Performance test method and device of rear traffic passing prompt system and storage medium

Abstract

The invention discloses a performance test method and device of a rear traffic passing prompt system and a storage medium. The performance test method comprises the steps of determining a target test site; the test vehicle and the two shielding vehicles are parked to the corresponding adjacent parking spaces respectively; controlling the test vehicle to reverse towards the test road, and controlling the test vehicle to stop when a second relative distance between the rear end edge of the test vehicle and the rear end edge of the shielding vehicle reaches a first preset distance; based on the target test item, controlling a preset moving target to pass behind the test vehicle along the test road so as to obtain a response parameter of a rear traffic passing prompt system and a relative distance parameter between the preset moving target and the test vehicle; and according to the response parameter, the relative distance parameter and a preset test evaluation condition, the actual performance of the rear traffic passing prompt system is determined, so that the actual performance of the rear traffic passing prompt system is objectively evaluated, and the accuracy and authenticity of system evaluation are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle testing, in particular to a performance testing method of a rear traffic penetration prompting system, a testing device and a storage medium. BACKGROUND

[0002] The rear traffic penetration prompting system is used for monitoring other road users laterally approaching the rear of the vehicle in real time when the vehicle is reversing, and issuing warning information when collision danger is likely to occur. In the related art, the subjective evaluation method is used to evaluate the working performance of the vehicle warning system, and the evaluation accuracy is difficult to guarantee, which is not conducive to the safe driving of the vehicle. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the related art. To this end, the first object of the present application is to provide a performance testing method of a rear traffic penetration prompting system, which objectively evaluates the actual performance of the rear traffic penetration prompting system by building a test environment, combining the relative distance parameters between the system response parameters obtained during the test process and the preset moving target and the test vehicle with the preset test evaluation conditions, thereby improving the evaluation accuracy and authenticity of the rear traffic penetration prompting system.

[0004] The second object of the present application is to provide a performance testing device of a rear traffic penetration prompting system.

[0005] The third object of the present application is to provide a computer-readable storage medium.

[0006] To achieve the above object, the first aspect of the present application provides a performance testing method of a rear traffic penetration prompting system, which comprises: determining a target test site, the target test site comprising a test road and a plurality of parking spaces, the longitudinal axes of the plurality of parking spaces being parallel and perpendicular to the central axis of the test road; parking a test vehicle and two shielding vehicles in corresponding adjacent parking spaces respectively, wherein the test vehicle is located between the two shielding vehicles, and the first relative distance between the side edge of the test vehicle and the side edge of the corresponding shielding vehicle is within a first preset distance range; controlling the test vehicle to reverse towards the test road, and stopping the test vehicle when the second relative distance between the rear end edge of the test vehicle and the rear end edge of the shielding vehicle reaches a first preset distance, wherein the rear end edge is the end edge of the corresponding vehicle close to the test road; based on a target test item, controlling a preset moving target to penetrate behind the test vehicle along the test road to obtain the response parameters of the rear traffic penetration prompting system of the test vehicle and the relative distance parameters between the preset moving target and the test vehicle; and determining the actual performance of the rear traffic penetration prompting system according to the response parameters, the relative distance parameters and the preset test evaluation conditions.

[0007] According to the performance testing method of the rear traffic crossing warning system according to the embodiments of this application, a target test site is first determined, which includes a test road and multiple parking spaces. The longitudinal axes of the multiple parking spaces are parallel and perpendicular to the central axis of the test road. The test vehicle and two obstructing vehicles are parked in their respective adjacent parking spaces, with the test vehicle located between the two obstructing vehicles. The first relative distance between the side edge of the test vehicle and the side edge of the corresponding obstructing vehicle is within a first preset distance range. Then, the test vehicle is controlled to reverse towards the test road, and when the second relative distance between the rear edge of the test vehicle and the rear edge of the obstructing vehicle reaches the first preset distance, the test vehicle is controlled to stop. The rear edge is the end edge of the corresponding vehicle that is close to the test road. Based on the target test item, a preset moving target is controlled to travel along the test road behind the test vehicle to obtain the response parameters of the rear traffic crossing warning system of the test vehicle and the relative distance parameters between the preset moving target and the test vehicle. The actual performance of the rear traffic crossing warning system is determined according to the response parameters, the relative distance parameters, and the preset test evaluation conditions. Therefore, this method improves the accuracy and authenticity of the rear traffic crossing warning system by setting up a test environment and objectively evaluating the actual performance of the rear traffic crossing warning system based on the system response parameters obtained during the test, the relative distance parameters between the preset moving target and the test vehicle, and the preset test evaluation conditions.

[0008] In addition, the performance testing method for the rear traffic crossing warning system according to the above embodiments of this application may also have the following additional technical features: According to one embodiment of this application, when the target test item includes a detection range test item, a preset moving target is determined to be a target vehicle. Based on the target test item, the preset moving target is controlled to travel along the test road behind the test vehicle to obtain the response parameters of the traffic crossing warning system behind the test vehicle and the relative distance parameters between the preset moving target and the test vehicle. This includes: determining lateral distance test rules and longitudinal distance test rules; controlling the target vehicle to travel behind the test vehicle based on the lateral distance test rules and the longitudinal distance test rules respectively; and during the rearward travel, obtaining the third, fourth, and fifth relative distances between the target vehicle and the test vehicle, as well as the trigger time and stop time of the warning signal of the traffic crossing warning system behind the test vehicle, and reaching the fifth relative distance. When the target vehicle stops at a preset distance or when a warning signal is received, the target vehicle is controlled to stop. The third relative distance is the relative distance between the front edge of the target vehicle and the first lateral edge of the test vehicle along a direction parallel to the central axis of the test road. The first lateral edge of the test vehicle is the lateral edge of the test vehicle facing the target vehicle when the target vehicle is moving in a direction close to the test vehicle. The fourth relative distance is the relative distance between the lateral edge of the target vehicle close to the test vehicle and the rear edge of the test vehicle along a direction perpendicular to the central axis of the test road. The fifth relative distance is the relative distance between the rear edge of the target vehicle and the second lateral edge of the test vehicle along a direction parallel to the central axis of the test road. The second lateral edge of the test vehicle is the lateral edge of the test vehicle facing the target vehicle when the target vehicle is moving in a direction away from the test vehicle.

[0009] According to one embodiment of this application, controlling a target vehicle to travel behind a test vehicle based on lateral distance testing rules includes: determining a first starting position and a second starting position of the target vehicle, wherein when the target vehicle is located at the first starting position or the second starting position, a third relative distance is a second preset distance, and a fourth relative distance is greater than the third preset distance and less than the fourth preset distance; starting from the first starting position, controlling the target vehicle to travel behind the test vehicle at a preset speed along a first direction; starting from the second starting position, controlling the target vehicle to travel behind the test vehicle at a preset speed along a second direction, wherein the second direction is opposite to the first direction.

[0010] According to one embodiment of this application, controlling a target vehicle to travel behind a test vehicle based on longitudinal distance testing rules includes: determining a third starting position and a fourth starting position of the target vehicle, wherein when the target vehicle is at the third starting position, the third relative distance is a second preset distance, the fourth relative distance is a third preset distance, and when the target vehicle is at the fourth starting position, the third relative distance is a second preset distance, and the fourth relative distance between the target vehicle and the test vehicle is a fourth preset distance; starting from the third starting position, controlling the target vehicle to travel behind the test vehicle at a preset speed and along a preset direction; starting from the fourth starting position, controlling the target vehicle to travel behind the test vehicle at a preset speed and along a preset direction, wherein the preset direction is a first direction or a second direction.

