CN116822204A - Automatic generation method, device and equipment of dangerous scene in vehicle function test - Google Patents

Automatic generation method, device and equipment of dangerous scene in vehicle function test Download PDF

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Publication number
CN116822204A
CN116822204A CN202310775148.1A CN202310775148A CN116822204A CN 116822204 A CN116822204 A CN 116822204A CN 202310775148 A CN202310775148 A CN 202310775148A CN 116822204 A CN116822204 A CN 116822204A
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collision
vehicle
event
state data
target
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张峻荧
王士焜
周正
苏芮琦
张民康
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Wuhan Da'an Technology Co ltd
Xiangyang Daan Automobile Test Center Co Ltd
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Wuhan Da'an Technology Co ltd
Xiangyang Daan Automobile Test Center Co Ltd
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    • 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
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    • G06F—ELECTRIC DIGITAL DATA PROCESSING
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    • G06F16/2282—Tablespace storage structures; Management thereof
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation

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Abstract

The application discloses an automatic generation method, device and equipment of a dangerous scene in vehicle function test, which are used for enabling a vehicle to generate a collision event with a random collision target in a random traffic environment by controlling the vehicle to run in the random traffic environment; acquiring collision state data of the vehicle and a corresponding collision target in each collision event; when the vehicle function test is carried out, when the current state data of the vehicle is matched with the collision state data of the vehicle in the collision event, a collision target in the collision event is controlled to move according to the corresponding collision state data so as to generate a dangerous scene. The method and the system have the advantages that the dangerous scene can be automatically generated on the existing continuous test road, the adaptability to the road structure is high, the behavior of the vehicle to be tested is considered in the scene generation process, the probability of generating the high-risk dangerous scene is high, a complex real-time algorithm is not needed, the real-time performance of the system is basically not affected, and the system is easy to implement.

Description

Automatic generation method, device and equipment of dangerous scene in vehicle function test
Technical Field
The present application relates to the field of vehicle function simulation testing technologies, and in particular, to a method, an apparatus, and a device for automatically generating a dangerous scene in a vehicle function test.
Background
When the vehicle is subjected to simulation test, a simulation scene is the basis for performing function verification and safety test on the intelligent network-connected automobile. Compared with the test methods such as road and closed field test, the method has the advantages of high efficiency, easy realization, repeatability, low cost and safety.
The simulation scene is mainly divided into two types of scenes of a fragment type and a continuous type. The segment scene is mainly defined and generated according to the function to be tested of the vehicle and is used for assisting the special function test of the driving system, such as an AEB pedestrian collision avoidance function test scene; the continuous scene is mainly used for testing a high-level automatic driving system, a vehicle to be tested is placed in the continuous scene, and the comprehensive intelligent driving capability of compliance, safety and comfort is ensured in the process that the vehicle to be tested continuously and continuously runs for a long time from an initial position to a destination is tested.
The definition of corner scenes and dangerous scenes in the current simulation scenes is mainly based on fragment scenes obtained by three modes of real vehicle accident data, expert experience and theoretical analysis. The real vehicle accident data recovery scheme is reproduced in simulation software according to an accident database, the scene obtained by the scheme is segmented and is difficult to combine with a high-level automatic driving continuous test scene, for example, the real vehicle accident data scene is a curve, and a road structure which is more consistent with the actual curve structure does not exist in the built continuous simulation scene. In the expert experience scheme, the scenes are generally classified based on typical scenes obtained through experience accumulation, the scenes are used in the built continuous test road, specific values of parameters in the experience scenes are required to be matched with the road structure, the workload is large, the time consumption is long, and the possibly matched scenes cannot form dangerous scenes because the behaviors of the to-be-tested pieces are not considered. The theoretical analysis scheme needs to dynamically adjust the behaviors of traffic participants in real time to form a relative state with collision risk with the vehicle to be tested, and the scheme needs larger calculated amount and real-time calculation resources because the behavior prediction is carried out according to the real-time state of the vehicle to be tested, and has extremely high requirement on the robustness of a behavior budget algorithm and large implementation difficulty.
Disclosure of Invention
The application mainly aims to provide an automatic generation method, device and equipment of a dangerous scene in a vehicle function test, and aims to solve the technical problem that the dangerous scene is difficult to generate in the vehicle function test.
