the tested vehicle is considered to pass the test case.
As shown in fig. 2, there is provided a system for testing a cooperative path of a civil aviation airport road, including:
the intelligent road side terminal module 100, the Internet-connected V2X tracking type microwave radar module 200, the Internet-connected V2X video event detection camera module 300, the V2X video event GPU server module 400, the environment simulation module 500, the intelligent vehicle-mounted terminal OBU module 600, the remote driving equipment module 700, the central management system 800 and the cloud supervision system 900;
the intelligent road side terminal module 100 is used for acquiring equipment of traffic information and pushing the equipment to the central management system 800;
the internet-connected V2X tracking type microwave radar module 200 is configured to detect an instant position and an instant speed of a pedestrian target, and transmit detection data to the intelligent road side terminal module 100;
the online V2X video event detection camera module 300 is used for detecting the intrusion targets of pedestrians and non-motor vehicles in the stop area of the sightseeing station, sending the detection targets to the V2X video event GPU server module 400, extracting traffic targets in videos, including pedestrians, non-motor vehicles and motor vehicles, feeding the processed structured data back to the intelligent road side terminal module 100, and combining the deep learning detectable event function;
The V2X video event GPU server module 400 is configured to process camera videos erected at an intersection or a road segment, extract traffic targets in the videos, including pedestrians, non-motor vehicles, and feed back the processed structured data to the intelligent roadside terminal module 100;
the environment simulation module 500 is used for realizing the functions of a traffic sign board, a signal lamp, a road cone, a weak traffic participant sign, traffic signal control equipment, LTE-V equipment, WIFI communication equipment, a high-precision map and information induction equipment;
the intelligent vehicle-mounted terminal OBU module 600 is used for a multi-mode plug and play platform and comprises a DSRC/LTE-V, WIFI, GPS/Beidou and 4G communication mode;
the remote driving apparatus module 700 is used for a remote driving system to feedback the driving state of the operating vehicle, the driving environment of the vehicle, the driving map of the remote vehicle and the current position information in real time;
the central management system 800 is configured to receive device information of the intelligent roadside terminal module 100, and transmit the information to the cloud supervision system 900;
the cloud supervision system 900 is used for performing real-time monitoring and recording and playing back operation data; the system can intuitively monitor the running states of all intelligent vehicles in the system, timely master the dynamic information of the vehicles and improve the safety of the system;
The remote driving apparatus module 700 includes: a remote cockpit module 701, a vehicle platform module 702, a vehicle sensor module 703;
the remote cockpit module 701 comprises control buttons for providing driving, steering and braking execution mechanisms, collects analog data of the equipment through a controller, performs quantization coding to form vehicle operation control information, and transmits the control information to a vehicle end through a special network;
the vehicle platform module 702 includes, when the remote cockpit module 701 is assembled and debugged, performing vehicle control function debugging, and performing control action simulation on the vehicle platform module 702 by a driver to ensure that the action simulation takes effect on the vehicle;
the vehicle sensor module 703 includes cameras respectively installed at 8 places, including left and right sides of the vehicle head, near the left rearview mirror, near the right rearview mirror, above the windshield in the vehicle, and two cameras installed at two sides of the vehicle body, aiming at the vision blind area, ensuring that the cameras are stable after installation, and do not fall off and continuously shake in the driving process;
the collected information is uploaded to the remote cockpit module 701 through a link of the vehicle-mounted controller, the cloud supervision system 900,5G core network, the cloud supervision system 900 and the remote cockpit, and a remote driving instruction can be issued to a vehicle through the link to perform remote vehicle control;
The acquired information is transmitted through a 5G channel, so that the video uplink time delay is ensured to be less than 100ms, and the downlink control instruction time delay is ensured to be more than 20ms.
The driving simulator has the advantages that the driving behavior simulating function of a driver is almost real, the road information of the forward direction, the left direction, the right direction and the backward direction of the pose of the driver of the vehicle is obtained in real time, meanwhile, the brake pedal and steering wheel force sensing simulation system gives operation feedback which is almost real according to the running state of the vehicle, and the required scene and traffic condition are led into the driving simulator.
Example 2
Referring to fig. 3, for one embodiment of the present invention, a method for testing a cooperative path of a civil aviation airport road is provided, and in order to verify the beneficial effects of the present invention, scientific demonstration is performed through simulation experiments.
