CN116026614A - Vehicle performance testing method and device - Google Patents
Vehicle performance testing method and device Download PDFInfo
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- CN116026614A CN116026614A CN202310210791.XA CN202310210791A CN116026614A CN 116026614 A CN116026614 A CN 116026614A CN 202310210791 A CN202310210791 A CN 202310210791A CN 116026614 A CN116026614 A CN 116026614A
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Abstract
The embodiment of the disclosure provides a vehicle performance testing method and device, wherein the method is applied to signal processing equipment, and comprises the following steps: under the condition that a starting signal is received, a starting instruction is sent to an actuator of the test vehicle, so that the actuator responds to the receiving of the starting instruction, the test vehicle is controlled to automatically drive according to the test data, the test data are test data corresponding to test working conditions sent to the actuator of the test vehicle in advance, and the test data comprise a test program and control parameters; and receiving performance data acquired by a sensor carried by the test vehicle, wherein the performance data is used for indicating the driving performance of the test vehicle under the test working condition. The method can collect performance data in the test process by using the sensor of the vehicle, thereby saving the cost.
Description
Technical Field
The disclosure relates to the technical field of intelligent driving, in particular to a vehicle performance testing method and device.
Background
In the development process of the performance of the automobile, components and systems such as a rubber bushing of a control arm, a buffer block, a stabilizer bar, a shock absorber, a steering gear and the like are required to be regulated through chassis adjustment so as to enable various performances such as steering performance, steering stability and driving comfort of the automobile to reach set targets.
In the current chassis performance adjustment process, in order to test chassis performance data generated in the adjustment process, various test devices such as a steering actuator, a pedal actuator, a GPS (Global Positioning System, a global positioning system), a gyroscope, a signal input device and the like are often required to be installed on a vehicle to be tested, the devices are high in price, meanwhile, the installation and disassembly processes are time and labor consuming, and the adjustment process is low in efficiency.
Disclosure of Invention
In view of this, embodiments of the present disclosure provide at least one vehicle performance testing method and apparatus.
Specifically, the embodiment of the disclosure is realized through the following technical scheme:
in a first aspect, there is provided a vehicle performance test method applied to a signal processing apparatus, the method comprising:
under the condition that a starting signal is received, a starting instruction is sent to an actuator of the test vehicle, so that the actuator responds to the receiving of the starting instruction, and the test vehicle is controlled to automatically drive according to test data; the test data are test data corresponding to test working conditions sent to an actuator of the test vehicle in advance, and the test data comprise a test program and control parameters;
And receiving performance data acquired by a sensor carried by the test vehicle, wherein the performance data is used for indicating the driving performance of the test vehicle under the test working condition.
In combination with any one of the embodiments provided in the present disclosure, the signal processing device is located in the test vehicle.
In combination with any one of the embodiments provided in the present disclosure, the receiving the start signal includes:
and receiving a starting signal sent by a signal generator positioned outside the test vehicle through a signal receiver of the signal processing equipment.
In connection with any one of the embodiments provided in the present disclosure, the sensor includes at least one of: a vehicle-mounted camera; a vehicle-mounted radar; a vehicle-mounted inertial conduction unit; a vehicle-mounted global positioning system GPS; wheel speed sensors located at the wheels; and the rotation angle sensor is positioned on the steering wheel.
In connection with any of the embodiments provided in the present disclosure, the performance data includes: acceleration data collected by an inertial conduction unit of the test vehicle;
after receiving the performance data collected by the sensors carried by the test vehicle, the method further comprises:
and correcting the acceleration data under the condition that the test vehicle is in a high-speed transient working condition.
In connection with any of the embodiments provided herein, the acceleration data comprises longitudinal acceleration; the correcting the acceleration data includes:
and calculating the acceleration of the wheel according to the wheel pulse signals acquired by the wheel speed sensor of the test vehicle and determining the acceleration as the corrected longitudinal acceleration.
In connection with any of the embodiments provided herein, the acceleration data further comprises a lateral acceleration; the method further comprises the steps of:
according to the steering angle signal and the steering transmission ratio acquired by the steering angle sensor at the steering wheel of the test vehicle, calculating to obtain the yaw angle of the test vehicle;
and calculating the transverse acceleration of the test vehicle according to the transverse swing angle and the longitudinal acceleration of the test vehicle and determining the transverse acceleration as the corrected transverse acceleration.
In connection with any one of the embodiments provided by the present disclosure, the method further comprises:
and calculating the pitch angle and the roll angle of the test vehicle according to the corrected longitudinal acceleration and the corrected transverse acceleration and the longitudinal acceleration and the transverse acceleration in the acceleration data before correction.
In connection with any one of the embodiments provided by the present disclosure, the method further comprises:
And controlling the test vehicle to enter a safe state in response to detecting the safety parameter in the performance data to trigger a safety limit, wherein the safety limit is a limit set for preventing the test vehicle from safety accidents.
In combination with any one of the embodiments provided in the present disclosure, the controlling the test vehicle to enter a safe state includes:
transmitting a control instruction to an actuator of the test vehicle, wherein the control instruction is used for instructing the actuator to execute at least one of the following operations: reducing the speed; steering wheel is reversed; the driving is stopped.
In a second aspect, there is provided a vehicle performance test method applied to a test vehicle, the test vehicle having an external signal processing device, the method comprising:
the executor responds to receiving a starting instruction sent by the signal processing equipment, and controls the test vehicle to automatically drive according to test data, wherein the starting instruction is sent by the signal processing equipment under the condition of receiving a starting signal; the test data are test data corresponding to test working conditions sent to an actuator of the test vehicle in advance, and the test data comprise a test program and control parameters;
The sensor carried by the test vehicle collects performance data and sends the performance data to the signal processing equipment, wherein the performance data is used for representing the driving performance of the test vehicle under the test working condition.