In a first aspect, the present application provides a method for automatically generating a dangerous scene in a vehicle function test, the method comprising the steps of:
controlling a vehicle to run in a random traffic environment so that the vehicle generates a collision event with random collision targets in the random traffic environment;
acquiring collision state data of the vehicle and a corresponding collision target in each collision event;
when the vehicle function test is carried out, when the current state data of the vehicle is matched with the collision state data of the vehicle in the collision event, a collision target in the collision event is controlled to move according to the corresponding collision state data so as to generate a dangerous scene.
In some embodiments, the acquiring collision status data of the vehicle and the corresponding collision target in each collision event includes:
and acquiring the coordinates and the speed of the vehicle in each collision event, and acquiring the coordinates, the speed and the course angle of the corresponding collision target.
In some embodiments, the acquiring the coordinates and the speed of the vehicle in each collision event, and acquiring the coordinates, the speed and the heading angle of the corresponding collision target further includes:
and acquiring the coordinates and the speeds of the vehicles at the first preset moment before collision in each collision event, and acquiring the coordinates, the speeds and the course angles of the corresponding collision targets at the first preset moment before collision, the second preset moment after collision and the collision.
In some embodiments, when the current state data of the vehicle matches the collision state data of the vehicle in the collision event, controlling the collision target in the collision event to move according to the corresponding collision state data so as to generate a dangerous scene, including:
when the deviation between the current coordinates and the current speed of the vehicle and the coordinates and the current speed of the vehicle at the first preset moment before collision in a collision event is smaller than a preset deviation threshold value, a collision target in the collision event is controlled to move according to corresponding collision state data so as to generate a dangerous scene.
In some embodiments, controlling the collision target in the collision event to move according to the corresponding collision status data to generate a dangerous scene further includes:
and controlling a collision target in the collision event to move according to the first preset moment before collision, the second preset moment after collision and the corresponding coordinates, speed and course angle during collision so as to generate the dangerous scene.
In some embodiments, acquiring respective collision status data of the vehicle and the corresponding collision target in each collision event further includes:
after the vehicle finishes running in the random traffic environment, determining the type of each collision event and the number of each type generated by the running of the vehicle;
judging whether the type of the collision event and the number of each type meet the generation requirement of the dangerous scene or not;
if yes, storing the collision event;
otherwise, controlling the vehicle to run in the random traffic environment again until the type of the generated collision event and the number of the types meet the dangerous scene generation requirement.
In some embodiments, the control vehicle further comprises, prior to operating in the random traffic environment:
generating the random traffic environment according to the configured range of the traffic environment, the types and states of traffic participants in the traffic environment and the traffic flow density in the traffic environment;
wherein the types of traffic participants include at least one type of vehicle, rider, and pedestrian, and the status of the traffic participants includes the movement position and movement pattern of the traffic participants.
In some embodiments, controlling the vehicle to operate in the random traffic environment includes:
shielding the collision avoidance function of the vehicle;
and controlling the vehicle to run in the random traffic environment according to a preset target track.
In a second aspect, the present application further provides an automatic generation device for a dangerous scene in a vehicle function test, where the device includes:
a first control module for controlling a vehicle to operate in a random traffic environment such that the vehicle generates a collision event with a random collision target in the random traffic environment;
the acquisition module is used for acquiring collision state data of the vehicle and the corresponding collision target in each collision event;
and the second control module is used for controlling a collision target in a collision event to move according to the corresponding collision state data when the current state data of the vehicle is matched with the collision state data of the vehicle in the collision event during the vehicle function test so as to generate a dangerous scene.
In a third aspect, the present application also provides a computer device, the computer device comprising a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program when executed by the processor implements the steps of the method for automatically generating a hazard scenario in a vehicle function test as described above.