In this embodiment, a specific use experiment is performed on the method of the present invention, and in a preset equivalent experimental environment, this embodiment performs 3 groups of experiments on the existing conventional method and the method of this embodiment, respectively, where specific experimental results are shown in tables 1 and 2
The working conditions are as follows:
the basic test road, general test road, road network environment and matched service facilities of the intelligent network automobile test field meet the requirements of the T/CSAE 125.
Unless specified, all tests were performed under the following conditions:
testing road environment: the device is open, free of shielding and interference; no bad weather conditions such as snow fall, hail, dust emission and the like; the ambient temperature is between 20 ℃ below zero and 60 ℃; the horizontal visibility should be greater than 500m; when the speed limit of the tested road is more than or equal to 60km/h, the road width is not less than 3.5m and not more than 3.75m; when the speed limit of the tested road is less than 60km/h, the road width is not less than 3.0m and not more than 3.5m; the length of the test road is preferably more than 500m, the longitudinal gradient is preferably less than 0.5%, and the transverse gradient is preferably less than 3%; the test environment should be guaranteed with RSU signal coverage.
The tested vehicles and the background vehicles involved in the test should meet the following basic requirements: wireless communication capability is provided; the communication distance is not less than 300m under the conditions of no space, no shielding and no interference; the transmission of the V2X message should meet the specifications of YD/T3340, YD/T3707, YD/T3709 and T/CSAE 53-2020; the method has a basic alarm mechanism corresponding to scene classification; meeting the detection requirement of GB7258, and for items which do not meet the detection requirement, relevant proving materials which do not reduce the safety performance of the vehicle are required to be provided;
the vehicle should acquire data information such as vehicle speed, gear information, vehicle steering wheel angle, vehicle lamp state around the vehicle body, vehicle event flag, vehicle four-axis acceleration, vehicle brake system state and the like from a vehicle data bus or other data sources; the positioning accuracy of the background vehicle should be less than 1.5 meters.
In the test process, when the tested vehicle, the background vehicle and the test target substitute reach the stable motion state specified by the test scene, the following data precision requirements should be met:
VUT and BV speed error is + -1.0 km/h; the lateral offset of VUT and BV is + -0.5 m; VUT and BV yaw rate error of + -1.0 DEG/s; when the PTC is less than 4m (near-end scene) from the center line of the vehicle, the speed is 5km/h plus or minus 0.2km/h; when the PTA is less than 6m (far-end scene) from the center line of the vehicle, the speed is 6.5km/h plus or minus 0.2km/h; when the BTA is less than 17m (near-end scene) from the vehicle center line, the speed is 15km/h plus or minus 0.2km/h.
The end-to-end transmission delay of the application layer when the vehicle under test communicates with the background vehicle and the road side unit should be less than 100ms. The tested vehicle system should meet the following early warning form requirements:
the pre-warning should include, but is not limited to, a visual pre-warning or an auditory or a tactile pre-warning; the preliminary pre-warning means may include visual or audible or a combination of both, and may be tactile or other forms of warning as a supplement; the volume of the audible early warning prompt should be selected reasonably, clearly and distinctively; the early warning should possess the classifying ability, and for single test scene, the classifying number of early warning needs to be more than or equal to at least one level.
The communication distance is not less than 300m under the conditions of no space, no shielding and no interference; the messages sent should meet the specifications of YD/T3340, YD/T3707, YD/T3709 and T/CSAE 159; according to the requirements of the test scenario, the roadside unit should support the pre-configuration of the V2X message content (such as configuration of lane speed limit values in a logic road network (MAP) message, road hazard condition types and influence ranges in a roadside safety message (RSI), etc.).
The road side unit should periodically broadcast logic road network information of the test road and should cover at least the road sections participating in the test; the logic road network information should be in lane level, and the positioning point precision in the road network information should reach at least centimeter level.
Test target alternatives require: in the test process, related test target substitutes can be used for replacing real targets such as pedestrians, non-motor vehicles and the like, the pedestrian target meets the requirements of ISO 19206-2, and the non-motor vehicle target meets the requirements of ISO 19206-4.
In the test process, the test equipment should collect relevant data of the tested vehicle, the background vehicle, the road side unit and the test target substitute in real time, and monitor, collect and evaluate the test process. The data record during the test should contain the following: the measured vehicle and the background vehicle motion state parameters (speed, course angle, four-axis acceleration and the like); the position information of the detected vehicle and the background vehicle; the light and related prompt information states of the detected vehicle and the background vehicle; the detected vehicle V2X applies early warning information (audio, video, image information or other early warning signals); video information reflecting the running state of the detected and background vehicle; and testing the position and motion data of the target substitute.