In a third aspect, a data correction method is provided, the method including:
acquiring performance data acquired by a sensor carried by a test vehicle, wherein the performance data is used for representing the driving performance of the test vehicle under the test working condition, and the performance data comprises acceleration data acquired by an inertial conduction unit of the test vehicle; the performance data is acquired when the signal processing equipment receives a starting signal and sends a starting instruction to an actuator of the test vehicle, the actuator responds to the starting instruction and controls the test vehicle to automatically drive according to test data, the test data is the test data corresponding to the test working condition sent to the actuator of the test vehicle in advance, and the test data comprises a test program and control parameters;
and correcting the acceleration data under the condition that the test vehicle is in a high-speed transient working condition.
In connection with any of the embodiments provided herein, the acceleration data comprises longitudinal acceleration; the correcting the acceleration data includes:
and calculating the acceleration of the wheel according to the wheel pulse signals acquired by the wheel speed sensor of the test vehicle and determining the acceleration as the corrected longitudinal acceleration.
In connection with any of the embodiments provided herein, the acceleration data further comprises a lateral acceleration; the method further comprises the steps of:
according to the steering angle signal and the steering transmission ratio acquired by the steering angle sensor at the steering wheel of the test vehicle, calculating to obtain the yaw angle of the test vehicle;
and calculating the transverse acceleration of the test vehicle according to the transverse swing angle and the longitudinal acceleration of the test vehicle and determining the transverse acceleration as the corrected transverse acceleration.
In connection with any one of the embodiments provided by the present disclosure, the method further comprises:
and calculating the pitch angle and the roll angle of the test vehicle according to the corrected longitudinal acceleration and the corrected transverse acceleration and the longitudinal acceleration and the transverse acceleration in the acceleration data before correction.
In a fourth aspect, there is provided a security restriction method, the method comprising:
Acquiring performance data acquired by a sensor carried by a test vehicle, wherein the performance data is used for representing the driving performance of the test vehicle under the test working condition; the performance data is acquired when the signal processing equipment receives a starting signal and sends a starting instruction to an actuator of the test vehicle, the actuator responds to the starting instruction and controls the test vehicle to automatically drive according to test data, the test data is the test data corresponding to the test working condition sent to the actuator of the test vehicle in advance, and the test data comprises a test program and control parameters;
and controlling the test vehicle to enter a safe state in response to detecting the safety parameter in the performance data to trigger a safety limit, wherein the safety limit is a limit set for preventing the test vehicle from safety accidents.
In combination with any one of the embodiments provided in the present disclosure, the controlling the test vehicle to enter a safe state includes:
transmitting a control instruction to an actuator of the test vehicle, wherein the control instruction is used for instructing the actuator to execute at least one of the following operations: reducing the speed; steering wheel is reversed; the driving is stopped.
In combination with any one of the embodiments provided in the present disclosure, the security parameters include at least one of: a speed; lateral acceleration; longitudinal acceleration; a pitch angle; roll angle.
In a fifth aspect, there is provided a vehicle performance test apparatus, the apparatus being applied to a signal processing device, the apparatus comprising:
the test starting module is used for sending a starting instruction to an actuator of the test vehicle under the condition of receiving a starting signal so that the actuator responds to the receiving of the starting instruction and controls the test vehicle to automatically drive according to test data; the test data are test data corresponding to test working conditions sent to an actuator of the test vehicle in advance, and the test data comprise a test program and control parameters;
the data receiving module is used for receiving performance data acquired by a sensor carried by the test vehicle, and the performance data are used for representing the driving performance of the test vehicle under the test working condition.
In connection with any one of the embodiments provided in the present disclosure, the apparatus further comprises: a data correction module and/or a security restriction module; the performance data includes: acceleration data collected by an inertial conduction unit of the test vehicle;
The data correction module is used for correcting the acceleration data under the condition that the test vehicle is in a high-speed transient working condition;
the safety limit module is used for responding to the detection of the safety parameters in the performance data to trigger the safety limit, and controlling the test vehicle to enter a safety state, wherein the safety limit is a limit set for preventing the test vehicle from safety accidents.
In a sixth aspect, an electronic device is provided, the device comprising a memory for storing computer instructions executable on the processor for implementing the method of any embodiment of the disclosure when the computer instructions are executed.
In a seventh aspect, a computer readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements a method according to any embodiment of the present disclosure.
According to the vehicle performance test method provided by the technical scheme, for the test vehicle carrying the intelligent driving scheme, the signal processing equipment sends the starting instruction to the test vehicle, and after the test is started, the test vehicle is used for carrying the sensor to collect the performance data, so that the vehicle performance test without human intervention can be realized, compared with the traditional test method, a large amount of test equipment cost can be saved, the time and labor consuming process of installing and detaching various test equipment is avoided, the labor and time are saved, and the efficiency is higher.
Drawings
In order to more clearly illustrate the technical solutions of one or more embodiments of the present disclosure or related technologies, the following description will briefly describe the drawings that are required to be used in the embodiments or related technology descriptions, and it is apparent that the drawings in the following description are only some embodiments described in one or more embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.
