DE102016012771A1 - Method for carrying out a vehicle test - Google Patents
Method for carrying out a vehicle test Download PDFInfo
- Publication number
- DE102016012771A1 DE102016012771A1 DE102016012771.6A DE102016012771A DE102016012771A1 DE 102016012771 A1 DE102016012771 A1 DE 102016012771A1 DE 102016012771 A DE102016012771 A DE 102016012771A DE 102016012771 A1 DE102016012771 A1 DE 102016012771A1
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- Prior art keywords
- vehicle
- vehicles
- traffic environment
- collision avoidance
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
Abstract
Die Erfindung betrifft ein Verfahren zur Durchführung eines Fahrzeugtests. Erfindungsgemäß ist vorgesehen, dass eine Verkehrsumgebung mit einer Mehrzahl von Fahrzeugen gleichzeitig simuliert wird, wobei – für jeweils ein Fahrzeug mindestens eine Soll-Trajektorie generiert wird und ein die Verkehrsumgebung repräsentierendes Simulationsmodell anhand der generierten Soll-Trajektorien erstellt wird, – zur Generierung der Soll-Trajektorien eine Kollisionsvermeidungsfunktion ermittelt wird, mittels welcher die Soll-Trajektorien bei einer Systemstörung in einer die Verkehrsumgebung repräsentierenden Simulationsumgebung innerhalb eines bestimmten Zeitraums überschneidungsfrei verlaufen und – die Kollisionsvermeidungsfunktion anhand einer ermittelbaren Gesamtlatenzzeit der Mehrzahl von Fahrzeugen und anhand eines zu erwartenden Bremsweges jeweils eines Fahrzeugs ermittelt wirdThe invention relates to a method for carrying out a vehicle test. According to the invention, it is provided that a traffic environment is simulated simultaneously with a plurality of vehicles, wherein - at least one target trajectory is generated for each vehicle and a simulation model representing the traffic environment is created on the basis of the generated target trajectories; Trajektorien a collision avoidance function is determined, by means of which the target trajectories in a system disturbance in a traffic environment representing simulation environment within a certain period of time without overlap and - the collision avoidance function is determined based on an average total latency of the plurality of vehicles and on the expected braking distance of each vehicle
Description
Die Erfindung betrifft ein Verfahren zur Durchführung eines Fahrzeugtests.The invention relates to a method for carrying out a vehicle test.
Verfahren zur Durchführung eines Fahrzeugtests sind aus dem Stand der Technik bekannt. Beispielsweise wird in der
Der Erfindung liegt die Aufgabe zu Grunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zur Durchführung eins Fahrzeugtests anzugeben.The invention is based on the object to provide a comparison with the prior art improved method for performing a vehicle test.
Die Aufgabe wird erfindungsgemäß mit den in Anspruch 1 angegebenen Merkmalen gelöst.The object is achieved with the features specified in
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.
Bei einem Verfahren zur Durchführung eines Fahrzeugtests wird erfindungsgemäß eine Verkehrsumgebung mit einer Mehrzahl von Fahrzeugen gleichzeitig simuliert, wobei für jeweils ein Fahrzeug mindestens eine Soll-Trajektorie generiert wird und ein die Verkehrsumgebung repräsentierendes Simulationsmodell anhand der generierten Soll-Trajektorien erstellt wird, wobei zur Generierung der Soll-Trajektorien eine Kollisionsvermeidungsfunktion ermittelt wird, mittels welcher die Soll-Trajektorien bei einer Systemstörung in einer die Verkehrsumgebung repräsentierenden Simulationsumgebung innerhalb eines bestimmten Zeitraums überschneidungsfrei verlaufen und wobei die Kollisionsvermeidungsfunktion anhand einer ermittelbaren Gesamtlatenzzeit der Mehrzahl von Fahrzeugen und anhand eines zu erwartenden Bremsweges jeweils eines Fahrzeugs ermittelt wird.In a method for carrying out a vehicle test, a traffic environment with a plurality of vehicles is simultaneously simulated, wherein for each vehicle at least one desired trajectory is generated and the traffic environment representing simulation model is created based on the generated target trajectories, wherein for generating the Target trajectories a collision avoidance function is determined, by means of which the target trajectories in a system disturbance in a traffic environment representing simulation environment within a certain period of time without overlap and wherein the collision avoidance function based on a determinable Gesamtlatenzzeit the plurality of vehicles and based on an expected braking distance of each vehicle is determined.
