CN116193401A - Method, system and equipment for collaborative UWB test management of civil aviation airport road - Google Patents

Method, system and equipment for collaborative UWB test management of civil aviation airport road Download PDF

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Publication number
CN116193401A
CN116193401A CN202310140221.8A CN202310140221A CN116193401A CN 116193401 A CN116193401 A CN 116193401A CN 202310140221 A CN202310140221 A CN 202310140221A CN 116193401 A CN116193401 A CN 116193401A
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vehicle
test
early warning
tested
speed
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马列
马海兵
沈亮
单帅
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Jiangsu Tianyi Aviation Industry Co Ltd
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Jiangsu Tianyi Aviation Industry Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Computing Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a method, a system and equipment for collaborative UWB test management of civil aviation airport roads, which comprise the steps of collecting data information required by test and evaluating the data information; carrying out a road cooperative test on the vehicle according to the evaluation; after the test is finished, recording a test result, and judging the test result. The method can realize the automatic driving test of the open operation scene, simultaneously, utilizes the vehicle-road cooperative equipment to assist the automatic driving test, synchronously carries out the operation test of the unmanned equipment, senses the operation state of the airport, improves the average operation speed, ensures more timely operation, ensures more accurate dispatching, improves the safety supervision capability of the airport, and enriches the information service of passengers.

Description

Method, system and equipment for collaborative UWB test management of civil aviation airport road
Technical Field
The invention relates to the technical field of vehicle-road cooperative UWB testing, in particular to a vehicle-road cooperative UWB testing management method, system and equipment for a civil aviation airport.
Background
The vehicle-road cooperative operation command center provides a carrier platform for gathering airport unmanned equipment, and is used for carrying out monitoring, prediction and early warning work of demonstration operation conditions of operation scenes, information guarantee work of operation organization coordination and operation emergency treatment, and transactional work of operation scheduling. Through the construction of informatization infrastructure, the integrated technical support of comprehensive operation command and dispatch, visual display, communication guarantee, network information security management and the like is realized.
The current vehicle-road cooperative test is firstly difficult to sense, the current vehicle-road cooperative sensing mainly depends on cameras, safety accidents can occur in severe weather such as heavy rain, heavy fog and the like, and after actual test, the service life of the laser radar at the road side is still to be improved, and the price is expensive. After the perception system is added, the cost of the expressway is increased rapidly; secondly, communication is difficult, and although 5G technology assistance exists, the dense deployment of base stations increases construction and operation costs; thirdly, the control is difficult, and at present, a plurality of systems are 'monitorable' and are not 'controllable'; fourthly, the integration is difficult, the devices on the expressway are quite many, the perception aspect relates to the collection of information such as weather, roads, traffic and the like, but the technology of the device integration aspect is still immature; fifthly, the test is difficult, and the effect obtained after the whole system is deployed is not ideal.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description summary and in the title of the application, to avoid obscuring the purpose of this section, the description summary and the title of the invention, which should not be used to limit the scope of the invention.
The present invention has been made in view of the above-described problems occurring in the prior art.
Therefore, the invention provides a method, a system and equipment for collaborative UWB test management of a civil aviation airport road, which can solve the problems of low average operation speed, inaccurate operation, inaccurate scheduling and insufficient airport safety supervision capability of the traditional road collaborative test.
In order to solve the technical problems, the invention provides the following technical scheme for a civil aviation airport road collaborative UWB test management method, which comprises the following steps:
collecting data information required by test, and evaluating the data information;
carrying out a road cooperative test on the vehicle according to the evaluation;
after the test is finished, recording a test result, and judging the test result.
As a preferable scheme of the method for collaborative UWB test management of civil aviation airport roads, the invention comprises the following steps: the test data information comprises test parameters, test precision and expected early warning information of the tested vehicle under the current test case.
The test parameters include a test time, a test vehicle longitudinal speed, a test vehicle lateral speed, a test vehicle longitudinal acceleration, a test vehicle lateral acceleration, a test vehicle heading angle, a test vehicle longitudinal position, a test vehicle lateral position, a test vehicle yaw angle speed, a target vehicle longitudinal speed, a target vehicle lateral speed, a target vehicle longitudinal acceleration, a target vehicle lateral acceleration, a target vehicle heading angle, a target vehicle longitudinal position, a target vehicle lateral position, a test vehicle longitudinal distance from a target vehicle or a static reference point, a test vehicle lateral relative distance from the target vehicle, a test vehicle inter-vehicle time interval, a test vehicle collision time from the target vehicle, a target vehicle surrogate longitudinal speed, a target surrogate lateral speed, a target surrogate longitudinal acceleration, a target surrogate lateral acceleration, a target surrogate heading angle, a target surrogate longitudinal position, a target surrogate lateral distance from the test vehicle to the target surrogate or the static reference point, a test vehicle relative distance from the target surrogate inter-vehicle time interval, a test vehicle collision time from the target vehicle front wheel outer edge to a left side line, a test vehicle outer lane edge to a left side outer lane edge, a test vehicle outer lane outer edge to a right side outer lane edge to a test vehicle outer lane edge to a right side outer lane edge, a test vehicle outer lane outer edge to a right side outer lane edge.
As a preferable scheme of the method for collaborative UWB test management of civil aviation airport roads, the invention comprises the following steps: the evaluation comprises the evaluation of forward collision early warning, intersection passing, left turn assistance, blind area early warning or lane changing early warning, reverse overtaking early warning, emergency braking early warning, abnormal vehicle warning, road dangerous condition warning, vehicle out-of-control early warning, speed limit early warning, red light running early warning, weak traffic participant collision early warning, in-vehicle sign, front congestion warning and emergency vehicle warning of the detected vehicle.
As a preferable scheme of the method for collaborative UWB test management of civil aviation airport roads, the invention comprises the following steps: the vehicle-road cooperative test comprises that under the condition of no special requirement, a tested vehicle runs along the center line of a current lane, a test system acquires and detects test data in real time, whether the V2X function of the tested vehicle can be correctly early-warned in a visual, auditory or tactile mode or not is verified, and whether an early-warning result meets the corresponding test case requirement or not is verified, wherein the test process is divided into a state adjustment stage and a performance evaluation stage.
The state adjustment stage is a process from starting the tested vehicle and the background vehicle to reaching the target motion state of the test case.