[0011] According to one embodiment of this application, when the target test items include warning start and end test items, the preset moving targets are determined to be target vehicles, target two-wheeled vehicles, and target pedestrians. Based on the target test items, the preset moving targets are controlled to travel along the test road behind the test vehicle to obtain the response parameters of the traffic crossing warning system behind the test vehicle and the relative distance parameters between the preset moving targets and the test vehicle. This includes: determining the vehicle crossing test rules, the two-wheeled vehicle crossing test rules, and the pedestrian crossing test rules; and controlling the corresponding preset moving targets to travel behind the test vehicle based on the vehicle crossing test rules, the two-wheeled vehicle crossing test rules, and the pedestrian crossing test rules, respectively. During the transit, the third, fourth, and fifth relative distances between the target vehicle and the test vehicle are acquired, along with the trigger time, stop time, and movement time when the warning signal from the rear traffic crossing system is zero. This information is used to calculate the time deviation between the movement time and the stop time. Specifically, when the target vehicle is the preset moving target, the third relative distance is the relative distance between the front edge of the target vehicle and the first lateral edge of the test vehicle along a direction parallel to the centerline of the test road. The first lateral edge of the test vehicle is the lateral edge of the test vehicle facing the target vehicle when the target vehicle is moving in a direction close to the test vehicle. The fourth relative distance is the distance between the target vehicle and the test vehicle when the target vehicle is approaching the test vehicle. The fifth relative distance is the relative distance between the lateral edge of the test vehicle and the rear edge of the test vehicle along a direction perpendicular to the central axis of the test road. The sixth relative distance is the relative distance between the rear edge of the target vehicle and the second lateral edge of the test vehicle along a direction parallel to the central axis of the test road. The second lateral edge of the test vehicle is the lateral edge of the test vehicle facing the target vehicle when the target vehicle is moving away from the test vehicle. If the preset moving target is a target two-wheeled vehicle, the seventh relative distance is the relative distance between the front edge of the target two-wheeled vehicle and the first lateral edge of the test vehicle along a direction parallel to the central axis of the test road. The eighth relative distance is the distance between the center point of the target two-wheeled vehicle and the rear edge of the test vehicle. The fifth relative distance is the relative distance between the rear edge of the target two-wheeled vehicle and the second lateral edge of the test vehicle in a direction parallel to the central axis of the test road. When the preset moving target is a target pedestrian, the third relative distance is the relative distance between the center of mass of the target pedestrian and the first lateral edge of the test vehicle in a direction parallel to the central axis of the test road, the fourth relative distance is the relative distance between the center of mass of the target pedestrian and the rear edge of the test vehicle in a direction perpendicular to the central axis of the test road, and the fifth relative distance is the relative distance between the center of mass of the target pedestrian and the second lateral edge of the test vehicle in a direction parallel to the central axis of the test road.

[0012] According to one embodiment of this application, controlling a preset moving target to pass behind a test vehicle based on motor vehicle passage test rules includes: determining the fifth starting position of the target vehicle, and using the fifth starting position as the starting point of uniform speed, controlling the target vehicle to pass behind the test vehicle at a preset speed and in a preset direction, wherein the preset direction is parallel to the centerline of the test road; controlling a preset moving target to pass behind a test vehicle based on two-wheeled vehicle passage test rules and pedestrian passage test rules includes: determining the sixth starting position of the target two-wheeled vehicle, and using the sixth starting position as the starting point of uniform speed, controlling the target two-wheeled vehicle to pass behind the test vehicle at a preset speed and in a preset direction; controlling a preset moving target to pass behind a test vehicle based on pedestrian passage test rules and pedestrian passage test rules includes: determining the seventh starting position of the target pedestrian, and using the seventh starting position as the starting point of uniform speed, controlling the target pedestrian to pass behind the test vehicle at a preset speed and in a preset direction.

[0013] According to one embodiment of this application, in the process of controlling a preset moving target to travel behind a test vehicle along a test road based on a target test item, the method further includes: acquiring the sound pressure level parameter at the driver's position of the test vehicle when the rear traffic crossing warning system issues a warning signal.

[0014] According to one embodiment of this application, when the preset test evaluation conditions include preset warning activation conditions, the actual performance of the rear traffic crossing warning system is determined based on response parameters, relative distance parameters, and preset test evaluation conditions. This includes: determining the false response data of the rear traffic crossing warning system based on the preset warning activation conditions, the third relative distance, the fourth relative distance, and the triggering time of the warning signal of the rear traffic crossing warning system, so as to conduct a false response test on the rear traffic crossing warning system.

[0015] To achieve the above objectives, a second aspect of this application provides a performance testing device for a rear traffic crossing warning system. The device includes: a determination module for determining a target test area, which includes a test road and multiple parking spaces, the longitudinal axes of the parking spaces being parallel and perpendicular to the central axis of the test road; and a vehicle control module for parking a test vehicle and two obstructing vehicles in corresponding adjacent parking spaces, controlling the test vehicle to reverse towards the test road, and controlling the test vehicle to stop when a second relative distance between the rear edge of the test vehicle and the rear edge of the obstructing vehicles reaches a first preset distance. The test vehicle is positioned between two obstructing vehicles. The first relative distance between the side edge of the test vehicle and the side edge of the corresponding obstructing vehicle is within a first preset distance range, and the rear edge is the end edge of the corresponding vehicle closest to the test road. The test module is used to control a preset moving target to travel along the test road behind the test vehicle based on the target test item, so as to obtain the response parameters of the rear traffic crossing warning system of the test vehicle and the relative distance parameters between the preset moving target and the test vehicle, and determine the actual performance of the rear traffic crossing warning system based on the response parameters, the relative distance parameters and the preset test evaluation conditions.

[0016] According to the performance testing device of the rear traffic crossing warning system according to the embodiments of this application, the target test site is determined by the determining module. The target test site includes a test road and multiple parking spaces. The longitudinal axes of the multiple parking spaces are parallel and perpendicular to the central axis of the test road. The test vehicle and two obstructing vehicles are respectively parked in the corresponding adjacent parking spaces by the vehicle control module. The test vehicle is controlled to reverse towards the test road. When the second relative distance between the rear edge of the test vehicle and the rear edge of the obstructing vehicle reaches the first preset distance, the test vehicle is controlled to stop. The test vehicle is located in the middle of the two obstructing vehicles. The first relative distance between the side edge of the test vehicle and the side edge of the corresponding obstructing vehicle is within the first preset distance range. The rear edge is the end edge of the corresponding vehicle that is close to the test road. Based on the target test item, the test module controls a preset moving target to travel along the test road behind the test vehicle to obtain the response parameters of the rear traffic crossing warning system of the test vehicle and the relative distance parameters between the preset moving target and the test vehicle. The actual performance of the rear traffic crossing warning system is determined according to the response parameters, the relative distance parameters and the preset test evaluation conditions. Therefore, by setting up a test environment, the device objectively evaluates the actual performance of the rear traffic crossing warning system based on the system response parameters obtained during the test, the relative distance parameters between the preset moving target and the test vehicle, and the preset test evaluation conditions, thereby improving the accuracy and authenticity of the evaluation of the rear traffic crossing warning system.

[0017] To achieve the above objectives, a third aspect of this application provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the performance testing method for any of the aforementioned rear traffic crossing prompt systems.

[0018] According to the computer-readable storage medium of the present application embodiment, when the computer program stored in the computer-readable storage medium is executed by a processor, it can implement the steps of the above-described performance testing method for the rear traffic crossing prompt system. Based on the above-described performance testing method for the rear traffic crossing prompt system, the accuracy and authenticity of the evaluation of the rear traffic crossing prompt system are improved.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0020] Figure 1 This is a flowchart of a performance testing method for a rear traffic crossing warning system according to an embodiment of this application; Figure 2 This is a schematic diagram of a test scenario according to some embodiments of this application; Figure 3 This is a schematic diagram illustrating the warning activation according to some embodiments of this application; Figure 4 This is a schematic diagram of a target vehicle lateral movement test according to some embodiments of this application; Figure 5 This is a schematic diagram illustrating the longitudinal distance test of the target vehicle located on the left side of the lane according to some embodiments of this application; Figure 6 This is a schematic diagram illustrating the longitudinal distance test of the target vehicle located on the right side of the lane according to some embodiments of this application; Figure 7 This is a schematic diagram of a two-wheeled vehicle traversing a test according to some embodiments of this application; Figure 8 This is a schematic diagram of pedestrian crossing tests according to some embodiments of this application; Figure 9 This is a connection diagram of a performance testing device for a rear traffic crossing guidance system according to an embodiment of this application. Detailed Implementation

[0021] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0022] The following description, with reference to the accompanying drawings, outlines the performance testing method, testing apparatus, and storage medium for the rear traffic crossing warning system proposed in this application.