According to the scene design, intelligent road side equipment, intelligent sensing equipment, network connection type mobile traffic lights and the like are deployed, as shown in fig. 3, a part A is an employee parking lot, and the parking lot is finished to the original parking place of the front door of the factory, and the depth is 11.6 meters; the position B is an automatic driving starting point and an automatic reversing and warehousing experiment position of the vehicle, which are 16 meters in total, three parking spaces are divided, the width is 4 meters, the depth is 10 meters, and the interval is 1.3 meters; carrying out an automatic parking experiment at the C1, and parking in parallel in the east-west direction, wherein the length is 5.3 meters; carrying out a safety leaning machine test experiment at the C2 position, wherein the length of the aircraft simulation cabin is 10.6 meters, the aircraft simulation cabin is vertical to the wall surface, the length of an aviation food vehicle is 6.7 meters, and the distance between the aircraft simulation cabin and the front aircraft is 5 meters, and is 12.7 meters in total; 2, an experimental path point is arranged, and sensing equipment is deployed, wherein the sensing equipment comprises an L-shaped street lamp post, a road side unit RSU and an eastern event camera; e, performing a V2X following experiment; 3, an experimental path point, a deployment sensing device, a positioning device and a positioning device, wherein the deployment sensing device comprises an L-shaped street lamp post, a road side unit RSU, a north facing signal lamp, a north facing millimeter wave radar, a north facing laser radar, a north facing event camera and a south facing event camera; f, carrying out a speed limit reminding experiment, and warning the vehicle-mounted meeting, wherein the road width is 8 meters and the maximum distance is 19 meters; performing an emergency braking early warning experiment at the K position; 7, an experimental path point, a sensing device comprising an L-shaped street lamp post, a road side unit RSU, a west millimeter wave radar and an east millimeter wave radar is deployed; 6, an experimental path point, a deployment sensing device, a power supply system and a power supply system, wherein the deployment sensing device comprises an L-shaped street lamp post, a road side unit RSU, a northwest signal lamp, a northwest laser radar, a northwest event camera and a northwest event camera; performing V2X weak traffic participant avoidance experiments at G; the road dangerous condition prompting experiment is carried out at the position H, the position is close to the factory side, and the vehicle changes the lane to the left lane and turns; 5, an experimental path point, a deployment sensing device, a power supply system and a power supply system, wherein the deployment sensing device comprises an L-shaped street lamp post, a road side unit RSU and a north facing event camera; the fast pass experiment is carried out at the position I, wherein the fast pass experiment is a single lane, the width is 4.7 meters, and the maximum distance is 7.5 meters; 4, an experimental path point, a sensing device is deployed, wherein the sensing device comprises an L-shaped street lamp pole, a road side unit RSU, an eastern millimeter wave radar and an eastern event camera; V2X collaborative lane changing experiments are carried out at the J position, and the vehicle changes lanes to the right lane after turning right; 3-4 is a western road marking line which is used as a straight road for automatically following the front of the automobile; performing intersection collision early warning experiments at the L position; m, carrying out a V2X beyond-the-horizon obstacle reminding experiment; n is a monitoring large screen; the position 1 is an experimental path point, and a sensing device is deployed and comprises an L-shaped street lamp post, a road side unit RSU, an eastern event camera and a western event camera.
