Automatic emergency braking system test device, system, method and electronic equipment

Abstract

The present application provides a testing device, system, method and electronic device for an automatic emergency braking system, the device comprising: a control module, an inertial navigation system, a first GPS antenna and a first differential positioning module; the inertial navigation system collects the acceleration of a test vehicle relative to a target vehicle during braking; the first GPS antenna obtains first vehicle positioning information of the test vehicle, and obtains the relative speed of the test vehicle to the target vehicle during braking; the first differential positioning module obtains second vehicle positioning information of the test vehicle, processes the first vehicle positioning information using the second vehicle positioning information, and receives first base station positioning information from a positioning base station; the control module determines the distance between the test vehicle and the target vehicle based on the processed first vehicle positioning information, the first base station positioning information and the position information of the target vehicle, and performs a performance test on the automatic emergency braking system based on the distance, acceleration and relative speed.

Description

Technical Field

[0001] The present application relates to the field of intelligent automobile technology, and in particular to a testing device for an automatic emergency braking system, a testing system for an automatic emergency braking system, a testing method for an automatic emergency braking system, an electronic device, a readable storage medium, a computer program product, and a chip. Background Art

[0002] With the development of the automotive electronics industry, active vehicle safety has received increasing attention from the industry and customers. Different from traditional passive safety systems that protect drivers and passengers after an accident, active safety systems use sensors such as cameras or lidar to collect real-time information and identify it through various algorithms. When dangerous scenes are predicted, they will issue audible and visual warnings to the driver or actively intervene in the vehicle chassis system to actively control the vehicle when the driver is inactive to avoid accidents. The Autonomous Emergency Braking (AEB) system uses front-mounted sensors to detect objects such as vehicles or people in front. When the system determines that a collision may occur, it will actively apply the brakes to reduce the vehicle speed and minimize the occurrence of a collision.

[0003] To improve the safety of automatic emergency braking systems, performance testing of AEB systems is necessary. However, the accuracy of test process data obtained by performance testing methods in related technologies is low, and the analysis effect of test process data is poor, resulting in unsatisfactory performance testing results. Summary of the Invention

[0004] In view of this, the present application provides a test device for an automatic emergency braking system, a test system for an automatic emergency braking system, a test method for an automatic emergency braking system, an electronic device, a readable storage medium, a computer program product and a chip, which can accurately test the distance information, speed information and acceleration information of the test vehicle relative to the target vehicle, thereby comprehensively analyzing the development performance of the AEB system.

[0005] In a first aspect, an embodiment of the present application provides a test device for an automatic emergency braking system, comprising: a control module, an inertial navigation system, a first global positioning system (GPS) antenna, and a first differential positioning module, wherein the control module, the inertial navigation system, the first GPS antenna, and the first differential positioning module are all installed on a test vehicle; wherein the inertial navigation system is used to collect the acceleration of the test vehicle relative to a target vehicle; the first GPS antenna is used to obtain first vehicle positioning information of the test vehicle, and obtain the relative speed of the test vehicle relative to the target vehicle; the first differential positioning module is used to obtain second vehicle positioning information of the test vehicle, and use the second vehicle positioning information to perform real-time dynamic carrier phase differential processing on the first vehicle positioning information to improve the accuracy of the first vehicle positioning information, and receive first base station positioning information from a positioning base station; the control module is used to obtain third vehicle positioning information of the test vehicle relative to the positioning base station based on the processed first vehicle positioning information and the first base station positioning information, and determine the distance between the test vehicle and the target vehicle based on the third vehicle positioning information and the position information of the target vehicle, and perform performance testing on the automatic emergency braking system based on the distance, acceleration, and relative speed.

[0006] The test device for the automatic emergency braking system according to the embodiment of the present application may also have the following additional technical features:

[0007] In the above technical solution, optionally, the first differential positioning module includes a first real-time dynamic differential module and a first communication antenna; wherein, the first real-time dynamic differential module obtains the second vehicle positioning information, and uses the second vehicle positioning information to perform real-time dynamic carrier phase differential processing on the first vehicle positioning information.

[0008] In any of the above technical solutions, optionally, the test device further includes: a communication module, installed on the test vehicle and connected to the control module, for obtaining location information of the target vehicle and sending the location information of the target vehicle to the control module.

