CN115798215A - Method for testing cooperative behavior capability of vehicle and road in civil aviation airport - Google Patents
Method for testing cooperative behavior capability of vehicle and road in civil aviation airport Download PDFInfo
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Abstract
The invention discloses a method for testing the cooperative behavior capability of a vehicle road in a civil aviation airport, which comprises the following steps of carrying out a test under the condition of conforming to a test environment, wherein the test carries out a plurality of test items under different test scenes; acquiring expected early warning information of a tested vehicle under a current test case, and adjusting the states of the tested vehicle and a background vehicle to be the same as the target motion state of the test case when starting a test; and testing, namely acquiring relevant data of the tested vehicle, the background vehicle, the road side unit and the test target substitute in real time and evaluating until the tested vehicle and the background vehicle meet the test ending condition. The method does not specially limit the mixed traffic of unmanned driving and manual driving, unifies traffic sign lines, opens infrastructures, restores a real running scene, senses the running state of an airport, improves the average running speed, and is more accurate in operation and scheduling; the airport safety supervision capability is improved, and passenger information service is enriched.
Description
Technical Field
The invention relates to the technical field of vehicle-road cooperative testing, in particular to a method for testing vehicle-road cooperative behavior capability of a civil aviation airport.
Background
With the great attention and investment of various social circles obtained by technologies such as vehicle-road cooperation, intelligent networking and the like, the development of software and hardware related to the vehicle-road cooperation technology is developed from an initial model level (microcosmic, mesoscopic and macroscopic) to a more real and complex environment. In the existing car networking technology, before a formal road access, a car-road coordination technology C-ITS (Cooperative Intelligent Transport Systems) is usually tested and evaluated, the car-road coordination system acquires car and road information based on technologies such as wireless communication and sensing detection, and information interaction and sharing are realized through car-car and car-road communication, so that Intelligent coordination and coordination between cars and road-side facilities are realized, and the aims of optimizing and using road resources, improving traffic safety and relieving congestion are fulfilled. At present, a set of efficient and accurate evaluation method is lacked for testing and evaluating the airport vehicle-road cooperation scene.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned conventional problems.
Therefore, the invention provides a method for testing the capability of the cooperative behavior of the train paths in the civil aviation airport, which can solve the problem that the existing method is not efficient and accurate enough.
In order to solve the technical problems, the invention provides the following technical scheme, and the method for testing the vehicle-road cooperative behavior capability of the civil aviation airport comprises the following steps:
carrying out a test under the condition of meeting the test environment, wherein the test carries out a plurality of test items under different test scenes;
acquiring expected early warning information of a tested vehicle under a current test case, and adjusting the states of the tested vehicle and a background vehicle to be the same as the target motion state of the test case when starting a test;
and testing, namely acquiring relevant data of the tested vehicle, the background vehicle, the road side unit and the test target substitute in real time and evaluating the data until the tested vehicle and the background vehicle meet the test ending condition.
The invention relates to a preferable scheme for a test method of the cooperative behavior capability of a civil aviation airport vehicle road, which comprises the following steps: the preprocessing comprises the steps of inputting multi-component submarine node data to a channel head keyword program, acquiring observation system information, and sorting common detection wave point gather data of a pressure component and a vertical velocity component.
The invention relates to a preferable scheme for a test method of the cooperative behavior capability of a civil aviation airport vehicle road, which comprises the following steps: the test adopts automatic driving and comprises a state adjusting stage and a performance evaluating stage, wherein the state adjusting stage is a process that the tested vehicle and the background vehicle are started until the tested vehicle and the background vehicle reach the target motion state of the test case, and the performance evaluating stage is a process that the tested vehicle and the background vehicle reach the target motion state of the test case until the test ending condition is met.
As a preferred scheme of the method for testing the cooperative behavior capability of the civil aviation airport vehicle road, the method comprises the following steps: the expected early warning information comprises forward collision early warning, blind area early warning, lane changing early warning, reverse overtaking early warning, emergency braking early warning, vehicle out-of-control early warning, collision early warning of vulnerable traffic participants, speed limit early warning, red light running early warning and reverse overtaking early warning.
