CN206772594U - Automatic driving vehicle avoids the checkout area of dynamic barrier ability - Google Patents

Abstract

Automatic driving vehicle technical field of performance test is the utility model is related to, more particularly to a kind of automatic driving vehicle avoids the checkout area of dynamic barrier ability.Checkout area includes road and dynamic barrier, the moving line of dynamic barrier intersects with the travel route of vehicle to be measured, intersection is located on road, and dynamic barrier can move in a manner of meeting is in the intersection of travel route and moving line with vehicle collision to be measured in the case of not making avoidance action in vehicle to be measured.On the one hand, gross data of such checkout area compared to computer simulation traffic circulation software, more it is close to true running environment, test result is enabled more accurately to show the ability that vehicle to be measured avoids dynamic barrier, it is also, safer relative to the drive test carried out using real road；On the other hand, the checkout area can use as test of the standardization scene for different automatic driving vehicles, and then make it that test result is more authoritative and reliable.

Description

Automatic driving vehicle avoids the checkout area of dynamic barrier ability

Technical field

Automatic driving vehicle technical field of performance test is the utility model is related to, more particularly to a kind of automatic driving vehicle is kept away Allow the checkout area of dynamic barrier ability.

Background technology

Automatic Pilot mainly has five ranks, and 0 grade is without automatic Pilot, and 1 grade is that the auxiliary such as Infotainment, navigation are driven Sail, 2 grades are that the auxiliary such as traffic safety and traffic efficiency drive (based on artificial), 3 grades of automatic Pilots for specified conditions/road, 4 grades of automatic Pilots for round-the-clock, full road.It can be described as auxiliary from 1 grade to 3 grades to drive, 4 grades i.e. unmanned.Therefore, automatically Driving vehicle includes the automatic driving vehicle that auxiliary driver-operated auxiliary driving vehicle and full automation drive.

The outer research to automatic Pilot of Current Domestic gradually deeply, is constantly driven to unmanned propulsion from auxiliary.And The either product in which stage of automatic Pilot research and development, is required for confirming or improve vehicle to the testing result of vehicle performance Security.

Wherein, the ability of vehicle avoidance dynamic barrier is particularly important, existing dynamic for detecting automatic driving vehicle State barrier and avoid dynamic barrier theoretical research it is very deep, actual research and development are not overripened, it is necessary to constantly carry out Test is to verify and perfect.But at present lack to automatic driving vehicle avoid dynamic barrier ability it is standard, be close to The checkout area of true running environment, therefore, rower can be entered to automatic driving vehicle avoidance dynamic barrier ability by needing one kind badly It is accurate, be close to true running environment and checkout area.

Utility model content

(1) technical problems to be solved

The purpose of this utility model is that the progress of dynamic barrier ability can be avoided to automatic driving vehicle by providing one kind Standard, be close to the checkout area of true running environment.

(2) technical scheme

In order to achieve the above object, the main technical schemes that the utility model uses include：

(3) beneficial effect

The beneficial effects of the utility model are：

The utility model provides the checkout area that a kind of automatic driving vehicle avoids dynamic barrier ability, including：Road；It is dynamic State barrier, the moving line of dynamic barrier intersect with the travel route of vehicle to be measured, and intersection is located on road, and moves State barrier can be transported in a manner of meeting intersection in the case of not making avoidance action in vehicle to be measured is with vehicle collision to be measured It is dynamic；Limit the track of the moving line of dynamic barrier；Drive drive device of the dynamic barrier along the track motion.

According to the utility model, dynamic barrier can with left between vehicle to be measured and intersection vehicle can avoid away from From when appear in the mode in the computer vision acquisition range of vehicle to be measured and move.

According to the utility model, in addition to：Automatic detection road conditions and the road conditions with dynamic barrier can detected When the roadside device of warning information is sent to vehicle to be measured.

According to the utility model, the detector of roadside device including automatic detection road conditions, by from the road that detector receives Condition relevant information analyzes and processes the processing module to form warning information and the Wireless Telecom Equipment with V2I communications protocol, Detector in roadside device connects with processing module, processing module and the Wireless Telecom Equipment communication with V2I communications protocol To carry out information transfer, the Wireless Telecom Equipment with V2I communications protocol can send warning information to vehicle to be measured.

According to the utility model, in addition to：Run test and management center, operation test and management center includes can be to be measured Vehicle send traffic information, have V2N communications protocol Wireless Telecom Equipment.

According to the utility model, dynamic barrier is dummy, animal model or non-motor vehicle, dummy, animal model or non- Motor vehicle includes carrying or sending positional information and/or the equipment of movable information；Operation test and management center leads to drive device News are connected to control drive device driving dummy, animal model or non-motor vehicle to move.

According to the utility model, dynamic barrier is motor vehicle, and motor vehicle is automatic driving vehicle, and motor vehicle includes can Send Wireless Telecom Equipment run routing information, that there is V2V communications protocol and V2N communications protocol of motor vehicle；Operation is surveyed Examination administrative center is connected with motor vehicle by respective Wireless Telecom Equipment communication with one another, so that the control of operation test and management center Motor-driven vehicle going.

According to the utility model, in addition to：Signal lamp, signal lamp are arranged on road and indicate to allow vehicle to be measured to lead to OK.

According to the utility model, in addition to：View obstruction thing, view obstruction thing, which is arranged on, stops that vehicle to be measured passes through machinery Vision finds the position of dynamic barrier.

According to the utility model, in addition to：For being interconnected with vehicle to be measured to gather the collection mould of the information of vehicle to be measured Block.

(3) beneficial effect

The beneficial effects of the utility model are：

Checkout area of the present utility model includes road and dynamic barrier, the moving line of dynamic barrier and vehicle to be measured Travel route intersect, intersection is located on road, and dynamic barrier can with vehicle to be measured do not make avoidance action In the case of can be moved in the intersection of travel route and moving line and the mode of vehicle collision to be measured.On the one hand, it is such Checkout area is more close to true running environment compared to the gross data of computer simulation traffic circulation software so that test As a result the ability that vehicle to be measured avoids dynamic barrier can be more accurately showed, also, is entered relative to using real road Capable drive test is safer；On the other hand, the checkout area can make as test of the standardization scene for different automatic driving vehicles With, and then make it that test result is more authoritative and reliable.

Brief description of the drawings

Fig. 1 is that the automatic driving vehicle that embodiment one is provided in following embodiment avoids dynamic barrier ability Checkout area schematic diagram, wherein traveling need measuring car；

Fig. 2 is that the automatic driving vehicle that embodiment two is provided in following embodiment avoids dynamic barrier ability Checkout area schematic diagram, wherein traveling need measuring car；

Fig. 3 is that the automatic driving vehicle that embodiment three is provided in following embodiment avoids dynamic barrier ability Checkout area schematic diagram, wherein traveling need measuring car；

Fig. 4 is that the automatic driving vehicle that example IV is provided in following embodiment avoids dynamic barrier ability Checkout area schematic diagram, wherein traveling need measuring car；

Fig. 5 is that the automatic driving vehicle that embodiment five is provided in following embodiment avoids dynamic barrier ability Checkout area schematic diagram, wherein traveling need measuring car；

Fig. 6 is that the automatic driving vehicle that embodiment six is provided in following embodiment avoids dynamic barrier ability Checkout area schematic diagram, wherein traveling need measuring car；

Fig. 7 is that the automatic driving vehicle that embodiment seven is provided in following embodiment avoids dynamic barrier ability Checkout area schematic diagram, wherein traveling need measuring car；

Fig. 8 is that the automatic driving vehicle that embodiment eight is provided in following embodiment avoids dynamic barrier ability Checkout area schematic diagram, wherein traveling need measuring car；

Fig. 9 is that the automatic driving vehicle that embodiment nine is provided in following embodiment avoids dynamic barrier ability Checkout area schematic diagram, wherein traveling need measuring car；

Figure 10 is that the automatic driving vehicle that embodiment ten is provided in following embodiment avoids dynamic barrier energy The schematic diagram of the checkout area of power, wherein traveling needs measuring car；

Figure 11 is that the automatic driving vehicle that embodiment 11 is provided in following embodiment avoids dynamic barrier The schematic diagram of the checkout area of ability, wherein traveling needs measuring car

Figure 12 is that the automatic driving vehicle that embodiment 12 is provided in following embodiment avoids dynamic barrier The schematic diagram of the checkout area of ability, wherein traveling needs measuring car.