[0023] Figure 1 This is a flowchart of a performance testing method for a rear traffic crossing prompt system according to an embodiment of this application.

[0024] like Figure 1 As shown, the performance testing method for the Rear Cross Traffic Alert (RCTA) system according to an embodiment of this application includes the following steps: S1. Determine the target test site, which includes a test road and multiple parking spaces. The longitudinal axes of the multiple parking spaces are parallel and perpendicular to the central axis of the test road. Specifically, the test environment for performance testing of the rear traffic crossing guidance system should meet the following conditions: 1) The test should be conducted on a level, dry concrete or asphalt pavement with good adhesion; 2) The ambient temperature during testing should be -20℃ to 40℃; 3) The horizontal field of view should ensure that the target can be clearly observed throughout the test.

[0025] For example, in Figure 2 In one embodiment, a test road (consisting of line A and line B) and three parking spaces are set up in the target test site.

[0026] S2, the test vehicle and the two obstructing vehicles are parked in their respective adjacent parking spaces, wherein the test vehicle is located in the middle of the two obstructing vehicles, and the first relative distance A1 between the side edge of the test vehicle and the side edge of the corresponding obstructing vehicle is within a first preset distance range. Specifically, a test vehicle is required when conducting performance testing of the rear traffic crossing warning system. The test vehicle should use brand new original tires specified by the manufacturer, and the tire pressure should be the cold tire pressure under no-load conditions. The test vehicle should be in good condition, and its overall performance should meet the relevant requirements of standard GB / T 12534 "General Rules for Road Testing of Automobiles".

[0027] The test vehicle and related RCTA system components must be installed in place. The specifications and specific parameters of the relevant components are required, as shown in Table 1.

[0028] Table 1

[0029] In addition, the test vehicle should be a new car with no more than 5,000 km mileage. Before testing, ensure that the RCTA system is fault-free and functioning properly. The vehicle's condition needs to be checked, specifically according to the items in Table 2, and recorded.

[0030] Table 2

[0031] In addition, the testing instruments shown in Table 3 may also be required.

[0032] Table 3

[0033] like Figure 2 and Figure 3 As shown, test vehicle 1 and obstructing vehicles 2 and 3 are parked sequentially in the parking space. Figure 4 As shown, the first relative distance A1 is: the centerline of the test vehicle is parallel to the X-axis, and the projection distance along the Y-axis between the outermost edge of the test vehicle's body (excluding the exterior rearview mirror) and the outermost edge of the test vehicle's body (excluding the exterior rearview mirror) along the Y-axis is (70±5)cm.

[0034] S3, control the test vehicle to reverse toward the test road, and when the second relative distance A2 between the rear edge of the test vehicle and the rear edge of the obstructing vehicle reaches the first preset distance, control the test vehicle to stop, wherein the rear edge is the end edge of the corresponding vehicle that is close to the test road; In other words, the test vehicle is controlled to reverse, simulating real-world reversing scenarios. For example, ... Figure 4 As shown, the second relative distance A2 is: the distance between the outermost edge of the rear end of the obscured vehicle body and the outermost edge of the rear end of the test vehicle body along the X-axis is (50±5)cm.

[0035] S4, based on the target test item, control the preset moving target to travel along the test road behind the test vehicle to obtain the response parameters of the traffic crossing warning system behind the test vehicle and the relative distance parameters between the preset moving target and the test vehicle. Specifically, the target test items may include detection range test items, warning initiation and termination test items, warning signal test items, and false response test items. Each target test item can use different preset moving targets, as shown in Table 4.

[0036] Table 4

[0037] S5 determines the actual performance of the rear traffic crossing prompt system based on response parameters, relative distance parameters, and preset test evaluation conditions.

[0038] Specifically, the response parameters of the rear traffic crossing warning system for the test vehicle may include the time of warning signal issuance and termination, and the preset relative distance parameters between the moving target and the test measurement may include, for example, Figure 2 The projection distances along the X-axis and Y-axis are shown. Additionally, for example... Figure 1 As shown, objective data on the physical quantities of the test results can also be provided: Lateral distance (L1): The projected distance between the outermost edge of the test vehicle's side (excluding the rearview mirror) and the outermost edge of the front of the target (or the pedestrian's center of mass when the target is a pedestrian) in a direction perpendicular to the test vehicle's travel direction; Approach speed (V): The relative speed between the test vehicle and the target on the lateral distance projection; Time to collision (TTC): The ratio of the lateral distance between the test vehicle and the target at the same moment to the approach speed.

[0039] The preset test evaluation conditions serve as objective value requirements for the overall vehicle performance targets. Different preset test evaluation conditions are set according to different target test items, as detailed below: 1. The preset test evaluation conditions for the test items within the detection range provide the detection range, specifically: The system can detect a longitudinal distance (the distance between the outermost edge of the rear bumper of this vehicle and the target vehicle) with an X-axis distance ≥ 4.5m; The system can detect lateral distances (distance between the side of this vehicle and the target vehicle) with a Y-axis value of ≥30m.

[0040] 2. Warning activation and deactivation test items: The preset test evaluation conditions include warning activation conditions and warning deactivation conditions.

[0041] The warning activation condition is as follows: when a target (pedestrian or vehicle) enters the monitoring area (0≤W≤30m), the RCTA system should be triggered within 1.5s≤TTC≤2.5s.

[0042] like Figure 3 As shown, line A is a bidirectional extension of the rear edge of the test vehicle, and line B is parallel to line A and 4.5m away from line A. The RCTA system should issue a warning when the target meets all of the following conditions: 1) All parts of the target are behind line A; 2) Any part of the target is in front of line B; 3) The target approaches the test vehicle from the left and / or right and the collision time is greater than or equal to 1.5s and less than or equal to 2.5s.

[0043] The warning ends when the target vehicle / pedestrian completely crosses the rear of the vehicle and the warning is cleared within 1 second.

[0044] 3. The preset test evaluation conditions for the warning signal test items are as follows: The system's prompts should be at least one of the following: visual, auditory, or tactile. If an acoustic alarm is used, the duration of the acoustic alarm should be ≥2 seconds, and the acoustic warning volume (default sound decibels) should be ≥65 dB.

[0045] 4. The preset test evaluation conditions for the false response test items are: 1) When a target enters the detection area, but TTC > 2.5s, the system should not issue a warning; 2) When the lateral distance between the test vehicle and the target vehicle is ≥5m, the vehicle should not issue a warning; 3) When the longitudinal distance between the test vehicle and the target vehicle is ≥50m, the vehicle should not issue a warning.

[0046] Therefore, the performance of the rear traffic crossing warning system of the test vehicle is evaluated by comparing the data parameters obtained from different test items with the preset test evaluation conditions.

[0047] In some embodiments of this application, when the target test item includes a detection range test item, a preset moving target is determined as a target vehicle. Based on the target test item, the preset moving target is controlled to travel along the test road behind the test vehicle to obtain the response parameters of the traffic crossing warning system behind the test vehicle and the relative distance parameters between the preset moving target and the test vehicle. This includes: determining lateral distance test rules and longitudinal distance test rules; controlling the target vehicle to travel behind the test vehicle based on the lateral distance test rules and the longitudinal distance test rules respectively; and during the rearward travel, obtaining the third relative distance A3, the fourth relative distance A4, and the fifth relative distance A5 between the target vehicle and the test vehicle, as well as the trigger time and stop time of the warning signal of the traffic crossing warning system behind the test vehicle, and reaching the fifth relative distance A5 when the third relative distance A5 is reached. When the target vehicle stops at a preset distance or warning signal, the target vehicle is controlled to stop. Among them, the third relative distance A3 is the relative distance between the front edge of the target vehicle and the first lateral edge of the test vehicle along the direction parallel to the central axis of the test road. The first lateral edge of the test vehicle is the lateral edge of the test vehicle facing the target vehicle when the target vehicle is moving in the direction close to the test vehicle. The fourth relative distance A4 is the relative distance between the lateral edge of the target vehicle close to the test vehicle and the rear edge of the test vehicle along the direction perpendicular to the central axis of the test road. The fifth relative distance A5 is the relative distance between the rear edge of the target vehicle and the second lateral edge of the test vehicle along the direction parallel to the central axis of the test road. The second lateral edge of the test vehicle is the lateral edge of the test vehicle facing the target vehicle when the target vehicle is moving in the direction away from the test vehicle.

