KR102011665B1 - Apparatus and method for evalutating adaptive cruise control system for vehicle - Google Patents

Abstract

Disclosed are a device and a method for test evaluating an ACC system for a vehicle. According to the present invention, the device for test evaluating an ACC system for a vehicle comprises: a performance evaluation part for calculating a theoretical value for each of a plurality of predetermined scenarios by using the sensing information of the ACC system; an actual vehicle test part for detecting an actual measurement value according to an actual vehicle test of the ACC system for each scenario; and a test evaluation part for evaluating performance of the ACC system using the theoretical value calculated by the performance evaluation part and the actual measurement value detected by the actual vehicle test part. Therefore, the present invention prevents accidents with nearby vehicles.

Description

Apparatus and method for evaluating vehicle AC system for vehicle {APPARATUS AND METHOD FOR EVALUTATING ADAPTIVE CRUISE CONTROL SYSTEM FOR VEHICLE}

The present invention relates to a vehicle ACC system test evaluation apparatus and method, and more particularly to a vehicle ACC system test evaluation apparatus and method for testing and evaluating the performance characteristics of the ACC system.

An autonomous vehicle refers to a vehicle that independently recognizes a driving path by recognizing the surrounding environment through external information sensing and processing function and drives independently using its own power. Autonomous vehicles can drive to their destinations by preventing collisions with obstacles on the driving path and adjusting the speed and direction of the road according to the shape of the road without the driver manipulating the steering wheel, accelerator pedal or brake. have. For example, acceleration may be performed on a straight road, and deceleration may be performed on a curved road while changing a driving direction corresponding to the curvature of the road.

The autonomous vehicle is equipped with a plurality of advanced driver assistance systems (ADAS) to assist the driver. The driver assistance systems include adaptive cruise control (ACC), lane departure warning system (LDWS), Lane Keeping Assistance System (LKAS), High Beam Assistance (HBA) and Autonomous Emergency Braking (AEB).

In particular, the ACC system is a system that safely follows the preceding vehicle without the driver's throttle input or brate input based on the active control technology. The ACC system minimizes the driver's driving load by controlling the vehicle's longitudinal speed and distance, and is useful for preventing and preventing accidents.

However, since the ACC system has a problem of causing a collision accident with a preceding vehicle when a malfunction occurs, a precise evaluation of the performance of the ACC system is required. However, current research and development related to ACC system is insufficient.

The background art of the present invention is disclosed in the method and apparatus for verifying the performance of the ACC / LKS integrated controller for vehicles, and a computer-readable recording medium therefor in Korean Patent Publication No. 10-2015-0057537 (2015.05.28) have.

The present invention was devised to improve the above-mentioned problems, and an object according to an aspect of the present invention is to set a plurality of scenarios for identifying and following a target vehicle, and comparing and verifying theoretical values and actual vehicle test values according to each scenario. To provide a vehicle ACC system test evaluation apparatus and method for testing the ACC system.

An ACC system test evaluation apparatus for a vehicle according to an aspect of the present invention includes a performance evaluation unit configured to calculate theoretical values for a plurality of preset scenarios using sensing information of an adaptive cruise control (ACC) system; A real vehicle testing unit for detecting actual values according to a real vehicle test of the ACC system for each scenario; And a test evaluation unit for evaluating the performance of the ACC system using the theoretical value calculated by the performance evaluation unit and the measured value detected by the actual vehicle test unit.

The scenario of the present invention is characterized by evaluating at least one of selecting a target vehicle for ACC control of a preceding vehicle on the same lane, and identifying and estimating the target vehicle upon target change due to interruption or lane change. do.

The performance evaluation unit of the present invention is characterized by detecting the theoretical value by applying a predetermined objective function for each of the scenarios.

The objective function of the present invention is set using a formula for a target relative distance and a target acceleration, an optimal control theory, and a Lagrange multiplier method.

The theoretical value of the present invention is characterized in that the target distance between the target vehicle and the target vehicle.

The measured value of the present invention is characterized in that the actual distance between the target vehicle and the target vehicle measured by the ACC system.

The test evaluation unit of the present invention compares the theoretical value and the actual measurement value for each scenario by calculating an error rate; And a system evaluator for analyzing performance characteristics of the ACC system using each of the error rates calculated by the error rate calculator.