The performance evaluation 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 preferable scheme of the method for collaborative UWB test management of civil aviation airport roads, the invention comprises the following steps: the vehicle-road cooperative test further comprises a safety machine leaning test, a V2X vehicle following test, a speed limit reminding test, an emergency braking early warning test, a V2X weak traffic participant avoidance test, a V2X cooperative lane changing test and an intersection collision early warning test;
the safe machine leaning test comprises the steps that when an aircraft approach detection device is equipped, when any part of ground equipment is in contact with an aircraft, an autonomous braking function is accurately started, when the machine leaning is stopped, the extrusion amount of a buffer protection device is not more than 30% of the thickness of the device, if the extrusion amount exceeds 30%, the test is directly regarded as a test failure, and the equipment transmits early warning of the safe machine leaning test failure to an intelligent network cloud platform through a UWB technology and waits for a next instruction;
if the distance between the equipment and the aircraft butt joint point is less than 500mm, the ground equipment quickly and automatically enters a worm speed mode, and if the safety detection system is not invalid when the aircraft is leaned on again, the system operation command is normally executed;
If the safety detection system fails, all self-propelled ground equipment is required to enter a worm speed mode by default, when the automatic worm speed mode is adopted, the speed under the full load condition needs to be accurately and automatically controlled, and because the buffer protection device is extruded to exceed the limit value of 30%, the ground equipment is required to accurately and automatically stop the aircraft at the speed of not higher than 0.36km/h, if the requirements are not met, the ground equipment is required to stop within a safe distance from the aircraft, the final aircraft is finished by using the accurate positioning device, the safety aircraft is judged to be successfully tested, and if the requirements are met, the safety aircraft is directly considered to be successfully tested;
the V2X vehicle following test comprises the steps that a tested vehicle runs at a constant speed in an automatic driving mode, if every two vehicles collide, the tested vehicle is directly regarded as the failure of the V2X vehicle following test, an intelligent network cloud platform gives a termination test instruction to the vehicle with the failure of the test, meanwhile, the platform is in butt joint with a central management system, running information and equipment state information of the tested vehicle are obtained in real time, and traffic state analysis of the tested vehicle is carried out;
if no collision occurs between every two vehicles, the running state of the tested vehicles needs to be concerned in real time, after the vehicles are driven, the distance between every two vehicles is kept within +/-25% of the set distance, the maximum distance is not more than 20m, and if the requirements are met, the tested vehicles are judged to pass the V2X vehicle following driving test;
If the test fails, the V2X following vehicle running test of the tested vehicle is judged to fail, the intelligent network cloud platform uploads early warning information of the test failure to the central management system, and the central management system stores and analyzes the test data and provides a data reference capable of realizing the optimization of the management and control measures.
As a preferable scheme of the method for collaborative UWB test management of civil aviation airport roads, the invention comprises the following steps: the speed limit reminding test comprises the steps that under an automatic driving mode, an RSU is deployed on an L rod at a T-shaped intersection, a speed limit sign is placed at a position 25 m above the intersection, a tested vehicle drives towards the speed limit sign along the middle of a lane, when the tested vehicle reaches the speed limit sign, the speed is not higher than the speed indicated by the speed limit sign, if the speed is higher than the speed indicated by the speed limit sign, a speed limit early warning module of the tested vehicle carries out early warning on a driver of the main vehicle to remind the driver to run at a reduced speed, and if the speed limit early warning module carries out normal early warning response, the speed limit reminding test is judged to pass successfully;
if the normal early warning response is not realized by the speed limit early warning module, the intelligent network cloud platform and the central management system are directly regarded as speed limit reminding test failure, the intelligent network cloud platform and the central management system are in butt joint of information data of the speed limit reminding test failure, the central management system, the road side system and the vehicle-mounted system are in real-time information interaction, the fault cause is clear, the fault problem of the early warning system is solved, and the vehicle video data in the front of the detected vehicle is stored;
The emergency braking early warning test comprises the steps of testing that a vehicle is driven at a constant speed in an automatic driving mode, when the vehicle on a road is in emergency braking, sending position and speed information of the emergency vehicle to the vehicle behind the emergency vehicle, reminding a driver of the vehicle behind to brake or change the road in advance, and judging that the vehicle to be tested passes the emergency braking early warning test if the test vehicle sends out warning information before braking and at least comprises optical and acoustic warning signals and the test vehicle is not collided with an obstacle;
if the test vehicle does not send alarm information before braking or the alarm information does not meet the requirements, the failure of the emergency braking early warning test is directly judged, the central management system acquires the real-time monitoring of the operation of the tested vehicle through the intelligent network cloud platform, the emergency braking early warning module of the vehicle is used for retrieving and analyzing the failure information, and the information data of the early warning module of the vehicle with the failure test is replayed and stored.