[0048] In other words, when the target test item is a detection range test item, the moving target is preset to the target vehicle, and lateral distance tests and longitudinal distance tests are performed separately to complete the detection range test item. For example, Figure 4 As shown, the third relative distance A3 is the projected distance on the Y-axis between the outermost edge of the test vehicle's side (excluding the rearview mirror) and the outermost edge of the front of the target vehicle; the fourth relative distance A4 is the projected distance on the X-axis between the outermost edge of the rear of the test vehicle and the outermost edge of the target vehicle's adjacent side (excluding the rearview mirror); and the fifth relative distance A5 is the projected distance on the Y-axis between the outermost edge of the test vehicle's side (excluding the rearview mirror) and the outermost edge of the target vehicle's rear.

[0049] In some embodiments of this application, controlling a target vehicle to travel behind a test vehicle based on lateral distance testing rules includes: determining a first starting position and a second starting position of the target vehicle, wherein when the target vehicle is located at the first starting position or the second starting position, a third relative distance is a second preset distance, and a fourth relative distance is greater than the third preset distance and less than the fourth preset distance; starting from the first starting position, controlling the target vehicle to travel behind the test vehicle at a preset speed along a first direction; starting from the second starting position, controlling the target vehicle to travel behind the test vehicle at a preset speed along a second direction, wherein the second direction is opposite to the first direction.

[0050] Specifically, in combination Figure 4 As shown, during the lateral distance test based on the target vehicle: First relative distance A1: The centerline of the test vehicle is parallel to the X-axis. The projection distance along the Y-axis between the outermost edge of the test vehicle (excluding the exterior rearview mirror) of the vehicle blocking the test vehicle and the outermost edge of the test vehicle (excluding the exterior rearview mirror) of the vehicle blocking the test vehicle is (70±5)cm. The second relative distance A2: The distance between the outermost edge of the rear end of the obscured vehicle body and the outermost edge of the rear end of the test vehicle body along the X-axis is (50±5)cm; Third relative distance A3: The projected distance on the Y-axis between the outermost edge of the test vehicle's side (excluding the rearview mirror) and the outermost edge of the front of the target vehicle; The fourth relative distance A4: The projected distance on the X-axis between the outermost edge of the rear end of the test vehicle and the outermost edge of the adjacent side of the target vehicle (excluding the exterior rearview mirror). The parameters of A3 and A4 are shown in Table 5.

[0051] Table 5

[0052] Fifth relative distance A5: The projected distance on the Y-axis between the outermost edge of the test vehicle's side profile (excluding the rearview mirrors) and the outermost edge of the target vehicle's rear end. At the start of the test, the test vehicle should be in reverse gear and stationary (no need to engage EPB). Figure 4 .

[0053] At the start, A3 = 60m and A4 = 1.0m. The target vehicle moves at a constant speed of Va = 10km / h parallel to the Y-axis. The equipment records the distances A3 and A4 between the target vehicle and the test vehicle, as well as the TTC value, in real time. When the RCTA system issues a warning signal, the distance A3 is recorded at that moment. The test ends when the target vehicle moves 20m away from the test vehicle or when the system's warning signal ends.

[0054] For each set of parameters, one test should be conducted for the target vehicle to pass through the test vehicle from left to right and one test should be conducted from right to left, and the data should be recorded in Table 4.

[0055] In some embodiments of this application, controlling a target vehicle to travel behind a test vehicle based on longitudinal distance testing rules includes: determining a third starting position and a fourth starting position of the target vehicle, wherein when the target vehicle is at the third starting position, the third relative distance is a second preset distance, the fourth relative distance is a third preset distance, and when the target vehicle is at the fourth starting position, the third relative distance is a second preset distance, and the fourth relative distance between the target vehicle and the test vehicle is a fourth preset distance; starting from the third starting position, controlling the target vehicle to travel behind the test vehicle at a preset speed and along a preset direction; starting from the fourth starting position, controlling the target vehicle to travel behind the test vehicle at a preset speed and along a preset direction, wherein the preset direction is a first direction or a second direction.

[0056] Specifically, when conducting longitudinal distance tests based on a target vehicle, the test vehicle should be in reverse gear and stationary at the start of the test. The test should proceed as follows: Figure 5 and Figure 6 As shown.

[0057] Before the test began, the target vehicle was positioned at the far left and far right of the 4.5m wide lane. During the left-side width test, the outer left wheel of the target vehicle was on the left lane line of the target vehicle; during the right-side width test, the outer right wheel of the target vehicle was on the right lane line of the target vehicle.

[0058] The target vehicle moves at a constant speed of Va = 10 km / h, parallel to the Y-axis, with a distance of A3 = 60 m. When the RCTA system issues a warning signal, the distance A3 is recorded. The test ends when the target vehicle moves 20 m away from the test vehicle or when the system's warning signal ends.

[0059] For each set of parameters, one test should be conducted for the target vehicle to pass through the test vehicle from left to right and one test should be conducted from right to left, and the data should be recorded in Table 4.

[0060] In some embodiments of this application, when the target test items include warning start and end test items, the preset moving targets are determined to be target vehicles, target two-wheeled vehicles, and target pedestrians. Based on the target test items, the preset moving targets are controlled to travel along the test road behind the test vehicle to obtain the response parameters of the traffic crossing warning system behind the test vehicle and the relative distance parameters between the preset moving targets and the test vehicle. This includes: determining the vehicle crossing test rules, the two-wheeled vehicle crossing test rules, and the pedestrian crossing test rules; and controlling the corresponding preset moving targets to travel behind the test vehicle based on the vehicle crossing test rules, the two-wheeled vehicle crossing test rules, and the pedestrian crossing test rules, respectively. During the transit, the third, fourth, and fifth relative distances between the target vehicle and the test vehicle are acquired, along with the trigger time, stop time, and movement time when the warning signal from the rear traffic crossing system is zero. The time deviation between the movement time and the stop time is calculated. Specifically, when the target vehicle is the preset moving target, the third relative distance is the relative distance between the front edge of the target vehicle and the first lateral edge of the test vehicle along a direction parallel to the centerline of the test road. The first lateral edge of the test vehicle is the lateral edge of the test vehicle facing the target vehicle when the target vehicle is moving in a direction close to the test vehicle. The fourth relative distance A4 is the distance between the target vehicle and the target vehicle. The fifth relative distance is the relative distance between the lateral edge of the target vehicle and the rear edge of the test vehicle along a direction perpendicular to the central axis of the test road. The sixth relative distance is the relative distance between the rear edge of the target vehicle and the second lateral edge of the test vehicle along a direction parallel to the central axis of the test road. The second lateral edge of the test vehicle is the lateral edge of the test vehicle facing the target vehicle when the target vehicle is moving away from the test vehicle. If the preset moving target is a target two-wheeled vehicle, the seventh relative distance is the relative distance between the front edge of the target two-wheeled vehicle and the first lateral edge of the test vehicle along a direction parallel to the central axis of the test road. The eighth relative distance is the distance between the center point of the target two-wheeled vehicle and the rear edge of the test vehicle. The relative distance between the edges along a direction perpendicular to the central axis of the test road; the fifth relative distance is the relative distance between the rear edge of the target two-wheeled vehicle and the second lateral edge of the test vehicle along a direction parallel to the central axis of the test road; when the preset moving target is a target pedestrian, the third relative distance is the relative distance between the center of mass of the target pedestrian and the first lateral edge of the test vehicle along a direction parallel to the central axis of the test road; the fourth relative distance is the relative distance between the center of mass of the target pedestrian and the rear edge of the test vehicle along a direction perpendicular to the central axis of the test road; and the fifth relative distance is the relative distance between the center of mass of the target pedestrian and the second lateral edge of the test vehicle along a direction parallel to the central axis of the test road.

