KR101658609B1 - System and method for testing autonomous emergency braking - Google Patents

System and method for testing autonomous emergency braking Download PDF

Info

Publication number
KR101658609B1
KR101658609B1 KR1020150031768A KR20150031768A KR101658609B1 KR 101658609 B1 KR101658609 B1 KR 101658609B1 KR 1020150031768 A KR1020150031768 A KR 1020150031768A KR 20150031768 A KR20150031768 A KR 20150031768A KR 101658609 B1 KR101658609 B1 KR 101658609B1
Authority
KR
South Korea
Prior art keywords
dummy
test
point
test vehicle
vehicle
Prior art date
Application number
KR1020150031768A
Other languages
Korean (ko)
Other versions
KR20160108016A (en
Inventor
안광호
Original Assignee
주식회사 인폼
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 주식회사 인폼 filed Critical 주식회사 인폼
Priority to KR1020150031768A priority Critical patent/KR101658609B1/en
Publication of KR20160108016A publication Critical patent/KR20160108016A/en
Application granted granted Critical
Publication of KR101658609B1 publication Critical patent/KR101658609B1/en

Links

Images

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00Testing of vehicles
    • G01M17/007Wheeled or endless-tracked vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering

Abstract

The present invention relates to an apparatus and a method for testing an autonomous braking system of a vehicle. When it is confirmed that a dummy serving as a pedestrian is located at a starting point through an origin return detection sensor, an autonomous braking test is performed, The movement of the dummy is controlled based on the estimated arrival time of the dummy. Accordingly, it is possible to accurately test the autonomous braking of the test vehicle in various situations, and to improve the accuracy of the test by adjusting the movement of the dummy in accordance with the expected arrival time change of the test vehicle.

Description

TECHNICAL FIELD [0001] The present invention relates to an autonomous braking test apparatus,

The present invention relates to an apparatus and a method for controlling autonomous braking of a vehicle by controlling the motion of the dummy, and more particularly, to an autonomous braking system for precisely controlling the motion of the dummy so as to test the autonomous braking of the vehicle in various driving situations Test apparatus and method.

An ADAS (Advanced Driver Assist System) is a system that assists the driver in the safe driving or driving comfort. Many vehicles equipped with the driver assistance system are provided according to the demand for a safe vehicle.

The autonomous braking system can be used as a driver assist system for a driver's assistant. The autonomous braking system can be used for a driver's assist system, such as an automatic vehicle distance control system (SCC), a lane keeping assist system (LKAS), and an autonomous emergency braking (AEB) Is a driver assistance system that automatically protects a driver, a pedestrian, or a nearby vehicle by reducing the speed of the vehicle when the driver is not able to brak at the time of braking because the recognition of the situation ahead is slow.

A method of testing an autonomous braking system of a vehicle is a method of testing the autonomous braking of a vehicle under operation by allowing the test vehicle to travel along a predetermined path and placing a dummy at a test point.

There are many cases where a pedestrian appears in front of a vehicle while driving, and it is necessary to precisely control the position and movement of the pile that serves as a pedestrian according to each situation. For example, according to the test scenario, the dummy is moved to the center of the front bumper (50%) of the test vehicle or moved to the right 25% or right 75% of the front bumper and the test is performed. Therefore, there is a demand for an autonomous braking tester capable of precisely controlling the motion of the dummy in order to improve the test performance of the autonomous braking tester.

In order to solve the above-described problems, the autonomous braking test is performed when it is confirmed that the dummy is located at the origin through the homing detection sensor disposed at the starting point of the dummy of the autonomous braking tester, and according to various test scenarios And an object of the present invention is to provide an autonomous braking test apparatus and method for controlling the movement of the dummy and adjusting the moving speed of the dummy in consideration of the change in the moving speed of the test vehicle.

According to an aspect of the present invention, there is provided a zero point return sensor for detecting whether a dummy is located at an origin before starting an autonomic braking test and outputting a detection signal; And transmitting the test start message to the test vehicle, receiving the position information of the test vehicle in real time, and calculating the estimated arrival time of the test vehicle according to the set scenario if it is confirmed that the dummy is located at the origin from the detection signal And controlling the movement of the dummy so that the dummy is located at a test point at an estimated arrival time.