FIG. 1 is a flow chart diagram of a vehicle performance testing method shown in at least one embodiment of the present disclosure;
FIG. 2 is a flow chart illustrating another vehicle performance testing method according to at least one embodiment of the present disclosure;
FIG. 3 is a flow chart of a data modification method shown in at least one embodiment of the present disclosure;
FIG. 4 is a flow chart of a security restriction method shown in at least one embodiment of the present disclosure;
FIG. 5 is a block diagram of a vehicle performance testing apparatus shown in accordance with at least one embodiment of the present disclosure;
FIG. 6 is a block diagram of another vehicle performance testing apparatus shown in accordance with at least one embodiment of the present disclosure;
fig. 7 is a schematic diagram of a hardware structure of an electronic device according to at least one embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present specification. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present description as detailed in the accompanying claims.
The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the description. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in this specification to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information, without departing from the scope of the present description. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
With the development and the increasing maturity of intelligent driving technology, intelligent automobile vehicles carrying intelligent driving schemes on the market are more and more, and compared with traditional vehicles, the intelligent automobile is provided with rich sensors, and based on the intelligent automobile vehicle performance testing method, the intelligent automobile performance testing method is provided to fully utilize the sensors carried by the intelligent automobile to realize low-cost and high-efficiency automobile performance testing.
As shown in fig. 1, fig. 1 is a flowchart of a vehicle performance testing method, which is applicable to a signal processing apparatus, according to at least one embodiment of the present disclosure, including the steps of:
in step 102, in the case of receiving a start signal, a start instruction is sent to an actuator of the test vehicle, so that the actuator controls the test vehicle to automatically drive according to test data in response to receiving the start instruction.
In this embodiment, the test vehicle is an intelligent vehicle on which an intelligent driving system is mounted, and the signal processing device may be a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, or other electronic device having data processing and data storage functions. The signal processing device may be in communication with the test vehicle connection, for example, may be a wired connection or a wireless connection, where the signal processing device may be located outside the test vehicle.
The starting signal is used for starting performance test on the test vehicle, and the starting signal can be a signal sent by related equipment operated by a tester manually or can be a signal automatically generated by the signal processing equipment. In one embodiment, the receiving the start signal includes:
and receiving a starting signal sent by a signal generator positioned outside the test vehicle through a signal receiver of the signal processing equipment.
The signal receiver of the signal processing device may be a communication module built in the signal processing device, such as a Wi-Fi module and a bluetooth module, or may be a communication module externally connected to the signal processing device, such as an external network card.
The signal transmitter is an electronic device with a signal transmitting function, such as a mobile phone, a computer, etc.
For example, when the signal processing device is a notebook computer, the notebook computer can be placed in the test vehicle and connected with an actuator of the test vehicle through the OBD interface, before the test is started, a tester sends a starting signal outside the test vehicle through the signal transmitter, and the signal receiver receives the starting signal and transmits the starting signal to the signal processing device, so that the remote starting test is realized, and the tester does not need to start in the vehicle.
The start instruction is used for requesting the executor to execute the executable instruction in the test data so as to control the test vehicle to automatically drive. The start command may include a request parameter, and when the signal processing device receives the start signal, the request parameter set by the script is sent to a control unit of the actuator, where the control unit of the actuator responds to a corresponding test condition through the request parameter.
The test working conditions refer to different types of vehicle performance tests, and the test data corresponding to different test working conditions are different. The test conditions in the embodiment may be various dynamic performance test conditions, for example, an acceleration test and a braking test for fixing longitudinal acceleration, a line changing test for stabilizing a longitudinal speed input pulse rotation angle, a steady state rotation test for slowly reducing a longitudinal speed linear increase rotation angle depending on insufficient steering, etc. may be set, so that the performance of the vehicle under the test conditions is tested. Different test conditions can be tested on the same test vehicle by adjusting test data, so that test errors caused by multi-equipment testing can be reduced.
The test data are test data corresponding to test working conditions sent to an actuator of the test vehicle in advance, and the test data comprise a test program and control parameters. The test data may be sent to the actuator in advance by the signal processing device, or may be sent to the actuator in advance by another device.
The test data is used to indicate an autopilot operation of the test vehicle. The test program is a pre-written executable instruction, such as a script, which may be written in a capl language on a CANoe (bus development environment), for example. The control parameter is a variable which can be set in a test program, and is usually a transverse and longitudinal parameter required for testing the dynamic performance of the vehicle, wherein the transverse parameter refers to a parameter related to steering, and the longitudinal parameter refers to a parameter related to the speed in the running direction of the vehicle, such as a steady-state longitudinal speed, a transverse rotation angle input size, duration and the like.
In one embodiment, the signal processing device is located in the test vehicle, and may be connected to an actuator of the test vehicle through an OBD (On-Board Diagnostics, on-board automatic diagnostic system) interface of the test vehicle, so that connection communication between the signal processing device and the test vehicle is more reliable. For example, when the signal processing device is a notebook computer, the OBD interface of the test vehicle and the data line of the interface of the notebook computer CAN be respectively inserted into two ends to connect the signal processing device to CAN buses such as a chassis CAN (Controller Area Network ), a propulsion CAN and a flexray, so that the signal processing device CAN communicate with an actuator and a sensor of the test vehicle. The test data are transmitted to the actuator through the CAN bus, before transmission, the signal processing equipment is required to handshake with a control unit in the actuator, and after handshake is completed, the signal processing equipment CAN communicate with the actuator.
In one embodiment, before step 102, the method further comprises: and the signal processing equipment sends test data corresponding to the test working conditions to an actuator of the test vehicle.
In the step, the signal processing equipment sends test data corresponding to the test working conditions to an actuator of the test vehicle by connecting the test vehicle with signal processing equipment externally so as to set the test data on the test vehicle.