According to an aspect of the present invention, there is provided a test evaluation method of an ACC system, including: calculating, by a performance evaluation unit, theoretical values for a plurality of preset scenarios by using sensing information of an adaptive cruise control (ACC) system; Detecting, by a vehicle testing unit, actual values according to a vehicle test of the ACC system for each scenario; And evaluating a performance of the ACC system by using a test evaluation unit using the theoretical value calculated by the performance evaluation unit and the measured value detected by the actual vehicle test unit.

The scenario of the present invention is characterized by evaluating at least one of selecting a target vehicle for ACC control of a preceding vehicle on the same lane, and identifying and estimating the target vehicle upon target change due to interruption or lane change. do.

The performance evaluation unit of the present invention is characterized by detecting the theoretical value by applying a predetermined objective function for each of the scenarios.

The objective function of the present invention is set using a formula for a target relative distance and a target acceleration, an optimal control theory, and a Lagrange multiplier method.

The theoretical value of the present invention is characterized in that the target distance between the target vehicle and the target vehicle.

The measured value of the present invention is characterized in that the actual distance between the target vehicle and the target vehicle measured by the ACC system.

Evaluating the performance of the ACC system of the present invention includes the steps of calculating the error rate by comparing the theoretical value and the measured value for each scenario; And analyzing the performance characteristics of the ACC system using each of the error rates.

The ACC system test evaluation apparatus and method for a vehicle according to an aspect of the present invention is set in a plurality of scenarios for identifying and following a target vehicle, and comparing and verifying theoretical values and actual vehicle test values according to each scenario to test and evaluate the ACC system. In addition, it can evaluate the performance of the ACC system in an integrated manner and actively respond to international standards on test evaluation methods of the ACC system.

The ACC system test evaluation apparatus and method for a vehicle according to another aspect of the present invention evaluates the performance of the ACC system to prevent malfunction of the autonomous vehicle in advance and to prevent accidents with surrounding vehicles in advance.

1 is a block diagram of a vehicle ACC system test evaluation apparatus according to an embodiment of the present invention.
2 is a diagram showing test conditions and a test method of a first scenario according to an embodiment of the present invention.
3 is a view showing test conditions and test methods of the second scenario and the third scenario according to an embodiment of the present invention.
4 is a view showing the test conditions and test method of the fourth scenario according to an embodiment of the present invention.
5 is a diagram showing test conditions and test methods of the fifth scenario, the sixth scenario, and the seventh scenario according to an embodiment of the present invention.
6 and 7 are graphs showing speeds of actual vehicle test results according to a first scenario according to an embodiment of the present invention.
8 is a graph showing the speed of the actual vehicle test results according to the second scenario according to an embodiment of the present invention.
9 is a graph showing the speed of the actual vehicle test results according to the third scenario according to an embodiment of the present invention.
10 is a graph showing the speed of the actual vehicle test results according to the fourth scenario according to an embodiment of the present invention.
11 is a graph showing the speed of the actual vehicle test results according to the fifth scenario according to an embodiment of the present invention.
12 is a graph showing the speed of the actual vehicle test results according to the sixth scenario according to an embodiment of the present invention.
Figure 13 is a graph showing the speed of the actual vehicle test results according to the seventh scenario according to an embodiment of the present invention.
14 is a flowchart illustrating a test evaluation method for a vehicle ACC system according to an embodiment of the present invention.

Hereinafter, a test evaluation apparatus and a method of a vehicle ACC system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or convention of a user or an operator. Therefore, the definitions of these terms should be made based on the contents throughout the specification.

1 is a block diagram of a vehicle ACC system test evaluation apparatus according to an embodiment of the present invention, Figure 2 is a view showing the test conditions and test method of the first scenario according to an embodiment of the present invention, Figure 3 4 is a view showing test conditions and a test method of the second scenario and the third scenario according to an embodiment of the present invention, Figure 4 is a view showing the test conditions and test method of the fourth scenario according to an embodiment of the present invention 5 is a diagram illustrating test conditions and test methods of the fifth scenario, the sixth scenario, and the seventh scenario according to an embodiment of the present invention.

Referring to FIG. 1, an ACC system test evaluation apparatus for a vehicle according to an exemplary embodiment of the present invention includes a vehicle test unit 10, a performance evaluation unit 20, and a test evaluation unit 30.