As a preferable scheme of the method for collaborative UWB test management of civil aviation airport roads, the invention comprises the following steps: the V2X weak traffic participant avoidance test comprises the steps that monitoring equipment and RSU are deployed on an L rod at a three-fork intersection, a weak traffic participant mark is placed 25 meters above the intersection, traffic lamps and pedestrian avoidance marks are added at the road opening, a test vehicle uniformly drives to the weak traffic participant mark along the middle of a lane at a speed of 30km/h under an automatic driving mode, if the test vehicle cannot be decelerated in advance and the safety of pedestrians passing through the lane where the vehicle is located, the test vehicle is directly regarded as V2X weak traffic participant avoidance test failure, the intelligent network cloud platform transmits test failure warning information to a central management system, the central management system transmits a termination test instruction to the intelligent network cloud platform and a tested vehicle system, and the tested vehicle stops running operation and waits for the next instruction;
If the test vehicle decelerates in advance and ensures that pedestrians safely pass through the lane where the vehicle is located, the next step of testing can be performed, namely when the test vehicle stops in front of the crosswalk, after the pedestrian passes through the lane where the test vehicle is located, the vehicle needs to be automatically started to continue running, the starting time is not longer than 5s, and if the tested vehicle meets the test requirement, the tested vehicle is judged to pass through the V2X weak traffic participant to avoid the test;
if the tested vehicle does not meet the test requirement, judging that the tested vehicle does not pass the V2X weak traffic participant avoidance test, namely the test fails, calling the parallel driving vehicle operation by a cloud service by a central management system to monitor and control the fault information, the speed, the steering wheel rotation angle, the driving road state, the vehicle position and the road test state of the tested vehicle in real time, playing back and analyzing videos, and recording and storing operation data so as to be convenient for optimizing and updating a vehicle-mounted system;
the V2X collaborative lane changing test comprises the steps that millimeter wave radar and RSU are installed on a L pole at a road side, lane identification information of a road is broadcast to an unmanned special vehicle through a high-precision map and UWB technology, the test vehicle runs at a constant speed along the middle of a lane at a speed of 30km/h in an automatic driving mode, a lane changing instruction is sent to the test vehicle in a proper mode, the test road at least comprises a long straight lane of two lanes and comprises two situations of a vehicle and a vehicle-free adjacent lane, when the test situation is that the vehicle-free adjacent lane is changed, the test vehicle starts to turn on a correct steering lamp, steering is started after the steering lamp is started for at least 3 seconds, the time from the start of steering to the completion of the action of merging the adjacent lane is not more than 5 seconds, if the tested vehicle does not meet the test requirement, the intelligent network cloud platform uploads test failure information and complete monitoring video in the front of the vehicle in a test stage to a central management system, and the central management system further analyzes the traffic state of the tested vehicle through the central cloud platform, and the remote control state is archived;
If the tested vehicle meets the test requirement, judging that the tested vehicle passes the lane change test without the vehicle in the adjacent lane of the V2X cooperative lane change test, continuing to perform the test under the lane change condition of the vehicle in the adjacent lane, and judging that the V2X cooperative lane change test of the tested vehicle passes successfully when the tested vehicle keeps running in the original lane and is not collided with the target vehicle;
if the test requirement under the condition that the adjacent lane has a lane change is not met, judging that the tested vehicle does not pass the adjacent lane change test of the V2X collaborative lane change test, uploading test failure information and a complete monitoring video in the front of the vehicle in the test stage to a central management system by an intelligent networking cloud platform, transcribing and archiving the video by the central management system through the central cloud platform, and further analyzing the traffic state and the remote control state of the tested vehicle.
As a preferable scheme of the method for collaborative UWB test management of civil aviation airport roads, the invention comprises the following steps: the intersection collision early warning test comprises the steps that video monitoring equipment, signal lamps, RSU, millimeter wave radar and laser radar are deployed on an L-shaped rod at a T-shaped intersection, a test vehicle drives to the intersection at a constant speed in an automatic driving mode, when the sight of a driver of a main vehicle is blocked by an obstacle at the intersection, and the driver of the main vehicle cannot judge vehicles which drive to the intersection on the left side or the right side of the current intersection, the intersection collision early warning carries out early warning on the driver, if the early warning is successfully sent out and the test vehicle starts a correct steering lamp, meanwhile, the test vehicle is in compliance with traffic rules, the passing is realized, and the corresponding lane driving is carried out, and then the tested vehicle is judged to pass the intersection collision early warning test;
If the detected vehicle does not realize the successful sending of early warning or the detected vehicle cannot turn on the correct steering lamp, the detected vehicle is regarded as the test failure, the issuing of the temporary traffic control instruction is realized through the information interaction channels of the central cloud platform, the road side system and the vehicle-mounted system, meanwhile, the central management system acquires the two-dimensional and three-dimensional vehicle driving route diagram of the detected vehicle through the intelligent network cloud platform, the vehicle parameter feedback of the detected vehicle including speed, positioning, steering and braking parameters is authorized, and the operation data is recorded and played back.
Another object of the present invention is to provide a system for collaborative UWB test management of civil aviation airport roads, which can solve the problem of difficult integration of the existing equipment by implementing a method for collaborative UWB test management of civil aviation airport roads.
As a preferable scheme for the civil aviation airport road cooperative UWB test management system, the invention comprises the following steps: the intelligent network cloud platform is deployed in a management center, can realize the butt joint with a central management system, acquires vehicle running information and equipment state information in real time, further supports traffic state analysis and remote control functions, and realizes regional control intellectualization, networking and refinement.
And the central management system is used for integrating and testing the whole information, uniformly regulating and controlling the state of the equipment and issuing instructions.
The central cloud platform mainly realizes the storage and analysis functions of network traffic operation data, and can perform real-time information interaction with a road side system and a vehicle-mounted system, so that full-time space tracking is performed on road side monitoring information and vehicle uploading information, and data reference is provided for road network traffic state analysis and traffic management and control measure optimization.
And the road side system is used for monitoring and feeding back traffic states at two sides of the road and the cooperative situation of the vehicle and the road in real time.
The vehicle-mounted system is used for receiving the interaction information and instruction information of the intelligent network cloud platform, the central management system, the central cloud platform and the road side system, simultaneously monitoring the interior of the front vehicle in real time and sending out early warning information under certain conditions.
As a preferable scheme for the civil aviation airport road cooperative UWB test management equipment, the invention comprises the following steps: the method is characterized by comprising a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the method for managing the civil aviation airport road cooperative UWB test when executing the computer program.
The invention has the beneficial effects that: the method is based on UWB information transmission technology, realizes automatic driving test of open operation scene, simultaneously utilizes vehicle-road cooperative equipment to assist the automatic driving test, synchronously carries out operation test of unmanned equipment, senses the operation state of the airport, improves the average operation speed, more timely and accurately schedules the operation, improves the safety supervision capability of the airport, enriches passenger information service, can improve the passing efficiency of the airport, establishes the industry standard of the field, and establishes the demonstration application technology leading the national intelligent airport.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a schematic flow chart of a method for collaborative UWB test management of a civil aviation airport road provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a test scheme for a civil aviation airport vehicular access collaborative UWB test management system according to an embodiment of the present invention;
Fig. 3 is a schematic diagram of a remote monitoring system architecture for a civil aviation airport road cooperative UWB test management system according to an embodiment of the present invention.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
While the embodiments of the present invention have been illustrated and described in detail in the drawings, the cross-sectional view of the device structure is not to scale in the general sense for ease of illustration, and the drawings are merely exemplary and should not be construed as limiting the scope of the invention. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Also in the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper, lower, inner and outer", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first, second, or third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected, and coupled" should be construed broadly in this disclosure unless otherwise specifically indicated and defined, such as: can be fixed connection, detachable connection or integral connection; it may also be a mechanical connection, an electrical connection, or a direct connection, or may be indirectly connected through an intermediate medium, or may be a communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1, a first embodiment of the present invention provides a method for collaborative UWB test management for civil aviation airport roads, including:
s1: and collecting data information required by the test, and evaluating the data information.