In step 104, performance data collected by sensors carried by the test vehicle is received, where the performance data is used to represent driving performance of the test vehicle under the test working condition.
For example, the signal processing device, upon receiving the start signal, transmits a start instruction and simultaneously starts data recording to receive performance data fed back by the sensors of the test vehicle. At least one sensor of the vehicle test vehicle records performance data of the vehicle under test in real time and feeds the state data back to the signal processing device through the CAN bus while the actuator responds to the starting instruction.
Wherein the sensor may comprise at least one of: a vehicle-mounted camera; a vehicle-mounted radar; an in-vehicle IMU (Inertial Measurement Unit, inertial conduction unit); vehicle-mounted GPS; wheel speed sensors located at the wheels; and the rotation angle sensor is positioned on the steering wheel.
The performance data are data acquired by the sensor in the running process and are used for testing personnel to calibrate the performance of the chassis according to the data. The performance data is not limited in this embodiment, and may be set by those skilled in the art according to the actual needs of the test. For example, the performance data may include data for testing the position, speed, acceleration, wheel speed of the vehicle, and steering angle of the steering wheel.
After the test of the required test working condition is completed, a stop instruction can be input to a signal receiver in the vehicle through an external signal transmitter, the signal receiver transmits the stop instruction to signal processing equipment, and the signal processing equipment stops the test and saves data. Alternatively, in other examples, the signal processing device may automatically stop the test after the executable instructions in the test data have been executed.
According to the vehicle performance test method provided by the embodiment, for the test vehicle carrying the intelligent driving scheme, the signal processing equipment inputs test data to the test vehicle for testing, and after the test is started, the test vehicle carries sensors for collecting performance data, so that the vehicle performance test without human intervention can be realized, and the safety of testers is improved; by using the devices such as the sensor of the test vehicle, a great amount of test equipment cost can be saved compared with the traditional test method, the time and labor consuming process of installing and detaching various test equipment is avoided, the manpower and time are saved, and the efficiency is higher.
In one embodiment, the performance data comprises: acceleration data collected by the IMU of the test vehicle; the IMU is mounted on the body of the test vehicle for measuring acceleration. Under the condition that the test vehicle is in a low-speed steady state, the accuracy error of the IMU is smaller, but under the high-speed transient working condition, the accuracy error is influenced by the change of the pitch angle and the roll angle, the acceleration data measured by the IMU cannot truly reflect the transverse and longitudinal acceleration, and the accumulated error of the acceleration in the IMU needs to be corrected, so that the accuracy of the performance data is ensured.
On the basis of the above embodiment, after receiving the performance data collected by the sensor carried by the test vehicle, the method further includes: and correcting the acceleration data under the condition that the test vehicle is in a high-speed transient working condition.
The high-speed transient working condition refers to a state of the test vehicle when the running speed is high, the acceleration change is large or the steering wheel angle change is large, and at the moment, the test vehicle can have pitching, rolling and other conditions. The present embodiment is not limited to the way of correcting the acceleration data, for example, the acceleration data may be corrected by combining data collected by other sensors mounted on the test vehicle, such as the vehicle-mounted GPS, the vehicle-mounted camera, and the vehicle-mounted radar, or by using data collected by a measuring device other than the test vehicle.
In one embodiment, the acceleration data includes longitudinal acceleration; the correcting the acceleration data includes:
and calculating the acceleration of the wheel according to the wheel pulse signals acquired by the wheel speed sensor of the test vehicle and determining the acceleration as the corrected longitudinal acceleration.
For example, a wheel speed sensor may be located at the rear wheel of the test vehicle to make the acquired wheel pulse signal more responsive to longitudinal acceleration. The wheel pulse signal can be used for calculating the wheel rotation speed firstly and then combining the wheel radius to calculate the acceleration, and the calculated acceleration is used as the more accurate longitudinal acceleration of the vehicle because the wheel pulse signal cannot be influenced by the roll angle and the pitch angle.
In one embodiment, the acceleration data further comprises lateral acceleration; the method further comprises the steps of:
according to the steering angle signal and the steering transmission ratio acquired by the steering angle sensor at the steering wheel of the test vehicle, calculating to obtain the yaw angle of the test vehicle;
and calculating the transverse acceleration of the test vehicle according to the transverse swing angle and the longitudinal acceleration of the test vehicle and determining the transverse acceleration as the corrected transverse acceleration.
The yaw angle refers to the angle of rotation of the test vehicle around the z-axis of the vehicle coordinate system and is controlled by the turning angle of the steering wheel, so that the yaw angle of the test vehicle can be calculated through the turning angle signal and the steering transmission ratio acquired by the turning angle sensor.
The longitudinal acceleration and the lateral acceleration can be regarded as two right-angle sides of a right triangle, and the yaw angle is one acute angle of the right triangle, so that the lateral acceleration can be calculated through the yaw angle and the longitudinal acceleration by means of a trigonometric function. Because the rotation angle signals acquired by the rotation angle sensor cannot be influenced by the roll angle and the pitch angle, the calculated lateral acceleration can be used as the corrected more accurate lateral acceleration.
In one embodiment, the pitch angle and the roll angle acquired by the IMU may be corrected, and the method further includes:
and calculating the pitch angle and the roll angle of the test vehicle according to the corrected longitudinal acceleration and the corrected transverse acceleration and the longitudinal acceleration and the transverse acceleration in the acceleration data before correction.
Pitch angle refers to the angle at which the test vehicle "pitches" relative to the XOY plane of the inertial coordinate system. Roll angle refers to the angle at which the test vehicle "rolls" relative to the XOZ plane of the inertial coordinate system.