The performance evaluator 20 calculates theoretical values for each of a plurality of preset scenarios by using sensing information of an adaptive cruise control (ACC) system.

The scenario is for evaluating at least one of whether the ACC system selects a preceding vehicle on the same lane as a target vehicle for ACC control, and identifies and estimates the target vehicle upon changing the target vehicle due to the interruption or lane change.

Meanwhile, the ACC system maintains a constant vehicle interval with a target vehicle at a constant speed set by a driver so that the speed and the distance are automatically maintained. Therefore, in order to evaluate the tracking capability, which is a basic function of the ACC system, test evaluation is performed for each scenario on the detection range, target identification, target vehicle tracking capability, and curve turning capability test.

The surveillance range test evaluates the detection performance of the targets of the sensors used in the ACC system and evaluates the response requirements of the sections of the International Organization for Standardization (ISO) for the four sections.

The vehicle front to c ₀ section is the section that is not required to be detected (it is not affected by the detection evaluation, time gap and speed). Here, c ₀ (minimum relative clearance) is the minimum relative distance, which means the minimum relative distance that can be recognized by the sensor of the ACC system.

The intervals c ₀ to c ₁ require an increase in the vehicle interval (not affected by time gap and speed). Here, c ₁ (middle relative clearance) is the middle relative distance, which means the minimum and maximum average relative distance that the sensor of the ACC system can recognize.

c ₁ ~ c _max section is a section that needs to be detected and requires to maintain a certain distance with the preceding vehicle according to the speed and time gap (depending on the time gap and speed, it is necessary to consider the influence of variables). Here, c _max (maximum relative clearance) is the maximum relative distance, which means the maximum relative distance that can be recognized by the sensor of the ACC system.

The target vehicle identification test determines whether the preceding vehicle on the same lane is selected as the target vehicle for ACC control when there are two or more preceding vehicles in front, and the target vehicle identification and appropriate following when changing the target vehicle due to interruption or lane change. It is to carry out an evaluation of whether this is done. The first to fourth scenarios are set for the target vehicle identification test.

Scenario # 1: Two LVs run side by side at the same speed, and a SV (Subject Vehicle) follows LV1. At this time, if LV1 in the same lane accelerates, SV does not follow LV2 and accelerates along the target vehicle, passing the LV2 and ends the test (the same can be done in the curve). Here, SV means a vehicle equipped with the ACC system to be evaluated, and LV means a preceding vehicle or a target vehicle traveling in front of the vehicle equipped with the ACC system to be evaluated.

Test conditions and test methods of the first scenario are shown in FIG.

test car LV1 LV2 SV initial
velocity 40 km / h 40 km / h 40 km / h latter
velocity 50 km / h 40 km / h Accelerate along LV 1

Scenario 2: Two LVs run side-by-side at 80 km / h in the same lane and the SV runs in the next lane. After LV2 (80km / h) passes the SV, when LV1 (60km / h) changes lanes and enters SV (70km / h), the SV does not follow LV2 and speeds to secure safety distance by ACC system. Reduce LV1 and follow LV1.

Test conditions and test methods of the second scenario are shown in FIG. 3 and Table 2.

test car LV1 LV2 SV initial
velocity 80 km / h 80km / h 70 km / h latter
velocity 60km / h 90 km / h accelerate to reach c1 deceleration along LV1 in the range c1 ~? cmax of LV1

Scenario # 2: Two LVs driving side-by-side at 80 km / h in the same lane and an SV running in the next lane. When LV 2 (80km / h) passes the SV, when LV1 (60km / h) changes lanes and enters SV (70km / h), the SV does not follow LV2 and speeds to secure safety distance by ACC system. Reduce LV1 and follow LV1.

Test conditions and test methods of the third scenario are shown in FIGS. 3 and 3.

test car LV1 LV2 SV initial
velocity 80 km / h 80km / h 70 km / h latter
velocity 60km / h 90 km / h accelerate to reach c1, deceleration along LV1 in the range c0 ~? c1 of LV1

Scenario 4: Two LVs drive in one lane, followed by SV driving. At this time, LV2 changes lanes, SV follows LV1 to accelerate, then decelerates.