Carrying out civil aviation airport vehicle path collaborative path test according to a preset path, setting an unmanned vehicle for a path B-1-6-7-3-2-B of a path 1 for vehicle meeting test, setting an unmanned vehicle for a path B-2-3-7-6-5-4-3-7-6-1-B of a path 2 for vehicle meeting test, and carrying out vehicle meeting test as shown in fig. 3;
table 1 scene design accuracy vs. table
Table 2 comparison table for test path accuracy
Compared with the prior art, the method can be determined through the chart, the equipment can advance 100% accurately according to the preset route and simultaneously perform scene test, the test result is ensured to be 100% correct, and the error rate is reduced.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
Claims (5)
1. The method for testing the cooperative path of the civil aviation airport road is characterized by comprising the following steps of:
the method comprises the steps of performing scene design through a network cloud platform, planning a test path after hardware is deployed, collecting early warning information of a current test vehicle, and performing test;
After the test is started, monitoring and collecting detection data parameters in real time through a video monitoring system, and outputting a detection result;
verifying whether the tested result meets the corresponding test case requirement, and ending the test when the test meets the preset condition;
the scene design includes the steps of,
automatic parking; testing a safety leaning machine; V2X is driven along with the vehicle; speed limiting reminding; emergency braking early warning; V2X disadvantaged traffic participants avoid; prompting dangerous conditions of the road; fast passing; V2X collaborative lane changing; early warning of crossing collision; a V2X beyond-the-horizon obstacle alert; automatic reversing and warehousing;
the automatic parking includes testing that the vehicle is parked autonomously in an automatic driving mode;
the safety leaning machine test comprises that the safety leaning machine test is arranged between roads, and any leaning machine ground equipment needs to run at a stable, reliable and impact-free slow speed and a low speed according to the test requirement so as to be in butt joint with an airplane;
the V2X vehicle following driving comprises that after the vehicle following driving, the distance between two vehicles is kept within +/-25% of a set distance and the maximum distance is not more than 20m, and when the vehicle is not stopped according to the set distance, the remote driving equipment performs manual operation and adjusts;
the speed limit reminding comprises the step that when the tested vehicle reaches a speed limit sign, the speed of the vehicle is not higher than the speed shown by the speed limit sign;
The emergency braking early warning comprises the steps that the test vehicle sends out warning information before braking, including optical and acoustic warning signals, so that the test vehicle is prevented from colliding with an obstacle;
the V2X disadvantaged traffic participant avoidance includes,
when the test vehicle passes through the weak traffic participant mark, the vehicle speed is not higher than 30km/h; the speed of the pedestrian can be reduced in advance, and the pedestrian can safely pass through the lane where the vehicle is located; when the vehicle stops in front of the crosswalk, after the pedestrian passes through the lane where the test vehicle is located, the vehicle can be automatically started to continue running, the starting time is not more than 5s, and when the starting time is more than 5s, if the vehicle does not normally run, the remote driving equipment performs manual operation and adjustment;
the road hazard condition prompt comprises testing that the vehicle should avoid collision with a front obstacle through braking, steering or a combination mode;
the rapid transit includes testing that the vehicle should be parked waiting during a red light and not crossing a stop line
When the signal lamp is changed from a red lamp to a green lamp, the test vehicle should start to pass in time, the starting time is not longer than 5s, and when the starting time is longer than 5s, if the signal lamp is not normally operated, the remote driving equipment is manually operated and adjusted;
The V2X co-channel change includes,
when no lane change exists in the adjacent lane, the test vehicle starts a correct steering lamp, and starts steering after the steering lamp is started for at least 3 s; the time from the beginning of steering to the completion of the action of merging the adjacent lanes of the test vehicle is not more than 5s, and when the steering lamp is turned on for 3s, if the test vehicle is not normally operated, the remote driving equipment performs manual operation and adjusts the test vehicle;
when the adjacent lane has a lane change, the test vehicle can keep running in the original lane and does not collide with the target vehicle;
the intersection collision early warning comprises that when a sight line of a driver of a main vehicle is possibly blocked by an obstacle at an intersection or due to other reasons, the driver of the main vehicle cannot judge vehicles which drive to the intersection at the left side or the right side of the current intersection, and the intersection collision early warning function carries out early warning on the driver; the test vehicle should not collide with the obstacle; the test vehicle should turn on the correct turn signal; the test vehicles should comply with traffic rules to realize traffic and enter corresponding lanes for running;
the V2X beyond visual range obstacle reminding comprises the steps of reminding a driver when detecting that an obstacle in front of a test vehicle blocks or a distant vehicle running in the same direction on an adjacent lane appears in a blind zone of the test vehicle, wherein the warning at least comprises optical and acoustic reminding signals; the method comprises the steps of testing that a vehicle does not collide with an obstacle or an object vehicle;
The automatic reversing and warehousing comprises the steps that when the reversing and warehousing speed is not more than 5km/h, the accuracy of the parked position after parking is less than or equal to 20cm, a tested vehicle autonomously identifies a parking space, a parking path is reasonably planned, and the vehicle slowly enters the parking space;
