Test lane, system and method for lane changing ability of autonomous vehicle

A technology of automatic driving and testing methods, which is applied in the direction of vehicle testing, machine/structural component testing, vehicle components, etc. It can solve the problems of lack of lane-changing ability and immaturity of automatic driving vehicles, and achieve efficient and coherent testing. Test results are authoritative and reliable

Active Publication Date: 2019-10-25
SHANDONG ACAD OF SCI INST OF AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Among them, the ability of automatic driving vehicles to change lanes is particularly important. There are already theories on the ability of automatic driving vehicles to change lanes. Continuous testing is carried out to verify and improve, and there is currently a lack of a standard test method for the lane-changing ability of autonomous vehicles that is close to the real driving environment

Method used

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  • Test lane, system and method for lane changing ability of autonomous vehicle
  • Test lane, system and method for lane changing ability of autonomous vehicle
  • Test lane, system and method for lane changing ability of autonomous vehicle

Examples

Experimental program
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Effect test

Embodiment 1

[0056] Such as figure 1 As shown, Embodiment 1 of the present disclosure provides a test road for the lane-changing ability of automatic driving vehicles, including two lanes, respectively the first lane 3 and the second lane 4, the first lane and the second lane There are seven test warning lines, including three single-purpose test start warning lines, three single-purpose test end warning lines and one start-end dual-purpose warning line, which are the first single-purpose test start warning line A10, the first single-purpose test Purpose test end warning line B11, first single-purpose test start warning line C12, start-end dual-purpose warning line D13, second single-purpose test end warning line E14, third single-purpose test start warning line F15 and third Single-purpose test termination warning line 16; lane reduction scene is provided on the second lane, and sign board 9 is reduced for the front lane; the most initial stage of the lane is provided with a maintenance a...

Embodiment 2

[0058] Such as Figure 2-5 As shown, Embodiment 2 of the present disclosure provides a test system for the lane-changing ability of autonomous vehicles, including a reference vehicle 1, a vehicle to be tested 2, a control platform 6, roadside equipment, and the test system described in Embodiment 1. The test road, the roadside equipment includes a v2x wireless communication network roadside unit (RSU) 7 and a laser rangefinder 8 arranged on the roadside, and the v2x wireless communication network roadside unit (RSU) 7 is connected to the laser rangefinder respectively. The distance meter 8, the reference vehicle 1 and the vehicle to be tested 2 are connected in communication, and are used to transmit the driving state data of the reference vehicle 1 and the vehicle to be tested 2 and the distance data between the vehicle to be tested 2 and the roadside to the control platform, and the control platform 6 is used to control the driving state of the vehicle, and analyze whether t...

Embodiment 3

[0064] Embodiment 3 of the present disclosure provides a test method for the lane-changing ability of an automatic driving vehicle, including overtaking test, lane-changing test with vehicle, side-by-side parking test, and lane-reducing lane-changing test methods;

[0065] Overtaking test methods such as Figure 6 As shown, the steps are as follows:

[0066] Both the reference vehicle and the vehicle to be tested drive into the preparation area, and check the v2x wireless network connection between the reference vehicle and the control platform, and the v2x wireless network connection between the reference vehicle and the vehicle to be tested;

[0067] The reference vehicle first drives out of the preparation area and drives on the second lane at a speed of 30km / h. After driving smoothly, the control platform issues a test start command. When the reference vehicle crosses the first single-purpose test start warning line, the test is deemed to start. The test vehicle drives ou...

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Abstract

The disclosure provides a test lane, system and method for the lane changing ability of an autonomous vehicle. The test lane includes at least one reference vehicle, at least one to-be-tested vehicle,at least two lanes, a control platform and a roadside device. Multiple test attention lines are arranged on the lanes, a lane reduction scenario is arranged on at least one lane, the roadside deviceincludes a wireless communication unit and a laser rangefinder arranged on a roadside, is connected to the wireless communication unit in a communication manner separately, and is used for transmitting vehicle driving state data, and data of the distance between the to-be-tested vehicle and the roadside to a control platform, and the control platform is used for controlling driving states of the reference vehicle and the to-be-tested vehicle, and analyzing, according to received data, whether a test of the lane changing ability of the to-be-tested vehicle is qualified or not. Compared with computer-simulated theoretical data, the test lane is closer to a real driving environment, so that a test result can reflect the lane changing ability of the to-be-tested vehicle more accurately, and the lane test is safer compared with a lane test on a real lane.

Description

technical field [0001] The present disclosure relates to the technical field of performance testing of automatic driving vehicles, and in particular to a test road, system and method for lane changing ability of automatic driving vehicles. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] Autonomous driving technology is divided into multiple levels. At present, domestic and foreign industries adopt more classification standards introduced by the Society of Automotive Engineers (SAE) and the National Highway Safety Administration (NHTSA). According to SAE standards, self-driving cars are divided into six levels according to the level of intelligence and automation: no automation (L0), driving support (L1), partial automation (L2), conditional automation (L3), and high automation (L4). ) and full automation (L5). [0004] At present, the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M17/007
CPCG01M17/007B60W30/18163B60W50/04B60W2556/45B60W60/0016B60W60/0017B60W2554/4045B60W2554/4041B60W2554/4049
Inventor 李研强陈泓运
Owner SHANDONG ACAD OF SCI INST OF AUTOMATION
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