As a preferred scheme of the method for testing the cooperative behavior capability of the civil aviation airport vehicle road, the method comprises the following steps: when the automobile detects that a static vehicle or a slow-speed vehicle exists in front of the same lane or a static vehicle or a slow-speed vehicle exists in front of an adjacent lane or a vehicle runs in opposite directions in the adjacent lane, a forward collision early warning is sent out, and after the early warning, emergency braking or deceleration or avoidance operation is carried out according to the early warning grade;
when the automobile detects that a target vehicle runs in the same direction in the blind area of the adjacent lane of the test vehicle, sending out a blind area early warning, keeping the speed of the vehicle and forbidding lane change until the early warning is finished;
when the target vehicle runs in the same direction in the blind area of the adjacent lane of the test vehicle and the test vehicle has the intention of changing lanes, or the target vehicle rapidly runs to the blind area of the test vehicle in the adjacent lane and the test vehicle has the intention of changing lanes, sending out a blind area early warning and a lane changing early warning, and stopping changing lanes;
when the test vehicle intends to overtake by means of a reverse lane and target vehicles running in opposite directions are arranged on the reverse lane, a reverse overtaking early warning is sent out, and overtaking action is stopped and emergency braking is carried out;
when an emergency braking vehicle exists in front of the test vehicle, an emergency braking early warning is sent out, and emergency braking operation or lane changing operation is carried out according to the early warning level;
when the vehicle runs in the same direction in the road range in front of the test vehicle and continuously broadcasts the information of the out-of-control state of the vehicle, a vehicle out-of-control early warning is sent out, and the vehicle is emergently evacuated and related personnel are notified to process the information;
when the RSU in front of the test vehicle continuously broadcasts the road speed limit information, a speed limit early warning is sent out, and the vehicle immediately adjusts the speed to be within a limited speed range;
when the RSU in front of the test vehicle continuously broadcasts the road traffic light information, a red light running early warning is sent out, and emergency braking or passing acceleration or braking after deceleration is carried out according to the early warning level;
when a weak traffic participant in front of the test vehicle crosses the road, collision early warning is sent out to the weak traffic participant for emergency braking.
The invention relates to a preferable scheme for a test method of the cooperative behavior capability of a civil aviation airport vehicle road, which comprises the following steps: the forward collision early warning is divided into three stages, when the distance between the forward collision early warning and other vehicles is more than 20m, the forward collision early warning is a secondary forward collision early warning, the operation of changing a traveling route to avoid is adopted, when the distance between the forward collision early warning and other vehicles is within the range of 10-20m, the deceleration operation is adopted for the secondary forward collision early warning, and when the distance between the forward collision early warning and other vehicles is less than or equal to 10m, the emergency braking operation is adopted for the primary forward collision early warning;
the emergency braking early warning is divided into two stages, when the distance between the emergency braking early warning and the emergency braking vehicle is greater than 10m, lane changing operation is adopted for the two-stage emergency braking early warning, and when the distance between the emergency braking vehicle and the emergency braking vehicle is less than or equal to 10m, emergency braking operation is adopted for the first-stage emergency braking early warning;
the red light running early warning is divided into three levels, when the distance between the vehicle and the red light is greater than 10m and the time from the green light to the red light is less than 5s, braking is carried out after deceleration, when the distance between the vehicle and the red light is less than 10m and the time from the green light to the red light is greater than or equal to 5s, the vehicle takes acceleration passing for the second-level red light running early warning, and when the distance between the vehicle and the red light is less than 10m and the time from the green light to the red light is less than 5s or is in a red light state, emergency braking is taken.
The invention relates to a preferable scheme for a test method of the cooperative behavior capability of a civil aviation airport vehicle road, which comprises the following steps: early warning information all reports the early warning through pronunciation, reminds through the icon scintillation of different shapes on the panel in the car simultaneously, and the icon display of early warning one-level or single-level early warning is red, and early warning second grade icon display is yellow, and early warning third grade icon display is green.