Test conditions and test methods of the fourth scenario are shown in FIGS. 4 and 4.

test car LV1 LV2 SV initial
velocity 80km / h 80km / h 70 km / h latter
velocity 80 km / h 80km / h after accelerated by ACC system, it maintains constant speed after deceleration by LV 1 in the range c0 ∼ c1? of LV 1, LV 2 keeps at its initial speed and then exits

Next, the fifth to seventh scenarios are set for the target vehicle following test.

Scenario 5: LV1 is driving 80km / h in one lane and SV is following 80km / h. At this time, LV2 changes lanes in front of SV, and SV changes targets to follow LV2.

Test conditions and test methods of the fifth scenario are shown in FIG. 5 and Table 5.

test car LV1 LV2 SV initial
velocity 80 km / h 80km / h 80 km / h latter
velocity 80km / h 80km / h SV maintains constant speed after decelerating according to vehicle interval in the range c0 ∼ c1? of LV 1, LV 2 keeps at its initial speed and then exits

Scenario 6: LV1 is driving 80km / h in one lane and SV is following. At this time, the distance between the two vehicles is in the range of c ₁ ~ c _max . The LV2 is driving in the next lane. At this time, LV2 changes lanes in front of SV, and SV changes its target to follow LV2.

Test conditions and test methods of the sixth scenario are shown in FIG.

test car LV1 LV2 SV initial
velocity 80km / h 80 km / h 60 km / h latter
velocity 80km / h 80 km / h after accelerated by ACC system LV 2 come between LV 1 and SV of range c1 ~ cmax (LV 2 intervention condition to accelerate instantly, so that it can keep 80km / h)

Scenario 7: LV1 is driving 80km / h in one lane and SV is following. In this case, the distance between the two vehicles is in the range of c ₀ to c ₁ . The LV2 is driving in the next lane. At this time, LV2 changes lanes in front of SV, and SV changes the target to follow LV2.

Test conditions and test methods of the seventh scenario are shown in FIG. 5 and Table 7.

test car LV1 LV2 SV initial
velocity 80km / h 80km / h 60 km / h latter
velocity 80km / h 80km / h after accelerated by ACC system LV 2 come between LV 1 and SV of range c0 ~ c1 (LV 2 intervention condition to accelerate instantly, so that it can keep 80km / h)

Accordingly, the performance evaluator 20 calculates a theoretical value through Equation 3 below for each of a plurality of preset scenarios by using sensing information of the ACC system for each scenario.

The target acceleration for controlling the speed and distance of the vehicle in which the ACC system is installed can be obtained through the optimal control theory using the speed and distance information of the vehicle measured using the radar sensor. The equation is shown in Equation 1 below.

Where c _des is the target relative distance, c ₀ is the initial relative distance, τ is the time difference, and v _f is the speed of the target vehicle.

In addition, the STOP & GO of the ACC system adjusts the relative distance with the vehicle ahead using the deceleration, and the target deceleration equation of the ACC system is shown in Equation 2 below.

Where a _des is the target acceleration, k ₁ and k ₂ are the gains, and v _s is the speed of the target vehicle.

Using Equation 1 and Equation 2, Equation 3 below may be proposed to derive the evaluation criteria of the ACC system as a target distance.

Here, k ₁ and k ₂ can be obtained using Lagrange multiplier and optimal control theory, and the values of k ₁ and k ₂ are represented by Equation 4 below when expressed as a matrix.

On the other hand, when the performance of the test vehicle is as follows, c ₀ , c ₁ , c _max is shown in Table 8 below.

Test vehicle performance

Set time difference: 1.0 second to 2.0 seconds (0.1 second interval)

-Speed range: 40km / h ~ 160km / h

-Auto deceleration range: -2m / s ² ~ + 2m / s ²

distance range time
difference velocity (v) distance minimum sensing
range (c ₀ ) 1.0 s 11km / h about 3m minimum relative
clearance 1.0 s 40km / h about 11m middle relative
clearance (c ₁ ) 2.0 s 80 km / h about 45m maximum
relative
clearance (c _max ) 2.0 s 160 km / h about 89m

The target function as described above, that is, the calculation result calculated through Equation 3, that is, the theoretical value for each scenario is shown in Table 9.

scenario initial
velocity latter
velocity time
difference theoretical vehicle distance 1 (straight) 40km / h 50 km / h 1 s about 30m 1 (curve) 40km / h 50 km / h 1 s about 30m 2 70km / h 60km / h 2s about 34m 3 70km / h 60km / h 1 s about 30m 4 70km / h 80 km / h 1 s about 32m 5 80 km / h 80 km / h 2s about 50m 6 60km / h 80 km / h 2s about 45m 7 60km / h 80 km / h 1 s about 30m

The actual vehicle test unit 10 detects the measured value according to the actual vehicle test of the ACC system for each scenario. That is, the actual vehicle testing unit 10 detects the measured value for the performance evaluation when the ACC system mounted on the vehicle operates for each scenario. The measured value is the actual distance between the target vehicle and the preceding vehicle measured by the ACC system. The following test results show the speed as an example.