【Description of reference numerals】

In figure：

1：Road；11：Right-angled intersection；12：Straight way；13：T-shaped intersection；14：Main road；15：Branch road；16：Close Flow intersection；17：Shunt intersection；2：Dynamic barrier；3：Vehicle to be measured；4：Signal lamp；5：View obstruction thing；6：Fortune Seek test and management center； 7：Roadside device；M：Moving line；N：Travel route；o：Intersection.

Embodiment

It is below in conjunction with the accompanying drawings, right by embodiment in order to understand in order to preferably explain the utility model The utility model is described in detail.

Embodiment one

Reference picture 1, in the present embodiment, there is provided a kind of automatic driving vehicle avoids the checkout area of dynamic barrier ability. The checkout area includes road 1 and dynamic barrier 2.Wherein, the moving line M of dynamic barrier 2 is at least partially situated at road 1 Upper (i.e. the motion starting point of dynamic barrier 2 and/or exercise end can be outside road 1).Also, the motion of dynamic barrier 2 Route M intersects with the travel route N of vehicle 3 to be measured, and intersection o is located on road 1.Also, dynamic barrier 2 can be to treat Measuring car 3 can move in the case of not making avoidance action in the intersection o modes collided with vehicle 3 to be measured, i.e. dynamic disorder Thing 2 will not only move according to moving line M, and its motion mode will also ensure that edge travels road on road 1 in vehicle 3 to be measured During line N normally travels, if vehicle to be measured 3 does not take any measures to keep clear, then vehicle 3 to be measured can exist with dynamic barrier 2 Above-mentioned intersection o can collide, wherein, how to ensure this point, can be by controlling the movement velocity of dynamic barrier 2, moving The factors such as time realize that those skilled in the art can select specific kinematic parameter according to actual condition.

Further, the avoidance action involved by the utility model includes hiding, slowing down, accelerating, stopping, giving way etc. and can keep away Exempt from or slow down the action collided with dynamic barrier 2, slow down and meant with the collision of dynamic barrier 2 in vehicle 3 to be measured and dynamic barrier When hindering the thing 2 unavoidably to collide, impact severity is reduced as far as possible.

And the moving line M and travel route N shown in Fig. 1 is simplified into a line, moving line M and travel route N Intersection o be simplified as a bit, it is to be appreciated that the moving line M (track) of dynamic barrier 2 be actually and dynamic Barrier 2 is wide, and the travel route N (track) of vehicle 3 to be measured is actually and wide with vehicle 3 to be measured, and the point of impingement At least on the side of a track.Therefore, shown in accompanying drawing corresponding to Fig. 1 and subsequent embodiment only it is simplified Figure, the intersection o mentioned by this paper do not make vehicle 3 and dynamic disorder to be measured if any avoidance acts if vehicle 3 to be measured The point of impingement of thing 2.

In the present embodiment, dynamic barrier 2 can also can be kept away with leaving vehicle between vehicle 3 to be measured and intersection o Allow apart from when appear in vehicle 3 to be measured computer vision acquisition range in mode move, i.e. the motion side of dynamic barrier 2 Formula also meets：When dynamic barrier 2 is appeared in the computer vision acquisition range of vehicle 3 to be measured, vehicle 3 to be measured and intersection o The distance between be at least available for vehicle 3 to be measured to find dynamic barrier 2 and the action for avoiding dynamic barrier 2 can be made.This Sample can more truly reflect the ability that vehicle 3 to be measured avoids dynamic barrier.Wherein, how to ensure this point, control can be passed through The factors such as the movement velocity of dynamic barrier 2, run duration realize that those skilled in the art can select according to actual condition Specific kinematic parameter.

Wherein, vehicle 3 to be measured is by taking 40km/h speed traveling as an example, avoiding between vehicle 3 and intersection o to be measured The minimum value of distance is 25m；Vehicle 3 to be measured by taking 30km/h speed traveling as an example, can the minimum value of evaded distance be 15m；Treat Measuring car 3 by taking 20km/h speed traveling as an example, can the minimum value of evaded distance be 10m；Vehicle 3 to be measured is with 15km/h speed Exemplified by traveling, can the minimum value of evaded distance be 5m.Certainly, the utility model is not limited to examples detailed above, can be according to actual survey Try the determinations such as purpose, situation of specific vehicle to be measured can evaded distance minimum value, be not limited to the example above numerical value.

Wherein, the computer vision collecting device that the computer vision acquisition range of vehicle 3 to be measured is carried by its own determines, In general, including camera, laser radar, millimetre-wave radar, laser radar detection distance is 125-150m, millimetre-wave radar It is farther.Certainly, different numerical value may be selected according to the difference of the self performance of different vehicles 3 to be measured in computer vision acquisition range.

Further, reference picture 1, in the present embodiment, road 1 include right-angled intersection 11 and with right-angled intersection 11 Four straight ways 12 of connection, dynamic barrier 2 are motor vehicle, and the travel route N of vehicle 3 to be measured is worn from a straight trip of straight way 12 Right-angled intersection 11 is crossed, the moving line M as the motor vehicle of dynamic barrier 2 is to be kept straight on from another straight way 12 through ten Word intersection 11, the place straight way 12 of dynamic barrier 2 is located at the right side of the place straight way 12 of vehicle 3 to be measured, as dynamic disorder The moving line M of the motor vehicle of the thing 2 and travel route N of vehicle to be measured 3 intersects in right-angled intersection 11, if treating measuring car 3 do not do any avoidance action, and the two collides the intersection o in right-angled intersection 11.

Wherein, the motion involved by the present embodiment and subsequent embodiment is done in control as the motor vehicle of dynamic barrier 2 Mode can be：If motor vehicle, which is common vehicle or auxiliary, drives vehicle, driver's operating motor vehicles can be allowed according to moving line M Traveling, if motor vehicle is automatic driving vehicle, its fortune is previously set in the dynamic barrier 2 as automatic driving vehicle Dynamic route M (including movement position and movement velocity etc.)；Or checkout area includes central control system (i.e. following operation test and managements Center), moving line M (including movement position and the movement velocity of dynamic barrier 2 are stored or are manually entered in central control system Deng), central control system is connected to control the traveling of dynamic barrier 2 with the communication of dynamic barrier 2.

The process tested using the checkout area is：

Vehicle 3 to be measured is along travel route N normally travels on road 1, and dynamic barrier 2 is on road 1 along moving line M Traveling, left between vehicle 3 to be measured and intersection o vehicle can evaded distance when, dynamic barrier 2 moves to vehicle 3 to be measured Computer vision acquisition range in, observe whether vehicle 3 to be measured can make the action for avoiding dynamic barrier 2, to avoid or Slow down collision dynamic barrier 2.