Further, the test data information comprises test parameters, test precision and expected early warning information of the tested vehicle under the current test case.
The test parameters include a test time, a test vehicle longitudinal speed, a test vehicle lateral speed, a test vehicle longitudinal acceleration, a test vehicle lateral acceleration, a test vehicle heading angle, a test vehicle longitudinal position, a test vehicle lateral position, a test vehicle yaw rate, a target vehicle longitudinal speed, a target vehicle lateral speed, a target vehicle longitudinal acceleration, a target vehicle lateral acceleration, a target vehicle heading angle, a target vehicle longitudinal position, a target vehicle lateral position, a test vehicle longitudinal distance from a target vehicle or a static reference point, a test vehicle lateral relative distance from the target vehicle, a test vehicle inter-vehicle distance, a test vehicle collision time from the target vehicle, a target surrogate longitudinal speed, a target surrogate longitudinal acceleration, a target surrogate lateral acceleration, a target surrogate heading angle, a target surrogate longitudinal position, a target surrogate lateral distance from the test vehicle to the target surrogate or the static reference point, a test vehicle inter-vehicle distance from the target surrogate vehicle, a test vehicle collision time from the test vehicle front edge to the left lane line, a test vehicle front-wheel outer edge to the left lane line, and a test vehicle front-right lane outer edge distance from the left-vehicle front edge to the right lane outer edge to the left lane outer edge.
It should also be noted that the evaluation includes, for the vehicle under test, forward collision warning, intersection traffic, left turn assistance, blind zone warning or lane change warning, reverse overtaking warning, emergency braking warning, abnormal vehicle warning, road hazard condition warning, vehicle out-of-control warning, speed limit warning, red light running warning, weak traffic participant collision warning, in-vehicle sign, front congestion warning, and emergency vehicle warning.
S2: and carrying out a road cooperative test on the vehicle according to the evaluation.
Furthermore, the vehicle-road cooperative test comprises that under the condition of no special requirement, the tested vehicle should run along the center line of the current lane, the test system should collect and detect test data in real time, and verify whether the V2X function of the tested vehicle can be correctly early-warned in a visual, auditory or tactile mode, and whether the early-warning result meets the corresponding test case requirement, and the test process is divided into a state adjustment stage and a performance evaluation stage.
It should be noted that the state adjustment stage is a process from starting the tested vehicle and the background vehicle to reaching the target motion state of the test case.
It should also be noted that the performance evaluation 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 satisfied.
Furthermore, the vehicle-road cooperative test further comprises a safety machine leaning test, a V2X vehicle following test, a speed limiting reminding test, an emergency braking early warning test, a V2X weak traffic participant avoidance test, a V2X cooperative lane changing test and an intersection collision early warning test.
It should be noted that, the safety machine test includes, when the aircraft approach detection device is equipped, when any part of the ground equipment is in contact with the aircraft, the autonomous braking function is accurately started, and when the machine is stopped, the extrusion amount of the buffer protection device should not exceed 30% of the thickness of the device, if the extrusion amount exceeds 30%, the test is directly regarded as a test failure, the equipment transmits the safety machine test failure early warning to the intelligent network cloud platform through the UWB technology, and waits for the next instruction.
It should be noted that if the distance between the equipment and the aircraft docking point is less than 500mm, the ground equipment automatically enters the worm speed mode quickly, and if the safety detection system is not disabled when the aircraft is on the ground again, the system operation command is normally executed.
Furthermore, if the safety detection system fails, all self-propelled ground equipment should enter a worm speed mode by default, when the automatic worm speed mode is adopted, the speed under the full load condition needs to be accurately and automatically controlled, and because the buffer protection device is extruded to exceed 30% of the limit value, the ground equipment needs to accurately and quickly stop the machine, meanwhile, the ground equipment is stopped at the speed not higher than 0.36km/h, if the requirement is not met, the ground equipment is stopped within a safe distance from the plane, the final machine is finished by using the accurate positioning device, the safety machine is judged to be successfully tested, and if the requirement is met, the safety machine is directly regarded as successfully tested.
Further, the V2X following vehicle running test includes that the test vehicle runs at a constant speed in an automatic driving mode, if collision occurs between every two vehicles, the test vehicle is directly regarded as a V2X following vehicle running test failure, the intelligent network cloud platform issues a termination test instruction to the vehicle with the test failure, meanwhile, the platform is in butt joint with the central management system, running information and equipment state information of the tested vehicle are obtained in real time, and traffic state analysis of the tested vehicle is performed.
It should be noted that if no collision occurs between every two vehicles, the running state of the tested vehicle needs to be paid attention to in real time, after the vehicle is driven, the distance between every two vehicles should be kept within +/-25% of the set distance, and the maximum distance is not more than 20m, if the maximum distance meets the requirement, the tested vehicle is judged to pass the V2X vehicle following driving test.
It should also be noted that if the test fails, the V2X following test of the tested vehicle is determined to fail, the intelligent network cloud platform uploads the early warning information of the test failure to the central management system, and the central management system stores and analyzes the test data and provides a data reference capable of realizing optimization of the management and control measures.
Further, the speed limit reminding test comprises the steps that the test vehicle drives to the speed limit sign along the middle of the lane in an automatic driving mode, when the test vehicle reaches the speed limit sign, the speed is not higher than the speed indicated by the speed limit sign, if the speed is higher than the speed indicated by the speed limit sign, the speed limit early warning module of the tested vehicle carries out early warning on a driver of the host vehicle to remind the driver to run at a reduced speed, and if the speed limit early warning module carries out normal early warning response, the speed limit reminding test is judged to pass successfully.
It should be noted that if the speed-limiting early-warning module does not realize the normal early-warning response, the intelligent network cloud platform and the central management system are directly regarded as the failure of the speed-limiting prompt test, the intelligent network cloud platform and the central management system are in butt joint of information data of the failure of the speed-limiting prompt test, the central management system, the road side system and the vehicle-mounted system are in real-time information interaction, the failure cause is clear, the failure problem of the early-warning system is solved, and the vehicle video data in the front vehicle of the vehicle to be tested is stored.