when the precision is more than 20cm, automatically adjusting the position until the required precision is reached; when the parking space is not identified, the parking space is not more than 10km/h to continue searching; stopping in time when the test vehicle has collision danger in the parking process;
the planning test path comprises the steps of selecting corresponding hardware for deployment according to scene design and carrying out preset route test;
the hardware deployment comprises an intelligent road side terminal module, an internet connection V2X tracking type microwave radar module, an internet connection V2X video event detection camera module, a V2X video event GPU server module, a mobile intelligent internet connection traffic light module, an intelligent vehicle-mounted terminal OBU module, a remote driving equipment module, a central management system and a cloud supervision system;
the early warning information comprises forward collision early warning, left turn assistance, blind zone early warning, lane change early warning, reverse overtaking early warning, emergency braking early warning, abnormal vehicle warning, road dangerous condition warning, vehicle out-of-control early warning, speed limit early warning, red light running early warning, weak traffic participant collision early warning, in-vehicle sign, front congestion warning and emergency vehicle warning;
The data parameters comprise test time, vehicle speed, vehicle acceleration, vehicle course angle, vehicle position, vehicle yaw rate, workshop time interval, vehicle collision time and vehicle distance;
the satisfaction of the preset condition includes that,
when the tested vehicle V2X application receives a response to the test case in the performance evaluation stage, judging that the test case is normal, and continuing to detect;
when the tested vehicle V2X application receives a response to the test case in the performance evaluation stage, and when the test case does not run according to the set path, the test case is judged to be abnormal, the worker maintains according to the error reason, and the test is continued after the maintenance passes;
when the tested vehicle V2X application receives a response to the test case in the performance evaluation stage, judging that the test case is abnormal when the scene design does not reach the preset standard, and maintaining by a worker according to the error reason, and continuing to test after the maintenance is passed;
for the test cases in a single test scene, each test case should be subjected to 10 repeated experiments and pass 7 times or more, and the tested vehicle is considered to pass the test case.
2. The method for testing a cooperative path of a civil aviation airport roadway according to claim 1, wherein the internet-connected cloud platform comprises:
The method comprises the steps of acquiring vehicle running information and equipment state information in real time, further supporting traffic state analysis and remote control functions, and realizing the storage and analysis functions of network traffic running data.
3. A test system employing the method for testing a cooperative path of a civil aviation airport road according to any one of claims 1 or 2, comprising:
the intelligent road side terminal module (100), the Internet-connected V2X tracking microwave radar module (200), the Internet-connected V2X video event detection camera module (300), the V2X video event GPU server module (400), the environment simulation module (500), the intelligent vehicle-mounted terminal OBU module (600), the remote driving equipment module (700), the central management system (800) and the cloud supervision system (900);
the intelligent road side terminal module (100) is used for acquiring equipment of traffic information and pushing the equipment to the central management system (800);
the online V2X tracking type microwave radar module (200) is used for detecting the instant position and the instant speed of a pedestrian target and transmitting detection data to the intelligent road side terminal module (100);
the network V2X video event detection camera module (300) is used for detecting the intrusion targets of pedestrians and non-motor vehicles in the stop area of the sightseeing station, sending the detection targets to the V2X video event GPU server module (400), extracting traffic targets in videos, including pedestrians, non-motor vehicles and motor vehicles, feeding the processed structured data back to the intelligent road side terminal module (100), and combining the deep learning detectable event function;
The V2X video event GPU server module (400) is used for processing camera videos erected on intersections or road sections, extracting traffic targets in the videos, including pedestrians, non-motor vehicles and motor vehicles, and feeding the processed structured data back to the intelligent road side terminal module (100);
the environment simulation module (500) is used for realizing the functions of traffic signs, signal lamps, road cones, weak traffic participant marks, traffic signal control equipment, LTE-V equipment, WIFI communication equipment, high-precision maps and information induction equipment;
the intelligent vehicle-mounted terminal OBU module (600) is used for a multi-mode plug and play platform and comprises a DSRC/LTE-V, WIFI, GPS/Beidou and 4G communication mode;
the remote driving equipment module (700) is used for enabling the remote driving system to feed back the driving state of the operating vehicle, the driving environment of the vehicle, the driving map of the remote vehicle and the current position information in real time;
the central management system (800) is used for receiving equipment information of the intelligent road side terminal module (100) and transmitting the information to the cloud supervision system (900);
the cloud supervision system (900) is used for performing real-time monitoring and recording and playing back operation data; the system can intuitively monitor the running states of all intelligent vehicles in the system, timely master the dynamic information of the vehicles and improve the safety of the system.
