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Unmanned vehicle signal-lamp-free roundabout traffic capacity test system and test method

A technology of traffic capacity and test system, applied in the direction of test/monitor control system, vehicle test, general control system, etc., can solve the problems of high cost, complex test method, low cost, etc., to achieve safe test process and true test results Reliable, easy-to-test results

Active Publication Date: 2020-06-09
CHANGAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problems existing in the prior art, the object of the present invention is to provide a test system and test method for unmanned vehicle traffic around the island without signal lights. The test system has a simple structure and solves the lack of standard no The trafficability test of unmanned vehicles around the island with signal lights solves the problem that it is difficult to reproduce the scene around the island without signal lights in the urban environment, the test method is complicated, and the cost is high. The attitude controller installed on the unmanned vehicle to be tested is used to test the unmanned The tilt angle of the vehicle is used to obtain the driving information of the unmanned vehicle to be tested by using the 360° panoramic camera. The driving information includes the driving trajectory, driving speed and whether the turn signal is turned on, so as to test the ability of the unmanned vehicle to go around the island without signal lights. High efficiency and low cost

Method used

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  • Unmanned vehicle signal-lamp-free roundabout traffic capacity test system and test method
  • Unmanned vehicle signal-lamp-free roundabout traffic capacity test system and test method
  • Unmanned vehicle signal-lamp-free roundabout traffic capacity test system and test method

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Experimental program
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Effect test

Embodiment 1

[0045] Such as figure 1 As shown, a test method for unmanned vehicle roundabout traffic capacity without signal lights, which is used to test the ability of unmanned vehicles to drive into the roundabout, drive in a circle in the roundabout, and drive out of the roundabout. The roundabout test road is a roundabout with four entrances and exits. Each entrance and exit is at least a two-way two-lane circular road. The unmanned vehicle to be tested V1, the control center Z1, the 360° panoramic camera M1, and A1 drive into the lane around the island. The unmanned vehicle to be tested is located at the test starting position L1, C1C2, C3 and C4 are four roundabout entrances and exits; including the following steps:

[0046] Step 1. The safety officer drives the unmanned vehicle V1 to be tested to the test starting position L1 of the test road around the island in the manual driving mode, and stops the unmanned vehicle V1 to be tested.

[0047] Step 2, turn on the 360° panoramic ca...

Embodiment 2

[0054] Such as figure 2 As shown in Fig. 1 , a test method for unmanned vehicle round-the-island trafficability without signal lights is used to test the ability of unmanned vehicles to avoid vehicles with conflicting routes when driving into the roundabout. The roundabout test road is a roundabout with four entrances and exits, each entrance At least a two-way two-lane circular road, unmanned vehicle V1 to be tested, target vehicle V2, control center Z1, 360° panoramic camera M1, A1 lane entering the roundabout, B1 outer lane of the roundabout; B2 inner lane of the roundabout, none to be tested The human vehicle V1 is located at the starting position L1 of the test, and C1, C2, C3, and C4 are the four roundabout entrances and exits; among them, the target vehicle V2 is a special mobile platform for testing, equipped with a special fake car for testing, and the target vehicle V2 is located at the entrance C4 of the roundabout, waiting for the start command. Include the follow...

Embodiment 3

[0063] Such as image 3 As shown in Fig. 1 , a testing method for unmanned vehicle round-the-island trafficability without signal lights is used to test the ability of the unmanned vehicle to avoid vehicles with conflicting routes when driving out of the roundabout. The roundabout test road is a roundabout with four entrances and exits, each entrance At least a two-way two-lane circular road, unmanned vehicle V1 to be tested, target vehicle V2, control center Z1, 360° panoramic camera M1, A1 lane entering the roundabout, B1 outer lane of the roundabout; B2 inner lane of the roundabout, none to be tested The human vehicle V1 is located at the starting position L1 of the test, and C1, C2, C3, and C4 are the four entrances and exits of the roundabout; among them, the target vehicle V2 is a special mobile platform for testing, equipped with a special fake car for testing, and the target vehicle V2 is located at the entrance C2 of the roundabout, waiting for the start command. Incl...

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Abstract

The invention belongs to the field of unmanned vehicle performance testing, and discloses an unmanned vehicle signal-lamp-free roundabout traffic capacity test system and test method. The test systemis simple in structure and solves the problem that no standard signal-lamp-free roundabout unmanned vehicle traffic capacity test exists in an existing unmanned vehicle test and also solves the problem that the urban environment signal-lamp-free roundabout scene is difficult to reproduce and the problem of complex test method and high cost. The inclination angle of an unmanned vehicle to be testedis controlled by using an attitude controller installed on the unmanned vehicle to be tested, a 360-degree panoramic camera is utilized to acquire the driving information of the unmanned vehicle to be tested, and the driving information comprises the driving track, the driving speed and whether the steering lamp is turned on or not so that the unmanned vehicle signal-lamp-free roundabout trafficcapacity is tested, the test efficiency is high and the cost is low.

Description

technical field [0001] The invention relates to the field of performance testing of unmanned vehicles, in particular to a test system and a testing method for the ability of unmanned vehicles to go around islands without signal lights. Background technique [0002] Unmanned vehicles are intelligent transportation tools that integrate environmental perception, decision-making planning, and control execution, and represent the strategic commanding heights of future automotive technology. With the development of a series of key technologies, unmanned vehicles provide new ways to solve problems such as "traffic accidents, traffic congestion, environmental pollution, and energy shortages". A scientific and complete test verification and evaluation system is crucial to improving the efficiency of self-driving car research and development, improving relevant laws and regulations, and promoting the development of intelligent transportation. [0003] Roundabout refers to circular tr...

Claims

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Application Information

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IPC IPC(8): G05B23/02G01M17/007
CPCG05B23/0213G01M17/007G05B2219/24065G05D1/00B60W60/0025B60W2552/05B60W40/112B60W50/045B60W2554/4029B60W40/072B60W2420/403
Inventor 赵祥模王润民周文帅朱宇徐志刚张心睿李妍高赢
Owner CHANGAN UNIV
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