The longitudinal acceleration and the lateral acceleration in the acceleration data acquired by the IMU before correction are data without actually considering the pitch angle and the roll angle, that is, the corrected longitudinal acceleration and the lateral acceleration differ from the corrected longitudinal acceleration and the lateral acceleration by the pitch angle and the roll angle, so that the pitch angle and the roll angle can be calculated according to the data by means of a trigonometric function, and additional measuring equipment is reduced.
Often, the test process requires a driver with a lot of experience to cooperatively develop the test on the vehicle and to perform emergency intervention in case of emergency such as out of control of the vehicle, which has high requirements on the driving experience of the driver and a certain safety risk, and in order to reduce the driving ability requirements of the tester and improve the safety of the tester, in one embodiment, the method further comprises:
and controlling the test vehicle to enter a safe state in response to detecting the safety parameter in the performance data to trigger a safety limit, wherein the safety limit is a limit set for preventing the test vehicle from safety accidents.
The safety parameter is data related to the safety degree in the performance data, and the safety parameter comprises at least one of the following: a speed; lateral acceleration; longitudinal acceleration; a pitch angle; roll angle. The safe state may be a steady state in which driving is stationary or a state in which driving is stopped. The safety limit may be a preset threshold condition, when the safety parameter triggers the safety limit meaning that the test vehicle is prone to a safety accident.
The present embodiment does not limit the manner of controlling the test vehicle to enter the safe state, and for example, may be to control the test vehicle to stop gradually or stop immediately, or may be to adjust the running speed or direction of the test vehicle.
In one example, the controlling the test vehicle to enter a safe state includes:
transmitting a control instruction to an actuator of the test vehicle, wherein the control instruction is used for instructing the actuator to execute at least one of the following operations: reducing the speed; steering wheel is reversed; the driving is stopped.
For example, when the limit conditions that the vehicle safety is affected, such as sideslip caused by excessive lateral acceleration and rollover caused by excessive vehicle body roll angle, occur, the system safety limit is triggered, and the safety limit trigger arranged on the signal processing equipment or the test vehicle adopts correction means such as speed reduction, reverse beating direction and the like, a control instruction is sent to an actuator of the test vehicle, so that the test vehicle returns to a steady state, and then the test is automatically stopped and performance data are stored.
The safety limit is required to be calibrated in advance, rollover protection devices are required to be installed on two sides of a vehicle body before calibration, the vehicle performance of corresponding lateral acceleration (such as 0.2g, 0.4g, 0.6g and 0.8 g) is achieved through calibration test by means of fixed vehicle speeds (such as 60kph, 80kph, 100kph and 120 kph), the vehicle speed and the corresponding lateral acceleration serve as the maximum boundary when the vehicle is in serious sideslip, rollover and other runaway conditions, the critical value of the runaway condition is found through multiplication of safety coefficients (such as 90%, 80% and 70%), the safety trigger boundary is formed, and the safety limit is immediately triggered when the monitored value (the vehicle speed and the corresponding lateral acceleration) exceeds the safety trigger boundary in the test process.
The method is simple and easy to operate, does not need human intervention of a driver on the vehicle, and improves safety of the tester and the vehicle under the limit working condition on the premise of reducing the driving capability requirement of the tester.
As shown in fig. 2, fig. 2 is a flowchart of another vehicle performance testing method according to at least one embodiment of the present disclosure, which may be used for testing a vehicle, including the following steps, where the steps repeated with the above embodiments are not repeated in the present embodiment:
in step 202, an actuator of the test vehicle responds to receiving a start command sent by the signal processing device, and controls the test vehicle to automatically drive according to the test data, wherein the start command is sent by the signal processing device under the condition of receiving a start signal.
The test data are test data corresponding to test working conditions sent to an actuator of the test vehicle in advance, and the test data comprise a test program and control parameters.
The test vehicle is an intelligent vehicle with an intelligent driving system, and an actuator of the test vehicle can establish communication connection with the signal processing equipment through wired or wireless connection. For example, when the signal processing device is located in the test vehicle, the signal processing device CAN be connected with an actuator of the test vehicle through an OBD interface of the test vehicle via a CAN bus, so that connection communication between the signal processing device and the test vehicle is more reliable.
The start instruction is used for requesting the executor to execute the executable instruction in the test data so as to control the test vehicle to automatically drive. The starting instruction may include a request parameter, when the signal processing device receives the starting signal, the request parameter set by the script is sent to a control unit of the actuator, and the control unit of the actuator responds to a corresponding test working condition through the request parameter, for example, the executable instruction in the test data is to drive at a speed of 50km/h for 1 minute, and when the signal processing device turns left after 1 minute, the actuator correspondingly controls an accelerator and a steering wheel of the test vehicle according to the executable instruction.
In step 204, the sensor mounted on the test vehicle collects performance data, and sends the performance data to the signal processing device, where the performance data is used to represent driving performance of the test vehicle under the test working condition.
For example, at least one sensor of the vehicle test vehicle may record performance data of the test vehicle in real time in a current state and feed the state data back to the signal processing device through the CAN bus while the actuator responds to the start command.
As shown in fig. 3, fig. 3 is a flow chart of a data modification method that may be used in a signal processing device, test vehicle, or other device, according to at least one embodiment of the present disclosure, comprising the steps of:
In step 302, performance data collected by sensors onboard the test vehicle itself is acquired.