The application provides an automatic generation method, device and equipment of a dangerous scene in a vehicle function test, which are used for enabling a vehicle to generate a collision event with a random collision target in a random traffic environment by controlling the vehicle to run in the random traffic environment; acquiring collision state data of the vehicle and a corresponding collision target in each collision event; when the vehicle function test is carried out, when the current state data of the vehicle is matched with the collision state data of the vehicle in the collision event, a collision target in the collision event is controlled to move according to the corresponding collision state data so as to generate a dangerous scene. The method and the system have the advantages that the dangerous scene can be automatically generated on the existing continuous test road, the adaptability to the road structure is high, the behavior of the vehicle to be tested is considered in the scene generation process, the probability of generating the high-risk dangerous scene is high, a complex real-time algorithm is not needed, the real-time performance of the system is basically not affected, and the system is easy to implement.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of an automatic generation method of a dangerous scene in a vehicle function test according to an embodiment of the present application;
FIG. 2 is a table of status data records of crash events;
FIG. 3 is a schematic block diagram of an automatic generation device for dangerous situations in vehicle function test according to an embodiment of the present application;
fig. 4 is a schematic block diagram of a computer device according to an embodiment of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
The embodiment of the application provides a method, a device and equipment for automatically generating a dangerous scene in vehicle function test. The automatic generation method of the dangerous scene in the vehicle function test can be applied to computer equipment, and the computer equipment can be electronic equipment such as a notebook computer, a desktop computer and the like.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a flowchart of an automatic generation method of a dangerous scene in a vehicle function test according to an embodiment of the present application.
As shown in fig. 1, the method includes steps S1 to S3.
And S1, controlling a vehicle to run in a random traffic environment, so that a collision event is generated between the vehicle and a random collision target in the random traffic environment.
It is noted that controlling the vehicle before the random traffic environment operates further includes generating the random traffic environment.
Specifically, generating the random traffic environment includes: generating the random traffic environment according to the configured range of the traffic environment, the types and states of traffic participants in the traffic environment and the traffic flow density in the traffic environment; wherein the types of traffic participants include at least one type of vehicle, rider, and pedestrian, and the status of the traffic participants includes the movement position and movement pattern of the traffic participants.
Illustratively, when generating the random traffic environment, including the range of random traffic environments configured, the random traffic flow density in the random traffic environment and the type of vehicles in the random traffic flow are configured. The type of the vehicles in the random traffic flow can comprise various types of vehicles such as cars, trucks, buses and the like. The random traffic flow density is the number of vehicles within the range of the preset random traffic environment. The random traffic environment also comprises riders, pedestrians and the like, and the configuration time also comprises the positions and modes of the movement of the traffic participants such as configuration pedestrians, riders and the like in the scene.
Further, controlling a vehicle to operate in a random traffic environment such that the vehicle generates a collision event with a random collision target in the random traffic environment, comprising: and shielding the collision avoidance function of the vehicle, and controlling the vehicle to run in the random traffic environment according to a preset target track.
It should be noted that, the random collision target is a vehicle, a rider, a pedestrian or the like configured in a random traffic environment. The intelligent network-connected automobile generally has a collision avoidance function, namely, when the automobile is possibly collided when being too close to other objects, the automobile can brake or adjust the direction, so that the collision is avoided. In this embodiment, it is required to obtain a collision event generated by a vehicle and a random collision target in a random traffic environment, so that a collision avoidance function of the vehicle needs to be shielded, so that the vehicle travels through the whole random traffic environment according to a target track to generate the collision event.
And S2, acquiring collision state data of the vehicle and a corresponding collision target in each collision event.
Specifically, the coordinates and the speeds of the vehicles in each collision event are obtained, and the coordinates, the speeds and the course angles of the corresponding collision targets are obtained.
Preferably, the coordinates and the speeds of the vehicles at the first preset moment before the collision in each collision event are obtained, and the coordinates, the speeds and the course angles of the corresponding collision targets at the first preset moment before the collision, the second preset moment after the collision and the collision are obtained.
Exemplary, coordinates and speeds of a vehicle T1 seconds before a collision are acquired after a collision event occurs, and coordinates, speeds, and heading angles of a collision target that collides with the vehicle T1 seconds before a collision, coordinates, speeds, and heading angles at the time of the collision, and coordinates, speeds, and heading angles at T2 seconds after the collision are acquired. Wherein the coordinates of the vehicle include an X-direction (lateral) coordinate of the vehicle, a Y-direction coordinate of the vehicle, and a Z-direction coordinate of the vehicle; the coordinates of the collision target include X-direction (lateral) coordinates of the collision target, Y-direction coordinates of the collision target, and Z-direction coordinates of the collision target. While recording the type of collision target.