[0009] In any of the above technical solutions, optionally, the test device also includes: a third GPS antenna installed on the test vehicle and connected to the control module, used to obtain fourth vehicle positioning information of the test vehicle and send the fourth vehicle positioning information to the control module; the control module is also used to determine the heading angle of the test vehicle based on the first vehicle positioning information and the fourth vehicle positioning information, and to control the driving direction of the test vehicle relative to the target vehicle based on the heading angle.

[0010] In any of the above technical solutions, optionally, the test device further includes: a data acquisition module, installed on the test vehicle and connected to the control module, for collecting the entire vehicle CAN data of the test vehicle and sending the entire vehicle CAN data to the control module.

[0011] In any of the above technical solutions, optionally, the test device further includes: a display module, installed on the test vehicle and connected to the control module, for acquiring and displaying distance, acceleration, relative speed and vehicle CAN data of the test vehicle.

[0012] In any of the above technical solutions, optionally, the test device further includes: an on-board power supply, installed on the test vehicle and connected to the control module, for supplying power to the control module.

[0013] In a second aspect, an embodiment of the present application provides a test system for an automatic emergency braking system, comprising a test device for an automatic emergency braking system as in the first aspect and a positioning base station.

[0014] The automatic emergency braking system test system according to the embodiment of the present application may also have the following additional technical features:

[0015] In the above technical solution, optionally, the positioning base station is equipped with a second GPS antenna and a second differential positioning module, and the second differential positioning module communicates with the first differential positioning module; wherein, the second GPS antenna is used to obtain the first base station positioning information of the positioning base station; the second differential positioning module is used to obtain the second base station positioning information of the positioning base station, and use the second base station positioning information to perform real-time dynamic carrier phase differential processing on the first base station positioning information to improve the accuracy of the first base station positioning information, and send the processed first base station positioning information to the first differential positioning module.

[0016] In any of the above technical solutions, optionally, the second differential positioning module includes a second real-time dynamic differential module and a second communication antenna; wherein, the second real-time dynamic differential module obtains the second base station positioning information, and uses the second base station positioning information to perform real-time dynamic carrier phase differential processing on the first base station positioning information; the second communication antenna communicates with the first communication antenna of the first differential positioning module, and sends the processed first base station positioning information to the first communication antenna of the first differential positioning module.

[0017] On the third aspect, an embodiment of the present application provides a testing method for an automatic emergency braking system, which is used for a testing device for an automatic emergency braking system, and the testing device includes a control module, an inertial navigation system, a first GPS antenna and a first differential positioning module. The testing method includes: obtaining the acceleration of the test vehicle relative to the target vehicle through the inertial navigation system; obtaining the first vehicle positioning information of the test vehicle and the relative speed of the test vehicle relative to the target vehicle through the first GPS antenna; obtaining the second vehicle positioning information of the test vehicle through the first differential positioning module, and using the second vehicle positioning information to perform real-time dynamic carrier phase differential processing on the first vehicle positioning information to improve the accuracy of the first vehicle positioning information, and receiving the first base station positioning information from the positioning base station through the first differential positioning module; obtaining the third vehicle positioning information of the test vehicle relative to the positioning base station based on the processed first vehicle positioning information and the first base station positioning information through the control module, and determining the distance between the test vehicle and the target vehicle based on the third vehicle positioning information and the position information of the target vehicle, and performing performance testing on the automatic emergency braking system based on the distance, acceleration and relative speed.

[0018] The above-mentioned automatic emergency braking system testing method according to the embodiment of the present application may also have the following additional technical features:

[0019] In the above technical solution, optionally, the testing device further includes a communication module, and the method further includes: acquiring location information of the target vehicle through the communication module.

[0020] In any of the above technical solutions, optionally, the test device also includes a third GPS antenna, and the method also includes: obtaining fourth vehicle positioning information of the test vehicle through the third GPS antenna; determining the heading angle of the test vehicle according to the first vehicle positioning information and the fourth vehicle positioning information through the control module, and controlling the driving direction of the test vehicle relative to the target vehicle according to the heading angle.

[0021] In any of the above technical solutions, optionally, the test device further includes a data acquisition module, and the method further includes: acquiring the entire vehicle CAN data of the test vehicle through the data acquisition module.

[0022] In any of the above technical solutions, optionally, the test device further includes a display module, and the method further includes: displaying the distance, acceleration, relative speed and whole vehicle CAN data of the test vehicle through the display module.

[0023] In any of the above technical solutions, optionally, the testing device further includes a vehicle-mounted power supply, and the method further includes: supplying power to the control module through the vehicle-mounted power supply.