Actual vehicle test results for each scenario are as shown in FIGS. 6 to 13. 6 and 7 are graphs showing speeds of actual vehicle test results according to a first scenario according to an embodiment of the present invention, and FIG. 8 is a speed of actual vehicle test results according to a second scenario according to an embodiment of the present invention. 9 is a graph showing the speed of the actual vehicle test results according to the third scenario according to an embodiment of the present invention, Figure 10 is a vehicle test result according to the fourth scenario according to an embodiment of the present invention Figure 11 is a graph showing the speed, Figure 11 is a graph showing the speed of the actual vehicle test results according to the fifth scenario according to an embodiment of the present invention, Figure 12 is a vehicle according to the sixth scenario according to an embodiment of the present invention It is a graph showing the speed of the test results, Figure 13 is a graph showing the speed of the actual vehicle test results according to the seventh scenario according to an embodiment of the present invention.

6 and 7, the data curve of the SV increasing along the LV1 can be seen, and there is no influence of the LV2.

8 and 9, it can be seen that SV maintains the set speed and continues straight down and decelerates along the decelerating LV1 and is not affected by the LV 2 running at the increased speed.

Referring to FIG. 10, when the LV1 changes lanes, the SV recognizes the LV2 as a preceding vehicle, increases the speed to maintain a constant distance, and then adjusts the distance. It was confirmed that the same speed was maintained, and there was no effect of the LV1 changing lanes.

11 to 13, it is data that can be confirmed when LV1 is interrupted before SV while SV follows LV2. The SV proceeded to decelerate to maintain the distance from LV1 and to keep the speed of LV1 straight.

The test evaluation unit 30 evaluates the performance of the ACC system using the theoretical value calculated by the performance evaluation unit 20 and the measured value detected by the actual vehicle test unit 10.

The test evaluation unit 30 includes an error rate calculation unit 31 and a system evaluation unit 32.

The error rate calculator 31 calculates an error rate by comparing the theoretical value and the measured value for each scenario.

The error rates of the theoretical value and the measured value for each scenario are shown in Table 10 below.

scenario real vehicle distance theoretical vehicle
distance error factor 1 (straight) about 31m about 30m 30.33% 1 (curve) about 30m about 30m 0.00% 2 about 34m about 34m 0.00% 3 about 3m about 30m 10.00% 4 about 39m about 32m 9.38% 5 about 45m about 50m 10.00% 6 about 45m about 45m 0.00% 7 about 28m about 30m 6.67%

Here, the relative distance values of the actual vehicle test are values in which the tracking function of the ACC is stabilized.

The system evaluator 32 analyzes the performance characteristics of the ACC system using each of the error rates calculated by the error rate calculator 31. In this case, the system evaluator 32 may distinguish the preceding vehicle to evaluate whether the ACC system is operating and whether the ACC system follows the preceding vehicle.

For example, referring to Table 10, the system evaluation unit 32 confirms that an error is also seen in the speed, and the ACC system is stabilized by adjusting the speed and distance of the vehicle ahead with time, and is stable regardless of the error rate. It can be evaluated as.

Hereinafter, a vehicle ACC system test evaluation method according to an embodiment of the present invention will be described in detail with reference to FIG. 14.

14 is a flowchart illustrating a test evaluation method for a vehicle ACC system according to an embodiment of the present invention.

Referring to FIG. 14, the performance evaluator 20 calculates a theoretical value through an objective function for a plurality of preset scenarios by using sensing information of the ACC system for each scenario (S10).

In addition, the actual vehicle testing unit 10 detects the measured value for the performance evaluation when the ACC system mounted on the vehicle operates for each scenario.

For reference, in the present embodiment, the theoretical value calculation and the measured value detection order are irrelevant, and the measured value detection and the theoretical value calculation may be simultaneously performed.

