A design method for intelligent connected vehicle test site

Abstract

The present invention belongs to the technical field of intelligent connected vehicles, and specifically relates to a design method for an intelligent connected vehicle test site. Due to the test partition design, after the road demand design of each test partition is completed, parallel design can be carried out to improve the design efficiency of the test site, and the standard scene road requirements of L2-level vehicle advanced driving assistance system and L3-level and above autonomous driving vehicle tests are comprehensively considered to meet the standard test scene requirements of national standards, group standards, C-NCAP, ISO and Euro NCAP; the test road requirements of the intelligent connected vehicle test site are defined according to the test standards, a quantifiable design method is given, the early design of the test site is supported, and the design cost can be reduced. The method is a design method for an expandable and flexible intelligent connected test site suitable for L4 and above.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent networked vehicles, and in particular relates to a method for designing an intelligent networked vehicle test site. Background Art

[0002] The vehicle proving ground test is one of the "multi-pillar" testing methods for intelligent connected vehicles that is widely recognized by the European Union, the United States, Japan and other countries, and is also one of the key entry conditions for actual road testing of intelligent connected vehicles. The vehicle proving ground test of intelligent connected vehicles mainly uses real vehicles, in-loop and parallel testing as means, and builds hundreds of simulations and virtual scenes on real sites to minimize the potential risks brought by actual road testing. On the one hand, under controllable risk conditions, real vehicle tests are carried out on intelligent connected vehicles in the closest actual road environment, fully exposing various technical defects of autonomous driving and determining the road environment conditions for the actual reliable operation of the vehicle; on the other hand, it can make the tester familiar with the operation of autonomous driving and the response in emergency situations, so that he can deal with it freely during public road testing.

[0003] At present, the design of intelligent connected vehicle test sites has the following shortcomings and deficiencies:

[0004] Designed only for a single site function, such as the entrance and exit gate system in an autonomous vehicle test site, without the test road design of the site;

[0005] It is designed only for test scenarios in the proving ground, such as straight-ahead and turning scenarios, and does not have technical parameters for the roads related to the test scenarios;

[0006] It only designs single test roads for autonomous driving, such as adaptive cruise control, lane keeping and traffic sign recognition, and lacks comprehensive consideration of road requirements covering various autonomous driving tests.

[0007] It is transformed from a traditional test site, abandoned airport or military base, and the width and length of the roads on the site. Summary of the invention

[0008] In order to overcome the above problems, the present invention provides a design method for an intelligent connected vehicle test site. The test zoning principle is clarified according to the test vehicle speed and the test hazard level, and the road parameters of each test area are quantified by analyzing the road requirements of the intelligent connected vehicle test standard. The method is a design method for an expandable and flexible intelligent connected vehicle test site suitable for L4 level and above.

[0009] A method for designing an intelligent connected vehicle test site includes the following contents:

[0010] 1. Review of test standards for intelligent connected vehicles

[0011] a. Standard scope

[0012] Including L2-level vehicle advanced driver assistance system test standards, L3-level and above autonomous driving vehicle test standards;

[0013] b. Organize the content

[0014] The test standards include test items, test speed, road elements, and one-way lane width;

[0015] The test items are organized according to the L2 vehicle advanced driver assistance system test standards and L3 and above autonomous driving vehicle test standards;

[0016] Road elements include straight roads, ramps, circular curves, right-angle curves, intersections and roundabouts;

[0017] One-way lane widths include single lane, two lanes and three lanes;

[0018] 2. Build a test road list based on the sorted content

[0019] a. List content

[0020] Each row of the test road list contains the test items, test speed, road elements, one-way lane width, lane length, and test hazard level. Each column contains the information corresponding to each row. The test speed is in km / h and the lane length is in m.

[0021] The lane length is calculated as follows:

[0022] The lane length is calculated based on the test vehicle speed, test requirements and safety factors;

[0023] Determination of the risk of the test:

[0024] When automatic emergency braking is performed, the test risk level is high; otherwise, the test risk level is low.