[0024] In a fourth aspect, an embodiment of the present application provides an electronic device comprising a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the test method of the automatic emergency braking system as in the third aspect are implemented.

[0025] In a fifth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the test method of the automatic emergency braking system as in the third aspect are implemented.

[0026] In a sixth aspect, an embodiment of the present application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the steps of the test method of the automatic emergency braking system as in the third aspect.

[0027] In the seventh aspect, an embodiment of the present application provides a chip, which includes at least one processor and a communication interface, the communication interface is coupled to the at least one processor, and the at least one processor is used to run programs or instructions to implement the steps of the testing method of the automatic emergency braking system as in the third aspect.

[0028] In an embodiment of the present application, a data acquisition and real-time processing system is established to effectively measure and verify the performance of the AEB system in the CCRs scenario. It can accurately test the distance information, speed information, acceleration information, etc. of the test vehicle relative to the target vehicle, thereby comprehensively analyzing the development performance of the AEB system, thereby improving the safety of the AEB system, ensuring driver safety, and avoiding danger.

[0029] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0031] Figure 1 A structural block diagram of a test system for an automatic emergency braking system according to an embodiment of the present application is shown;

[0032] Figure 2 A schematic diagram showing a testing process of an automatic emergency braking system according to an embodiment of the present application;

[0033] Figure 3A flow chart showing a method for testing an automatic emergency braking system according to an embodiment of the present application is shown;

[0034] Figure 4 A structural block diagram of an electronic device according to an embodiment of the present application is shown.

[0035] in, Figure 1 The corresponding relationship between the reference numerals and component names is as follows:

[0036] 10 control module, 11 inertial navigation system, 12 first GPS antenna, 13 first differential positioning module, 20 positioning base station, 21 second GPS antenna, 22 second differential positioning module, 131 first real-time dynamic differential module, 132 first communication antenna, 221 second real-time dynamic differential module, 222 second communication antenna, 14 communication module, 15 third GPS antenna, 16 data acquisition module, 17 display module, 18 on-board power supply. DETAILED DESCRIPTION

[0037] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0038] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0039] Below, in conjunction with the accompanying drawings, the test device for the automatic emergency braking system, the test system for the automatic emergency braking system, the test method for the automatic emergency braking system, the electronic device, the readable storage medium, the computer program product and the chip provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0040] The embodiments of the present application can be applied to scenarios where a test vehicle is rear-ending a stationary target vehicle (Car-to-Car Rear Stationary, CCRs). The test vehicle's AEB system is activated, and the test vehicle is controlled to move toward the stationary target vehicle at a certain speed. When the test vehicle is about to collide with the stationary target vehicle, the test vehicle's AEB system is triggered, braking the test vehicle or causing the test vehicle to collide with the target vehicle. During the test, the AEB system test system provided in the embodiments of the present application performs data collection, data analysis, and other processing to test the performance of the AEB system.

[0041] The present application embodiment provides a test system for an automatic emergency braking system, such as Figure 1 As shown, the test system includes a test device for an automatic emergency braking system and a positioning base station 20 . The test device includes a control module 10 , an inertial navigation system 11 , a first GPS antenna 12 and a first differential positioning module 13 .

[0042] The control module 10, inertial navigation system 11, first GPS antenna 12, and first differential positioning module 13 are all installed on the test vehicle. The control module 10 is connected to the inertial navigation system 11, first GPS antenna 12, and first differential positioning module 13, respectively, to enable data exchange. The positioning base station 20 is a fixed base station installed in the test site. The positioning base station 20 is in communication with the first differential positioning module 13 to enable data exchange.

[0043] Specifically, the inertial navigation system 11 collects the acceleration of the test vehicle relative to the target vehicle during braking. The first GPS antenna 12 obtains the first vehicle positioning information of the test vehicle and the relative speed of the test vehicle relative to the target vehicle during braking. The first differential positioning module 13 obtains the second vehicle positioning information of the test vehicle and uses the second vehicle positioning information to perform real-time dynamic carrier phase differential processing on the first vehicle positioning information to improve the accuracy of the first vehicle positioning information, and receives the first base station positioning information from the positioning base station 20. The control module 10 obtains the processed first vehicle positioning information, the first base station positioning information, the position information, acceleration, and relative speed of the target vehicle, obtains the third vehicle positioning information of the test vehicle relative to the positioning base station based on the processed first vehicle positioning information and the first base station positioning information, and determines the distance between the test vehicle and the target vehicle based on the third vehicle positioning information and the position information of the target vehicle. The automatic emergency braking system is then tested for performance based on the distance, acceleration, and relative speed between the test vehicle and the target vehicle.