Mittels des Verfahrens kann ein Simulationsmodell erstellt werden, bei dem mehrere Fahrzeuge, insbesondere fahrerlose Fahrzeuge, gleichzeitig vollautomatisiert unter Vermeidung von Kollisionen betrieben werden können. Die Fahrzeuge werden beispielsweise zur Simulation einer Verkehrsumgebung in einer realen Simulationsumgebung, z. B. ein Testgelände, von einer gemeinsamen fahrzeugexternen Steuerungseinheit gesteuert.By means of the method, a simulation model can be created in which a plurality of vehicles, in particular driverless vehicles, can be operated simultaneously fully automated while avoiding collisions. For example, the vehicles are used to simulate a traffic environment in a real simulation environment, e.g. B. a test area, controlled by a common vehicle-external control unit.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand einer Zeichnung näher erläutert.Embodiments of the invention will be explained in more detail below with reference to a drawing.
Dabei zeigt:Showing:
Die einzige
In einem ersten Schritt S1 wird ein Simulationsmodell erstellt, in dem für jedes Fahrzeug mindestens eine Soll-Trajektorie generiert wird. Ziel dabei ist es, dass sich die Soll-Trajektorien innerhalb eines bestimmten Zeitraumes, insbesondere zum gleichen Zeitpunkt, nicht überschneiden und Kollisionen mit Umgebungsbegrenzungen vermieden werden. Damit sollen Kollisionen und daraus resultierende Beschädigungen an den Fahrzeugen vermieden werden.In a first step S1, a simulation model is created in which at least one desired trajectory is generated for each vehicle. The goal here is that the target trajectories do not overlap within a certain period of time, in particular at the same time, and collisions with environmental boundaries are avoided. This should avoid collisions and resulting damage to the vehicles.
Zur Sicherstellung überschneidungsfreier Soll-Trajektorien bei einer Systemstörung wird eine Kollisionsvermeidungsfunktion ermittelt, anhand der anschließend die Soll-Trajektorien generiert werden. Mittels der Kollisionsvermeidungsfunktion wird somit ein räumlicher und/oder zeitlicher Sicherheitsbereich zwischen den Soll-Trajektorien ermittelt.In order to ensure non-overlapping target trajectories in the event of a system failure, a collision avoidance function is determined on the basis of which the target trajectories are subsequently generated. By means of the collision avoidance function, a spatial and / or temporal safety range between the desired trajectories is thus determined.
Zur Ermittlung der Kollisionsvermeidungsfunktion wird eine Gesamtlatenzzeit der Mehrzahl von Fahrzeugen ermittelt. Alternativ kann diese auch bekannt sein und ist somit vorgegeben. Mittels dieser Gesamtlatenzzeit kann anhand einer jeweiligen Geschwindigkeit der Fahrzeuge eine Sicherheitsstrecke ermittelt werden, die ein Fahrzeug aufgrund einer systemeigenen Reaktionszeit benötigt. Weiterhin wird ein Bremsweg der jeweiligen Fahrzeuge ermittelt. Beispielsweise wird eine minimale Verzögerung der jeweiligen Fahrzeuge bei einer Gefahrenbremsung mit 4 m/s2 angenommen oder festgelegt. Mittels Addition benötigter Verluststrecken können variable Sicherheitsbereiche ermittelt werden, die sowohl für Geradeausfahrten als auch für Kurvenfahrten bei der Generierung der Soll-Trajektorien berücksichtigt werden.To determine the collision avoidance function, a total latency of the plurality of vehicles is determined. Alternatively, this can also be known and is thus predetermined. By means of this total latency can be determined based on a respective speed of the vehicles, a safety distance that requires a vehicle due to a native reaction time. Furthermore, a braking distance of the respective vehicles is determined. For example, a minimum deceleration of the respective vehicles during emergency braking at 4 m / s 2 is assumed or established. By adding required loss paths variable safety areas can be determined, which are considered both for straight-ahead driving and for cornering when generating the desired trajectories.