[0025] 3. Test site division

[0026] a. Division basis of each test area

[0027] The test site is divided into high-speed test area, urban test area and flexible test area according to the test vehicle speed, road element type and test risk level;

[0028] b. Zoning rules for each test area

[0029] High-speed test area zoning rules: The roads in the high-speed test area should meet the road requirements of the R1 or R2 test items;

[0030] R1: The test speed is greater than or equal to 70 km / h and the road element is a straight road, and the test risk is low;

[0031] R2: The road element is a ramp;

[0032] Urban test area zoning rules: The roads in the urban test area should meet the road requirements of the R3 and R4 test items;

[0033] R3: The test speed is less than 70km / h;

[0034] R4: road element is not a ramp or a non-circular curve;

[0035] Flexible test area zoning rules: The roads in the flexible test area should meet the road requirements of the R5 or R6 test items;

[0036] R5: The risk of the experiment is high

[0037] R6: The road feature is a circular curve

[0038] c. Test road sublist for each test area

[0039] According to the high-speed test area zoning rules, the high-speed test area test items are extracted from the test road list, and a high-speed test area test road sub-list is created, and its structure is consistent with that of the test road list;

[0040] According to the zoning rules of the urban test area, the urban test area test items are extracted from the test road list, and the urban test area test road sub-list is created, and its structure is consistent with that of the test road list;

[0041] According to the flexible test area zoning rules, the flexible test area test items are extracted from the test road list, and a flexible test area test road sub-list is created, and its structure is consistent with that of the test road list;

[0042] 4. Calculate the technical parameters of the roads in each test area

[0043] a. Calculation input

[0044] Sublist of test roads in each test area;

[0045] b. Determination of road elements

[0046] According to the test road sublist of each test area, count the road elements of each test area;

[0047] c. Design of technical parameters of high-speed test area roads

[0048] Step 1: Extract the one-way lane width and lane length of the straight road and the one-way lane width and lane length of the ramp in the high-speed test area according to the road elements;

[0049] Step 2: Count the maximum widths of one-way lanes and ramps, multiply the maximum width of one-way lanes on straight roads by 2 as the lane width of straight roads, and the maximum width of one-way lanes on ramps as the lane width of ramps;

[0050] Step 3: According to the extracted value of the lane length of the ramp in the high-speed test area, the maximum value of the ramp lane length is calculated, and the ramp lane length is at least the maximum value;

[0051] Step 4: Calculate the straight lane length coverage F(y) when the straight lane length y of the high-speed test area is 400, 600, 800, 1000, 1200, 1400, 1600, 1800 and 2000 respectively according to the following formula;

[0052]

[0053] In the above formula:

[0054] y represents the length of the straight lane, in meters;

[0055] n s Indicates the number of rows in the high-speed test area test road sublist whose straight road length is less than or equal to y;

[0056] N s Indicates the total number of rows of straight roads in the test road sublist of the high-speed test area;

[0057] Setp5: According to the corresponding relationship between each coverage and each value of the straight lane length y, an exponential function is used to fit the straight lane length y to obtain the calculation function y = a × e bx , where a is 364.19, b is 1.6944, e is the natural logarithm, x = F(y), is the coverage of the straight lane length;

[0058] Setp6: According to the test coverage requirement, the straight lane length y is calculated using the calculation function as the straight lane length required for the actual construction of the lane, and the calculated lane length is added with 0.5 and then rounded to an integer to obtain the straight road length required for the actual construction of the high-speed test area;

[0059] Setp7: Output the technical parameters of the high-speed test area road;

[0060] d. Design of technical parameters of roads in urban test areas

[0061] Step 1: Draw a scatter plot with lane length as the horizontal axis and lane width as the vertical axis, and determine the statistical interval i of lane width and the statistical interval j of lane length according to the degree of aggregation of the scattered points in the plot;

[0062] Step 2: Count the number of test items n in the test road sublist of the urban test area that fall into both lane width statistical interval i and lane length statistical interval j ij , where i = 1, 2, ..., m; j = 1, 2, ..., n;

[0063] Step 3: Calculate the proportion k of test items that fall into both lane width statistical interval i and lane length statistical interval j according to the following formula ij :

[0064]

[0065] Where:

[0066] N c Indicates the total number of rows in the test road sublist of the urban test area;

[0067] Step 4: Calculate the proportion K of test items falling within lane width statistical interval i according to the following formula 1i That is, the proportion of lane width statistics alone and the proportion of test items falling in lane length statistical interval j K 2j That is, the lane length is counted separately;

[0068]

[0069]

[0070] Step 5: Calculate the road base number N of each lane width requirement in the urban test area according to the following formula: 1i , the road base number N required for each lane length 2j , Lane width cardinality n w and lane length cardinality n x :