[0044] In this embodiment, the first differential positioning module 13 calibrates the positioning information obtained by the first GPS antenna 12 based on the Real-Time Kinematic (RTK) carrier phase differential positioning principle. Compared with using only GPS positioning, it can reduce positioning errors, improve the accuracy of positioning the test vehicle, and ensure that the positioning accuracy is within ±2cm. Among them, RTK carrier phase differential positioning can provide real-time three-dimensional positioning results of the mobile station (that is, the test vehicle) in a specified coordinate system and achieve centimeter-level accuracy. In the RTK operation mode, the positioning base station collects satellite data and transmits its observation values ​​and coordinate information to the mobile station through a data link. The mobile station obtains centimeter-level positioning results by performing real-time carrier phase differential processing on the collected satellite data and the received data link.

[0045] The control module 10 calculates the lateral distance and longitudinal distance between the test vehicle and the target vehicle in a coordinate system with the ground mapping point of the GPS antenna of the positioning base station 20 as the origin based on the first vehicle positioning information, the first base station positioning information, and the position information of the target vehicle, and then comprehensively analyzes the AEB system performance based on the lateral distance and longitudinal distance, the acceleration collected by the inertial navigation system 11, and the relative speed obtained by the first GPS antenna 12.

[0046] In an embodiment of the present application, a data acquisition and real-time processing system is established to effectively measure and verify the performance of the AEB system in CCRs scenarios. It can accurately test the distance information, speed information, acceleration information, etc. of the test vehicle relative to the target vehicle, thereby comprehensively analyzing the development performance of the AEB system, thereby improving the safety of the AEB system, ensuring driver safety, and avoiding danger.

[0047] It should be noted that the inertial navigation system 11 can also measure other posture information of the test vehicle in real time, such as the pitch angle (in the case of a slope), yaw angular velocity (in the case of a turn), roll angle, sideslip angle, etc. of the test vehicle, to assist in accurate positioning of the test vehicle.

[0048] Optionally, the positioning base station 20 is equipped with a second GPS antenna 21 and a second differential positioning module 22, and the second differential positioning module 22 communicates with the first differential positioning module 13; wherein, the second GPS antenna 21 is used to obtain the first base station positioning information of the positioning base station 20; the second differential positioning module 22 is used to obtain the second base station positioning information of the positioning base station 20, and use the second base station positioning information to perform real-time dynamic carrier phase differential processing on the first base station positioning information to improve the accuracy of the first base station positioning information, and send the processed first base station positioning information to the first differential positioning module 13.

[0049] In this embodiment, the positioning base station 20 uses the second GPS antenna 21 to search for and locate satellites in the sky. A two-dimensional coordinate system is established using the points vertically mapped from the GPS to the ground. The location of the mapped points serves as the origin of the coordinate system, and the first base station positioning information of the positioning base station 20 in this coordinate system is obtained. The second differential positioning module 22 of the positioning base station 20 obtains the second base station positioning information of the positioning base station 20 and, based on the RTK carrier phase differential positioning principle, calibrates the first base station positioning information to improve the positioning accuracy of the positioning base station 20. Furthermore, the second differential positioning module 22 of the positioning base station 20 communicates with the first differential positioning module 13 of the test vehicle, enabling the test vehicle to accurately determine the distance between itself and the target vehicle using the location of the positioning base station 20 as a reference.

[0050] Optionally, the first differential positioning module 13 includes a first real-time dynamic differential module 131 and a first communication antenna 132; the second differential positioning module 22 includes a second real-time dynamic differential module 221 and a second communication antenna 222; wherein, the first real-time dynamic differential module 131 obtains the second vehicle positioning information, and uses the second vehicle positioning information to perform real-time dynamic carrier phase differential processing on the first vehicle positioning information, the second real-time dynamic differential module 221 obtains the second base station positioning information, and uses the second base station positioning information to perform real-time dynamic carrier phase differential processing on the first base station positioning information, and the first communication antenna 132 communicates with the second communication antenna 222.