In einem zweiten Schritt S2 wird das Simulationsmodell in einer fahrzeugexternen Steuerungseinheit implementiert. Die fahrzeugexterne Steuerungseinheit ist eine Datenverarbeitungseinheit, mittels der die Fahrzeuge vollautomatisiert ohne Anwesenheit eines Fahrers und/oder Fahrroboters betreibbar sind. Dazu greift die fahrzeugexterne Steuerungseinheit über eine fahrzeuginterne Schnittstelle auf fahrzeuginterne Steuergeräte der Fahrzeuge zu. Beispielsweise können mittels der fahrzeugexternen Steuerungseinheit bis zu 10 Fahrzeuge gleichzeitig vollautomatisiert gesteuert werden.In a second step S2, the simulation model is implemented in a vehicle-external control unit. The vehicle-external control unit is a data processing unit by means of which the vehicles can be operated fully automatically without the presence of a driver and / or driving robot. For this purpose, the vehicle-external control unit accesses vehicle-internal control devices of the vehicles via an in-vehicle interface. For example, by means of the vehicle-external control unit, up to 10 vehicles can be controlled fully automatically at the same time.
In einem dritten Schritt S3 erfolgt die Simulation der Verkehrsumgebung anhand des erstellten Simulationsmodells in der realen Simulationsumgebung. Hierbei werden in einem geografisch begrenzten Bereich zur Simulation der Verkehrsumgebung, z. B. ein städtischer Verkehrsraum, mehrstündige, kollisionsfreie Testfahrten mit den Fahrzeugen durchgeführt. Bei einer Systemstörung wird ein kollisionsfreier Fahrzeugstopp sichergestellt. In a third step S3, the traffic environment is simulated on the basis of the created simulation model in the real simulation environment. Here, in a geographically limited area for simulating the traffic environment, z. B. an urban traffic area, several hours, collision-free test drives performed with the vehicles. In the event of a system failure, a collision-free vehicle stop is ensured.
BezugszeichenlisteLIST OF REFERENCE NUMBERS
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- S1S1
- Schrittstep
- S2S2
- Schrittstep
- S3S3
- Schrittstep
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102012104746 A1 [0002] DE 102012104746 A1 [0002]
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DE102016012771.6A DE102016012771A1 (en) | 2016-10-26 | 2016-10-26 | Method for carrying out a vehicle test |
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DE102016012771.6A DE102016012771A1 (en) | 2016-10-26 | 2016-10-26 | Method for carrying out a vehicle test |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108844752A (en) * | 2018-06-29 | 2018-11-20 | 魏振元 | A kind of unmanned vehicle test platform |
CN110473403A (en) * | 2019-09-12 | 2019-11-19 | 重庆西部汽车试验场管理有限公司 | A kind of current test macro of intersection auxiliary and its method based on V2X |
CN113804386A (en) * | 2021-09-07 | 2021-12-17 | 站坐(北京)科技有限公司 | Collision detection method and device |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102012104746A1 (en) | 2012-06-01 | 2013-12-05 | Continental Safety Engineering International Gmbh | Method for determining position of vehicle relative to another vehicle in test environment, involves determining position of vehicle in vehicle environment by transponder system using running time measurement from transponder signals |
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2016
- 2016-10-26 DE DE102016012771.6A patent/DE102016012771A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102012104746A1 (en) | 2012-06-01 | 2013-12-05 | Continental Safety Engineering International Gmbh | Method for determining position of vehicle relative to another vehicle in test environment, involves determining position of vehicle in vehicle environment by transponder system using running time measurement from transponder signals |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108844752A (en) * | 2018-06-29 | 2018-11-20 | 魏振元 | A kind of unmanned vehicle test platform |
CN110473403A (en) * | 2019-09-12 | 2019-11-19 | 重庆西部汽车试验场管理有限公司 | A kind of current test macro of intersection auxiliary and its method based on V2X |
CN113804386A (en) * | 2021-09-07 | 2021-12-17 | 站坐(北京)科技有限公司 | Collision detection method and device |
CN113804386B (en) * | 2021-09-07 | 2024-01-30 | 站坐(北京)科技有限公司 | Collision detection method and device |
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Owner name: MURT, MUSA, DE Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE Owner name: SOELL, CARSTEN, DE Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE Owner name: SPOHN, ANDREAS, DE Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE |
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