[0061] In other words, when conducting warning start and end test items, the corresponding test controls are executed sequentially for the target vehicle, the target two-wheeled vehicle, and the target pedestrian, respectively, so as to test the system's warning start and end, and to evaluate the performance by starting and ending the warning signal.

[0062] In some embodiments of this application, controlling a preset moving target to pass behind a test vehicle based on motor vehicle passage test rules includes: determining the fifth starting position of the target vehicle, and using the fifth starting position as the starting point of uniform speed, controlling the target vehicle to pass behind the test vehicle at a preset speed and in a preset direction, wherein the preset direction is parallel to the centerline of the test road; controlling a preset moving target to pass behind a test vehicle based on two-wheeled vehicle passage test rules and pedestrian passage test rules includes: determining the sixth starting position of the target two-wheeled vehicle, and using the sixth starting position as the starting point of uniform speed, controlling the target two-wheeled vehicle to pass behind the test vehicle at a preset speed and in a preset direction; controlling a preset moving target to pass behind a test vehicle based on pedestrian passage test rules and pedestrian passage test rules includes: determining the seventh starting position of the target pedestrian, and using the seventh starting position as the starting point of uniform speed, controlling the target pedestrian to pass behind the test vehicle at a preset speed and in a preset direction.

[0063] Specifically, the warning start and end test items include motor vehicle crossing test, two-wheeled vehicle crossing test, and pedestrian crossing test, and the specific process is as follows: 1. During the vehicle traffic test, combined with Figure 6 As shown, the parameters are as follows: A1: The centerline of the test vehicle is parallel to the X-axis. The projection distance along the Y-axis between the outermost edge of the test vehicle (excluding the exterior rearview mirror) of the vehicle blocking the test vehicle and the outermost edge of the test vehicle (excluding the exterior rearview mirror) of the vehicle blocking the test vehicle is (70±5)cm. A2: The distance between the outermost edge of the rear end of the obscured vehicle body and the outermost edge of the rear end of the test vehicle body along the X-axis is (50±5)cm; A3: The projected distance on the Y-axis between the outermost edge of the test vehicle's side profile (excluding the rearview mirror) and the outermost edge of the target vehicle's front end; A4: The projected distance on the X-axis between the outermost edge of the rear end of the test vehicle and the outermost edge of the adjacent side of the target vehicle (excluding the exterior rearview mirror). The parameters of A3 and A4 are shown in Table 5. A5: The projected distance on the Y-axis between the outermost edge of the test vehicle's side (excluding the rearview mirror) and the outermost edge of the target vehicle's rear end.

[0064] At the start of the test, the test vehicle should be in reverse gear and stationary. Figure 4 As shown.

[0065] The target vehicle should reach speed Va before distance A3 and move at a constant speed parallel to the Y-axis. Va parameters are shown in Table 5. The equipment records the distances A3, A4 and TTC values ​​between the target vehicle and the test vehicle in real time. When the departure conditions are met, the RCTA system issues a warning signal and records the A3, A4 and TTC values ​​at this time.

[0066] The test ends when the target vehicle is 20m away from the test vehicle or when the system prompts that the test is over. Record whether the time difference between the moment when the relative distance A5=0 and the moment when the alarm signal disappears is less than 1 second.

[0067] For each set of parameters, one test should be conducted for the target motor vehicle to pass through the test vehicle from left to right and one test should be conducted from right to left, and the data should be recorded in Appendix 4.

[0068] 2. In the two-wheeled vehicle traversing test, combined with Figure 7 As shown, the parameters are as follows: B1: The centerline of the test vehicle is parallel to the X-axis. The projection distance along the Y-axis between the outermost edge of the test vehicle (excluding the exterior rearview mirror) of the vehicle blocking the test vehicle and the outermost edge of the test vehicle (excluding the exterior rearview mirror) of the vehicle blocking the test vehicle is (70±5)cm. B2: The distance between the outermost edge of the rear end of the obscured vehicle body and the outermost edge of the rear end of the test vehicle body along the X-axis is (50±5)cm; B3: The projected distance on the Y-axis between the outermost edge of the vehicle body (excluding the rearview mirror) and the foremost point of the two-wheeled vehicle near the target. B4: The projected distance on the X-axis between the centerline of the two-wheeled vehicle and the outermost edge of the rear end of the test vehicle. Parameters B3 and B4 are shown in Table 6. B5: The projected distance on the Y-axis between the outermost edge of the test vehicle's side (excluding the rearview mirror) and the rearmost end of the two-wheeled vehicle.

[0069] At the start of the test, the test vehicle should be in reverse gear and centered in its parking space. Figure 7 ; The target two-wheeled vehicle should reach speed Vb before distance B3 and move at a constant speed parallel to the Y-axis. The parameters of Vb are shown in Table 3. The equipment records the distances B3, B4 and TTC values ​​between the target vehicle and the test vehicle in real time. When the starting conditions are met, the test vehicle issues a warning signal and records the values ​​of B3, B4 and TTC at this time.

[0070] The test ends when the target two-wheeled vehicle moves 15m away from the test vehicle or the system prompt ends. Record whether the time difference from the moment the relative distance B5=0 to the moment the alarm signal disappears is less than 1 second.

[0071] For each set of parameters, one test should be conducted for the target two-wheeled vehicle to pass between the test vehicle from left to right and one test should be conducted from right to left, and the data should be recorded in Appendix 4.

[0072] Table 6

[0073] 3. In pedestrian crossing tests, combined with Figure 8 As shown, the parameters are as follows: C1: The centerline of the test vehicle is parallel to the X-axis. The projection distance along the Yx axis between the outermost edge of the test vehicle (excluding the exterior rearview mirror) and the outermost edge of the test vehicle (excluding the exterior rearview mirror) along the Yx axis is (70±5)cm. C2: The distance between the outermost edge of the rear end of the obscured vehicle body and the outermost edge of the rear end of the test vehicle body along the y-axis is (50±5)cm; C3: The projected distance on the Y-axis between the outermost edge of the vehicle body (excluding the rearview mirror) and the pedestrian's center of mass near the target. C4: The projected distance on the X-axis between the outermost edge of the rear of the vehicle body and the pedestrian's center of gravity. C3 and C4 parameters are shown in Table 4. C5: The projected distance on the Y-axis between the outermost edge of the vehicle body (excluding the rearview mirror) away from the target and the pedestrian's center of mass.

[0074] At the start of the test, the test vehicle should be in reverse gear and centered in its parking space. Figure 8 .

[0075] The target pedestrian should reach a speed Vc before distance C3 and move at a constant speed parallel to the Y-axis. The parameters of Vc are shown in Table 7. The equipment records the distances C3, C4 and TTC between the target vehicle and the test vehicle in real time. When the departure conditions are met, the test vehicle issues a warning signal and records the C3, C4 and TTC values ​​at this time.

[0076] The test ends when the target pedestrian moves 10m away from the test vehicle or the system prompt ends. Record whether the time difference between the moment the relative distance C5=0 and the moment the alarm signal disappears is less than 1 second.

[0077] For each set of parameters, one test should be conducted for the target pedestrian relative to the test vehicle from left to right and one test should be conducted from right to left, and the data should be recorded in Appendix 4.

[0078] Table 7

[0079] In some embodiments of this application, during the process of controlling a preset moving target to travel behind a test vehicle along a test road based on a target test item, the method further includes: obtaining the sound pressure level parameter at the driver's position of the test vehicle when the rear traffic crossing warning system issues a warning signal.

[0080] In other words, the test is conducted according to any of the above-mentioned test conditions. When the RCTA warning system is activated, a warning signal is given to the occupants of the vehicle. At this time, the form of the RCTA warning signal, the location of its occurrence, and the duration of the alarm are recorded. The alarm sound pressure level is measured in the left and right ears of the driver and the left and right ears of the rear right passenger using a decibel meter to perform the warning signal test.