On the one hand, during true traveling, automatic driving vehicle not only detects the presence i.e. meeting of dynamic barrier Respond action, and it needs the surrounding environment such as the road that comprehensive analysis travelled, and above-mentioned checkout area is compared to computer simulation The gross data of traffic circulation software, more it is close to true running environment so that test result can be showed more accurately Vehicle 3 to be measured avoids the ability of dynamic barrier, also, relative to safer by the way of being tested using real road.

On the other hand, the checkout area can use as test of the standardization scene for different automatic driving vehicles, and then make It is more authoritative and reliable to obtain test result.It is China meanwhile the checkout area also compensate for the blank of current automatic Pilot checkout area The end of the year 2017 upper drive test formulated tries, the policy that the year two thousand twenty automatic driving vehicle is commercial provides sound assurance.It is also, favourable The detection of specialty is formulated according to checkout area provided by the utility model in China and checks and accepts place, is road row on automatic driving vehicle Sail and provide safeguard.

Further, less than vehicle can evaded distance when, it is too short to give the response time of vehicle 3 to be measured, is not enough to it and makes Response.However, if selection vehicle can be in evaded distance during bigger numerical, the response time of vehicle 3 to be measured is long, can not react Processing of the vehicle 3 to be measured to emergency case.Therefore, in the present embodiment, it is with 40km/h speed traveling with vehicle 3 to be measured Example, the computer vision that dynamic barrier 2 can also appear in vehicle 3 to be measured when vehicle 3 to be measured is apart from intersection o25-35m are adopted In the range of collection.Thus it can detect the ability that vehicle 3 to be measured avoids emergent dynamic barrier so that test result is more complete Face.

Above-mentioned 25-35m distance, which limits, to be changed according to the difference of speed, for example, vehicle to be measured 3 is with 30km/h speed During degree traveling, above-mentioned distance investigates emergency case in 15-25m；When vehicle 3 to be measured is travelled with 20km/h speed, it is above-mentioned away from Emergency case is investigated from 10-20m；When vehicle 3 to be measured is travelled with 15km/h speed, above-mentioned distance is investigated in 5-10m Emergency case.Certainly, the utility model is not limited to examples detailed above, can be according to actual test purpose, the feelings of specific vehicle to be measured The determinations such as condition investigate emergency case when dynamic barrier vehicle distances intersection to be measured how far when appear in vehicle to be measured In computer vision acquisition range, the example above numerical value is not limited to.

The response that vehicle to be measured should be made is further, and in the present embodiment, the response that vehicle to be measured should be made is：Treat measuring car 3 travel on road 1 according to travel route N, the action for avoiding dynamic barrier 2 are then made, to avoid or slow down collision Dynamic barrier 2, specifically, the action for making avoidance dynamic barrier 2 are can to avoid or slow down collision dynamic barrier 2 Action.Thus, in the present embodiment, the response performance for the automatic driving vehicle to be detected avoids dynamic barrier 2 for it Performance, therefore vehicle to be measured 3 on road 1 according to travel route N travel and finally make avoid dynamic barrier 2 move When making, completing to avoid or slow down response as collision dynamic barrier 2, it is considered as the vehicle 3 to be measured and avoids dynamic barrier Ability is (qualified) up to standard.

Preferably, the response that vehicle to be measured should be made also includes：Vehicle 3 to be measured continues along it after avoiding dynamic barrier 2 Travel route N is travelled.In the present embodiment, it is that vehicle 3 to be measured goes successively to opposite straight way 12 after avoiding dynamic barrier 2 Straight trip.Thus, vehicle 3 to be measured is also detected in the present embodiment and avoids the energy that can continue original travel route N after dynamic barrier 2 Power, now, continue to travel along travel route N after vehicle 3 to be measured avoids dynamic barrier 2, can just be considered as vehicle 3 to be measured and avoid The ability of dynamic barrier is (qualified) up to standard.Wherein, if vehicle to be measured 3 make avoidance action for acceleration or deceleration and not Deviate travel route N, then it can continue to travel without departing from travel route N excessively always；And if the avoidance that vehicle to be measured 3 is made Action is to turn to hide, then it can be temporarily deviate from travel route N, it is therefore desirable to which vehicle 3 to be measured, which returns to travel route N, to be continued Traveling.

In addition, the response that vehicle to be measured should be made may also include following one or more：

A, vehicle 3 to be measured reminds road conditions in front of occupant；

B, vehicle 3 to be measured makes warning action (such as flashing light, blow a whistle) to dynamic barrier 2 and/or sends warning information, The warning information, which includes the region of vehicle 3 to be measured, may occur the information such as traffic accident or jam situation.

Further, on the basis of above-mentioned checkout area, observe whether vehicle 3 to be measured can make avoidance dynamic barrier 2 The method of action can be intuitively by the driving trace of test man's naked-eye observation vehicle 3 to be measured；Can also be in checkout area It is middle that driving image capturing system is set, the travelling image of test vehicle is shot by the image capturing system, records vehicle 3 to be measured External driving states and operation behavior, the driving trace of vehicle 3 to be measured is then judged according to travelling image；It can also be and surveying Acquisition module is set to be interconnected with vehicle 3 to be measured in examination hall, to gather route planning information of vehicle 3 to be measured etc..Certainly, this practicality It is new to be not limited to the example above, it can also use any other modes.

Further, on the basis of above-mentioned checkout area, vehicle 3 to be measured typically passes through the audio frequency apparatus or video equipment of in-car Occupant is reminded, therefore, observes whether vehicle 3 to be measured reminds road conditions in front of occupant, can be by monitoring in vehicle 3 to be measured Audio frequency apparatus or video equipment realize.Certainly, the utility model is not limited to the example above, can also use its any other party Formula.

Further, on the basis of above-mentioned checkout area, automatic driving vehicle finds that the approach of dynamic barrier 2 mainly has Two kinds, one kind is to be based on computer vision, i.e., the vehicle-mounted awareness apparatus on automatic driving vehicle enters to surrounding environment such as road aheads Row scanning, shooting and picture catching；Another kind is to be based on reception signal.No matter automatic driving vehicle is known by which kind of approach Have a dynamic barrier 2, onboard system all according to the image of seizure and/or the information of reception carry out intelligent processing method, judgement, Decision-making, implementation.In the present embodiment, vehicle 3 to be measured is to find dynamic barrier 2 based on computer vision.Specifically, it is to be measured Vehicle 3 perceives dynamic barrier 2 by vehicle-mounted awareness apparatus, preview risk of collision probability is made, when more than certain probability In the case of, vehicle 3 to be measured will make the action for avoiding dynamic barrier 2.

Further, on the basis of above-mentioned checkout area, if dynamic barrier 2 is motor vehicle, and the motor vehicle includes tool There is the Wireless Telecom Equipment of V2V (vehicle-to-vehicle) communications protocol, then vehicle 3 to be measured can send warning information；As dynamic barrier 2 is Dummy, non-motor vehicle or the motor vehicle for not including the Wireless Telecom Equipment with V2V communications protocol, general vehicle 3 to be measured can be done Going out warning action reminds dummy or non-motor vehicle to pay attention to, the prompting of the visions such as it can be flashing light that warning, which acts, blow a whistle or the sense of hearing.

To sum up, the vehicle to be measured 3 of above-mentioned investigation avoids the ability of dynamic barrier, in the present embodiment namely investigates to be measured The pre-impact of vehicle 3 perceives the ability of alarm and the ability of risk of collision alarm.