The invention relates to a preferable scheme for a test method of the cooperative behavior capability of a civil aviation airport vehicle road, which comprises the following steps: the test end condition includes that the test end condition includes,
when the V2X application of the vehicle to be tested reasonably responds to the test case in the performance evaluation stage, the early warning is normal and the corresponding operation is carried out, the test is finished and the test data is recorded;
when the V2X application of the vehicle to be tested performs error response on the test case in the performance evaluation stage, and the early warning displays and broadcasts errors or performs error operation on the early warning, the test is finished, the vehicle to be tested and the test device are checked, the error reason is checked, and the vehicle to be tested and the test device are repaired and adjusted;
when the V2X application of the vehicle to be tested does not respond to the test case in the performance evaluation stage, and does not give an early warning to the corresponding road condition or does not perform corresponding operation after the early warning, the test is finished, the test condition setting is adjusted, and the test is performed again until the vehicle to be tested responds to the test case.
The invention also provides a system for testing the cooperative behavior capability of the vehicle and the road of the civil aviation airport, which comprises,
the internet cloud platform can realize the butt joint with the central management system and is used for acquiring the vehicle operation information and the equipment state information in real time;
the central management system is used for carrying out remote control on the vehicle and setting information of the automatic driving vehicle;
and the information storage center is used for storing the test data.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method described above.
The present invention also provides a computer apparatus comprising: a memory and a processor; the memory stores a computer program which, when executed by the processor, implements the steps of the method described above.
The invention has the beneficial effects that: (1) realizing automatic driving test in an open operation scene: the unmanned driving and the manual driving mixed traffic is not particularly limited, the traffic sign lines are unified, the infrastructure is opened, and the real operation scene is restored.
(2) Unmanned equipment operation test: the running state of the airport is sensed, the average running speed is increased, the operation is more accurate, and the dispatching is more accurate; the safety supervision capability of the airport is improved, and the passenger information service is enriched.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic flow chart of a method for testing vehicle path cooperative behavior capability in an airport according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a test route of a method for testing vehicle-road cooperative behavior capability of a civil aviation airport according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an intersection collision early warning test for a method for testing vehicle-road cooperative behavior capability of a civil aviation airport according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection 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 than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is 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.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot 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 connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Example 1
Referring to fig. 1, a first embodiment of the present invention provides a method for testing cooperative behavior capability of a vehicle road in a civil aviation airport, including:
s1: testing is carried out under the condition of meeting the testing environment, and various testing items are carried out under different testing scenes;
(1) Basic requirements of test environment
Basic test roads, general test roads, road networking environments, matched service facilities and the like of the intelligent networking automobile test field meet the requirements of T/CSAE 125.
All tests were carried out under the following conditions, unless specified otherwise:
-testing the road environment: open, without shelter, without interference;
no severe weather conditions such as snowfall, hailstones, dust flying and the like exist;
-the ambient temperature is-20 ℃ to 60 ℃;
horizontal visibility should be greater than 500m;
when the speed limit of the test road is more than or equal to 60km/h, the width of the road is not less than 3.5m and not more than 3.75m;
when the speed limit of the test road is less than 60km/h, the width of the road 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 guarantee RSU signal coverage.
(2) Testing vehicle base requirements
The tested vehicle and the background vehicle which participate in the test meet the following basic requirements:
-having wireless communication capabilities;
the communication distance is not less than 300m under the conditions of spaciousness, no shielding and no interference;
the transmission of the V2X message should conform to the specifications of YD/T3340, YD/T3707, YD/T3709 and T/CSAE 53-2020;
-a basic alarm mechanism with corresponding scene classification;
the method meets the GB 7258 detection requirement, and provides a relevant proof material which does not reduce the vehicle safety performance for the project which does not meet the detection requirement;
the vehicle should obtain data information such as vehicle speed, gear information, steering wheel angle of the vehicle, state of lights around the vehicle body, vehicle event flags, acceleration of four axles of the vehicle, state of the vehicle braking system, etc. from a vehicle data bus or other data source;
the background vehicle positioning accuracy should be less than 1.5 meters.