[0051] In this embodiment, the first real-time dynamic differential module 131 is based on the RTK carrier phase differential positioning principle, and communicates with the second real-time dynamic differential module 221 of the positioning base station 20 through the first communication antenna 132 and the second communication antenna 222 to determine a relative position information relative to the positioning base station 20, thereby determining the position information of the test vehicle in the entire test site, and thus determining the distance information between the test vehicle and the target vehicle.

[0052] Through the above method, the position information of the test vehicle can be accurately collected, thereby effectively testing the performance of the AEB system.

[0053] Optionally, the test device further includes: a communication module 14 , installed on the test vehicle and connected to the control module 10 , for acquiring location information of the target vehicle and sending the location information of the target vehicle to the control module 10 .

[0054] In this embodiment, the tester can set the location information of a fixed point through the test vehicle's input device. This fixed point is used to determine the target vehicle's parking position. Specifically, the center position of the target vehicle's rear end coincides with the fixed point. The communication module 14 transmits the set fixed location information to the control module 10 in real time. The control module 10 compares the location information with the vehicle's positioning information measured by the first differential positioning module 13 and determines relative information values ​​such as the relative distance and relative speed between the test vehicle and the target vehicle, thereby effectively testing the performance of the AEB system.

[0055] Optionally, the test device also includes: a third GPS antenna 15, installed on the test vehicle and connected to the control module 10, for obtaining fourth vehicle positioning information of the test vehicle and sending the fourth vehicle positioning information to the control module 10; the control module 10 is also used to determine the heading angle of the test vehicle based on the first vehicle positioning information and the fourth vehicle positioning information, and to control the driving direction of the test vehicle relative to the target vehicle based on the heading angle.

[0056] In this embodiment, the test vehicle is also equipped with a third GPS antenna 15, which serves as a slave antenna, while the first GPS antenna 12 serves as the master antenna. The master and slave antennas work together to determine the test vehicle's heading angle using the principle of two points determining a straight line. If the heading angle exceeds a certain threshold, indicating that the test vehicle is not traveling in a straight line toward the target vehicle, the test vehicle's direction is adjusted to ensure that the test vehicle is traveling in a straight line toward the target vehicle, thereby ensuring the effectiveness of the AEB system's performance test.

[0057] In addition, it should be noted that the third GPS antenna 15 can also assist the first GPS antenna 12 in positioning the test vehicle and determining the speed of the test vehicle.

[0058] Optionally, the test device further includes: a data acquisition module 16, installed on the test vehicle and connected to the control module 10, for collecting the entire vehicle CAN (Controller Area Network) data of the test vehicle and sending the entire vehicle CAN data to the control module 10. In the embodiment of the present application, the CAN data includes different types of data that can be transmitted via the CAN bus.

[0059] In this embodiment, the vehicle CAN data is sent to the control module 10 through the data acquisition module 16 (for example, the vehicle on-board diagnostics (OBD) interface), so that the control module 10 can well integrate the vehicle CAN data.

[0060] Optionally, the test device further includes: a display module 17 installed on the test vehicle and connected to the control module 10, for acquiring and displaying distance, acceleration, relative speed and vehicle CAN data.

[0061] In this embodiment, the display module 17 displays the information collected by the control module 10 in real time, processes and analyzes the signal status in real time, or converts the data information to facilitate the tester to observe the changes in the data signal during the test process.

[0062] Optionally, the test device further includes: an on-board power supply 18 , which is installed on the test vehicle and connected to the control module 10 , for supplying power to the control module 10 .

[0063] In this embodiment, the onboard power supply 18 of the test vehicle provides a 12V voltage input to the control module 10 to ensure that the system operates normally.

[0064] In one embodiment of the present application, the test process of the automatic emergency braking system is as follows: Figure 2 As shown, the position information of the fixed point is set by the software in the control module of the test vehicle and marked on the ground; a static target vehicle (for example, an Engineering Verification Test (EVT) vehicle) is parked at the fixed point, ensuring that the center position of the rear end of the target vehicle is placed on the fixed point and coincides with the position of the fixed point; at the position passing through the fixed point, a straight driving path is determined, and the test vehicle is driven to a preset distance (for example, 200 meters) from the fixed point.

[0065] Based on the RTK differential communication between the positioning base station and the test vehicle, the position of the test vehicle in the two-dimensional plane coordinate system is determined. The control module calculates the test distance (including the lateral distance and the longitudinal distance) from the fixed point to the center point directly in front of the test vehicle at this time.