The performance data are used for representing the driving performance of the test vehicle under the test working condition, and the performance data comprise acceleration data acquired by an inertial conduction unit of the test vehicle; the performance data is acquired when the signal processing equipment receives a starting signal and sends a starting instruction to an actuator of the test vehicle, the actuator responds to the starting instruction and controls the test vehicle to automatically drive according to test data, the test data is the test data corresponding to the test working condition sent to the actuator of the test vehicle in advance, and the test data comprises a test program and control parameters.
The present embodiment does not limit the manner in which the corrector acquires the performance data, and may be acquired from the signal processing device, from a sensor of the test vehicle, or from another device.
In step 304, the acceleration data is corrected when the test vehicle is in a high-speed transient condition.
The high-speed transient working condition refers to a state of the test vehicle when the running speed is high, the acceleration change is large or the steering wheel angle change is large, and at the moment, the test vehicle can have pitching, rolling and other conditions. The present embodiment is not limited to the way of correcting the acceleration data, for example, the acceleration data may be corrected by combining data collected by other sensors mounted on the test vehicle, such as the vehicle-mounted GPS, the vehicle-mounted camera, and the vehicle-mounted radar, or by using data collected by a measuring device other than the test vehicle.
In one embodiment, the acceleration data includes longitudinal acceleration; the correcting the acceleration data includes:
and calculating the acceleration of the wheel according to the wheel pulse signals acquired by the wheel speed sensor of the test vehicle and determining the acceleration as the corrected longitudinal acceleration.
In one embodiment, the acceleration data further comprises lateral acceleration; the method further comprises the steps of:
according to the steering angle signal and the steering transmission ratio acquired by the steering angle sensor at the steering wheel of the test vehicle, calculating to obtain the yaw angle of the test vehicle;
and calculating the transverse acceleration of the test vehicle according to the transverse swing angle and the longitudinal acceleration of the test vehicle and determining the transverse acceleration as the corrected transverse acceleration.
In one embodiment, the method further comprises:
and calculating the pitch angle and the roll angle of the test vehicle according to the corrected longitudinal acceleration and the corrected transverse acceleration and the longitudinal acceleration and the transverse acceleration in the acceleration data before correction.
For a specific implementation manner of the above steps, reference may be made to the description of the above embodiments, which is not repeated.
As shown in fig. 4, fig. 4 is a flow chart of a security restriction method that may be used in a signal processing device, test vehicle, or other device, in accordance with at least one embodiment of the present disclosure, comprising the steps of:
In step 402, performance data acquired by sensors onboard the test vehicle itself is acquired.
The performance data are used for representing the driving performance of the test vehicle under the test working condition; the performance data is acquired when the signal processing equipment receives a starting signal and sends a starting instruction to an actuator of the test vehicle, the actuator responds to the starting instruction and controls the test vehicle to automatically drive according to test data, the test data is the test data corresponding to the test working condition sent to the actuator of the test vehicle in advance, and the test data comprises a test program and control parameters.
The manner in which the safety limit trigger acquires the performance data is not limited in this embodiment, and may be acquired from a signal processing device, a sensor of a test vehicle, or other devices.
In step 404, the test vehicle is controlled to enter a safe state in response to detecting a safety parameter in the performance data to trigger a safety limit, wherein the safety limit is a limit set for preventing the test vehicle from safety accidents.
For example, when the limit conditions that the vehicle safety is affected, such as sideslip caused by excessive lateral acceleration and rollover caused by excessive vehicle body roll angle, occur, the system safety limit is triggered, and the safety limit trigger arranged on the signal processing equipment or the test vehicle adopts correction means such as speed reduction, reverse beating direction and the like, a control instruction is sent to an actuator of the test vehicle, so that the test vehicle returns to a steady state, and then the test is automatically stopped and performance data are stored.
In one embodiment, the controlling the test vehicle to enter a safe state includes:
transmitting a control instruction to an actuator of the test vehicle, wherein the control instruction is used for instructing the actuator to execute at least one of the following operations: reducing the speed; steering wheel is reversed; the driving is stopped.
In one embodiment, the security parameters include at least one of: a speed; lateral acceleration; longitudinal acceleration; a pitch angle; roll angle.
For a specific implementation manner of the above steps, reference may be made to the description of the above embodiments, which is not repeated.
As shown in fig. 5, fig. 5 is a block diagram of a vehicle performance testing apparatus according to at least one embodiment of the present disclosure, the apparatus being applied to a signal processing device, the apparatus comprising:
The test starting module 51 is configured to send a starting instruction to an actuator of the test vehicle when a starting signal is received, so that the actuator responds to the starting instruction, and control the test vehicle to automatically drive according to test data, where the test data is test data corresponding to a test condition sent to the actuator of the test vehicle in advance, and the test data includes a test program and control parameters.
The data receiving module 52 is configured to receive performance data collected by a sensor carried by the test vehicle, where the performance data is used to represent driving performance of the test vehicle under the test working condition.
In some alternative embodiments, the signal processing device is located on the test vehicle.
In some alternative embodiments, the receiving the start signal includes:
and receiving a starting signal sent by a signal generator positioned outside the test vehicle through a signal receiver of the signal processing equipment.
In some alternative embodiments, the sensor includes at least one of: a vehicle-mounted camera; a vehicle-mounted radar; a vehicle-mounted inertial conduction unit; a vehicle-mounted global positioning system GPS; wheel speed sensors located at the wheels; and the rotation angle sensor is positioned on the steering wheel.