(3) Accuracy requirement of test process
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 are met:
the VUT and BV speed error is +/-1.0 km/h;
-VUT and BV lateral offset are ± 0.5m;
the errors of the VUT yaw rate and the BV yaw rate are +/-1.0 degree/s;
when the distance between the PTC and the central line of the vehicle is less than 4m (near-end scene), the speed is 5km/h +/-0.2 km/h;
when the PTA is less than 6m (far-end scene) away from the center line of the vehicle, the speed is 6.5km/h +/-0.2 km/h;
when the distance between the BTA and the center line of the vehicle is less than 17m (near-end scene), the speed is 15km/h +/-0.2 km/h.
(4) Device under test requirements
The end-to-end transmission delay of an application layer when the detected vehicle is communicated with the background vehicle and the road side unit is 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 audible or a tactile pre-warning;
the preliminary warning should include a visual or auditory or a combination of both, optionally supplemented by tactile or other means;
the sound volume of the auditory early warning prompt is reasonable to select and clear and recognizable;
the early warning has the grading capability, and for a single test scene, the grading number of the early warning is at least more than or equal to one grade.
(5) Test equipment requirements
(1) Road side unit requirements
The road side unit should meet the following requirements:
the communication distance is not less than 300m under the conditions of spaciousness, no shielding and no interference;
-the transmitted message should conform to the specifications of YD/T3340, YD/T3707, YD/T3709 and T/CSAE 159;
according to the requirements of the test scene, the road side unit should support the pre-configuration of the V2X message content (such as configuring the lane speed limit value in the logical road network (MAP) message, the road hazard condition type and the influence range in the road side safety message (RSI), etc.).
(2) Logical network message requirements
The road network message should meet the following requirements:
the road side unit periodically broadcasts the logic road network information of the test road and at least covers the road sections participating in the test;
the logical road network information should be at the lane level and the accuracy of the anchor points in the road network information should be at least in the centimeter level.
(3) Testing target surrogate requirements
In the testing process, the related testing target substitute can be used for replacing real targets such as pedestrians, non-motor vehicles and the like, wherein the pedestrian target is required to meet the requirement of ISO 19206-2, and the non-motor vehicle target is required to meet the requirement of ISO 19206-4.
(4) Data acquisition accuracy requirement of test equipment
S2: acquiring expected early warning information of a tested vehicle under a current test case, and adjusting the states of the tested vehicle and a background vehicle to be the same as the target motion state of the test case when starting a test;
furthermore, in the test process, the test equipment acquires the relevant data of the tested vehicle, the background vehicle, the road side unit and the test target substitute in real time, and monitors, collects and evaluates the test process. The data record during the test should contain the following:
the motion state parameters (speed, course angle, four-axis acceleration and the like) of the detected vehicle and the background vehicle;
the position information of the detected vehicle and the background vehicle;
the lamplight and related prompt information states of the detected vehicle and the background vehicle;
the tested 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 vehicles;
and testing the position and motion data of the target substitute.
S3: testing, namely acquiring relevant data of the tested vehicle, the background vehicle, the road side unit and the test target substitute in real time and evaluating until the tested vehicle and the background vehicle meet test ending conditions;
furthermore, the test adopts automatic driving, and comprises a state adjusting stage and a performance evaluating stage, wherein the state adjusting stage is a process that the tested vehicle and the background vehicle are started until the tested vehicle and the background vehicle reach the target motion state of the test case, and the performance evaluating stage is a process that the tested vehicle and the background vehicle reach the target motion state of the test case until the test ending condition is met.
It should be noted that the expected early warning information includes forward collision early warning, blind zone early warning, lane change early warning, reverse overtaking early warning, emergency braking early warning, vehicle out-of-control early warning, weak traffic participant collision early warning, speed limit early warning, red light running early warning and reverse overtaking early warning.