In addition, on the basis of above-mentioned checkout area, the travel route N of vehicle 3 to be measured can be changed in right-angled intersection 11 Place turns left, and the moving line M of dynamic barrier 2 is to be kept straight on from the right side straight way 12 of vehicle 3 to be measured, and that now investigates treats measuring car 3 avoid the ability of dynamic barriers namely investigate vehicle 3 to be measured to turn left the ability of auxiliary, and in the case, vehicle to be measured should The response made may also include the safety right-angled intersection 11 of vehicle 3 to be measured and turn left into 12 straight trips of coming off into the straightaway, i.e., can also examine Examine vehicle 3 to be measured and avoid the ability that can continue after dynamic barrier 2 to travel along former travel route N.

Further, the utility model is not limited to above-described embodiment, on the basis of above-mentioned checkout area, right-angled intersection 11 can be changed to T-shaped intersection, road circuits etc., the travel route N of vehicle 3 to be measured and the moving line M of dynamic barrier 2 Also can change, as long as the two can intersect on road 1.

Embodiment two

Reference picture 2, in the present embodiment, checkout area is on the basis of embodiment one：

Checkout area also includes signal lamp 4, and signal lamp 4 is arranged on road 1, and signal lamp 4 is arranged on ten in the present embodiment The top of word intersection 11, the instruction of signal lamp 4 allow vehicle 3 to be measured current, in the present embodiment i.e. signal lamp 4 light it is green Lamp, it is allowed to which vehicle 3 to be measured is kept straight on.The moving line M of dynamic barrier 2 is vertical with the travel route N of vehicle 3 to be measured, and It is to be measured that vehicle 3 to be measured crosses the entrance of stop line (meaning that the tailstock of vehicle 3 to be measured crosses stop line) time control dynamic barrier 2 The computer vision acquisition range of vehicle 3.

The process tested using the checkout area is：

Vehicle 3 to be measured is along travel route N normally travels on road 1, and dynamic barrier 2 is on road 1 along moving line M Traveling, when vehicle 3 to be measured crosses stop line, dynamic barrier 2 is moved in the computer vision acquisition range of vehicle 3 to be measured, Observe whether vehicle 3 to be measured can make the action for avoiding dynamic barrier 2, to avoid or slow down collision dynamic barrier 2.

In above-mentioned checkout area, in the case of with signal lamp 4, the information that vehicle 3 to be measured receives is to pass through, this When there are other motor vehicles as dynamic barrier 2 to occur again and perpendicular to the route running of vehicle 3 to be measured traveling, this is as dynamic The motor vehicle of state barrier 2 is substantially vehicles running red light.Thus, the vehicle to be measured 3 that the present embodiment is investigated avoids dynamic barrier Ability namely investigate the danger early warning ability of making a dash across the red light of vehicle 3 to be measured.

Certainly, in other embodiment of the present utility model, the travel route N of vehicle 3 to be measured can also be from straight way 12 Turn left by right-angled intersection 11, thus, investigate the left-hand rotation auxiliary of vehicle 3 to be measured with the pre-impact energy between through vehicles Power.

In addition, in the case that the instruction of signal lamp 4 allows vehicle 3 to be measured current, vehicle 3 to be measured can be first to dynamic barrier 2 Make warning action (such as flashing light, blow a whistle) and/or send warning information, the motion of dynamic barrier 2 is observed still at it When can bump against with itself, vehicle 3 to be measured makes avoidance action again.

Embodiment three

In the present embodiment, checkout area is improved on the basis of embodiment one or embodiment two, as follows to implement Exemplified by being improved on the basis of example one, reference picture 3：

Checkout area also includes view obstruction thing 5, and view obstruction thing 5, which is arranged on, stops that vehicle 3 to be measured is sent out by computer vision The position of existing dynamic barrier 2, in the present embodiment, vision obstacle set the place straight way of vehicle 3 to be measured close to right-angled intersection The side at crossing 11, for dynamic barrier 2 when being travelled on straight way 12 towards right-angled intersection 11, vehicle 3 to be measured can be because of sight The presence of obstacle 5 and the information of dynamic barrier 2 can not be collected by computer vision.View obstruction thing 5 can be building, Trees etc..Certainly, the utility model is not limited to this, is hindered according to the travel route N of different, the to be measured vehicles 3 of road 1 and dynamic Hinder the moving line M of thing 2 change, the position of view obstruction thing 5 may also be different, are not limited to the situation shown in Fig. 3.And Even and same road 1, travel route N and moving line M, stop that vehicle 3 to be measured finds the position of dynamic barrier 2 It is also not limited to the location of view obstruction thing 5 in diagram.

The process tested using the checkout area is：

Vehicle 3 to be measured is along travel route N normally travels on road 1, and dynamic barrier 2 is on road 1 along moving line M Traveling, left between vehicle 3 to be measured and intersection o vehicle can evaded distance when, dynamic barrier 2 moves to vehicle 3 to be measured Computer vision acquisition range in, observe whether vehicle 3 to be measured can make the action for avoiding dynamic barrier 2, to avoid or Slow down collision dynamic barrier 2.

Further, the vehicle to be measured 3 that the present embodiment is investigated, which avoids the ability of dynamic barrier namely investigates vehicle 3 to be measured, to exist The ability for the current auxiliary of ability and crossroad that intersection vehicle collision avoids under visual impact.

In addition, on the basis of above-mentioned checkout area, the travel route N of vehicle 3 to be measured and the moving line of dynamic barrier 2 M is variable, for example, the travel route N of vehicle to be measured 3 can be changed to turn right at right-angled intersection 11, the motion of dynamic barrier 2 Route M is to be kept straight on from the left side straight way 12 of vehicle 3 to be measured.

Certainly, the present embodiment can also be improved on the basis of embodiment two, i.e., signal lamp 4 is added in checkout area.

Example IV

In the present embodiment, checkout area is improved on the basis of embodiment one to embodiment three, as follows to implement Exemplified by being improved on the basis of example one, reference picture 4：

Road 1 includes T-shaped intersection 13 and three straight ways 12 being connected with T-shaped intersection 13, vehicle 3 to be measured Travel route N turns around for left-hand rotation, and the moving line M of dynamic barrier 2 is to pass through T-shaped in the left side straight way 12 of vehicle 3 to be measured Intersection 13 is turned right enters same straight way 12 with vehicle 3 to be measured.

The process tested using the checkout area is：

Vehicle 3 to be measured is along travel route N normally travels on road 1, and dynamic barrier 2 is on road 1 along moving line M Traveling, left between vehicle 3 to be measured and intersection o vehicle can evaded distance when, dynamic barrier 2 moves to vehicle 3 to be measured Computer vision acquisition range in, observe whether vehicle 3 to be measured can make the action for avoiding dynamic barrier 2, to avoid or Slow down collision dynamic barrier 2.

Further, the response that vehicle to be measured should be done also includes：Vehicle 3 to be measured continues along traveling after avoiding dynamic barrier 2 Route N is travelled, i.e., is turned around in the present embodiment for the safety T-shaped intersection 13 of vehicle 3 to be measured into 12 travelings that come off into the straightaway. Thus, in the present embodiment, when vehicle 3 to be measured avoids dynamic barrier 2 and safety T-shaped intersection 13 turns around to enter When straight way 12 travels, the ability for being considered as the avoidance of vehicle 3 dynamic barrier to be measured is (qualified) up to standard.

Further, summary checkout area, the vehicle to be measured 3 investigated in the present embodiment avoid the ability of dynamic barrier Investigate the ability that vehicle 3 to be measured turns around to aid in.