[0066] Activate the AEB system of the test vehicle and drive in a straight line from the starting point at a certain speed. When the test vehicle continues to approach the fixed point, the AEB system is triggered. At this time, the test vehicle will be braked or collide with a static target vehicle, and the test ends.

[0067] The relative lateral distance, longitudinal distance, relative speed, maximum deceleration during braking, deceleration during braking, and deceleration change of the test vehicle from the fixed point position at the moment the AEB system is triggered are analyzed to verify the performance of the AEB system in the CCRs scenario.

[0068] The embodiment of the present application provides a method for testing an automatic emergency braking system, and a testing device for the automatic emergency braking system, the testing device including a control module, an inertial navigation system, a first GPS antenna, and a first differential positioning module. Figure 3 As shown, the method includes:

[0069] Step 301, obtaining the acceleration of the test vehicle relative to the target vehicle through an inertial navigation system;

[0070] Step 302 , obtaining first vehicle positioning information of a test vehicle and a relative speed of the test vehicle relative to a target vehicle through a first GPS antenna;

[0071] Step 303: Acquire second vehicle positioning information of the test vehicle through the first differential positioning module, perform real-time dynamic carrier phase differential processing on the first vehicle positioning information using the second vehicle positioning information to improve the accuracy of the first vehicle positioning information, and receive first base station positioning information from the positioning base station through the first differential positioning module;

[0072] In step 304, the control module obtains third vehicle positioning information of the test vehicle relative to the positioning base station based on the processed first vehicle positioning information and the first base station positioning information, determines the distance between the test vehicle and the target vehicle based on the third vehicle positioning information and the position information of the target vehicle, and performs a performance test on the automatic emergency braking system based on the distance, acceleration and relative speed.

[0073] In this embodiment, the test system includes an inertial navigation system, a first GPS antenna, a first differential positioning module, and a positioning base station. The inertial navigation system, the first GPS antenna, and the first differential positioning module are all installed on the test vehicle. The positioning base station is a fixed base station located within the test site and is in communication with the first differential positioning module, enabling data exchange.

[0074] The first differential positioning module calibrates the positioning information acquired by the first GPS antenna based on the RTK carrier phase differential positioning principle. Compared to GPS positioning alone, this reduces positioning errors and improves the accuracy of the test vehicle's position, ensuring positioning accuracy within ±2cm. Based on the first vehicle's positioning information, the first base station's positioning information, and the target vehicle's position information, the module calculates the lateral and longitudinal distances between the test vehicle and the target vehicle in a coordinate system with the ground mapping point of the positioning base station's GPS antenna as the origin. AEB system performance is then comprehensively analyzed based on these lateral and longitudinal distances, acceleration collected by the inertial navigation system, and relative velocity acquired by the first GPS antenna.

[0075] In an embodiment of the present application, a data acquisition and real-time processing system is established to effectively measure and verify the performance of the AEB system in CCRs scenarios. It can accurately test the distance information, speed information, acceleration information, etc. of the test vehicle relative to the target vehicle, thereby comprehensively analyzing the development performance of the AEB system, thereby improving the safety of the AEB system, ensuring driver safety, and avoiding danger.

[0076] Optionally, the testing device further includes a communication module, and the method further includes: acquiring location information of the target vehicle through the communication module.

[0077] In this embodiment, the tester can use the test vehicle's input device to set the location of a fixed point. This fixed point is used to determine the target vehicle's parking position. Specifically, the center of the target vehicle's rear end coincides with the fixed point. The communication module transmits this fixed location information to the control module in real time. The control module compares this information with the vehicle's positioning information measured by the first differential positioning module to determine relative information such as the relative distance and relative speed between the test vehicle and the target vehicle, effectively testing the performance of the AEB system.

[0078] Optionally, the test device also includes a third GPS antenna, and the method also includes: obtaining fourth vehicle positioning information of the test vehicle through the third GPS antenna; determining the heading angle of the test vehicle based on the first vehicle positioning information and the fourth vehicle positioning information through the control module, and controlling the driving direction of the test vehicle relative to the target vehicle based on the heading angle.

[0079] In this embodiment, the test vehicle is also equipped with a third GPS antenna, acting as a slave antenna, while the first GPS antenna serves as the master antenna. The master and slave antennas work together to determine the test vehicle's heading angle using the principle of two points determining a straight line. If the heading angle exceeds a certain threshold, indicating that the test vehicle is not traveling in a straight line toward the target vehicle, the test vehicle's direction is adjusted to ensure that the test vehicle is traveling in a straight line toward the target vehicle, thereby ensuring the effectiveness of the AEB system's performance test.