Furthermore, the emergency braking early warning test comprises the steps of testing the vehicle to run at a constant speed in an automatic driving mode, sending position and speed information of the emergency vehicle to the vehicle behind the emergency vehicle when the vehicle running on the road has emergency braking, reminding a driver of the vehicle behind to brake or change the road in advance, and judging that the tested vehicle passes the emergency braking early warning test if the tested vehicle sends out warning information before braking and at least comprises optical and acoustic warning signals and the tested vehicle is not collided with an obstacle.
It should be noted that if the test vehicle does not send alarm information before braking or the alarm information does not meet the requirements, the failure of the emergency braking early warning test is directly judged, the central management system acquires the real-time monitoring of the operation of the tested vehicle through the intelligent networking cloud platform, the emergency braking early warning module of the vehicle is used for retrieving and analyzing the fault information, and the early warning module information data of the vehicle which fails to be tested is replayed and stored.
Further, the V2X weak traffic participant avoidance test includes that the test vehicle drives to the weak traffic participant mark along the middle of the lane at a constant speed of 30km/h in an automatic driving mode, if the test vehicle cannot decelerate in advance and ensure that pedestrians pass through the lane where the vehicle is located, the test vehicle is directly regarded as V2X weak traffic participant avoidance test failure, the intelligent network cloud platform transmits test failure warning information to the central management system, the central management system issues a termination test instruction to the intelligent network cloud platform and the tested vehicle system, and the tested vehicle stops running operation and waits for the next instruction.
It should be noted that, if the test vehicle decelerates in advance and ensures that the pedestrian passes through the lane where the vehicle is located, the next step of the test can be performed, that is, when the test vehicle stops in front of the crosswalk, after the pedestrian passes through the lane where the test vehicle is located, the vehicle needs to be automatically started to continue running, the starting time is not more than 5s, and if the tested vehicle meets the test requirement, the tested vehicle is judged to pass through the V2X weak traffic participant to avoid the test.
It should be noted that if the tested vehicle does not meet the test requirement, it is determined that the tested vehicle fails the V2X weak traffic participant avoidance test, that is, the test fails, the central management system calls the parallel driving vehicle operation to monitor and perform video playback and analysis on fault information, vehicle speed, steering wheel corner, driving road state, vehicle position and road test state of the tested vehicle in real time by means of cloud service, and can record and store operation data so as to optimize and update the vehicle-mounted system.
Furthermore, the V2X collaborative lane change test includes that the test vehicle runs at a constant speed along the middle of the lane at a speed of 30km/h in an automatic driving mode, a lane change instruction is sent to the test vehicle in a proper mode, the test road at least comprises a long straight lane of two lanes and comprises two conditions of adjacent lanes including a vehicle and a vehicle-free lane, when the test condition is that the adjacent lanes are not in lane change, the test vehicle is required to turn on a correct steering lamp, steering is started after the steering lamp is started for at least 3s, the time from the start of steering to the completion of the action of the test vehicle incorporated into the adjacent lanes is not more than 5s, if the test vehicle is not in accordance with the test requirement, the adjacent lanes not passing the V2X collaborative lane change test are judged, the intelligent network cloud platform uploads test failure information and a complete monitoring video in the front of the vehicle in a test stage to the central management system, and the central management system carries out transcription archiving on the video through the central cloud platform, and further analyzes the traffic state and the remote control state of the test vehicle.
It should be noted that if the tested vehicle meets the test requirement, the adjacent lane vehicle-free lane change test of the tested vehicle passing the V2X cooperative lane change test is determined, the test is continued under the condition that the adjacent lane vehicle has a lane change, and when the tested vehicle keeps running in the original lane and is not collided with the target vehicle, the V2X cooperative lane change test of the tested vehicle is determined to pass successfully.
It should also be noted that if the test requirement under the condition that the adjacent lane has a lane change is not met, the adjacent lane has a lane change test that the tested vehicle does not pass the V2X collaborative lane change test is judged, the intelligent network cloud platform uploads the test failure information and the complete monitoring video in the front vehicle in the test stage to the central management system, and the central management system transcribes and archives the video through the central cloud platform and further analyzes the traffic state and the remote control state of the tested vehicle.
Further, the intersection collision early warning test includes that the test vehicle uniformly drives to the intersection in an automatic driving mode, when the sight of a driver of the host vehicle is possibly blocked by obstacles at the intersection or due to other reasons, the driver of the host vehicle cannot judge the vehicles which drive to the intersection at the left side or the right side of the current intersection, the intersection collision early warning gives an early warning to the driver, if the early warning is successfully sent out and the test vehicle starts a correct turn lamp, meanwhile, the test vehicle complies with the traffic rule, the passing and the corresponding lane driving are realized, and the tested vehicle is judged to pass the intersection collision early warning test.
It should be noted that, if the tested vehicle does not realize the successful sending of the early warning or the tested vehicle fails to turn on the correct turn light, the test is considered as failed, the issuing of the temporary traffic control instruction is realized through the information interaction channels of the central cloud platform, the road side system and the vehicle-mounted system, meanwhile, the central management system acquires the two-dimensional and three-dimensional vehicle driving route diagram of the tested vehicle through the intelligent network cloud platform, the vehicle parameter feedback of the tested vehicle including the speed, positioning, turning and braking parameters is authorized, and the operation data is recorded and played back.
S3: after the test is finished, recording a test result, and judging the test result.
Example 2
Referring to fig. 2-3, for one embodiment of the present invention, a system and apparatus for collaborative UWB test management for civil aviation airport roads are provided, and scientific demonstration is performed through experiments in order to verify the beneficial effects of the present invention.
By taking the figure as an example, according to the scene design, intelligent road side equipment, intelligent sensing equipment, network-connected mobile traffic lights and the like are deployed, a route B-1-6-7-3-2-B is provided with a reverse unmanned vehicle for vehicle meeting test, and a forward test route is B-2-3-7-6-5-4-3-7-6-1-B.
The test environment basically requires:
the basic test road, general test road, road network environment and matched service facilities of the intelligent network automobile test field meet the requirements of the T/CSAE 125.