Further, acquiring respective collision status data of the vehicle and the corresponding collision target in each collision event, further includes: after the vehicle finishes running in the random traffic environment, determining the type of each collision event and the number of each type generated by the running of the vehicle; judging whether the type of the collision event and the number of each type meet the generation requirement of the dangerous scene or not; if yes, storing the collision event; otherwise, controlling the vehicle to run in the random traffic environment again until the type of the generated collision event and the number of the types meet the dangerous scene generation requirement.
Exemplary types of collision times include the type of traffic participant that collides with the vehicle, and the manner in which the collision occurs, such as a forward collision, a side collision, and so forth. For example, a dangerous scene to be generated includes a side collision event with a car 5 times and a forward collision event with a pedestrian 1 time. If the vehicle runs in the random traffic environment, generating a car lateral collision event for 5 times or more, and not generating a forward collision event with pedestrians; or the lateral collision event of the car is generated for less than 5 times, and the forward collision event with the pedestrian is generated for 1 time or more than 1 time, which is considered to not meet the generation requirement of the dangerous scene. If the collision data does not meet the generation requirement of the dangerous scene, initializing the data of the random traffic environment and the collision event, and controlling the vehicle to run in the random environment again to generate the collision event until the type and the number of the type of the collision event meet the generation requirement of the dangerous scene.
Further, after the types and the number of types of the generated crash events meet the generation requirement of the dangerous scene, the state data of the crash events may be stored according to the record table shown in fig. 2, so as to form a dangerous event sequence.
And step S3, when the vehicle function test is carried out, and when the current state data of the vehicle is matched with the collision state data of the vehicle in the collision event, controlling a collision target in the collision event to move according to the corresponding collision state data so as to generate a dangerous scene.
Specifically, when the deviation between the current coordinate and speed of the vehicle and the coordinate and speed of the vehicle at the first preset moment before collision in a collision event is smaller than a preset deviation threshold value, a collision target in the collision event is controlled to move according to corresponding collision state data so as to generate a dangerous scene.
It should be noted that, controlling the collision target in the collision event to move according to the corresponding collision status data so as to generate a dangerous scene specifically includes: and controlling a collision target in the collision event to move according to coordinates, speed and course angle corresponding to the first preset moment before collision, the collision time and the second preset moment after collision so as to generate the dangerous scene.
The method comprises the steps of starting an automatic driving vehicle or a system to be tested according to a normal test program to test, observing whether the deviation between coordinates and speed of the automatic driving vehicle to be tested and the coordinates and speed of a first preset moment before collision of the vehicle recorded in a dangerous event sequence is smaller than a preset deviation threshold value in real time, and triggering the coordinates and speed corresponding to the first preset moment before collision, the first preset moment after collision and a second preset moment after collision of a relevant collision target root corresponding to the dangerous event to move when the deviation is smaller than the preset deviation threshold value so as to generate dangerous interaction behaviors.
It should be understood that in this embodiment, more collision events are generated in a pre-running manner by the collision avoidance function of the shielded vehicle, and then key data in a period of time before and after the collision event point is recorded; and then starting the test of the automatic driving vehicle/system to be tested according to a normal test program, wherein the collision avoidance function can be normally started at the moment, and observing whether coordinates and speeds of the automatic driving vehicle to be tested are close to each other in a collision event in which the coordinates and speeds of the automatic driving vehicle to be tested are already generated or not in real time, and triggering a corresponding collision target to perform dangerous interaction behavior immediately when the coordinates and speeds of the automatic driving vehicle to be tested are close to each other to generate a dangerous scene, and testing whether the vehicle with the collision avoidance function started can avoid the collision target or not, so that the simulation test of the vehicle is realized.
The embodiment of the application provides the automatic generation method of the dangerous scene in the vehicle function test, which has the beneficial effects that the dangerous scene is automatically generated on the existing continuous test road, and the adaptability to the road structure is high. In the scene generation process, the behavior of the vehicle to be detected is considered, and the probability of generating a high-risk dangerous scene is high. And a complex real-time algorithm is not needed, the real-time performance of the system is basically not influenced, and the implementation is easy.