[0080] Optionally, the test device further includes a data acquisition module, and the method further includes: acquiring the entire vehicle CAN data of the test vehicle through the data acquisition module.

[0081] In this embodiment, the vehicle CAN data is sent to the control module through the data acquisition module (for example, the vehicle on-board diagnostics (OBD) interface), so that the control module can well integrate the vehicle CAN data.

[0082] Optionally, the testing device further includes a display module, and the method further includes: displaying the distance, acceleration, relative speed and vehicle CAN data through the display module.

[0083] In this embodiment, the display module displays the information collected by the control module in real time, processes and analyzes the signal status in real time, or converts the data information to facilitate the tester to observe the changes in the data signal during the test process.

[0084] Optionally, the testing device further includes a vehicle-mounted power supply, and the method further includes: supplying power via the vehicle-mounted power supply.

[0085] In this embodiment, the onboard power supply of the test vehicle provides a 12V voltage input to the control module to ensure normal operation of the system.

[0086] The present application also provides an electronic device, such as Figure 4 As shown, the electronic device 400 includes a processor 401 and a memory 402. The memory 402 stores programs or instructions that can be run on the processor 401. When the program or instructions are executed by the processor 401, the various steps of the above-mentioned automatic emergency braking system test method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0087] It should be noted that the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0088] The memory 402 can be used to store software programs and various data. The memory 402 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store an operating system, applications or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 402 may include volatile memory or non-volatile memory, or the memory 402 may include both volatile and non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 402 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0089] Processor 401 may include one or more processing units. Optionally, processor 401 integrates an application processor and a modem processor. The application processor primarily handles operations related to the operating system, user interface, and application programs, while the modem processor primarily processes wireless communication signals, such as a baseband processor. It is understood that the modem processor may not be integrated into processor 401.

[0090] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned automatic emergency braking system test method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0091] An embodiment of the present application also provides a computer program product, which is stored in a storage medium and is executed by at least one processor to implement the various processes of the above-mentioned embodiment of the test method for the automatic emergency braking system, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0092] An embodiment of the present application also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-mentioned automatic emergency braking system test method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0093] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0094] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0095] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A test device for an automatic emergency braking system, characterized in that: include: A control module, an inertial navigation system, a first GPS antenna, and a first differential positioning module, wherein the control module, the inertial navigation system, the first GPS antenna, and the first differential positioning module are all installed on a test vehicle; Wherein, the inertial navigation system is used to collect the acceleration of the test vehicle relative to the target vehicle; The first GPS antenna is used to obtain first vehicle positioning information of the test vehicle and obtain a relative speed of the test vehicle relative to a target vehicle; The first differential positioning module is configured to obtain second vehicle positioning information of the test vehicle, perform real-time dynamic carrier phase differential processing on the first vehicle positioning information using the second vehicle positioning information to improve the accuracy of the first vehicle positioning information, and receive first base station positioning information from a positioning base station; The control module is used to obtain third vehicle positioning information of the test vehicle relative to the positioning base station based on the processed first vehicle positioning information and the first base station positioning information, and to determine the distance between the test vehicle and the target vehicle based on the third vehicle positioning information and the position information of the target vehicle, and to perform a performance test on the automatic emergency braking system based on the distance, the acceleration and the relative speed.

2. The device according to claim 1, characterized in that The first differential positioning module includes a first real-time dynamic differential module and a first communication antenna; The first real-time dynamic difference module obtains the second vehicle positioning information, and uses the second vehicle positioning information to perform real-time dynamic carrier phase difference processing on the first vehicle positioning information.

3. The device according to claim 1 or 2, characterized in that Also includes: A communication module is installed on the test vehicle and connected to the control module, and is used to obtain the position information of the target vehicle and send the position information of the target vehicle to the control module.

4. The device according to claim 1, characterized in that Also includes: a third GPS antenna, mounted on the test vehicle and connected to the control module, for acquiring fourth vehicle positioning information of the test vehicle and sending the fourth vehicle positioning information to the control module; The control module is further configured to determine a heading angle of the test vehicle according to the first vehicle positioning information and the fourth vehicle positioning information, and to control a driving direction of the test vehicle relative to the target vehicle according to the heading angle.