[0081] In some embodiments of this application, when the preset test evaluation conditions include preset warning activation conditions, the actual performance of the rear traffic crossing warning system is determined based on response parameters, relative distance parameters, and preset test evaluation conditions. This includes determining the false response data of the rear traffic crossing warning system based on the preset warning activation conditions, the third relative distance, the fourth relative distance, and the triggering time of the warning signal of the rear traffic crossing warning system, so as to conduct a false response test on the rear traffic crossing warning system.

[0082] In other words, during the above test steps, the conditions in Table 8 can be performed. When the target vehicle approaches the test vehicle and the warning activation conditions are met, observe whether the RCTA system issues a warning and record the test results in Table 4.

[0083] Table 5. Test Conditions for Faulty Responses

[0084] The test is now complete. If any abnormalities occur during the test, a comprehensive analysis and inspection of the data from each group should be conducted after the test, and the abnormalities should be recorded. Test issues should be reported promptly after the test. Testers should save the original data, organize the data, fill in the test record form, and issue a test report and a list of issues.

[0085] In summary, the performance testing method for the rear traffic crossing warning system according to the embodiments of this application first determines a target test site, which includes a test road and multiple parking spaces. The longitudinal axes of the multiple parking spaces are parallel and perpendicular to the central axis of the test road. The test vehicle and two obstructing vehicles are parked in their respective adjacent parking spaces, with the test vehicle positioned between the two obstructing vehicles. The first relative distance between the side edge of the test vehicle and the side edge of the corresponding obstructing vehicle is within a first preset distance range. Then, the test vehicle is controlled to reverse towards the test road, and when the second relative distance between the rear edge of the test vehicle and the rear edge of the obstructing vehicle reaches the first preset distance, the test vehicle is controlled to stop. The rear edge is the end edge of the corresponding vehicle closest to the test road. Based on the target test item, a preset moving target is controlled to travel along the test road behind the test vehicle to obtain the response parameters of the rear traffic crossing warning system of the test vehicle and the relative distance parameters between the preset moving target and the test vehicle. The actual performance of the rear traffic crossing warning system is determined based on the response parameters, the relative distance parameters, and the preset test evaluation conditions. Therefore, this method improves the accuracy and authenticity of the rear traffic crossing warning system by setting up a test environment and objectively evaluating the actual performance of the rear traffic crossing warning system based on the system response parameters obtained during the test, the relative distance parameters between the preset moving target and the test vehicle, and the preset test evaluation conditions.

[0086] Corresponding to the above embodiments, this application also proposes a performance testing device for a rear traffic crossing warning system.

[0087] like Figure 9 As shown, the performance testing device for the rear traffic crossing prompt system according to an embodiment of this application includes: a determination module 10, a vehicle control module 20, and a testing module 30.

[0088] The determination module 10 is used to determine the target test site, which includes a test road and multiple parking spaces. The longitudinal axes of the multiple parking spaces are parallel and perpendicular to the central axis of the test road. The vehicle control module 20 is used to park the test vehicle and two obstructing vehicles in their respective adjacent parking spaces, and control the test vehicle to reverse towards the test road. When the second relative distance between the rear edge of the test vehicle and the rear edge of the obstructing vehicle reaches the first preset distance, the test vehicle is controlled to stop. The test vehicle is located between the two obstructing vehicles, and the first relative distance between the side edge of the test vehicle and the side edge of the corresponding obstructing vehicle is within the first preset distance range. The rear edge is the end edge of the corresponding vehicle that is close to the test road. The test module 30 is used to control a preset moving target to travel along the test road behind the test vehicle based on the target test item, so as to obtain the response parameters of the rear traffic crossing warning system of the test vehicle and the relative distance parameters between the preset moving target and the test vehicle. Based on the response parameters, relative distance parameters and preset test evaluation conditions, the actual performance of the rear traffic crossing warning system is determined.

[0089] According to one embodiment of this application, when the target test item includes a detection range test item, a preset moving target is determined to be a target vehicle. The test module 30, based on the target test item, controls the preset moving target to travel along the test road behind the test vehicle to obtain response parameters of the traffic crossing warning system behind the test vehicle and relative distance parameters between the preset moving target and the test vehicle. Specifically, this is used to: determine lateral distance test rules and longitudinal distance test rules; control the target vehicle to travel behind the test vehicle based on the lateral distance test rules and longitudinal distance test rules respectively; and during the rearward travel, obtain the third, fourth, and fifth relative distances between the target vehicle and the test vehicle, as well as the trigger and stop times of the warning signal from the traffic crossing warning system behind the test vehicle, and at the fifth relative distance... When the fifth preset distance is reached or a warning signal is received, the target vehicle is controlled to stop. The third relative distance is the relative distance between the front edge of the target vehicle and the first lateral edge of the test vehicle along a direction parallel to the central axis of the test road. The first lateral edge of the test vehicle is the lateral edge of the test vehicle facing the target vehicle when the target vehicle is moving in a direction close to the test vehicle. The fourth relative distance is the relative distance between the lateral edge of the target vehicle close to the test vehicle and the rear edge of the test vehicle along a direction perpendicular to the central axis of the test road. The fifth relative distance is the relative distance between the rear edge of the target vehicle and the second lateral edge of the test vehicle along a direction parallel to the central axis of the test road. The second lateral edge of the test vehicle is the lateral edge of the test vehicle facing the target vehicle when the target vehicle is moving in a direction away from the test vehicle.

[0090] According to one embodiment of this application, the test module 30 controls the target vehicle to travel behind the test vehicle based on lateral distance test rules. Specifically, it is used to: determine the first starting position and the second starting position of the target vehicle, wherein when the target vehicle is located at the first starting position or the second starting position, the third relative distance is the second preset distance, and the fourth relative distance is greater than the third preset distance and less than the fourth preset distance; starting from the first starting position, control the target vehicle to travel behind the test vehicle at a preset speed along a first direction; starting from the second starting position, control the target vehicle to travel behind the test vehicle at a preset speed along a second direction, wherein the second direction is opposite to the first direction.

[0091] According to one embodiment of this application, the test module 30 controls the target vehicle to travel behind the test vehicle based on longitudinal distance test rules. Specifically, it is used to: determine the third starting position and the fourth starting position of the target vehicle, wherein when the target vehicle is at the third starting position, the third relative distance is the second preset distance, the fourth relative distance is the third preset distance, and when the target vehicle is at the fourth starting position, the third relative distance is the second preset distance, and the fourth relative distance between the target vehicle and the test vehicle is the fourth preset distance; starting from the third starting position, control the target vehicle to travel behind the test vehicle at a preset speed and along a preset direction; starting from the fourth starting position, control the target vehicle to travel behind the test vehicle at a preset speed and along a preset direction, wherein the preset direction is either the first direction or the second direction.