Furthermore, when the automobile detects that a static vehicle or a slow-speed vehicle exists in front of the same lane, or a static vehicle or a slow-speed vehicle exists in front of an adjacent lane, or a vehicle running in opposite direction exists in the adjacent lane, a forward collision early warning is sent out, and after the early warning, emergency braking or deceleration or avoidance operation is carried out according to the early warning level;
when the automobile detects that a target vehicle runs in the same direction in the blind area of the adjacent lane of the test vehicle, sending out a blind area early warning, keeping the speed of the vehicle and forbidding lane change until the early warning is finished;
when the target vehicle runs in the same direction in the blind area of the adjacent lane of the test vehicle and the test vehicle has the intention of changing lanes, or the target vehicle rapidly runs to the blind area of the test vehicle in the adjacent lane and the test vehicle has the intention of changing lanes, sending out a blind area early warning and a lane changing early warning, and stopping changing lanes;
when the test vehicle intends to overtake by means of a reverse lane and target vehicles running in opposite directions are arranged on the reverse lane, a reverse overtaking early warning is sent out, and overtaking action is stopped and emergency braking is carried out;
when an emergency braking vehicle exists in front of the test vehicle, an emergency braking early warning is sent out, and emergency braking operation or lane changing operation is carried out according to the early warning level;
when the vehicle runs in the same direction in the road range in front of the test vehicle and continuously broadcasts the information of the out-of-control state of the vehicle, a vehicle out-of-control early warning is sent out, and the vehicle is emergently evacuated and related personnel are notified to process the information;
when the RSU in front of the test vehicle continuously broadcasts the road speed limit information, a speed limit early warning is sent out, and the vehicle immediately adjusts the speed to be within a limited speed range;
when the RSU in front of the test vehicle continuously broadcasts the traffic light information of the road, the early warning of running the red light is sent out, and emergency braking or passing acceleration or braking after deceleration is carried out according to the early warning level;
when a weak traffic participant in front of the test vehicle crosses the road, collision early warning is sent out to the weak traffic participant for emergency braking.
It should be noted that the forward collision early warning is divided into three stages, when the distance from other vehicles is more than 20m, the operation of changing the traveling route to avoid is adopted for the secondary forward collision early warning, when the distance from other vehicles is within the range of 10-20m, the deceleration operation is adopted for the secondary forward collision early warning, and when the distance from other vehicles is less than or equal to 10m, the emergency braking operation is adopted for the primary forward collision early warning;
the emergency braking early warning is divided into two stages, when the distance between the emergency braking early warning and the emergency braking vehicle is more than 10m, lane changing operation is adopted for the two-stage emergency braking early warning, and when the distance between the emergency braking vehicle and the emergency braking vehicle is less than or equal to 10m, emergency braking operation is adopted for the first-stage emergency braking early warning;
the early warning of rushing the red light is divided into three levels, when the vehicle is away from the red light and is greater than 10m and the time of changing the green light into the red light is less than 5s, the vehicle brakes after decelerating, when the vehicle is away from the red light and is less than 10m and the time of changing the green light into the red light is greater than or equal to 5s, for the early warning of the second level of rushing the red light, the vehicle is taken to pass through with higher speed, when the vehicle is away from the red light and is less than 10m and the time of changing the green light into the red light is less than 5s or is in the red light state, the vehicle takes emergency braking.
Furthermore, when the tested vehicle V2X is applied to the performance evaluation stage to reasonably respond to the test case, the early warning is normal and the corresponding operation is carried out, the test is finished and the test data is recorded;
when the V2X application of the vehicle to be tested performs error response on the test case in the performance evaluation stage, and the early warning displays and broadcasts errors or performs error operation on the early warning, the test is finished, the vehicle to be tested and the test device are checked, the error reason is checked, and the vehicle to be tested and the test device are repaired and adjusted;
when the tested vehicle V2X is applied to the performance evaluation stage and does not respond to the test case, and does not perform early warning on corresponding road conditions or does not perform corresponding operation after early warning, the test is finished, the test condition setting is adjusted, and the test is performed again until the tested vehicle responds to the test case.