Embodiment five

In the present embodiment, checkout area is improved on the basis of embodiment one or embodiment three, as follows to implement Exemplified by being improved on the basis of example one, reference picture 5：

Road 1 includes interflow intersection 16 and the main road 14 and branch road 15 that are connected with interflow intersection 16, treats measuring car 3 travel route N is to enter main road 14 from branch road 15 by interflow intersection 16, and the moving line M of dynamic barrier 2 is Travelled along main road 14.

The process tested using the checkout area is：

Dynamic barrier 2 is along travel route N normally travels on main road 14, and vehicle 3 to be measured is from branch road 15 towards main road 14 Traveling, left between vehicle 3 to be measured and intersection o vehicle can evaded distance when, dynamic barrier 2 moves to vehicle 3 to be measured Computer vision acquisition range in, observe whether vehicle 3 to be measured can make the action for avoiding dynamic barrier 2, to avoid or Slow down collision dynamic barrier 2.

Further, the response that vehicle to be measured should be made also includes：Vehicle 3 to be measured continues along row after avoiding dynamic barrier 2 Route N travelings are sailed, i.e., in the present embodiment, the safety of vehicle 3 interflow intersection 16 to be measured travels into main road 14.By This, in the present embodiment, vehicle 3 to be measured avoids dynamic barrier 2 and safety interflow intersection 16 enters main road 14 During traveling, the ability that can be just considered as the avoidance of vehicle 3 dynamic barrier to be measured is (qualified) up to standard.

Further, summary checkout area, the vehicle to be measured 3 investigated in the present embodiment avoid the ability of dynamic barrier Investigate merging area pre-alerting ability.

Embodiment six

In the present embodiment, checkout area is improved on the basis of embodiment one or embodiment three, as follows to implement Exemplified by being improved on the basis of example one, reference picture 6：

Road 1 includes shunting intersection 17 and the main road 14 and branch road 15 that are connected with shunting intersection 17, treats measuring car 3 travel route N is to enter main road 14 from branch road 15 by shunting intersection 17, and now, vehicle 3 to be measured is on branch road 15 Travel route N and road 1 allow travel direction on the contrary, the moving line M of dynamic barrier 2 is travelled along main road 14.

The process tested using the checkout area is：

Dynamic barrier 2 moves on main road 14 along moving line M, and vehicle 3 to be measured is on branch road 15 along travel route N Traveling, left between vehicle 3 to be measured and intersection o vehicle can evaded distance when, dynamic barrier 2 moves to vehicle 3 to be measured Computer vision acquisition range in, observe whether vehicle 3 to be measured can remind occupant's mistake travel direction, and can make The action of dynamic barrier 2 is avoided, to avoid or slow down collision dynamic barrier 2.

The response that vehicle to be measured should be made includes：Vehicle 3 to be measured travels on road 1 according to travel route N, then does Go out to avoid the action of dynamic barrier 2, to avoid or slow down collision dynamic barrier 2, and vehicle to be measured 3 reminds occupant Mistake travels.Thus, the present embodiment also investigates vehicle 3 to be measured when mistake travels to vehicle occupant on the basis of embodiment one The prompting ability of member.

Further, summary checkout area, the present embodiment have investigated the energy of the traveling alarm of wrong way 1 of vehicle 3 to be measured Power.

Embodiment seven

In the present embodiment, checkout area is improved on the basis of embodiment one to embodiment six, as follows to implement Exemplified by being improved on the basis of example one, reference picture 7：

Motor vehicle as dynamic barrier 2 includes the Wireless Telecom Equipment with V2V (vehicle-to-vehicle) communications protocol, with reality Now communicate and connect with vehicle 3 to be measured.V2V mechanicss of communication can allow between vehicle close to each other and send such as position, speed mutually The basic security information such as degree and travel direction, so as to greatly reduce the generation of vehicle collision accident and alleviate traffic congestion. The Wireless Telecom Equipment with V2V communications protocol is mounted on automatic driving vehicle at present.Machine as dynamic barrier 2 The Wireless Telecom Equipment with V2V communications protocol of motor-car sends the run routing information of the motor vehicle in the range of radiation, The run routing information includes the information such as position, speed and the travel direction of motor vehicle as dynamic barrier 2.Treat measuring car 3 onboard system combines logical according to oneself travel route and as the run routing information of the motor vehicle of dynamic barrier 2 The information for crossing computer vision collection carries out preview computing, sees if there is common factor, while according to prevailing velocity, predict what is collided Possibility, in the case that possibility exceedes certain probability, then make avoidance action and touched with avoiding or slowing down with dynamic barrier 2 Hit.

Sum it up, when the motor vehicle as dynamic barrier 2 sends run routing information, vehicle 3 to be measured needs to connect The run routing information is received, and its information gathered by computer vision may be combined, and according to its own residing shape State analyzes and processes, and finally makes correct avoidance action to avoid or slow down the collision with dynamic barrier 2.

When being tested using the checkout area, observe whether vehicle 3 to be measured receives run routing information, and whether tie After closing its status analyzing and processing, the action for avoiding the motor vehicle as dynamic barrier 2 is finally completed, to avoid or slow down Collide the motor vehicle as dynamic barrier 2.

The response that vehicle to be measured should be made also includes：Vehicle 3 to be measured receives run routing information and combines its residing shape After state analyzing and processing, the action for avoiding the motor vehicle as dynamic barrier 2 is finally completed, is collided using avoiding or slowing down as dynamic The motor vehicle of state barrier 2.Thus, hinder when vehicle 3 to be measured receives run routing information and is finally completed avoidance as dynamic When hindering the action of the motor vehicle of thing 2 to be collided to avoid or slow down as the motor vehicle of dynamic barrier 2, it can just be considered as vehicle to be measured The ability of 3 avoidance dynamic barriers is (qualified) up to standard.

To sum up, in true running environment, in dynamic barrier 2 be motor vehicle and the motor vehicle is carried and led to V2V When interrogating the Wireless Telecom Equipment of agreement, vehicle 3 to be measured can also in the case where gathering surrounding road condition based on its own computer vision Receive other run routing information sent as the motor vehicle of dynamic barrier 2.Driving path is received in vehicle 3 to be measured During information, the state for being not detected by dynamic barrier 2 is likely to be at, it is also possible in detecting dynamic barrier 2 but enter The state of row analyzing and processing, it is also possible in having made avoidance route or having had begun to the state of avoidance action, thus, need Can vehicle 3 to be measured be investigated be combined that correct to make avoidance dynamic when receiving run routing information with its own status The action of state barrier 2.So, closer to more accurate, comprehensive, reliable in true road conditions, test result.

Further, on the basis of above-mentioned checkout area, observe whether vehicle 3 to be measured receives running condition information and combine Avoidance barrier is finally completed after its status analyzing and processing, can be that acquisition module and vehicle to be measured are set in checkout area 3 interconnections, come gather vehicle 3 to be measured receive and send messages and route planning information etc..Certainly, the utility model is not limited to above-mentioned Citing, can also use any other modes.

Embodiment eight

In the present embodiment, checkout area is improved on the basis of embodiment one to example IV.As follows to implement Exemplified by being improved on the basis of example three, reference picture 8, main difference part is：

Dynamic barrier 2 is dummy, and road 1 is straight way 12, and view obstruction thing 5 is trees, is arranged on by road 1, to be measured For the travel route N of vehicle 3 to be kept straight on along straight way 12, the moving line M of dynamic barrier 2 is to be transported from the rear of view obstruction thing 5 Move to through straight way 12, when vehicle 3 to be measured moves forward, can not can be adopted because of the presence of view obstruction thing 5 by computer vision Collect the information of dynamic barrier 2.