[0092] According to one embodiment of this application, when the target test items include warning start and end test items, the preset moving targets are determined to be target vehicles, target two-wheeled vehicles, and target pedestrians. Based on the target test items, the test module 30 controls the preset moving targets to travel along the test road behind the test vehicle to obtain the response parameters of the traffic crossing warning system behind the test vehicle and the relative distance parameters between the preset moving targets and the test vehicle. Specifically, this is used to: determine the vehicle crossing test rules, the two-wheeled vehicle crossing test rules, and the pedestrian crossing test rules; and control the corresponding preset moving targets to travel behind the test vehicle based on the vehicle crossing test rules, the two-wheeled vehicle crossing test rules, and the pedestrian crossing test rules, respectively. The system moves forward and, during its movement behind the target vehicle, acquires the third, fourth, and fifth relative distances between the target vehicle and the test vehicle, as well as the trigger time, stop time, and movement time when the fifth relative distance is zero, based on the warning signal trigger time, stop time, and movement time of the rear traffic crossing warning system. This allows for the calculation of the time deviation between the movement time and the stop time. Where the target vehicle is the preset moving target, the third relative distance is the relative distance between the front edge of the target vehicle and the first lateral edge of the test vehicle along a direction parallel to the central axis of the test road. The first lateral edge of the test vehicle is the lateral edge of the test vehicle facing the target vehicle when the target vehicle is moving in a direction close to the test vehicle. The fourth relative distance is... The fifth relative distance is the relative distance between the lateral edge of the target vehicle and the rear edge of the test vehicle along a direction perpendicular to the central axis of the test road. The sixth relative distance is the relative distance between the rear edge of the target vehicle and the second lateral edge of the test vehicle along a direction parallel to the central axis of the test road. The second lateral edge of the test vehicle is the lateral edge of the test vehicle facing the target vehicle when the target vehicle is moving away from the test vehicle. If the preset moving target is a target two-wheeled vehicle, the seventh relative distance is the relative distance between the front edge of the target two-wheeled vehicle and the first lateral edge of the test vehicle along a direction parallel to the central axis of the test road. The eighth relative distance is the relative distance between the center point of the target two-wheeled vehicle and the rear edge of the test vehicle. The fifth relative distance is the relative distance between the end edges along a direction perpendicular to the central axis of the test road; the sixth relative distance is the relative distance between the rear end edge of the target two-wheeled vehicle and the second lateral edge of the test vehicle along a direction parallel to the central axis of the test road. When the preset moving target is a target pedestrian, the seventh relative distance is the relative distance between the center of mass of the target pedestrian and the first lateral edge of the test vehicle along a direction parallel to the central axis of the test road; the eighth relative distance is the relative distance between the center of mass of the target pedestrian and the rear end edge of the test vehicle along a direction perpendicular to the central axis of the test road; and the ninth relative distance is the relative distance between the center of mass of the target pedestrian and the second lateral edge of the test vehicle along a direction parallel to the central axis of the test road.

[0093] According to one embodiment of this application, the test module 30 controls a corresponding preset moving target to pass behind the test vehicle based on the motor vehicle passage test rules. Specifically, it is used to: determine the fifth starting position of the target vehicle, and control the target vehicle to pass behind the test vehicle at a preset speed and in a preset direction, with the fifth starting position as the starting point of uniform speed, wherein the preset direction is parallel to the centerline of the test road; control the corresponding preset moving target to pass behind the test vehicle based on the two-wheeled vehicle passage test rules and the pedestrian passage test rules, including: determining the sixth starting position of the target two-wheeled vehicle, and controlling the target two-wheeled vehicle to pass behind the test vehicle at a preset speed and in a preset direction, with the sixth starting position as the starting point of uniform speed; control the corresponding preset moving target to pass behind the test vehicle based on the pedestrian passage test rules and the pedestrian passage test rules, including: determining the seventh starting position of the target pedestrian, and controlling the target pedestrian to pass behind the test vehicle at a preset speed and in a preset direction, with the seventh starting position as the starting point of uniform speed.

[0094] According to one embodiment of this application, the test module 30, while controlling a preset moving target to travel along the test road behind the test vehicle based on the target test item, is also used to: obtain the sound pressure level parameter at the driver's position of the test vehicle when the rear traffic crossing warning system issues a warning signal.

[0095] According to one embodiment of this application, the test module 30, under preset test evaluation conditions including preset warning activation conditions, determines the actual performance of the rear traffic crossing warning system based on response parameters, relative distance parameters, and preset test evaluation conditions. Specifically, it is used to: determine the false response data of the rear traffic crossing warning system based on the preset warning activation conditions, the third relative distance, the fourth relative distance, and the triggering time of the warning signal of the rear traffic crossing warning system, so as to conduct a false response test on the rear traffic crossing warning system.

[0096] It should be noted that for details not disclosed in the performance testing device of the rear traffic crossing warning system in the embodiments of this application, please refer to the details disclosed in the performance testing method of the rear traffic crossing warning system in the above embodiments of this application, which will not be repeated here.

[0097] According to the performance testing device of the rear traffic crossing warning system according to the embodiments of this application, the target test site is determined by the determining module. The target test site includes a test road and multiple parking spaces. The longitudinal axes of the multiple parking spaces are parallel and perpendicular to the central axis of the test road. The test vehicle and two obstructing vehicles are respectively parked in the corresponding adjacent parking spaces by the vehicle control module. The test vehicle is controlled to reverse towards the test road. When the second relative distance between the rear edge of the test vehicle and the rear edge of the obstructing vehicle reaches the first preset distance, the test vehicle is controlled to stop. The test vehicle is located in the middle of the two obstructing vehicles. The first relative distance between the side edge of the test vehicle and the side edge of the corresponding obstructing vehicle is within the first preset distance range. The rear edge is the end edge of the corresponding vehicle that is close to the test road. Based on the target test item, the test module controls a preset moving target to travel along the test road behind the test vehicle to obtain the response parameters of the rear traffic crossing warning system of the test vehicle and the relative distance parameters between the preset moving target and the test vehicle. The actual performance of the rear traffic crossing warning system is determined according to the response parameters, the relative distance parameters and the preset test evaluation conditions. Therefore, by setting up a test environment, the device objectively evaluates the actual performance of the rear traffic crossing warning system based on the system response parameters obtained during the test, the relative distance parameters between the preset moving target and the test vehicle, and the preset test evaluation conditions, thereby improving the accuracy and authenticity of the evaluation of the rear traffic crossing warning system.

[0098] Corresponding to the above embodiments, this application also proposes a computer-readable storage medium.

[0099] A computer-readable storage medium storing a computer program, wherein when executed by a processor, the computer program implements the steps of the performance testing method for any of the aforementioned rear traffic crossing prompt systems.

[0100] According to the computer-readable storage medium of the present application embodiment, when the computer program stored in the computer-readable storage medium is executed by a processor, it can implement the steps of the above-described performance testing method for the rear traffic crossing prompt system. Based on the above-described performance testing method for the rear traffic crossing prompt system, the accuracy and authenticity of the evaluation of the rear traffic crossing prompt system are improved.

[0101] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0102] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0103] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0104] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0105] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0106] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method of performance testing of a rear traffic crossing alert system, characterized in that The method comprises: determining a target test site, the target test site comprising a test road and a plurality of parking spaces, longitudinal axes of the plurality of parking spaces being parallel and perpendicular to a central axis of the test road; parking a test vehicle and two shielding vehicles in corresponding adjacent parking spaces respectively, wherein the test vehicle is located between the two shielding vehicles, and a first relative distance between a side edge of the test vehicle and a side edge of a corresponding shielding vehicle is within a first preset distance range; controlling the test vehicle to back up towards the test road, and when a second relative distance between a rear end edge of the test vehicle and a rear end edge of the shielding vehicle reaches a first preset distance, controlling the test vehicle to stop, wherein the rear end edge is an end edge of the corresponding vehicle close to the test road; based on a target test item, controlling a preset moving target to pass through behind the test vehicle along the test road to obtain a response parameter of a rear traffic passing prompt system of the test vehicle and a relative distance parameter between the preset moving target and the test vehicle; determining an actual performance of the rear traffic passing prompt system according to the response parameter, the relative distance parameter and a preset test evaluation condition.

2. The method of claim 1, wherein In a case where the target test item comprises a detection range test item, the preset moving target is determined as a target vehicle, based on the target test item, the preset moving target is controlled to pass through behind the test vehicle along the test road to obtain a response parameter of a rear traffic passing prompt system of the test vehicle and a relative distance parameter between the preset moving target and the test vehicle, comprising: determining a lateral distance test rule and a longitudinal distance test rule; controlling the target vehicle to pass through behind the test vehicle based on the lateral distance test rule and the longitudinal distance test rule respectively, and obtaining a third relative distance, a fourth relative distance and a fifth relative distance between the target vehicle and the test vehicle, and a triggering time and a stopping time of a warning signal of the rear traffic passing prompt system during the passing through behind, and controlling the target vehicle to stop when the fifth relative distance reaches a fifth preset distance or the warning signal stops; The third relative distance is a relative distance between a front end edge of the target vehicle and a first lateral edge of the test vehicle in a direction parallel to a center axis of the test road, the first lateral edge of the test vehicle being a lateral edge of the test vehicle facing the target vehicle when the target vehicle runs in a direction approaching the test vehicle, the fourth relative distance is a relative distance between a lateral edge of the target vehicle approaching the test vehicle and a rear end edge of the test vehicle in a direction perpendicular to the center axis of the test road, the fifth relative distance is a relative distance between the rear end edge of the target vehicle and a second lateral edge of the test vehicle in a direction parallel to the center axis of the test road, the second lateral edge of the test vehicle being a lateral edge of the test vehicle facing the target vehicle when the target vehicle runs in a direction away from the test vehicle.