The embodiment also provides a system for testing the cooperative behavior capability of the vehicle and the road in the civil aviation airport, which comprises,
the internet cloud platform can realize the butt joint with the central management system and is used for acquiring the vehicle operation information and the equipment state information in real time;
the central management system is used for carrying out remote control on the vehicle and setting information of the automatic driving vehicle;
and the information storage center is used for storing the test data.
The embodiment also provides a computing device, comprising a memory and a processor; the memory is used for storing computer executable instructions, and the processor is used for executing the computer executable instructions to realize the method for testing the cooperative behavior capability of the train-road at the civil aviation airport, which is provided by the embodiment.
The embodiment also provides a storage medium, on which a computer program is stored, and when the program is executed by a processor, the method for testing the cooperative behavior capability of the train route at the civil aviation airport, which is proposed by the embodiment, is realized.
The storage medium provided by the embodiment and the method for testing the cooperative behavior capability of the train route at the civil aviation airport provided by the embodiment belong to the same inventive concept, and the technical details which are not described in detail in the embodiment can be referred to the embodiment, and the embodiment have the same beneficial effects.
Example 2
Referring to fig. 2-3, a method for testing the capability of the cooperative behavior of the vehicle and the road in the civil aviation airport is provided as an embodiment of the invention, and scientific demonstration is carried out through experiments in order to verify the beneficial effects of the invention.
Vehicle route 1:B-2-3-7-6-5-4-3-7-6-1-B
The route 2 is B-1-6-7-3-2-B
A, the employee parking lot is finished at the original parking place (the depth is 11.6 m) of the main front of the factory.
And B, the automatic driving starting point of the vehicle, the total length is about 3 × 5.3=16m, and the three parking spaces (in the north-south direction, the width is 4m, and the depth is 10 m) are divided at intervals of 1.3m.
C1-white parking (east-west, parallel parking, about 5.3m in length).
C2-safe-airplane-leaning test (total length is about 2 × 5.3=10.6 m), and the airplane simulated cabin is perpendicular to the wall surface. Wherein the food vehicle is 6.7m long, the distance to the front of the machine is 5m, and the total distance is 12.7m.
2-L-shaped street light pole + roadside unit RSU + eastern event camera.
E-V2X car following running.
3-L type light pole + roadside unit RSU + north-facing signal lamp + north-facing millimeter wave radar + north-facing laser radar + north-facing event camera + south-facing event camera.
F, speed limit reminding (vehicle-mounted vehicle meeting warning, the road width is 8m, and the maximum is 19 m).
K, emergency braking early warning.
7-L type light pole + roadside unit RSU + facing west millimeter wave radar + facing east millimeter wave radar.
6-L type light pole + roadside unit RSU + north to west signal lamp + north facing laser radar + west facing incident camera + north facing incident camera.
G-V2X weak traffic participants avoid.
H-road danger status prompt (turning left lane to vehicle by factory side)
5-L type light pole + roadside unit RSU + north facing event camera.
I-fast traffic, single lane (lane width 4.7m, maximum 7.5 m).
4-L type light pole + roadside unit RSU + eastern facing millimeter wave radar + eastern facing event camera.
J-V2X cooperative lane change (straight lane changing back to right lane after right turn)
3-4-west side road marking-out as straight road for automatic following vehicle
L-crossing collision early warning.
M-V2X beyond-the-horizon obstacle reminder
And N, monitoring the large screen.
1-L type light pole + road side unit RSU + southeast facing event camera + west facing event camera.
B-backing and storing in garage and automatic parking
Point location deployment and perception equipment planning:
the acquisition parameters and accuracy requirements of the test equipment are shown in the following table:
the test and evaluation rule of the early warning application function of the vehicle-road cooperative automatic driving system comprises 15 test items and 21 test scenes, and is shown in the following table:
emergency braking early warning:
between the 4-3 or 3-6 locations of the roadway; when the vehicle running on the road is braked emergently, the vehicle running behind is easy to collide with the vehicle braked emergently in front due to untimely braking, and particularly the situation of chain collision is easy to occur. When the vehicle running on the road is emergently braked, the information such as the position, the speed and the like of the emergency vehicle can be sent to the vehicle behind the emergency vehicle, so that a driver of the vehicle behind the emergency vehicle is reminded to brake or change lanes in advance, and the vehicle braked in front is prevented from colliding.