The control unit checks whether or not the estimated arrival time has changed from the change in the location information of the test vehicle, adjusts the travel speed of the dummy when it is confirmed that the calculated arrival estimated time has changed, And transmits a test termination message to the test vehicle and returns the dummy to the origin when the moving speed of the dummy required is exceeded the limit speed of the dummy.

Wherein the control unit sets an arrival point of the test vehicle to a point that is a predetermined distance from the moving path of the dummy if the set scenario stops in the dummy and calculates an estimated arrival time to a set point, The arrival point of the test vehicle is set as a point on the movement path of the dummy and the estimated arrival time to the set point is calculated. If the set scenario is a dummy stroke, the arrival point of the test vehicle is moved And the test point of the dummy is set as a point on the moving path of the dummy that has passed the arrival point of the test vehicle.

The control unit transmits a test end message to the test vehicle and returns the dummy to the origin when it is confirmed that the test vehicle is located at the arrival point according to the set scenario.

According to another aspect of the present invention, there is provided a method for testing a vehicle, comprising: transmitting a test start message to a test vehicle when it is confirmed that the dummy is located at an origin; Receiving the position information of the test vehicle in real time; Calculating an expected arrival time of the test vehicle according to a set scenario; And controlling the movement of the dummy so that the dummy is positioned at a test point according to the set scenario at an estimated arrival time of the test vehicle.

According to the present invention, it is possible to precisely test the autonomous braking by confirming that the dummy of the autonomous braking tester is located at the origin, and to perform the test, and by controlling the movement of the dummy according to the set scenarios and the running conditions of the test vehicle, Allow autonomous braking in situations to be tested.

FIG. 1 is a diagram illustrating a configuration of an autonomic braking test apparatus according to an embodiment of the present invention and an environment for testing autonomous braking.
FIGS. 2A to 5C are views showing an embodiment in which an autonomic braking test apparatus according to an embodiment of the present invention performs an autonomic braking test according to a set scenario.
6 is a flowchart illustrating a method of an autonomic braking test method according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. And is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined by the claims.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. &Quot; comprises " and / or "comprising" when used in this specification is taken to specify the presence or absence of one or more other components, steps, operations and / Or add-ons. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows an embodiment of an autonomous braking test apparatus 100 according to an embodiment of the present invention and an environment for performing autonomous braking test by an autonomous braking test apparatus 100.

The autonomic braking tester 100 according to an embodiment of the present invention includes a home return sensor 110 and a controller 120. The autonomous braking tester 100 controls the motion of the dummy 200 acting as a pedestrian, ) Is tested for autonomous braking performance.

The home return sensor 110 is located at a position where the dummy 200 of the autonomous braking tester 100 starts and senses whether the dummy 200 is located at the starting point and outputs a detection signal.

And outputs the output detection signal to the control unit 120. [ Thus, before testing the autonomous braking, it is checked whether the dummy 200 has returned to the origin, and the test is performed, thereby making it possible to perform the intended autonomic braking test in various scenarios through precise control of the dummy 200. [

The home return sensor 110 may be operated only before the start of the autonomous braking test and after the end of the autonomous braking test. In other words, it is operated before and after the test is started so as to confirm that the dummy 200 returns to the origin and to perform the next test.

The control unit 120 transmits a test start message for starting the autonomous running test to the test vehicle 300 when it is confirmed that the dummy 200 is located at the starting point from the detection signal output from the home return sensor 110 And starts the test according to the set scenario.

The control unit 120 receives the location information of the test vehicle 300 from the test vehicle 300 that has received the test start message in real time. The estimated arrival time of the test vehicle 300 is calculated based on the set scenario and the received location information, and the movement of the dummy 200 is controlled according to the calculated arrival estimated time.

That is, the test point of the dummy 200 is set at the arrival point of the test vehicle 300 according to the set scenario, and the time required for the test vehicle 300 to reach the arrival point, And the movement of the dummy 200 is controlled.