3. The method of claim 2, wherein The target vehicle is controlled to pass behind the test vehicle based on the lateral distance test rule, including: determining a first starting position and a second starting position of the target vehicle, wherein the third relative distance is a second preset distance and the fourth relative distance is greater than a third preset distance and less than a fourth preset distance when the target vehicle is located at the first starting position or the second starting position; controlling the target vehicle to pass behind the test vehicle in a first direction at a preset vehicle speed starting from the first starting position; controlling the target vehicle to pass behind the test vehicle in a second direction at the preset vehicle speed starting from the second starting position, wherein the second direction is opposite to the first direction.

4. The method of claim 3, wherein The target vehicle is controlled to pass behind the test vehicle based on the longitudinal distance test rule, including: determining a third starting position and a fourth starting position of the target vehicle, wherein the third relative distance is the second preset distance and the fourth relative distance is the third preset distance when the target vehicle is located at the third starting position, and the third relative distance is the second preset distance and the fourth relative distance between the target vehicle and the test vehicle is the fourth preset distance when the target vehicle is located at the fourth starting position; controlling the target vehicle to pass behind the test vehicle in a preset direction at a preset vehicle speed starting from the third starting position; controlling the target vehicle to pass behind the test vehicle in the preset direction at the preset vehicle speed starting from the fourth starting position, wherein the preset direction is the first direction or the second direction.

5. The method of claim 2, wherein the performance test of the rear traffic penetration prompting system is performed by a test vehicle. In a case where the target test item includes a warning start test item and an end test item, the preset moving target is determined to be a target vehicle, a target two-wheeled vehicle and a target pedestrian, and the preset moving target is controlled to pass behind the test vehicle along the test road based on the target test item to obtain a response parameter of a rear traffic passing prompt system of the test vehicle and a relative distance parameter between the preset moving target and the test vehicle, including: determining a motor vehicle passing test rule, a two-wheeled vehicle passing test rule and a pedestrian passing test rule; controlling a corresponding preset moving target to pass behind the test vehicle based on the motor vehicle passing test rule, the two-wheeled vehicle passing test rule and the pedestrian passing test rule respectively, and obtaining a third relative distance, a fourth relative distance and a fifth relative distance between the target vehicle and the test vehicle, a warning signal triggering time, a stopping time and a moving time when the fifth relative distance is zero of the rear traffic passing prompt system during the rear passing, to calculate a time deviation between the moving time and the stopping time; wherein, in the case that the preset moving target is a target vehicle, the third relative distance is a relative distance between a front end edge of the target vehicle and a first lateral edge of the test vehicle in a direction parallel to a center axis of the test road, the first lateral edge of the test vehicle is a lateral edge of the test vehicle facing the target vehicle when the target vehicle runs in a direction close to the test vehicle, the fourth relative distance is a relative distance between a lateral edge of the target vehicle close to the test vehicle and a rear end edge of the test vehicle in a direction perpendicular to the center axis of the test road, and the fifth relative distance is a relative distance between a rear end edge of the target vehicle and a second lateral edge of the test vehicle in a direction parallel to the center axis of the test road, the second lateral edge of the test vehicle is a lateral edge of the test vehicle facing the target vehicle when the target vehicle runs in a direction away from the test vehicle; in the case that the preset moving target is a target two-wheeled vehicle, the third relative distance is a relative distance between a front end edge of the target two-wheeled vehicle and a first lateral edge of the test vehicle in a direction parallel to a center axis of the test road, the fourth relative distance is a relative distance between a center point of the target two-wheeled vehicle and a rear end edge of the test vehicle in a direction perpendicular to the center axis of the test road, and the fifth relative distance is a relative distance between a rear end edge of the target two-wheeled vehicle and a second lateral edge of the test vehicle in a direction parallel to the center axis of the test road; in the case that the preset moving target is a target pedestrian, the third relative distance is a relative distance between a center of mass of the target pedestrian and a first lateral edge of the test vehicle in a direction parallel to a center axis of the test road, the fourth relative distance is a relative distance between the center of mass of the target pedestrian and a rear end edge of the test vehicle in a direction perpendicular to the center axis of the test road, and the fifth relative distance is a relative distance between the center of mass of the target pedestrian and a second lateral edge of the test vehicle in a direction parallel to the center axis of the test road.

6. The method of claim 5, wherein the performance test of the rear traffic penetration prompting system is performed by a test vehicle. controlling a corresponding preset moving target to pass behind the test vehicle based on the motor vehicle passing test rule, the two-wheeled vehicle passing test rule and the pedestrian passing test rule respectively, and obtaining a third relative distance, a fourth relative distance and a fifth relative distance between the target vehicle and the test vehicle, a warning signal triggering time, a stopping time and a moving time when the fifth relative distance is zero of the rear traffic passing prompt system during the rear passing, to calculate a time deviation between the moving time and the stopping time; determine a fifth starting position of the target vehicle, and control the target vehicle to pass behind the test vehicle along a preset direction at a preset speed with the fifth starting position as a constant speed starting point, wherein the preset direction is parallel to a center axis of the test road; control a corresponding preset moving target to pass behind the test vehicle based on the two-wheeled vehicle passing test rule and the pedestrian passing test rule, including: determine a sixth starting position of the target two-wheeled vehicle, and control the target two-wheeled vehicle to pass behind the test vehicle along a preset direction at a preset speed with the sixth starting position as a constant speed starting point; control a corresponding preset moving target to pass behind the test vehicle based on the pedestrian passing test rule and the pedestrian passing test rule, including: determine a seventh starting position of the target pedestrian, and control the target pedestrian to pass behind the test vehicle along a preset direction at a preset speed with the seventh starting position as a constant speed starting point.

7. The method of claim 1, wherein In the process of controlling the preset moving target to pass behind the test vehicle along the test road based on the target test item, the method further includes: acquire a sound pressure level parameter at a main driving position of the test vehicle when the rear traffic passing prompt system issues a warning signal.

8. The method of claim 5, wherein the performance test of the rear traffic penetration prompting system is performed by a test vehicle. In a case where the preset test evaluation condition includes a preset warning starting condition, determine an actual performance of the rear traffic passing prompt system according to the response parameter, the relative distance parameter, and the preset test evaluation condition, including: determine false response data of the rear traffic passing prompt system according to the preset warning starting condition, the third relative distance, the fourth relative distance, and a triggering time of the warning signal of the rear traffic passing prompt system, to perform false response testing on the rear traffic passing prompt system.

9. A performance testing device for a rear traffic crossing alert system, characterized in that The device includes: a determination module configured to determine a target test site, the target test site including a test road and a plurality of parking spaces, longitudinal axes of the plurality of parking spaces being parallel and perpendicular to a center axis of the test road; a vehicle control module configured to park a test vehicle and two shielding vehicles in corresponding adjacent parking spaces, control the test vehicle to back up towards the test road, and control the test vehicle to stop when a second relative distance between a rear end edge of the test vehicle and rear end edges of the shielding vehicles reaches a first preset distance, wherein the test vehicle is located between the two shielding vehicles, a first relative distance between a side edge of the test vehicle and side edges of the corresponding shielding vehicles is within a first preset distance range, and the rear end edge is an end edge of the corresponding vehicle close to the test road. A test module is configured to control a preset moving target to pass behind the test vehicle along the test road based on a target test item, to obtain a response parameter of a rear traffic passing prompt system of the test vehicle and a relative distance parameter between the preset moving target and the test vehicle, and to determine an actual performance of the rear traffic passing prompt system according to the response parameter, the relative distance parameter and a preset test evaluation condition.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the performance test method of the rear traffic passing prompt system according to any one of claims 1 to 8.

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