The target vehicle is arranged to stand still or the dummy suddenly crosses in front of the test vehicle. The special vehicle was tested for its recognition and automatic braking capability for a stationary vehicle ahead. And (4) testing the uniform speed running of the vehicle in the automatic driving mode.
And (3) crossing collision early warning:
when a host vehicle drives to an intersection, the sight of a driver of the host vehicle can be blocked by an obstacle of the intersection or the driver of the host vehicle cannot judge vehicles driving to the left side or the right side of the current intersection due to other reasons, and an intersection collision early warning (ICW) function is needed to give an early warning to the driver. The intersection collision early warning (ICW) function is used for assisting a driver to avoid or relieve lateral collision and improving the intersection passing safety and is arranged at the intersection 3 or 6.
As shown in fig. 3, video monitoring equipment, signal lamps, RSUs, millimeter wave radars and laser radars are deployed on the L-bar at the t-junction.
And the test vehicle drives to the intersection at a constant speed in the automatic driving mode.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, 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 modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The scheme in the embodiment of the application can be implemented by adopting various computer languages, such as object-oriented programming language Java and transliterated scripting language JavaScript.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (9)
1. A method for testing the capability of the cooperative behavior of a vehicle and a road in a civil aviation airport is characterized by comprising the following steps: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
arranging and setting a test environment, a test vehicle, test equipment and tested equipment according to requirements;
acquiring expected early warning information of a tested vehicle under a current test case, and adjusting the states of the tested vehicle and a background vehicle to be the same as the target motion state of the test case when starting a test;
testing, namely acquiring relevant data of the tested vehicle, the background vehicle, the road side unit and the test target substitute in real time and evaluating until the tested vehicle and the background vehicle meet test ending conditions;
the test ending condition comprises that when the tested vehicle V2X is applied to a performance evaluation stage to reasonably respond to the test case, the early warning is normal and corresponding operation is carried out, the test is ended and the test data is recorded;
when the V2X application of the vehicle to be tested performs error response on the test case in the performance evaluation stage, and the early warning displays and broadcasts errors or performs error operation on the early warning, the test is finished, the vehicle to be tested and the test device are checked, the error reason is checked, and the vehicle to be tested and the test device are repaired and adjusted;
when the V2X application of the vehicle to be tested does not respond to the test case in the performance evaluation stage, and does not give an early warning to the corresponding road condition or does not perform corresponding operation after the early warning, the test is finished, the test condition setting is adjusted, and the test is performed again until the vehicle to be tested responds to the test case.
2. The method for testing the cooperative behavior capability of the civil aviation airport vehicle road as claimed in claim 1, characterized in that: the test adopts automatic driving and comprises a state adjusting stage and a performance evaluating stage, wherein the state adjusting stage is a process that the tested vehicle and the background vehicle are started until the tested vehicle and the background vehicle reach the target motion state of the test case, and the performance evaluating stage is a process that the tested vehicle and the background vehicle reach the target motion state of the test case until the test ending condition is met.
3. The method for testing the cooperative behavior capability of the civil aviation airport vehicle road according to claim 2, characterized in that: the expected early warning information comprises forward collision early warning, blind area early warning, lane change early warning, reverse overtaking early warning, emergency braking early warning, vehicle out-of-control early warning, weak traffic participant collision early warning, speed limit early warning, red light running early warning and reverse overtaking early warning.