4. A test system as claimed in claim 3, wherein the remote driving device module (700) comprises:
a remote cockpit module (701), a vehicle platform module (702), a vehicle sensor module (703);
the remote cockpit module (701) comprises control buttons for providing driving, steering and braking execution mechanisms, collects the simulation data of the equipment through a controller, carries out quantization coding, forms vehicle operation control information, and transmits the control information to a vehicle end through a special network;
the vehicle platform module (702) comprises the steps that after the remote cockpit module (701) is assembled and debugged, the vehicle control function is debugged, a driver performs control action simulation on the vehicle platform module (702), and the action simulation is ensured to take effect on a vehicle;
the vehicle sensor module (703) comprises cameras which are respectively arranged at 8 places, wherein the cameras comprise left and right sides of a vehicle head, the vicinity of a left rearview mirror, the vicinity of a right rearview mirror, the upper part of a windshield glass in the vehicle, the cameras are arranged at the two sides of the vehicle body for viewing blind areas, the cameras are ensured to be stable after being arranged, and the cameras cannot fall off and continuously shake in the driving process;
The acquired information is uploaded to a remote cockpit module (701) through a link of a vehicle-mounted controller, a cloud supervision system (900), a 5G core network and the cloud supervision system (900), and a remote driving instruction can be issued to a vehicle through the link to perform remote vehicle control;
the acquired information is transmitted through a 5G channel, so that the video uplink time delay is ensured to be less than 100ms, and the downlink control instruction time delay is ensured to be more than 20ms.
5. A test system as claimed in claim 3, wherein the remote driving device module (700) further comprises:
the driving simulator has the advantages that the driving behavior simulating function of a driver is almost real, the road information of the forward direction, the left direction, the right direction and the backward direction of the pose of the driver of the vehicle is obtained in real time, meanwhile, the brake pedal and steering wheel force sensing simulation system gives operation feedback which is almost real according to the running state of the vehicle, and the required scene and traffic condition are led into the driving simulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310046279.6A CN115775457B (en) | 2023-01-31 | 2023-01-31 | Method and system for testing cooperative paths of civil aviation airport roads |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310046279.6A CN115775457B (en) | 2023-01-31 | 2023-01-31 | Method and system for testing cooperative paths of civil aviation airport roads |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115775457A CN115775457A (en) | 2023-03-10 |
| CN115775457B true CN115775457B (en) | 2023-05-05 |
Family
ID=85393766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310046279.6A Active CN115775457B (en) | 2023-01-31 | 2023-01-31 | Method and system for testing cooperative paths of civil aviation airport roads |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115775457B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114838949A (en) * | 2022-03-04 | 2022-08-02 | 湖北国际物流机场有限公司 | Remote control driving test method and system for airport automatic driving guide vehicle |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3543985A1 (en) * | 2018-03-21 | 2019-09-25 | dSPACE digital signal processing and control engineering GmbH | Simulation of different traffic situations for a test vehicle |
| CN109324539A (en) * | 2018-08-28 | 2019-02-12 | 山东省科学院自动化研究所 | The intelligent control platform and method of a kind of automatic Pilot closed test field |
| CN110248311B (en) * | 2019-06-17 | 2021-01-01 | 重庆西部汽车试验场管理有限公司 | V2I application function testing method based on intelligent networking platform |
| CN110441066A (en) * | 2019-07-15 | 2019-11-12 | 中国第一汽车股份有限公司 | A kind of intelligent driving vehicle is in ring test method and test macro |
| CN112466141A (en) * | 2020-11-12 | 2021-03-09 | 深圳慧拓无限科技有限公司 | Vehicle-road-collaboration-oriented intelligent network connection end equipment interaction method, system and storage medium |
| CN112765722A (en) * | 2020-12-08 | 2021-05-07 | 特路（北京）科技有限公司 | Test scene design method for test field of automatic driving automobile |
| CN112631246B (en) * | 2020-12-11 | 2022-03-04 | 国汽(北京)智能网联汽车研究院有限公司 | Test evaluation information determination method, device, equipment and computer storage medium |