Wherein, control can use those skilled in the art conventional any as the mode that the dummy of dynamic barrier 2 moves Mode, for example, laying track hinders to limit the moving line M as the dummy of dynamic barrier 2, and including driving dynamic Hinder the drive device of the orbital motion of thing 2, by test man remote control or checkout area central control system (such as operation test and management in The heart) control drive device driving dynamic barrier to be moved in track, wherein, the remote control or middle control of drive device and test man System communication connects；Or robot can be used, moved by test man's remote-controlled robot.

The process tested using the checkout area is：

Vehicle 3 to be measured is along travel route N normally travels on road 1, and dynamic barrier 2 is on road 1 along moving line M Traveling, left between vehicle 3 to be measured and intersection o vehicle can evaded distance when, dynamic barrier 2 moves to vehicle 3 to be measured Computer vision acquisition range in, observe whether vehicle 3 to be measured can make the action for avoiding dynamic barrier 2, to avoid or Slow down collision dynamic barrier 2.

The response that vehicle to be measured should be made is：Vehicle 3 to be measured travels on road 1 according to travel route N, then makes The action of dynamic barrier 2 is avoided, with collision free dynamic barrier 2.Because dynamic barrier 2 is dummy, this implementation With collision free dynamic barrier 2 it is standard in example, improves the requirement for treating measuring car 3.

Further, in the present embodiment, the vehicle to be measured 3 of investigation avoids the ability of dynamic barrier namely investigates vehicle to be measured 3 in non-pedestrian crossing pedestrian early warning.

Certainly, the utility model is not limited to this, and dynamic barrier 2 can also be non-motor vehicle, such as bicycle, three-wheel Car, mobility scooter for old people etc., dynamic barrier 2 can also be animal model etc..The realization side of the motion of animal model and non-motor vehicle Formula is identical with dummy.

Embodiment nine

In the present embodiment, checkout area is improved on the basis of embodiment one to example IV, as follows to implement Exemplified by being improved on the basis of example two, reference picture 9, main modification be in：

Dynamic barrier 2 is non-motor vehicle, and the moving line M of dynamic barrier 2 is to cross right-angled intersection 11, and Its moving line M is vertical with the travel route N of vehicle 3 to be measured.Wherein, control is moved as the non-motor vehicle of dynamic barrier 2 Mode can often use any-mode using those skilled in the art, for example, artificially driving non-motor vehicle；Or track is laid to limit The moving line M as the non-motor vehicle of dynamic barrier 2 is made, and including driving the driving of non-motor vehicle orbital motion Device, driven by the central control system of test man's remote control or checkout area (such as operation test and management center) control drive device non- Motor vehicle moves in track, wherein, remote control or central control system the communication connection of drive device and test man.

The process tested using the checkout area is：

Vehicle 3 to be measured is along travel route N normally travels on road 1, and dynamic barrier 2 is on road 1 along moving line M Traveling, left between vehicle 3 to be measured and travel route N and moving line M intersection o vehicle can evaded distance when, dynamic hinder Hinder thing 2 to move in the computer vision acquisition range of vehicle 3 to be measured, observe whether vehicle 3 to be measured can make avoidance dynamic barrier Hinder the action of thing 2, with collision free dynamic barrier 2.

The response that vehicle to be measured should be made is：Vehicle 3 to be measured travels on road 1 according to travel route N, then makes The action of dynamic barrier 2 is avoided, with collision free dynamic barrier 2.Because dynamic barrier 2 is non-motor vehicle, this With collision free dynamic barrier 2 it is standard in embodiment, improves the requirement for treating measuring car 3.

Further, the vehicle to be measured 3 investigated in the present embodiment avoids the ability of dynamic barrier namely investigates intersection The ability of non-motor vehicle early warning.

Embodiment ten

In the present embodiment, checkout area is improved on the basis of embodiment eight or embodiment nine, as follows to implement Exemplified by being improved on the basis of example eight, reference picture 10：

In the present embodiment, the dummy as dynamic barrier 2 includes carrying or sending positional information and/or movable information Equipment.Wherein, positional information means the information for indicating someone, animal or non-motor vehicle herein, and movable information means people, animal Or the route information of non-motor vehicle motion (information can be extracted from the navigation information being manually set).And the meaning of above-mentioned " carrying " Think of refers to that the said equipment not necessarily has the function that to send out information, if its with positional information and/or movable information with Vehicle 3 to be measured is set to get.For example, equipment is to be worn in the clothes with dummy, electronic tag is carried on clothes, The electronic tag carries positional information while positional information can be sent.In another example the said equipment can also be with V2P The Wireless Telecom Equipment of communications protocol, such as smart mobile phone, smart mobile phone can send out positional information and route information.

When being tested using the checkout area, observe whether vehicle 3 to be measured receives positional information and/or movable information, And after whether combining its status analyzing and processing according to the positional information and/or movable information, it is finally completed avoidance conduct The action of the dummy of dynamic barrier 2, to avoid or slow down collision motor vehicle.

The response that vehicle to be measured should be made also includes：Vehicle 3 to be measured collects positional information and/or movable information and combined Its status analyzing and processing after, be finally completed avoid as dynamic barrier 2 dummy action, using collision free as The dummy of dynamic barrier 2.Thus, make when vehicle 3 to be measured receives positional information and/or movable information and is finally completed avoidance For the dummy of dynamic barrier 2 dummy of the action using collision free as dynamic barrier 2 when, can just be considered as vehicle 3 to be measured The ability for avoiding dynamic barrier is (qualified) up to standard.

Certainly, the utility model is not limited to this, and above-mentioned dummy also can use animal model and non-motor vehicle to replace, animal mould Type and non-motor vehicle equally include carrying or sending positional information and/or the equipment of movable information.Wherein it is possible to it is non-motor vehicle Itself it is mounted with the said equipment or placed the equipment etc. in non-motor vehicle.

Summary checkout area, it is dummy, animal model or non-maneuver in dynamic barrier 2 in true running environment Che Shi, and the dummy, animal model or non-motor vehicle with carrying or send positional information and/or the equipment of movable information When, vehicle 3 to be measured can also receive the dummy sent, move in the case where gathering surrounding road condition based on its own computer vision The positional information and/or movable information of thing model or other non-motor vehicles.Positional information and/or fortune are received in vehicle 3 to be measured During dynamic information, the state for being not detected by dynamic barrier 2 is likely to be at, it is also possible in detecting dynamic barrier 2 but The state analyzed and processed, it is also possible in having made avoidance route or having had begun to the state of avoidance action, thus, Need to investigate vehicle 3 to be measured and can be combined just with its own status when receiving positional information and/or movable information The action for avoiding dummy or non-motor vehicle is really made, to avoid and dummy or non-motor vehicle collision.So, closer in true road Condition, test result are more accurate, comprehensive, reliable.

Further, on the basis of above-mentioned checkout area, observe whether vehicle 3 to be measured receives positional information or movable information And avoidance dynamic barrier 2 is finally completed after combining its status analyzing and processing, can be that collection mould is set in checkout area Block interconnects with vehicle 3 to be measured, come gather vehicle 3 to be measured receive and send messages and route planning information etc..Certainly, this practicality is new Type is not limited to the example above, can also use any other modes.