At this time, the moving speed of the dummy 200 can be adjusted by the control unit 120. However, since the speed of the test vehicle 300 is variable depending on the situation, It is checked whether or not the estimated arrival time of the test vehicle 300 is changed. When the estimated arrival time is changed, the moving speed of the dummy 200 is adjusted so that the test according to the set scenario can be performed.

If the moving speed of the dummy 200 to be adjusted is out of the limit speed, a test termination message may be transmitted to the test vehicle 300, the dummy 200 may be returned to the origin, and the test may be performed again.

The control unit 120 precisely controls the movement of the dummy 200 according to a scenario set to test the autonomous braking in various driving situations, and examples of the settable scenarios include a dummy front stop, a dummy, a collision, Stroke, and moving to a dummy home before collision.

In addition, various scenarios may be set and tested by setting the arrival point of the test vehicle 300 and setting the test point of the dummy 200. [

FIGS. 2A through 5C illustrate an embodiment in which the autonomic braking test apparatus 100 according to an embodiment of the present invention tests autonomous braking according to various scenarios.

2A to 2C show a case in which a test is performed in accordance with a scenario of dummy forward stop. This is because when the test vehicle 300 arrives at a certain distance from the dummy 200 when the dummy 200 arrives at the test point .

The control unit 120 calculates the estimated arrival time using the distance between the test vehicle 300 and the dummy 200 when the test vehicle 300 starts. At this time, since the test vehicle 300 is tested before stopping in the dummy 200, the distance to the dummy 200 is subtracted by a predetermined distance and is calculated.

The control unit 120 starts the dummy 200 when the estimated arrival time of the test vehicle 300 is equal to or less than the preset arrival time of the dummy 200 and the test vehicle 300 arrives So that the dummy 200 can reach the test point when it reaches the point.

3A to 3C show a case where a test is performed according to a scenario of collision with a dummy and a case where the test vehicle 300 and the dummy 200 reach a test point of the dummy 200 at the same time .

The control unit 120 calculates the estimated arrival time of the test vehicle 300 based on the distance between the test vehicle 300 and the dummy 200 when calculating the estimated arrival time of the test vehicle 300, 300 and the time required for the dummy 200 to reach the test point are the same or within a predetermined range, the movement of the dummy 200 is controlled.

As shown in FIG. 3B, when the distance to the test point of the test vehicle 300 is expected to reach 40 m and 2.3 seconds later, the time required for the dummy 200 to reach the test point is estimated to be 2.25 seconds The test vehicle 300 controls the movement of the dummy 200 when the test vehicle 300 passes the 40m point so as to test the autonomous braking of the test vehicle 300 in a collision situation.

FIGS. 4A to 4C show the case where the test is performed according to the scenario of dummy passing, and the dummy 200 passes the test point when the test vehicle 300 reaches the test point.

That is, the control unit 120 is for testing how the autonomous braking of the test vehicle 300 operates when the dummy 200 is passed when the test vehicle 300 reaches the test point. The length of the dummy 200 is calculated by adding a certain distance (for example, the length of the vehicle width) to the distance to the test point, and the movement of the dummy 200 is controlled.

5A to 5C show a case where a test is performed according to a scenario of moving to a dummy groove before collision.

This is to test the autonomous braking of the test vehicle 300 when the dummy 200 reaches the test point or before it reaches the test point while the test vehicle 300 moves toward the test point and then returns to the origin. Thus, the dummy 200 is moving toward the origin when the test vehicle 300 passes the test point.

Therefore, according to the present invention, after the dummy 200 returns to the origin through the homing detection sensor 110, the test can be performed to perform a precise test, and the test can be performed according to various scenarios.

6 is a flowchart illustrating an autonomic braking test method according to an embodiment of the present invention.

The autonomic braking test apparatus 100 sets a scenario for testing the autonomous braking (S600). If the test scenario is set, the autonomic braking test apparatus 100 determines whether the dummy 200 is located at the origin (S610).

When it is confirmed that the dummy 200 is located at the origin, a test start message is transmitted to the test vehicle 300 (S620) and the test is started.

The autonomic braking tester 100 receives the position information of the test vehicle 300 from the test vehicle 300 in real time in step S630 and calculates the estimated arrival time of the test vehicle 300 based on the received position information (S640). When the test vehicle 300 arrives at the arrival point according to the set scenario, the estimated time of arrival of the dummy 200 is compared with the time required for the dummy 200 to travel. (S650).