| CN113157578B (en) * | 2021-01-11 | 2022-05-13 | 北京赛目科技有限公司 | Automatic driving simulation test method and device based on scene |
| CN112700651B (en) * | 2021-02-09 | 2023-06-23 | 中科大路(青岛)科技有限公司 | Test method and system for automatic driving vehicle at airport |
| CN115047840A (en) * | 2021-03-08 | 2022-09-13 | 浙江天行健智能科技有限公司 | Signal machine hardware-in-loop simulation test system and method |
| CN113453263B (en) * | 2021-06-30 | 2022-12-20 | 常州工学院 | Vehicle-road cooperative V2I simulation test system and method thereof |
| CN115346367A (en) * | 2022-07-26 | 2022-11-15 | 上海交通大学 | Test system and test method of vehicle-road cooperative system |
| CN115257768A (en) * | 2022-08-12 | 2022-11-01 | 庆铃汽车（集团）有限公司 | Intelligent driving vehicle environment sensing method, system, equipment and medium |
| CN115127836B (en) * | 2022-08-30 | 2022-11-08 | 江苏天一航空工业股份有限公司 | Test field for simulating vehicle and vehicle path cooperation equipment of civil aviation airport |
| CN115219244A (en) * | 2022-08-30 | 2022-10-21 | 江苏天一航空工业股份有限公司 | Test field and test method for unmanned civil aviation vehicle |
| CN115525974A (en) * | 2022-10-14 | 2022-12-27 | 中汽研（天津）汽车工程研究院有限公司 | Map matching test scene building method suitable for V2X field test system |
| CN115575994B (en) * | 2022-11-18 | 2023-06-09 | 江苏天一航空工业股份有限公司 | Environment positioning sensing method, device and system for unmanned vehicle in airport |
-
2023
- 2023-01-31 CN CN202310046279.6A patent/CN115775457B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114838949A (en) * | 2022-03-04 | 2022-08-02 | 湖北国际物流机场有限公司 | Remote control driving test method and system for airport automatic driving guide vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115775457A (en) | 2023-03-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111524357B (en) | Method for fusing multiple data required for safe driving of vehicle | |
| CN111223302B (en) | External coordinate real-time three-dimensional road condition auxiliary device for mobile carrier and system | |
| US12030484B2 (en) | Driving control method and apparatus, device, medium, and system | |
| CN111473980B (en) | Intelligent automobile automatic driving capability test system | |
| EP4071023A1 (en) | Method and device for controlling autonomous vehicle | |
| CN101419749B (en) | Low-visibility road traffic guiding method | |
| CN111367292A (en) | Intelligent road system for automatically driving automobile | |
| CN106706342B (en) | Method and field for testing continuous crossing passing capability of automatic driving vehicle | |
| CN113453263B (en) | Vehicle-road cooperative V2I simulation test system and method thereof | |
| CN110446278A (en) | Intelligent driving automobile sensor blind area method of controlling security and system based on V2I | |
| CN106340197A (en) | Auxiliary cooperative vehicle infrastructure driving system and method | |
| WO2021036907A1 (en) | Train control system and train control method | |
| CN112396856A (en) | Road condition information acquisition method, traffic signboard and intelligent internet traffic system | |
| CN205845328U (en) | Collaborative and the active safety prior-warning device of 4G network based on bus or train route | |
| CN116013101B (en) | System and method for suggesting speed of signal-free intersection based on network environment | |
| JP2023024857A (en) | Road-to-vehicle cooperative information processing method, apparatus, system, electronic device, storage medium, and computer program | |
| CN116434604A (en) | Intelligent traffic cone barrel safety warning system and control method | |
| CN115376320A (en) | Accurate warning method for intersection without lamp control | |
| CN114655260A (en) | Control system of unmanned tourist coach | |
| CN113140129B (en) | Vehicle early warning method, device and system | |
| CN102509463B (en) | System and method for prompting drivers to know acquisition condition of priority signal | |
| CN115775457B (en) | Method and system for testing cooperative paths of civil aviation airport roads | |
| EP3989032B1 (en) | Systems and methods for controlling an autonomous vehicle | |
| CN114822083B (en) | Intelligent vehicle formation auxiliary control system | |
| CN114299715A (en) | Expressway information detection system based on videos, laser radar and DSRC |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20230310 Assignee: Jiangsu Tianyi Airport Equipment Maintenance Service Co.,Ltd. Assignor: Jiangsu Tianyi Aviation Industry Co.,Ltd. Contract record no.: X2023980044219 Denomination of invention: A Method and System for Testing Vehicle Road Collaborative Paths in Civil Aviation Airports Granted publication date: 20230505 License type: Common License Record date: 20231024 |
|
| EE01 | Entry into force of recordation of patent licensing contract |