Embodiment 11

In the present embodiment, checkout area is improved on the basis of embodiment one to embodiment ten, as follows to implement Exemplified by being improved on the basis of example seven, reference picture 11：

Checkout area also includes the operation test and management center 6 that can be received and sent messages.In the present embodiment, the operation testing tube Reason center 6 can send traffic information to vehicle 3 to be measured.Specifically, runing test and management center 6 includes having V2N (Che Yuyun End) communications protocol Wireless Telecom Equipment, with realize with vehicle 3 to be measured communication connect, and then to vehicle 3 to be measured send road conditions letter Breath.And in the present embodiment, traffic information can program to be stored in operation test and management center 6 in advance；Or The data that operation test and management center 6 includes being used to gather each side (can be each Road Detection collecting device (example in checkout area Roadside device 7 as mentioned by example below) data that are reported of the data that are reported and vehicle etc.) and analyze outlet The analysis module of condition information, operation test and management center 6 can collect the information of the road conditions in checkout area and be drawn by analysis Traffic information.Wherein, the traffic information comprises at least the movable information of dynamic barrier 2.Certainly, test and management center 6 is runed Also can be to sending traffic information by other vehicles in the section in addition to vehicle 3 to be measured.

Further, when dynamic barrier 2 is automatic driving vehicle, stores or be manually entered in operation test and management center 5 The moving line M (including movement position and movement velocity etc.) of dynamic barrier 2.Correspondingly, the automatic driving vehicle includes tool There is the Wireless Telecom Equipment of V2N communications protocol, operation test and management center 5 and dynamic barrier 2 are led to by respective with V2N The Wireless Telecom Equipment communication with one another connection of agreement is interrogated, operation test and management center 5 controls dynamic barrier 2 to travel.

The process tested using the checkout area is：

Vehicle 3 to be measured is along travel route N normally travels on road 1, and dynamic barrier 2 is on road 1 along moving line M Traveling, left between vehicle 3 to be measured and intersection o vehicle can evaded distance when, dynamic barrier 2 moves to vehicle 3 to be measured Computer vision acquisition range in, observe whether vehicle 3 to be measured receives the traveling sent as the motor vehicle of dynamic barrier 2 The traffic information that routing information and operation test and management center 6 are sent, and whether be finally completed and avoid the dynamic of dynamic barrier 2 Make, to avoid or slow down collision as the motor vehicle of dynamic barrier 2.

The response that vehicle to be measured should be made also includes：Vehicle 3 to be measured receives traffic information and combines its status point After analysis processing, the action for avoiding the motor vehicle as dynamic barrier 2 is finally completed, is hindered using avoiding or slowing down collision as dynamic Hinder the motor vehicle of thing 2.

To sum up, on the one hand, during true traveling, automatic driving vehicle removes the road for oneself detecting the road that need to pass through , can also be by traffic control center to each automatic Pilot in addition to it may receive the run routing information that other motor vehicles are sent beyond condition Vehicle carries out overall management and control, and traffic control center can send traffic information to vehicle, so that vehicle understands front and surrounding road condition.Cause This, the present embodiment simulates traffic control center using operation test and management center 6, includes having V2N communications association as traffic control center The Wireless Telecom Equipment of view, more press close to true transport condition, test result is more comprehensively, accurately, reliably.

On the other hand, during true traveling, automatic driving vehicle is based on independently detecting dynamic barrier 2, also Other information is likely to be received (such as the run routing information that sends of motor vehicle of dynamic barrier 2 and traffic control center The traffic information sent), when automatic driving vehicle receives the traffic information that traffic control center is sent, be likely to be at be not detected by it is dynamic State barrier 2 and the state for not receiving otherwise information (such as above-mentioned run routing information), it is also possible in inspection Measure dynamic barrier 2 and/or receive otherwise information but the state analyzed and processed, it is also possible in Through making the state for avoiding route or having begun to avoidance action, therefore, automatic driving vehicle, which needs to have, receives road conditions Information simultaneously combines the ability that avoidance dynamic barrier is finally completed after its status analyzes and processes.Therefore, adopted in the present embodiment Traffic control center is simulated with operation test and management center 6 to send running condition information, and then is detected vehicle 3 to be measured and received road conditions Can correctly respond action after information according to its own status, so more press close to true transport condition, test knot Fruit is more comprehensively, accurately, reliably.

Further, on the basis of above-mentioned checkout area, observe whether vehicle 3 to be measured receives traffic information and combine its institute Avoidance barrier is finally completed after place's state analysis processing, can set acquisition module and vehicle 3 to be measured mutual in checkout area Connection, come gather vehicle 3 to be measured receive and send messages and route planning information etc., acquisition module can be to be arranged on operation test and management Module in center 6.Certainly, the utility model is not limited to the example above, can also use any other modes.

Embodiment 12

In the present embodiment, checkout area is improved on the basis of embodiment one to embodiment 11, as follows with reality Apply exemplified by being improved on the basis of example 11, reference picture 12：

Checkout area also includes roadside device 7, and roadside device 7 is arranged on the side of road 1, and the roadside device 7 can be examined automatically Road conditions are surveyed, warning information is sent to vehicle 3 to be measured when detecting the road conditions with dynamic barrier 2.Wherein, the warning information Including at least the movable information (direction of motion, movement velocity etc.) of dynamic barrier 2, the detectable dynamic barrier of roadside device 7 It is any kind of dynamic barrier 2 to hinder thing 2.Certainly, roadside device 6 also can be to process section in addition to vehicle 3 to be measured Other vehicles send traffic information.

Specifically, roadside device 7 includes the detector for being capable of automatic detection road conditions, and roadside device 7 also includes processing information Processing module and Wireless Telecom Equipment with V2I (car is to infrastructure) communications protocol, detector imaged by trackside, The monitoring means such as millimetre-wave radar, microwave radar, ultrasonic radar, infrared detect road conditions, and processing module will connect from detector The road conditions relevant information received analyzes and processes to form warning information, passes through the Wireless Telecom Equipment with V2I communications protocol, trackside Equipment 7 sends warning information to vehicle 3 to be measured.Wherein, the detector in roadside device with processing module, processing module with having The Wireless Telecom Equipment communication of V2I communications protocol is connected to carry out information transfer.Certainly, roadside device 7 also can be to except treating measuring car Beyond 3 warning information is sent by other vehicles in the section.

The process tested using the checkout area is：

Vehicle 3 to be measured is along travel route N normally travels on road 1, and dynamic barrier 2 is on road 1 along moving line M Traveling, vehicle 3 to be measured and between leave vehicle can evaded distance when, the machinery that dynamic barrier 2 moves to vehicle 3 to be measured regards Feel in acquisition range, observe whether vehicle 3 to be measured receives what run routing information, traffic information and roadside device were sent Warning information, and the action for avoiding the motor vehicle as dynamic barrier 2 is finally completed, to avoid or slow down collision as dynamic The motor vehicle of barrier 2.

The response that vehicle to be measured should be made also includes：Vehicle 3 to be measured receives the warning information that roadside device is sent and knot After closing its status analyzing and processing, the action for avoiding dynamic barrier 2 is finally completed, to avoid or slow down collision motor vehicle.

To sum up, the detection of automatic driving vehicle itself is relied solely on, the still difficulty of the identification for some complicated highway sections is very It is high.Therefore, roadside device 7 can be set in some sections, and the roadside device 7 can be with automatic detection road conditions, and road conditions correlation is believed Breath is sent to the autonomous driving vehicle by this section of road 1, is especially sent to the warning information with special road conditions automatically Driving.When automatic driving vehicle receives the warning information that roadside device 7 is sent, it is likely to be at and is not detected by dynamic disorder Thing 2 and the state for not receiving otherwise information (such as above-mentioned traffic information and run routing information), it is also possible to locate In the state for detecting dynamic barrier 2 and/or receiving otherwise information but being analyzed and processed, it is also possible to locate In having made the state evading route or have begun to lane change, therefore, automatic driving vehicle, which needs to have, receives trackside Changing Lane, which is finally completed, after warning information and combination its status analyzing and processing that equipment is sent gets around dynamic barrier Ability.Thus, roadside device 7 is set up in the present embodiment to send warning information, and then detection vehicle 3 to be measured receives trackside and set Can correctly respond action after the warning information that preparation goes out according to its own status, so more press close to true traveling State, test result is more comprehensively, accurately, reliably.