Referring to fig. 3, fig. 3 is a schematic block diagram of an automatic generation device for a dangerous scene in a vehicle function test according to an embodiment of the present application.
As shown in fig. 3, the apparatus includes:
a first control module for controlling a vehicle to operate in a random traffic environment such that the vehicle generates a collision event with a random collision target in the random traffic environment;
the acquisition module is used for acquiring collision state data of the vehicle and the corresponding collision target in each collision event;
and the second control module is used for controlling a collision target in a collision event to move according to the corresponding collision state data when the current state data of the vehicle is matched with the collision state data of the vehicle in the collision event during the vehicle function test so as to generate a dangerous scene.
The acquisition module is also used for acquiring the coordinates and the speed of the vehicle in each collision event and acquiring the coordinates, the speed and the course angle of the corresponding collision target.
The acquisition module is further used for acquiring the coordinates and the speeds of the vehicles at the first preset moment before collision in each collision event, and acquiring the coordinates, the speeds and the course angles of the corresponding collision targets at the first preset moment before collision, the second preset moment after collision and the collision.
Wherein the second control module is further configured to:
when the deviation between the current coordinates and the current speed of the vehicle and the coordinates and the current speed of the vehicle at the first preset moment before collision in a collision event is smaller than a preset deviation threshold value, a collision target in the collision event is controlled to move according to corresponding collision state data so as to generate a dangerous scene.
Wherein the second control module is further configured to:
and controlling a collision target in the collision event to move according to the first preset moment before collision, the second preset moment after collision and the corresponding coordinates, speed and course angle during collision so as to generate the dangerous scene.
Wherein, this dress the acquisition module is still used for:
after the vehicle finishes running in the random traffic environment, determining the type of each collision event and the number of each type generated by the running of the vehicle;
judging whether the type of the collision event and the number of each type meet the generation requirement of the dangerous scene or not;
if yes, storing the collision event;
otherwise, controlling the vehicle to run in the random traffic environment again until the type of the generated collision event and the number of the types meet the dangerous scene generation requirement.
Wherein the device is also used for:
generating the random traffic environment according to the configured range of the traffic environment, the types and states of traffic participants in the traffic environment and the traffic flow density in the traffic environment;
wherein the types of traffic participants include at least one type of vehicle, rider, and pedestrian, and the status of the traffic participants includes the movement position and movement pattern of the traffic participants.
Wherein, the first control module is further configured to:
shielding the collision avoidance function of the vehicle;
and controlling the vehicle to run in the random traffic environment according to a preset target track.
It should be noted that, for convenience and brevity of description, specific working procedures of the above-described apparatus and each module and unit may refer to corresponding procedures in the foregoing embodiments, and are not repeated herein.
The apparatus provided by the above embodiments may be implemented in the form of a computer program which may be run on a computer device as shown in fig. 4.
Referring to fig. 4, fig. 4 is a schematic block diagram of a computer device according to an embodiment of the present application. The computer device may be a terminal such as a notebook computer.
As shown in fig. 4, the computer device includes a processor, a memory, and a network interface connected by a system bus, wherein the memory may include a non-volatile storage medium and an internal memory.
The non-volatile storage medium may store an operating system and a computer program. The computer program comprises program instructions which, when executed, cause the processor to perform any of a number of methods for automatically generating a hazard scenario in a vehicle functional test.
The processor is used to provide computing and control capabilities to support the operation of the entire computer device.
The internal memory provides an environment for the execution of a computer program in the non-volatile storage medium that, when executed by the processor, causes the processor to perform any one of the methods for automatically generating a hazard scenario in a vehicle functional test.
The network interface is used for network communication such as transmitting assigned tasks and the like. It will be appreciated by persons skilled in the art that the architecture shown in fig. 4 is merely a block diagram of some of the architecture relevant to the present inventive arrangements and is not limiting as to the computer device to which the present inventive arrangements are applicable, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
It should be appreciated that the processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments. While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (10)

1. An automatic generation method of dangerous scenes in vehicle function test is characterized by comprising the following steps:
controlling a vehicle to run in a random traffic environment so that the vehicle generates a collision event with random collision targets in the random traffic environment;
acquiring collision state data of the vehicle and a corresponding collision target in each collision event;
when the vehicle function test is carried out, when the current state data of the vehicle is matched with the collision state data of the vehicle in the collision event, a collision target in the collision event is controlled to move according to the corresponding collision state data so as to generate a dangerous scene.