Unless specified, all tests were performed under the following conditions:
testing road environment: the device is open, free of shielding and interference;
no bad weather conditions such as snow fall, hail, dust emission and the like;
the ambient temperature is between 20 ℃ below zero and 60 ℃;
the horizontal visibility should be greater than 500m;
when the speed limit of the tested road is more than or equal to 60km/h, the road width is not less than 3.5m and not more than 3.75;
When the speed limit of the tested road is less than 60km/h, the road width is not less than 3.0m and not more than 3.5m;
the length of the test road is preferably more than 500m, the longitudinal gradient is preferably less than 0.5%, and the transverse gradient is preferably less than 3%;
the test environment should be guaranteed with RSU signal coverage.
Test vehicle basic requirements:
the tested vehicles and the background vehicles involved in the test should meet the following basic requirements:
wireless communication capability is provided;
the communication distance is not less than 300m under the conditions of no space, no shielding and no interference;
the transmission of the V2X message should meet the specifications of YD/T3340, YD/T3707, YD/T3709 and T/CSAE 53-2020;
the method has a basic alarm mechanism corresponding to scene classification;
meeting the detection requirement of GB7258, and for items which do not meet the detection requirement, relevant proving materials which do not reduce the safety performance of the vehicle are required to be provided; the vehicle should acquire data information such as vehicle speed, gear information, vehicle steering wheel angle, vehicle lamp state around the vehicle body, vehicle event markers, vehicle four-axis acceleration, vehicle brake system state and the like from a vehicle data bus or other data sources;
the positioning precision of the background vehicle is less than 1.5 meters;
the precision requirement of the test process is as follows:
in the test process, when the tested vehicle, the background vehicle and the test target substitute reach the stable motion state specified by the test scene, the following data precision requirements should be met:
VUT and BV speed error is + -1.0 km/h;
the lateral offset of VUT and BV is + -0.5 m;
VUT and BV yaw rate error of + -1.0 DEG/s;
when the PTC is less than 4m (near-end scene) from the center line of the vehicle, the speed is 5km/h plus or minus 0.2km/h;
when the PTA is less than 6m (far-end scene) from the center line of the vehicle, the speed is 6.5km/h plus or minus 0.2km/h;
when the BTA is less than 17m (near-end scene) from the vehicle center line, the speed is 15km/h plus or minus 0.2km/h.
The device under test requires:
the end-to-end transmission delay of the application layer when the vehicle under test communicates with the background vehicle and the road side unit should be less than 100ms.
The tested vehicle system should meet the following early warning form requirements:
the pre-warning should include, but is not limited to, a visual pre-warning or an auditory or a tactile pre-warning; the preliminary pre-warning means may include visual or audible or a combination of both, and may be tactile or other forms of warning as a supplement; the volume of the audible early warning prompt should be selected reasonably, clearly and distinctively; the early warning should possess the classifying ability, and for single test scene, the classifying number of early warning needs to be more than or equal to at least one level.
The test equipment requirements, the road side unit requirements and the road side unit should meet the following requirements:
the communication distance is not less than 300m under the conditions of no space, no shielding and no interference;
The messages sent should meet the specifications of YD/T3340, YD/T3707, YD/T3709 and T/CSAE 159;
according to the requirements of the test scene, the road side unit should support the pre-configuration of the V2X message content, namely, the configuration of the lane speed limit value in the logic road network message, the road dangerous condition type and the influence range in the road side safety message, and the like.
The point location deployment and the perception equipment planning of RUS, millimeter wave radar, laser radar, signal lamp and event camera are shown in the following table:
TABLE 1
Point location RSU Millimeter wave radar Laser radar Signal lamp Event camera
1 1 0 0 0 2
2 1 0 0 0 1
3 1 1 1 1 2
4 1 1 0 0 1
5 1 0 0 0 1
6 1 0 1 1 2
7 1 2 0 0 0
Small counter 7 4 2 2 9
The acquisition parameters and accuracy requirements of the test equipment are shown in the following table:
Figure BDA0004087225300000141
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Figure BDA0004087225300000151
the test equipment collects parameters according to the table, and the collection precision is the precision requirement necessary for the method.
The invention relates to a vehicle-road cooperative UWB test management technology for civil aviation airports, which is mainly used for improving operation guarantee for unmanned equipment of airports and is based on full-factor people, vehicles and road intelligent cooperative models and vehicle-road cooperative big data so as to improve airport passing efficiency. The method comprises the steps of firstly collecting data information required by test, evaluating the data information, carrying out a road cooperative test on a vehicle according to the evaluation, recording a test result after the test is finished, and judging the test result.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
It will be appreciated by those skilled in the art that 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 solutions in the embodiments of the present application may be implemented in various computer languages, for example, object-oriented programming language Java, and an transliterated scripting language JavaScript, etc.
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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.

Claims (10)

1. The method for collaborative UWB test management of the civil aviation airport road is characterized by comprising the following steps of: comprising the steps of (a) a step of,
collecting data information required by test, and evaluating the test data information;
carrying out a road cooperative test on the vehicle according to the evaluation;
after the test is finished, recording a test result, and judging the test result.
2. The method for collaborative UWB test management of a civil aviation airport roadway of claim 1, wherein: the test data information comprises test parameters, test precision and expected early warning information of the tested vehicle under the current test case;
the test parameters include a test time, a test vehicle longitudinal speed, a test vehicle lateral speed, a test vehicle longitudinal acceleration, a test vehicle lateral acceleration, a test vehicle heading angle, a test vehicle longitudinal position, a test vehicle lateral position, a test vehicle yaw angle speed, a target vehicle longitudinal speed, a target vehicle lateral speed, a target vehicle longitudinal acceleration, a target vehicle lateral acceleration, a target vehicle heading angle, a target vehicle longitudinal position, a target vehicle lateral position, a test vehicle longitudinal distance from a target vehicle or a static reference point, a test vehicle lateral relative distance from the target vehicle, a test vehicle inter-vehicle time interval, a test vehicle collision time from the target vehicle, a target vehicle surrogate longitudinal speed, a target surrogate lateral speed, a target surrogate longitudinal acceleration, a target surrogate lateral acceleration, a target surrogate heading angle, a target surrogate longitudinal position, a target surrogate lateral distance from the test vehicle to the target surrogate or the static reference point, a test vehicle relative distance from the target surrogate inter-vehicle time interval, a test vehicle collision time from the target vehicle front wheel outer edge to a left side line, a test vehicle outer lane edge to a left side outer lane edge, a test vehicle outer lane outer edge to a right side outer lane edge to a test vehicle outer lane edge to a right side outer lane edge, a test vehicle outer lane outer edge to a right side outer lane edge.