4. The method for testing the cooperative behavior capability of the civil aviation airport vehicle road as claimed in any one of claims 1~3, wherein: when the automobile detects that a static vehicle or a slow-speed vehicle is arranged in front of the same lane, or a static vehicle or a slow-speed vehicle is arranged in front of an adjacent lane, or a vehicle running in opposite direction is arranged in the adjacent lane, a forward collision early warning is sent out, and after the early warning, emergency braking or deceleration or avoidance operation is carried out according to the early warning grade;
when the automobile detects that a target vehicle runs in the same direction in the blind area of the adjacent lane of the test vehicle, sending out a blind area early warning, keeping the speed of the vehicle and forbidding lane change until the early warning is finished;
when the target vehicle runs in the same direction in the blind area of the adjacent lane of the test vehicle and the test vehicle has the intention of changing the lane, or the target vehicle quickly runs to the blind area of the test vehicle in the adjacent lane and the test vehicle has the intention of changing the lane, sending out a blind area early warning and a lane changing early warning, and stopping changing the lane;
when the test vehicle intends to overtake by means of a reverse lane and target vehicles running in opposite directions are arranged on the reverse lane, a reverse overtake early warning is sent out, and overtake action is stopped and emergency braking is carried out;
when an emergency braking vehicle exists in front of the test vehicle, an emergency braking early warning is sent out, and emergency braking operation or lane changing operation is carried out according to the early warning level;
when the vehicle runs in the same direction in the road range in front of the test vehicle and continuously broadcasts the information of the out-of-control state of the vehicle, a vehicle out-of-control early warning is sent out, and the vehicle is emergently evacuated and related personnel are notified to process the information;
when the RSU in front of the test vehicle continuously broadcasts the road speed limit information, a speed limit early warning is sent out, and the vehicle immediately adjusts the speed to be within a limited speed range;
when the RSU in front of the test vehicle continuously broadcasts the traffic light information of the road, the early warning of running the red light is sent out, and emergency braking or passing acceleration or braking after deceleration is carried out according to the early warning level;
when a weak traffic participant in front of the test vehicle crosses the road, collision early warning is sent out to the weak traffic participant for emergency braking.
5. The method for testing the cooperative behavior capability of the civil aviation airport vehicle road as claimed in claim 4, characterized in that: the forward collision early warning is divided into three stages, when the distance between the forward collision early warning and other vehicles is more than 20m, the forward collision early warning is a secondary forward collision early warning, the operation of changing a traveling route to avoid is adopted, when the distance between the forward collision early warning and other vehicles is within the range of 10-20m, the deceleration operation is adopted for the secondary forward collision early warning, and when the distance between the forward collision early warning and other vehicles is less than or equal to 10m, the emergency braking operation is adopted for the primary forward collision early warning;
the emergency braking early warning is divided into two stages, when the distance between the emergency braking early warning and the emergency braking vehicle is greater than 10m, lane changing operation is adopted for the two-stage emergency braking early warning, and when the distance between the emergency braking vehicle and the emergency braking vehicle is less than or equal to 10m, emergency braking operation is adopted for the first-stage emergency braking early warning;
the red light running early warning is divided into three levels, when the distance between the vehicle and the red light is greater than 10m and the time from the green light to the red light is less than 5s, braking is carried out after deceleration, when the distance between the vehicle and the red light is less than 10m and the time from the green light to the red light is greater than or equal to 5s, the vehicle takes acceleration passing for the second-level red light running early warning, and when the distance between the vehicle and the red light is less than 10m and the time from the green light to the red light is less than 5s or is in a red light state, emergency braking is taken.
6. The method for testing the cooperative behavior capability of the civil aviation airport vehicle road as claimed in any one of claims 1~3 or 5, wherein: early warning information all reports the early warning through the pronunciation, reminds through the icon scintillation of different shapes on the panel in the car simultaneously, and the icon display of early warning one-level or single-level early warning is red, and early warning second grade icon display is yellow, and early warning third grade icon display is green.
7. A test system for performing a method for testing the cooperative behavior capability of a civil aviation airport vehicle-road according to claim 1~6, wherein: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the internet cloud platform can realize the butt joint with the central management system and is used for acquiring the vehicle operation information and the equipment state information in real time;
the central management system is used for carrying out remote control on the vehicle and setting information of the automatic driving vehicle;
and the information storage center is used for storing the test data.
8. A computer device, comprising: a memory and a processor; the memory storing a computer program characterized in that: the processor, when executing the computer program, realizes the steps of the method of any of claims 1 to 6.
9. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implementing the steps of the method of any one of claims 1 to 6.
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