On the other hand, after the theoretical value is calculated and the measured value is detected as described above, the error rate calculator 31 calculates the error rate by comparing the theoretical value and the measured value for each scenario (S20).

As the error rate is calculated for each scenario, the system evaluator 32 analyzes the performance characteristics of the ACC system using each of the error rates calculated by the error rate calculator 31 (S30). It can be evaluated whether the ACC system is working and whether the ACC system follows the preceding vehicle.

As described above, the ACC system test evaluation apparatus and method for a vehicle according to an embodiment of the present invention is set in a plurality of scenarios for identifying and following a target vehicle, and comparing and verifying theoretical values and actual vehicle test values according to each scenario in an ACC system. By testing and evaluating, it is possible to evaluate the performance of the ACC system in an integrated manner and to actively respond to international standards on how to evaluate and test the ACC system.

In addition, the vehicle ACC system test evaluation apparatus and method according to an embodiment of the present invention evaluates the performance of the ACC system to prevent malfunction of the autonomous vehicle in advance, and to prevent accidents with surrounding vehicles in advance.

Although the present invention has been described with reference to the embodiments shown in the drawings, it is merely exemplary and various modifications and equivalent other embodiments are possible to those skilled in the art. Will understand. Therefore, the true technical protection scope of the present invention will be defined by the claims below.

10: actual vehicle test part
20: performance evaluation unit
30: test evaluation unit
31: error rate calculation unit
32: system evaluation unit

Claims (14)

A performance evaluation unit for calculating theoretical values for a plurality of preset scenarios using sensing information of an adaptive cruise control (ACC) system;
A real vehicle testing unit for detecting actual values according to a real vehicle test of the ACC system for each scenario; And
And a test evaluation unit for evaluating the performance of the ACC system using the theoretical value calculated by the performance evaluation unit and the measured value detected by the actual vehicle test unit.
The performance evaluation unit detects the theoretical value by applying a predetermined objective function for each of the scenarios,
The objective function is a vehicle ACC system test evaluation apparatus characterized in that it is set using a formula for the target relative distance and the target acceleration, the optimal control theory and Lagrange multiplier method.
2. The scenario of claim 1, wherein the scenario is for evaluating at least one of selecting a target vehicle for ACC control of a preceding vehicle on the same lane and identifying and estimating the target vehicle upon target change due to interruption or lane change. Vehicle ACC system test evaluation device, characterized in that.
delete delete The apparatus of claim 1, wherein the theoretical value is a target distance between the target vehicle and the target vehicle.
The apparatus of claim 1, wherein the measured value is an actual distance between a target vehicle and a target vehicle measured through the ACC system.
The method of claim 1, wherein the test evaluation unit
An error rate calculator configured to calculate an error rate by comparing the theoretical value with the measured value for each scenario; And
And a system evaluation unit for analyzing the performance characteristics of the ACC system using each of the error rates calculated by the error rate calculation unit.
Calculating, by a performance evaluator, theoretical values for a plurality of preset scenarios using sensing information of an adaptive cruise control (ACC) system;
Detecting, by a vehicle testing unit, actual values according to a vehicle test of the ACC system for each scenario; And
And evaluating, by a test evaluator, the performance of the ACC system using the theoretical value calculated by the performance evaluator and the measured value detected by the actual vehicle test part.
The performance evaluation unit detects the theoretical value by applying a predetermined objective function for each of the scenarios,
The objective function is a vehicle ACC system test evaluation method characterized in that it is set using a formula for the target relative distance and the target acceleration, the optimal control theory and Lagrange multiplier method.
10. The method of claim 8, wherein the scenario is for evaluating at least one of selecting a target vehicle for ACC control of a preceding vehicle on the same lane and identifying and estimating the target vehicle upon target change due to interruption or lane change. Vehicle ACC system test evaluation method characterized in that.
delete delete The method of claim 8, wherein the theoretical value is a target distance between the target vehicle and the target vehicle.
The method of claim 8, wherein the measured value is an actual distance between a target vehicle and a target vehicle measured through the ACC system.
9. The method of claim 8, wherein evaluating the performance of the ACC system
Calculating an error rate by comparing the theoretical value with the measured value for each scenario; And
And analyzing the performance characteristics of the ACC system using each of the error rates.

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