3. The method for collaborative UWB test management of a civil aviation airport roadway of claim 2, wherein: the evaluation comprises the evaluation of forward collision early warning, intersection passing, left turn assistance, blind area early warning or lane changing early warning, reverse overtaking early warning, emergency braking early warning, abnormal vehicle warning, road dangerous condition warning, vehicle out-of-control early warning, speed limit early warning, red light running early warning, weak traffic participant collision early warning, in-vehicle sign, front congestion warning and emergency vehicle warning of the detected vehicle.
4. A method for collaborative UWB test management for civil aviation airport roads according to claim 3, wherein: the vehicle-road cooperative test comprises the steps that under the condition that no special requirement exists, a tested vehicle runs along the center line of a current lane, a test system acquires and detects test data in real time through a UWB technology, namely a wireless carrier communication technology, and verifies whether the V2X function of the tested vehicle can be correctly early-warned in a visual, auditory or tactile mode or not, and whether an early-warning result meets the corresponding test case requirement or not, wherein the test process is divided into a state adjustment stage and a performance evaluation stage;
the state adjustment stage is a process from starting the tested vehicle to the background vehicle until the target motion state of the test case is reached;
The performance evaluation 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.
5. The method for collaborative UWB testing management of civil aviation airport roads according to claim 4, wherein: the vehicle-road cooperative test further comprises a safety machine leaning test, a V2X vehicle following test, a speed limit reminding test, an emergency braking early warning test, a V2X weak traffic participant avoidance test, a V2X cooperative lane changing test and an intersection collision early warning test;
the safety machine leaning test comprises the steps that video monitoring equipment and RSU are arranged on a road side rod, information butt joint is carried out through UWB technology, when an aircraft approach detection device is equipped, when any part of ground equipment is in contact with an aircraft, an autonomous stop function is accurately started, when the machine leaning is stopped, the extrusion amount of a buffer protection device is not more than 30% of the thickness of the buffer protection device, if the extrusion amount is more than 30%, the test is directly regarded as a test failure, safety machine leaning test failure early warning is transmitted to an intelligent network cloud platform through UWB technology by the equipment, and a next instruction is waited;
if the distance between the equipment and the aircraft butt joint point is less than 500mm, the ground equipment quickly and automatically enters a worm speed mode, and if the safety detection system is not invalid when the aircraft is leaned on again, the system operation command is normally executed;
If the safety detection system fails, all self-propelled ground equipment is required to enter a worm speed mode by default, when the automatic worm speed mode is adopted, the speed under the full load condition needs to be accurately and automatically controlled, and because the buffer protection device is extruded to exceed the limit value of 30%, the ground equipment is required to accurately and automatically stop the aircraft at the speed of not higher than 0.36km/h, if the requirements are not met, the ground equipment is required to stop within a safe distance from the aircraft, the final aircraft is finished by using the accurate positioning device, the safety aircraft is judged to be successfully tested, and if the requirements are met, the safety aircraft is directly considered to be successfully tested;
the V2X vehicle following test comprises the steps that a tested vehicle runs at a constant speed in an automatic driving mode, RSU and millimeter wave radar are deployed on an L rod at a T-shaped intersection, if collision occurs between every two vehicles, the V2X vehicle following test is directly regarded as failure, an intelligent network cloud platform gives a termination test instruction to the vehicle with failure test, meanwhile, the platform is in butt joint with a central management system, running information and equipment state information of the tested vehicle are obtained in real time, and traffic state analysis of the tested vehicle is carried out;
if no collision occurs between every two vehicles, the running state of the tested vehicles needs to be concerned in real time, after the vehicles are driven, the distance between every two vehicles is kept within +/-25% of the set distance, the maximum distance is not more than 20m, and if the requirements are met, the tested vehicles are judged to pass the V2X vehicle following driving test;
If the test fails, the V2X following vehicle running test of the tested vehicle is judged to fail, the intelligent network cloud platform uploads early warning information of the test failure to the central management system, and the central management system stores and analyzes the test data and provides a data reference capable of realizing the optimization of the management and control measures.
6. The method for collaborative UWB test management for civil aviation airport roads according to claim 5, wherein: the speed limit reminding test comprises the steps that under an automatic driving mode, an RSU is deployed on an L rod at a T-shaped intersection, a speed limit sign is placed at a position 25 m above the intersection, a tested vehicle drives towards the speed limit sign along the middle of a lane, when the tested vehicle reaches the speed limit sign, the speed is not higher than the speed indicated by the speed limit sign, if the speed is higher than the speed indicated by the speed limit sign, a speed limit early warning module of the tested vehicle carries out early warning on a driver of the main vehicle to remind the driver to run at a reduced speed, and if the speed limit early warning module carries out normal early warning response, the speed limit reminding test is judged to pass successfully;
if the normal early warning response is not realized by the speed limit early warning module, the intelligent network cloud platform and the central management system are directly regarded as speed limit reminding test failure, the intelligent network cloud platform and the central management system are in butt joint of information data of the speed limit reminding test failure, the central management system, the road side system and the vehicle-mounted system are in real-time information interaction, the fault cause is clear, the fault problem of the early warning system is solved, and the vehicle video data in the front of the detected vehicle is stored;
The emergency braking early warning test comprises the steps of testing that a vehicle is driven at a constant speed in an automatic driving mode, when the vehicle on a road is in emergency braking, sending position and speed information of the emergency vehicle to the vehicle behind the emergency vehicle, reminding a driver of the vehicle behind to brake or change the road in advance, and judging that the vehicle to be tested passes the emergency braking early warning test if the test vehicle sends out warning information before braking and at least comprises optical and acoustic warning signals and the test vehicle is not collided with an obstacle;
if the test vehicle does not send alarm information before braking or the alarm information does not meet the requirements, the failure of the emergency braking early warning test is directly judged, the central management system acquires the real-time monitoring of the operation of the tested vehicle through the intelligent network cloud platform, the emergency braking early warning module of the vehicle is used for retrieving and analyzing the failure information, and the information data of the early warning module of the vehicle with the failure test is replayed and stored.