Further, on the basis of above-mentioned checkout area, observe whether vehicle 3 to be measured receives the early warning that roadside device is sent Information simultaneously combines final avoidance dynamic barrier 2 after its status analyzing and processing, can be that collection mould is set in checkout area Block interconnects with vehicle 3 to be measured, come gather vehicle 3 to be measured receive and send messages and route planning information etc..Certainly, this practicality is new Type is not limited to the example above, can also use any other modes.

In addition, on the basis of above-mentioned checkout area, the processing module of the roadside device 7 in checkout area can also be based on road conditions Relevant information designs new programme path and is sent to vehicle 3 to be measured by the Wireless Telecom Equipment with V2I communications protocol. The response that vehicle to be measured should be made also includes vehicle 3 to be measured with reference to the programme path planning route or travel by vehicle N received.

To sum up, the acquisition module set in checkout area is used to interconnect with vehicle to be measured, to gather the information of vehicle to be measured (bag Include the receiving and sending messages of vehicle to be measured, route planning information etc.).

Certainly, the utility model is not limited to above-described embodiment, for example, in above-described embodiment one into embodiment 12 On the basis of checkout area, checkout area may include multiple dynamic barriers 2, wherein, can be multiple dynamic barriers of single kind 2, it may also comprise a variety of dynamic barriers 2.Scene arrangement also include controlling multiple dynamic barriers 2 according to vehicle 3 to be measured Moving line M motions intersecting travel route N.The response that vehicle to be measured should be made also includes：Vehicle 3 to be measured is completed to avoid each Dynamic barrier 2, collided with avoiding or slowing down with each dynamic barrier 2.

Certainly, the utility model is not limited to above-described embodiment, and dynamic barrier 2 can be dummy, non-motor vehicle, motor vehicle And animal model.Road 1 is straight way, bend or the straight way or bend for including intersection and being connected with intersection. Thus, the road 1 of various modes and various dynamic barriers 2 can be optionally combined, and the row of vehicle 3 to be measured on this basis The moving line M for sailing route N and dynamic barrier 2 is alternatively and is not limited to a variety of of examples detailed above and (such as straight trip, turns left, be right Turn, turn around, lane change etc.).Further, it can also make equipment of the dynamic barrier 2 with carrying or sending information, and can also add One or more in signal lamp 4, view obstruction thing 5, operation test and management center 6 and roadside device 7.

Wherein, the motor vehicle as dynamic barrier 2, vehicle to be measured 3 and roadside device 7 can be to operation testing tubes Reason center 6 reports the information about road conditions, such as operation test and management center 6 to receive as the motor-driven of dynamic barrier 2 The warning information that run routing information that run routing information that car is sent, vehicle to be measured 3 are sent, roadside device 7 are sent.

Further, above-described embodiment one to the checkout area described in embodiment 12 is provided by the utility model The embodiment of checkout area, therefore, to checkout area provided by the utility model, it is no longer repeated.

In addition, it should be noted that vehicle to be measured 3 if automatic driving vehicle, then its can actively make avoidance dynamic hinder Hinder the action of thing 2, and vehicle is driven if vehicle to be measured 3 is auxiliary, it can aid in driver to make and avoid dynamic barrier 2 Action.But either which kind of automatic driving vehicle, it is applicable the checkout area mentioned by this paper.

Above content is only preferred embodiment of the present utility model, for one of ordinary skill in the art, according to this reality With new thought, there will be changes, this specification content should not be construed as in specific embodiments and applications To limitation of the present utility model.

Claims (10)

1. a kind of automatic driving vehicle avoids the checkout area of dynamic barrier ability, it is characterised in that including：

Road；

Dynamic barrier, the moving line of the dynamic barrier intersect with the travel route of vehicle to be measured, and intersection is located at institute State on road, and the dynamic barrier can with vehicle to be measured do not make avoidance action in the case of intersection described in meeting Moved with the mode of vehicle collision to be measured；

Limit the track of the moving line of the dynamic barrier；

Drive drive device of the dynamic barrier along the track motion.

2. automatic driving vehicle according to claim 1 avoids the checkout area of dynamic barrier ability, it is characterised in that

The dynamic barrier can be gone out with leaving vehicle between the vehicle to be measured and the intersection during evaded distance Mode in the computer vision acquisition range of the present vehicle to be measured is moved.

3. automatic driving vehicle according to claim 1 avoids the checkout area of dynamic barrier ability, it is characterised in that also Including：

Automatic detection road conditions and warning information can be sent to vehicle to be measured when detecting the road conditions with dynamic barrier Roadside device.

4. automatic driving vehicle according to claim 3 avoids the checkout area of dynamic barrier ability, it is characterised in that

The roadside device includes the detector of automatic detection road conditions, by the road conditions relevant information analysis received from detector Reason forms the processing module of warning information and has the Wireless Telecom Equipment of V2I communications protocol, the inspection in the roadside device Survey device and communicate connection with processing module, processing module and the Wireless Telecom Equipment with V2I communications protocol to carry out information transfer, The Wireless Telecom Equipment with V2I communications protocol can send the warning information to vehicle to be measured.

5. automatic driving vehicle according to claim 1 avoids the checkout area of dynamic barrier ability, it is characterised in that also Including：

Test and management center is runed, the operation test and management center includes that traffic information can be sent to the vehicle to be measured , have V2N communications protocol Wireless Telecom Equipment.

6. automatic driving vehicle according to claim 5 avoids the checkout area of dynamic barrier ability, it is characterised in that

The dynamic barrier is dummy, animal model or non-motor vehicle, and the dummy, animal model or non-motor vehicle include taking Band sends positional information and/or the equipment of movable information；

Operation test and management center and the drive device communication connect with control the drive device drive the dummy, Animal model or non-motor vehicle motion.

7. automatic driving vehicle according to claim 5 avoids the checkout area of dynamic barrier ability, it is characterised in that

The dynamic barrier is motor vehicle, and the motor vehicle is automatic driving vehicle, and the motor vehicle includes that institute can be sent State Wireless Telecom Equipment run routing information, that there is V2V communications protocol and V2N communications protocol of motor vehicle；

The operation test and management center is connected with the motor vehicle by respective Wireless Telecom Equipment communication with one another, so that institute State operation test and management center and control the motor-driven vehicle going.

8. automatic driving vehicle according to claim 1 avoids the checkout area of dynamic barrier ability, it is characterised in that also Including：

Signal lamp, the signal lamp are arranged on the road and indicate to allow the vehicle pass-through to be measured.

9. automatic driving vehicle according to claim 1 avoids the checkout area of dynamic barrier ability, it is characterised in that also Including：

View obstruction thing, the view obstruction thing, which is arranged on, stops that the vehicle to be measured finds that the dynamic hinders by computer vision Hinder the position of thing.

10. automatic driving vehicle according to claim 1 avoids the checkout area of dynamic barrier ability, it is characterised in that Also include：

For being interconnected with vehicle to be measured to gather the acquisition module of the information of vehicle to be measured.