2. The method for automatically generating a dangerous scenario in an automotive functional test according to claim 1, wherein the acquiring collision status data of the vehicle and a corresponding collision target in each collision event includes:
and acquiring the coordinates and the speed of the vehicle in each collision event, and acquiring the coordinates, the speed and the course angle of the corresponding collision target.
3. The method for automatically generating a dangerous scene in an automobile function test according to claim 2, wherein the steps of obtaining coordinates and speeds of the vehicle in each collision event and obtaining coordinates, speeds and heading angles of corresponding collision targets further comprise:
and acquiring the coordinates and the speeds of the vehicles at the first preset moment before collision in each collision event, and acquiring the coordinates, the speeds and the course angles of the corresponding collision targets at the first preset moment before collision, the second preset moment after collision and the collision.
4. The method for automatically generating a dangerous scenario in an automotive functional test according to claim 3, wherein when the current state data of the vehicle matches the collision state data of the vehicle in the collision event, controlling a collision target in the collision event to move according to the corresponding collision state data to generate the dangerous scenario, comprising:
when the deviation between the current coordinates and the current speed of the vehicle and the coordinates and the current speed of the vehicle at the first preset moment before collision in a collision event is smaller than a preset deviation threshold value, a collision target in the collision event is controlled to move according to corresponding collision state data so as to generate a dangerous scene.
5. The method for automatically generating a dangerous scene in an automotive functional test according to claim 3, wherein controlling the collision target in the collision event to move according to the corresponding collision status data to generate the dangerous scene further comprises:
and controlling a collision target in the collision event to move according to coordinates, speed and course angle corresponding to the first preset moment before collision, the collision time and the second preset moment after collision so as to generate the dangerous scene.
6. The method for automatically generating a dangerous scenario in an automotive functional test according to claim 1, wherein acquiring respective collision status data of the vehicle and a corresponding collision target in each collision event, further comprises:
after the vehicle finishes running in the random traffic environment, determining the type of each collision event and the number of each type generated by the running of the vehicle;
judging whether the type of the collision event and the number of each type meet the generation requirement of the dangerous scene or not;
if yes, storing the collision event;
otherwise, controlling the vehicle to run in the random traffic environment again until the type of the generated collision event and the number of the types meet the dangerous scene generation requirement.
7. The method for automatically generating a hazard scenario in an automotive functional test of claim 1, wherein the controlling the vehicle prior to operating in the random traffic environment further comprises:
generating the random traffic environment according to the configured range of the traffic environment, the types and states of traffic participants in the traffic environment and the traffic flow density in the traffic environment;
wherein the types of traffic participants include at least one type of vehicle, rider, and pedestrian, and the status of the traffic participants includes the movement position and movement pattern of the traffic participants.
8. The method for automatically generating a hazard scenario in an automotive functional test of claim 1, wherein controlling a vehicle to operate in the random traffic environment comprises:
shielding the collision avoidance function of the vehicle;
and controlling the vehicle to run in the random traffic environment according to a preset target track.
9. An automatic generation device of dangerous scenes in vehicle function test is characterized by comprising:
a first control module for controlling a vehicle to operate in a random traffic environment such that the vehicle generates a collision event with a random collision target in the random traffic environment;
the acquisition module is used for acquiring collision state data of the vehicle and the corresponding collision target in each collision event;
and the second control module is used for controlling a collision target in a collision event to move according to the corresponding collision state data when the current state data of the vehicle is matched with the collision state data of the vehicle in the collision event during the vehicle function test so as to generate a dangerous scene.
10. A computer device, characterized in that it comprises a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program, when executed by the processor, realizes the steps of the method for automatically generating a hazard scenario in a vehicle function test according to any one of claims 1 to 8.
CN202310775148.1A 2023-06-27 2023-06-27 Automatic generation method, device and equipment of dangerous scene in vehicle function test Pending CN116822204A (en)

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