7. The method for collaborative UWB test management for civil aviation airport roads according to claim 6, wherein: the V2X weak traffic participant avoidance test comprises the steps that monitoring equipment and RSU are deployed on an L rod at a three-fork intersection, a weak traffic participant mark is placed 25 meters above the intersection, traffic lamps and pedestrian avoidance marks are added at the road opening, a test vehicle uniformly drives to the weak traffic participant mark along the middle of a lane at a speed of 30km/h under an automatic driving mode, if the test vehicle cannot be decelerated in advance and the safety of pedestrians passing through the lane where the vehicle is located, the test vehicle is directly regarded as V2X weak traffic participant avoidance test failure, the intelligent network cloud platform transmits test failure warning information to a central management system, the central management system transmits a termination test instruction to the intelligent network cloud platform and a tested vehicle system, and the tested vehicle stops running operation and waits for the next instruction;
If the test vehicle decelerates in advance and ensures that pedestrians safely pass through the lane where the vehicle is located, the next step of testing can be performed, namely when the test vehicle stops in front of the crosswalk, after the pedestrian passes through the lane where the test vehicle is located, the vehicle needs to be automatically started to continue running, the starting time is not longer than 5s, and if the tested vehicle meets the test requirement, the tested vehicle is judged to pass through the V2X weak traffic participant to avoid the test;
if the tested vehicle does not meet the test requirement, judging that the tested vehicle does not pass the V2X weak traffic participant avoidance test, namely the test fails, calling the parallel driving vehicle operation by a cloud service by a central management system to monitor and control the fault information, the speed, the steering wheel rotation angle, the driving road state, the vehicle position and the road test state of the tested vehicle in real time, playing back and analyzing videos, and recording and storing operation data so as to be convenient for optimizing and updating a vehicle-mounted system;
the V2X collaborative lane changing test comprises the steps that millimeter wave radar and RSU are installed on a L pole at a road side, lane identification information of a road is broadcast to an unmanned special vehicle through a high-precision map and UWB technology, the test vehicle runs at a constant speed along the middle of a lane at a speed of 30km/h in an automatic driving mode, a lane changing instruction is sent to the test vehicle in a proper mode, the test road at least comprises a long straight lane of two lanes and comprises two situations of a vehicle and a vehicle-free adjacent lane, when the test situation is that the vehicle-free adjacent lane is changed, the test vehicle starts to turn on a correct steering lamp, steering is started after the steering lamp is started for at least 3 seconds, the time from the start of steering to the completion of the action of merging the adjacent lane is not more than 5 seconds, if the tested vehicle does not meet the test requirement, the intelligent network cloud platform uploads test failure information and complete monitoring video in the front of the vehicle in a test stage to a central management system, and the central management system further analyzes the traffic state of the tested vehicle through the central cloud platform, and the remote control state is archived;
If the tested vehicle meets the test requirement, judging that the tested vehicle passes the lane change test without the vehicle in the adjacent lane of the V2X cooperative lane change test, continuing to perform the test under the lane change condition of the vehicle in the adjacent lane, and judging that the V2X cooperative lane change test of the tested vehicle passes successfully when the tested vehicle keeps running in the original lane and is not collided with the target vehicle;
if the test requirement under the condition that the adjacent lane has a lane change is not met, judging that the tested vehicle does not pass the adjacent lane change test of the V2X collaborative lane change test, uploading test failure information and a complete monitoring video in the front of the vehicle in the test stage to a central management system by an intelligent networking cloud platform, transcribing and archiving the video by the central management system through the central cloud platform, and further analyzing the traffic state and the remote control state of the tested vehicle.
8. The method for collaborative UWB test management for civil aviation airport roads according to claim 7, wherein: the intersection collision early warning test comprises the steps that video monitoring equipment, signal lamps, RSU, millimeter wave radar and laser radar are deployed on an L-shaped rod at a T-shaped intersection, a test vehicle drives to the intersection at a constant speed in an automatic driving mode, when the sight of a driver of a main vehicle is blocked by an obstacle at the intersection, and the driver of the main vehicle cannot judge vehicles which drive to the intersection on the left side or the right side of the current intersection, the intersection collision early warning carries out early warning on the driver, if the early warning is successfully sent out and the test vehicle starts a correct steering lamp, meanwhile, the test vehicle is in compliance with traffic rules, the passing is realized, and the corresponding lane driving is carried out, and then the tested vehicle is judged to pass the intersection collision early warning test;
If the detected vehicle does not realize the successful sending of early warning or the detected vehicle cannot turn on the correct steering lamp, the detected vehicle is regarded as the test failure, the issuing of the temporary traffic control instruction is realized through the information interaction channels of the central cloud platform, the road side system and the vehicle-mounted system, meanwhile, the central management system acquires the two-dimensional and three-dimensional vehicle driving route diagram of the detected vehicle through the intelligent network cloud platform, the vehicle parameter feedback of the detected vehicle including speed, positioning, steering and braking parameters is authorized, and the operation data is recorded and played back.
9. The utility model provides a be used for civil aviation airport road to cooperate UWB test management system which characterized in that: comprising the steps of (a) a step of,
the intelligent network connection cloud platform is deployed in the management center, can realize the butt joint with the central management system, acquire vehicle running information and equipment state information in real time, further support traffic state analysis and remote control functions, and realize the intellectualization and networking of regional management and control;
the central management system is used for integrating and testing the whole information, uniformly regulating and controlling the state of the equipment and issuing instructions;
the central cloud platform mainly realizes the storage and analysis functions of network traffic operation data, and can perform real-time information interaction with a road side system and a vehicle-mounted system, so that full-time space tracking is performed on road side detection information and vehicle uploading information, and data reference is provided for road network traffic state analysis and traffic management and control measure optimization;
The road side system is used for monitoring and feeding back traffic states at two sides of the road and the cooperative situation of the vehicle and the road in real time;
the vehicle-mounted system is used for receiving the interaction information and instruction information of the intelligent network cloud platform, the central management system, the central cloud platform and the road side system, simultaneously monitoring the interior of the front vehicle in real time and sending out early warning information under certain conditions.
10. A cooperative UWB test management device for civil aviation airport roads, comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 8 when executing the computer program.
CN202310140221.8A 2023-02-21 2023-02-21 Method, system and equipment for collaborative UWB test management of civil aviation airport road Pending CN116193401A (en)

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CN202310140221.8A CN116193401A (en) 2023-02-21 2023-02-21 Method, system and equipment for collaborative UWB test management of civil aviation airport road

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