At this time, even if the dummy 200 is moved, it continuously receives the location information from the test vehicle 300 and calculates the estimated arrival time of the test vehicle 300 (S660). If it is determined that the estimated arrival time is changed, the moving speed of the dummy 200 is adjusted accordingly (S670) so that the test according to the set scenario can be performed.

When the test vehicle 300 arrives at the arrival point and the dummy 200 arrives at the test point and the test is completed (S680), the test vehicle 300 is sent a test termination message, the dummy 200 returns to the origin, Be prepared to prepare for the test.

The foregoing description is merely illustrative of the technical idea of the present invention and various changes and modifications may be made without departing from the essential characteristics of the present invention. Therefore, the embodiments described in the present invention are not intended to limit the scope of the present invention, but are intended to be illustrative, and the scope of the present invention is not limited by these embodiments. It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents, which fall within the scope of the present invention as claimed.

100: Autonomous brake test apparatus
110: Homing detection sensor 120:
200: Pile 300: Test vehicle

Claims (12)

  1. A homing detection sensor for confirming whether the dummy is located at the origin before the autonomous braking test is started and outputting a detection signal; And
    If it is confirmed from the detection signal that the dummy is located at the origin, the test start message is transmitted to the test vehicle, the position information of the test vehicle is received in real time, the expected arrival time of the test vehicle is calculated according to the set scenario And a control unit for controlling the movement of the dummy so that the dummy is positioned at a test point at an estimated arrival time,
    The control unit
    The control unit checks whether the estimated arrival time is changed from the change of the position information of the test vehicle, adjusts the traveling speed of the dummy when it is confirmed that the calculated arrival estimated time is changed,
    Transmitting a test termination message to the test vehicle and returning the dummy to the origin when the moving speed of the dummy required for changing the estimated arrival time of the test vehicle exceeds the limit speed of the dummy
    Autonomous braking test apparatus.
  2. delete
  3. delete
  4. The apparatus of claim 1, wherein the control unit
    If the set scenario is a dummy stop, the arrival point of the test vehicle is set to a point that is a predetermined distance from the movement path of the dummy, and the estimated arrival time to the set point is calculated
    Autonomous braking test apparatus.
  5. The apparatus of claim 1, wherein the control unit
    If the set scenario is a collision with the dummy, the arrival point of the test vehicle is set as a point on the movement path of the dummy and the estimated arrival time to the set point is calculated
    Autonomous braking test apparatus.
  6. The apparatus of claim 1, wherein the control unit
    If the set scenario is a dummy stroke, the arrival point of the test vehicle is set as a point on the movement path of the dummy, and the test point of the dummy is set as a point on the movement path of the dummy that has passed the arrival point of the test vehicle that
    Autonomous braking test apparatus.
  7. The apparatus of claim 1, wherein the control unit
    If it is confirmed that the test vehicle is located at the arrival point according to the set scenario, the test vehicle is returned to the origin
    Autonomous braking test apparatus.
  8. Transmitting a test start message to the test vehicle when it is confirmed that the dummy is located at the origin;
    Receiving the position information of the test vehicle in real time;
    The expected arrival time of the test vehicle is calculated according to the set scenario, and if the set scenario is ahead of the dummy, the arrival point is set as a preceding point by a predetermined distance in the travel path of the dummy, and the expected arrival time of the test vehicle is calculated step; And
    Controlling the movement of the dummy so that the dummy is positioned at a test point according to the set scenario at an estimated arrival time of the test vehicle
    Wherein the autonomous braking test method comprises the steps of:
  9. 9. The method of claim 8, wherein controlling the movement of the dummy
    Checking whether the estimated arrival time of the test vehicle is changed according to the position information of the test vehicle received in real time, and adjusting the moving speed of the dummy according to the change of the estimated arrival time
    Autonomous braking test method.
  10. delete
  11. delete
  12. The method according to claim 8, wherein calculating the estimated arrival time of the test vehicle according to the set scenario
    Setting the arrival point of the test vehicle as a point on the moving path of the dummy if the set scenario is a dummy track and setting the point as a point on the moving path of the dummy that has passed the arrival point of the test vehicle Include
    Autonomous braking test method.
KR1020150031768A 2015-03-06 2015-03-06 System and method for testing autonomous emergency braking KR101658609B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150031768A KR101658609B1 (en) 2015-03-06 2015-03-06 System and method for testing autonomous emergency braking