As shown in fig. 6, on the basis of the foregoing embodiment of the apparatus, the apparatus further includes:
a data modification module 53 and/or a security restriction module 54; the performance data includes: acceleration data collected by an inertial conduction unit of the test vehicle;
the data correction module 53 is configured to correct the acceleration data when the test vehicle is in a high-speed transient condition;
the safety limit module 54 is configured to trigger a safety limit in response to detecting a safety parameter in the performance data, and control the test vehicle to enter a safe state, where the safety limit is a limit set for preventing a safety accident of the test vehicle.
In some alternative embodiments, the acceleration data comprises longitudinal acceleration; the correcting the acceleration data includes:
and calculating the acceleration of the wheel according to the wheel pulse signals acquired by the wheel speed sensor of the test vehicle and determining the acceleration as the corrected longitudinal acceleration.
In some alternative embodiments, the acceleration data further comprises lateral acceleration; the data correction module 53 is further configured to:
according to the steering angle signal and the steering transmission ratio acquired by the steering angle sensor at the steering wheel of the test vehicle, calculating to obtain the yaw angle of the test vehicle;
And calculating the transverse acceleration of the test vehicle according to the transverse swing angle and the longitudinal acceleration of the test vehicle and determining the transverse acceleration as the corrected transverse acceleration.
In some alternative embodiments, the data modification module 53 is further configured to:
and calculating the pitch angle and the roll angle of the test vehicle according to the corrected longitudinal acceleration and the corrected transverse acceleration and the longitudinal acceleration and the transverse acceleration in the acceleration data before correction.
In some alternative embodiments, the controlling the test vehicle to enter a safe state includes:
transmitting a control instruction to an actuator of the test vehicle, wherein the control instruction is used for instructing the actuator to execute at least one of the following operations: reducing the speed; steering wheel is reversed; the driving is stopped.
In some alternative embodiments, the security parameters include at least one of: a speed; lateral acceleration; longitudinal acceleration; a pitch angle; roll angle.
The implementation process of the functions and roles of each module in the above device is specifically shown in the implementation process of the corresponding steps in the above method, and will not be described herein again.
The disclosed embodiments also provide an electronic device, as shown in fig. 7, including a memory 71, and a processor 72, where the memory 71 is configured to store computer instructions executable on the processor, and the processor 72 is configured to implement the method according to any of the embodiments of the disclosure when the computer instructions are executed.
The disclosed embodiments also provide a computer program product comprising a computer program/instructions which, when executed by a processor, implement the method of any of the embodiments of the present disclosure.
The disclosed embodiments also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of the embodiments of the disclosure.
For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present description. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Other embodiments of the present description will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This specification is intended to cover any variations, uses, or adaptations of the specification following, in general, the principles of the specification and including such departures from the present disclosure as come within known or customary practice within the art to which the specification pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the specification being indicated by the following claims.
It is to be understood that the present description is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present description is limited only by the appended claims.
The foregoing description of the preferred embodiments is provided for the purpose of illustration only, and is not intended to limit the scope of the disclosure, since any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the disclosure are intended to be included within the scope of the disclosure.
Claims (22)
1. A vehicle performance testing method, the method being applied to a signal processing apparatus, the method comprising:
Under the condition that a starting signal is received, a starting instruction is sent to an actuator of the test vehicle, so that the actuator responds to the receiving of the starting instruction, the test vehicle is controlled to automatically drive according to test data, the test data are test data corresponding to test working conditions sent to the actuator of the test vehicle in advance, and the test data comprise a test program and control parameters;
and receiving performance data acquired by a sensor carried by the test vehicle, wherein the performance data is used for indicating the driving performance of the test vehicle under the test working condition.
2. The method of claim 1, wherein the signal processing device is located in the test vehicle.
3. The method of claim 1, wherein the receiving the activation signal comprises:
and receiving a starting signal sent by a signal generator positioned outside the test vehicle through a signal receiver of the signal processing equipment.
4. The method of claim 1, wherein the sensor comprises at least one of: a vehicle-mounted camera; a vehicle-mounted radar; a vehicle-mounted inertial conduction unit; a vehicle-mounted global positioning system GPS; wheel speed sensors located at the wheels; and the rotation angle sensor is positioned on the steering wheel.
5. The method of claim 1, wherein the performance data comprises: acceleration data collected by an inertial conduction unit of the test vehicle;
after receiving the performance data collected by the sensors carried by the test vehicle, the method further comprises:
and correcting the acceleration data under the condition that the test vehicle is in a high-speed transient working condition.
6. The method of claim 5, wherein the acceleration data comprises longitudinal acceleration; the correcting the acceleration data includes:
and calculating the acceleration of the wheel according to the wheel pulse signals acquired by the wheel speed sensor of the test vehicle and determining the acceleration as the corrected longitudinal acceleration.
7. The method of claim 6, wherein the acceleration data further comprises lateral acceleration; the method further comprises the steps of:
according to the steering angle signal and the steering transmission ratio acquired by the steering angle sensor at the steering wheel of the test vehicle, calculating to obtain the yaw angle of the test vehicle;
and calculating the transverse acceleration of the test vehicle according to the transverse swing angle and the longitudinal acceleration of the test vehicle and determining the transverse acceleration as the corrected transverse acceleration.
8. The method of claim 7, wherein the method further comprises:
and calculating the pitch angle and the roll angle of the test vehicle according to the corrected longitudinal acceleration and the corrected transverse acceleration and the longitudinal acceleration and the transverse acceleration in the acceleration data before correction.
9. The method according to claim 1, wherein the method further comprises:
and controlling the test vehicle to enter a safe state in response to detecting the safety parameter in the performance data to trigger a safety limit, wherein the safety limit is a limit set for preventing the test vehicle from safety accidents.