5. The device according to claim 1, characterized in that Also includes: A data acquisition module is installed on the test vehicle and connected to the control module, and is used to collect the whole vehicle CAN data of the test vehicle and send the whole vehicle CAN data to the control module.

6. The device according to claim 5, characterized in that Also includes: A display module is installed on the test vehicle and connected to the control module, and is used to obtain and display the distance, the acceleration, the relative speed and the whole vehicle CAN data of the test vehicle.

7. The device according to claim 1, characterized in that Also includes: An on-board power supply is installed on the test vehicle and connected to the control module for supplying power to the control module.

8. A test system for an automatic emergency braking system, characterized in that: include: The test device and positioning base station of the automatic emergency braking system according to any one of claims 1 to 7.

9. The system according to claim 8, characterized in that The positioning base station is equipped with a second GPS antenna and a second differential positioning module, and the second differential positioning module communicates with the first differential positioning module; Wherein, the second GPS antenna is used to obtain the first base station positioning information of the positioning base station; The second differential positioning module is used to obtain the second base station positioning information of the positioning base station, and use the second base station positioning information to perform real-time dynamic carrier phase differential processing on the first base station positioning information to improve the accuracy of the first base station positioning information, and send the processed first base station positioning information to the first differential positioning module.

10. The system according to claim 9, characterized in that The second differential positioning module includes a second real-time dynamic differential module and a second communication antenna; The second real-time dynamic difference module obtains the second base station positioning information, and uses the second base station positioning information to perform real-time dynamic carrier phase difference processing on the first base station positioning information; The second communication antenna communicates with the first communication antenna of the first differential positioning module and sends the processed first base station positioning information to the first communication antenna of the first differential positioning module.

11. A method for testing an automatic emergency braking system, characterized in that: A test device for an automatic emergency braking system, the test device comprising a control module, an inertial navigation system, a first GPS antenna, and a first differential positioning module, the method comprising: Obtaining the acceleration of the test vehicle relative to the target vehicle through the inertial navigation system; Acquiring first vehicle positioning information of the test vehicle and a relative speed of the test vehicle relative to a target vehicle through the first GPS antenna; Acquiring second vehicle positioning information of the test vehicle through the first differential positioning module, performing real-time dynamic carrier phase differential processing on the first vehicle positioning information using the second vehicle positioning information to improve the accuracy of the first vehicle positioning information, and receiving first base station positioning information from a positioning base station through the first differential positioning module; The control module obtains third vehicle positioning information of the test vehicle relative to the positioning base station based on the processed first vehicle positioning information and the first base station positioning information, and determines the distance between the test vehicle and the target vehicle based on the third vehicle positioning information and the position information of the target vehicle, and performs a performance test on the automatic emergency braking system based on the distance, the acceleration and the relative speed.

12. The method according to claim 11, characterized in that The testing device further includes a communication module, and the method further includes: The location information of the target vehicle is obtained through the communication module.

13. The method according to claim 11 or 12, characterized in that The testing device further includes a third GPS antenna, and the method further includes: acquiring fourth vehicle positioning information of the test vehicle via the third GPS antenna; The control module determines the heading angle of the test vehicle according to the first vehicle positioning information and the fourth vehicle positioning information, and controls the driving direction of the test vehicle relative to the target vehicle according to the heading angle.

14. The method according to claim 11, characterized in that The testing device further includes a data acquisition module, and the method further includes: The whole vehicle CAN data of the test vehicle is obtained through the data acquisition module.

15. The method according to claim 14, characterized in that The testing device further includes a display module, and the method further includes: The distance, the acceleration, the relative speed and the whole vehicle CAN data of the test vehicle are displayed by the display module.

16. The method according to claim 11, characterized in that The testing device further includes an on-board power supply, and the method further includes: The control module is powered by the vehicle power supply.

17. An electronic device, characterized in that: The system comprises a processor and a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the test method of the automatic emergency braking system according to any one of claims 11 to 16 are implemented.

18. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the method for testing the automatic emergency braking system according to any one of claims 11 to 16 are implemented.

19. A computer program product, characterized in that The computer program product is stored in a storage medium, and is executed by at least one processor to implement the steps of the test method for the automatic emergency braking system according to any one of claims 11 to 16.

20. A chip, characterized in that: The chip includes at least one processor and a communication interface, the communication interface is coupled to the at least one processor, and the at least one processor is used to run a program or instructions to implement the steps of the automatic emergency braking system testing method according to any one of claims 11 to 16.

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