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150031768A KR101658609B1 (en) 2015-03-06 2015-03-06 System and method for testing autonomous emergency braking

Publications (2)

Publication Number Publication Date
KR20160108016A KR20160108016A (en) 2016-09-19
KR101658609B1 true KR101658609B1 (en) 2016-09-21

Family

ID=57080625

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020150031768A KR101658609B1 (en) 2015-03-06 2015-03-06 System and method for testing autonomous emergency braking

Country Status (1)

Country Link
KR (1) KR101658609B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102012127B1 (en) 2018-04-11 2019-10-14 재단법인 지능형자동차부품진흥원 Stability test device for autonomous driving car

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102011664B1 (en) * 2018-06-07 2019-08-19 계명대학교 산학협력단 Test evaluation apparatus for autonomous emergency braking system and control method thereof
CN108896321A (en) * 2018-08-10 2018-11-27 安徽江淮汽车集团股份有限公司 For assessing the test device of automatic breaking system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008039686A (en) * 2006-08-09 2008-02-21 Denso Corp Collision testing device
KR100904767B1 (en) 2007-08-10 2009-06-29 자동차부품연구원 Test evaluation apparatus of collision avoidance system
KR101357596B1 (en) 2012-09-06 2014-02-06 자동차부품연구원 Test evaluation apparatus of collision avoidance system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008039686A (en) * 2006-08-09 2008-02-21 Denso Corp Collision testing device
KR100904767B1 (en) 2007-08-10 2009-06-29 자동차부품연구원 Test evaluation apparatus of collision avoidance system
KR101357596B1 (en) 2012-09-06 2014-02-06 자동차부품연구원 Test evaluation apparatus of collision avoidance system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102012127B1 (en) 2018-04-11 2019-10-14 재단법인 지능형자동차부품진흥원 Stability test device for autonomous driving car

Also Published As

Publication number Publication date
KR20160108016A (en) 2016-09-19

Similar Documents

Publication Publication Date Title
JP4371137B2 (en) Automatic operation control device
JP2011517632A (en) Method and assistance system for detecting objects in the vicinity of a vehicle
JP5494332B2 (en) Vehicle control system
EP2982565B1 (en) Vehicle control device
JPWO2011064824A1 (en) Collision prevention device
JP6320522B2 (en) Method and apparatus for operating a vehicle in automatic driving mode
US8200419B2 (en) Braking control system and braking control method
US20130211689A1 (en) Cruise control apparatus
DE102014210147A1 (en) Vehicle control system for autonomous guidance of a vehicle
DE102010042048A1 (en) Apparatus and method for assisting a driver of a motor vehicle in a driving maneuver
ES2596277T3 (en) Procedure for determining an emergency braking situation of a vehicle
RU2013108455A (en) Method and device of automatic vehicle speed control
CN103209851A (en) And a vehicle control method for a vehicle device control
EP2714484B1 (en) Method for operating a longitudinal driver assistance system of a motor vehicle and motor vehicle
WO2009074661A1 (en) Driver assistance with merged sensor data
KR101927155B1 (en) Method and system for recognizing space of shoulder of road
US20150344033A1 (en) Apparatus and computer program for assisting driver of vehicle
DE102012213568A1 (en) Safety device for motor vehicles
JP5952862B2 (en) Vehicle driving support device
US8880319B2 (en) Driving control apparatus mounted on vehicle to avoid collision with preceding vehicle
CN104662592A (en) Method for operating a driver assistance system of a vehicle
GB2484794A (en) Determining a restricted detection range of a sensor of a vehicle
US20130226433A1 (en) Inter-vehicle distance control device
US9896101B2 (en) Autonomous driving vehicle system
US20150274162A1 (en) Drive assist apparatus, and drive assist method

Legal Events

Date Code Title Description
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20190916

Year of fee payment: 4