10. The method of claim 9, wherein the controlling the test vehicle to enter a safe state comprises:
transmitting a control instruction to an actuator of the test vehicle, wherein the control instruction is used for instructing the actuator to execute at least one of the following operations: reducing the speed; steering wheel is reversed; the driving is stopped.
11. A vehicle performance testing method, wherein the method is applied to a test vehicle, the test vehicle having an external signal processing device, the method comprising:
the method comprises the steps that an actuator of a test vehicle responds to a starting instruction sent by signal processing equipment, the test vehicle is controlled to automatically drive according to test data, the starting instruction is sent by the signal processing equipment under the condition that a starting signal is received, the test data are test data corresponding to test working conditions sent to the actuator of the test vehicle in advance, and the test data comprise a test program and control parameters;
The sensor carried by the test vehicle collects performance data and sends the performance data to the signal processing equipment, wherein the performance data is used for representing the driving performance of the test vehicle under the test working condition.
12. A method of data modification, the method comprising:
acquiring performance data acquired by a sensor carried by a test vehicle, wherein the performance data is used for representing the driving performance of the test vehicle under the test working condition, and the performance data comprises acceleration data acquired by an inertial conduction unit of the test vehicle; the performance data is acquired when the signal processing equipment receives a starting signal and sends a starting instruction to an actuator of the test vehicle, the actuator responds to the starting instruction and controls the test vehicle to automatically drive according to test data, the test data is the test data corresponding to the test working condition which is sent to the actuator of the test vehicle in advance, and the test data comprises a test program and control parameters;
And correcting the acceleration data under the condition that the test vehicle is in a high-speed transient working condition.
13. The method of claim 12, wherein the acceleration data comprises longitudinal acceleration; the correcting the acceleration data includes:
and calculating the acceleration of the wheel according to the wheel pulse signals acquired by the wheel speed sensor of the test vehicle and determining the acceleration as the corrected longitudinal acceleration.
14. The method of claim 13, wherein the acceleration data further comprises lateral acceleration; the method further comprises the steps of:
according to the steering angle signal and the steering transmission ratio acquired by the steering angle sensor at the steering wheel of the test vehicle, calculating to obtain the yaw angle of the test vehicle;
and calculating the transverse acceleration of the test vehicle according to the transverse swing angle and the longitudinal acceleration of the test vehicle and determining the transverse acceleration as the corrected transverse acceleration.
15. The method of claim 14, wherein the method further comprises:
and calculating the pitch angle and the roll angle of the test vehicle according to the corrected longitudinal acceleration and the corrected transverse acceleration and the longitudinal acceleration and the transverse acceleration in the acceleration data before correction.
16. A security restriction method, the method comprising:
acquiring performance data acquired by a sensor carried by a test vehicle, wherein the performance data is used for representing the driving performance of the test vehicle under the test working condition; the performance data is acquired when the signal processing equipment receives a starting signal and sends a starting instruction to an actuator of the test vehicle, the actuator responds to the starting instruction and controls the test vehicle to automatically drive according to test data, the test data is the test data corresponding to the test working condition which is sent to the actuator of the test vehicle in advance, and the test data comprises a test program and control parameters;
and controlling the test vehicle to enter a safe state in response to detecting the safety parameter in the performance data to trigger a safety limit, wherein the safety limit is a limit set for preventing the test vehicle from safety accidents.
17. The method of claim 16, wherein the controlling the test vehicle to enter a safe state comprises:
Transmitting a control instruction to an actuator of the test vehicle, wherein the control instruction is used for instructing the actuator to execute at least one of the following operations: reducing the speed; steering wheel is reversed; the driving is stopped.
18. The method of claim 16, wherein the security parameters include at least one of: a speed; lateral acceleration; longitudinal acceleration; a pitch angle; roll angle.
19. A vehicle performance test apparatus, the apparatus being applied to a signal processing device, the apparatus comprising:
the test starting module is used for sending a starting instruction to an actuator of the test vehicle under the condition of receiving a starting signal, so that the actuator responds to the starting instruction and controls the test vehicle to automatically drive according to test data, wherein the test data is the test data corresponding to the test working condition sent to the actuator of the test vehicle in advance, and the test data comprises a test program and control parameters;
the data receiving module is used for receiving performance data acquired by a sensor carried by the test vehicle, and the performance data are used for representing the driving performance of the test vehicle under the test working condition.
20. The apparatus of claim 19, wherein the apparatus further comprises: a data correction module and/or a security restriction module; the performance data includes: acceleration data collected by an inertial conduction unit of the test vehicle;
the data correction module is used for correcting the acceleration data under the condition that the test vehicle is in a high-speed transient working condition;
the safety limit module is used for responding to the detection of the safety parameters in the performance data to trigger the safety limit, and controlling the test vehicle to enter a safety state, wherein the safety limit is a limit set for preventing the test vehicle from safety accidents.
21. An electronic device comprising a memory, a processor for storing computer instructions executable on the processor for implementing the method of any one of claims 1 to 10, or the method of claim 11, or the method of any one of claims 12 to 15, or the method of any one of claims 16 to 18 when the computer instructions are executed.
22. A computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor implements the method of any of claims 1 to 10, or implements the method of claim 11, or implements the method of any of claims 12 to 15, or implements the method of any of claims 16 to 18.
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| CN116626328A (en) * | 2023-07-26 | 2023-08-22 | 济南嘉宏科技有限责任公司 | Whole-course speed measuring equipment and method for underground vehicle |
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| CN116626328A (en) * | 2023-07-26 | 2023-08-22 | 济南嘉宏科技有限责任公司 | Whole-course speed measuring equipment and method for underground vehicle |
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