[0071]

[0072]

[0073]

[0074]

[0075] In the formula: int means rounding;

[0076] min means taking the minimum value;

[0077] Step 6: Based on the lane width base n w and lane length cardinality n x , the following formula is used to calculate the number of lanes required in the urban test area

[0078]

[0079] In the formula: max means taking the maximum value;

[0080] Step 7: Based on the number of lanes required in the urban test area And lane width and lane length joint statistical test items account for k ij , the number of lanes N′ required in the urban test area should be calculated using the following formula: ij and total number of lanes

[0081]

[0082]

[0083] Step 8: Assume that the urban test area consists of r transverse roads and s longitudinal roads, and at least 2 transverse roads and 2 longitudinal roads are required to form a closed rectangle. Therefore, the following formula is used to calculate the number of test lanes N″ that the urban test area can provide rs :

[0084] N″ rs =r×(s-1)+(r-1)×s, r≥2 and s≥2

[0085] Assume that the initial number of transverse and longitudinal roads in the urban test area is 2, and calculate the number of test lanes at this time; on this basis, add 1 transverse lane first, then add 1 longitudinal lane, and so on, and calculate the total number of test lanes at this time each time it is added, until

[0086] e. Technical parameters of flexible test area roads

[0087] Step 1: Count the maximum lane length L of the arc curve in the test road sublist of the flexible test area max ;

[0088] Step 2: Determine the maximum radius R of the arc curve max ;

[0089] Step 3: Calculate the angle θ1 of the arc bend in the flexible test area according to the following formula:

[0090]

[0091] Step 4: Calculate the chord length b of the arc curve in the flexible test area according to the following formula c Chord height h c :

[0092] b c =2R max sin(0.5θ1)

[0093]

[0094] Step 5: Calculate the length L of the flexible test area according to the following formula h :

[0095] L h =b c cos(θ2)+h c *sin(θ2)

[0096] Where: θ2 represents the angle factor of the flexible test area. When the length and width of the site are required to be equal,

[0097] Step 6: Calculate the width L of the flexible test area according to the following formula v :

[0098] L v =b c sin(θ2)+h c *cos(θ2).

[0099] The test items of the L2-level vehicle advanced driving assistance system test standard in the intelligent connected vehicle test standard include cruise control, automatic emergency braking (front collision warning), lane keeping (lane departure warning), speed limit recognition, and blind spot monitoring.

[0100] The test items of the L3 level and above autonomous driving vehicle test standards in the intelligent connected vehicle test standards include sign and marking recognition, traffic light recognition, preceding vehicle recognition, obstacle recognition, pedestrian / non-motor vehicle recognition, following vehicle, overtaking, merging, intersection passing, roundabout passing, automatic emergency braking, manual takeover and network communication.

[0101] Compared with the prior art, the present invention has the following beneficial effects:

[0102] 1. High design efficiency: Due to the test zone design, after the road demand design of each test zone is completed, parallel design can be carried out to improve the design efficiency of the test site;

[0103] 2. High coverage of scenarios: Comprehensively considers the road requirements of L2-level advanced driver assistance systems and L3-level and above autonomous driving vehicle test standard scenarios, meeting the requirements of national standards, group standards, C-NCAP, ISO and Euro NCAP and other standard test scenarios;

[0104] 3. Low design cost: The test road requirements for intelligent connected vehicle test sites are defined based on the test standards, and a quantifiable design method is provided to support the early design of the test site and reduce design costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] Figure 1 It is the lane length-lane width discrete graph of the present invention. DETAILED DESCRIPTION

[0106] The present invention will be further described in detail below in conjunction with the embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It is also necessary to explain that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0107] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0108] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0109] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0110] A method for designing an intelligent connected vehicle test site includes the following contents:

[0111] 1. Review of test standards for intelligent connected vehicles

[0112] a. Standard scope

[0113] Including L2-level vehicle advanced driver assistance system test standards, L3-level and above autonomous driving vehicle test standards;

[0114] The test standards for L2 vehicle advanced driver assistance systems should cover national standards, group standards, C-NCAP, ISO and EuroNCAP;

[0115] The test standards for L3 and above autonomous driving vehicles are based on the "Intelligent Connected Vehicle Autonomous Driving Function Test Procedure" and enterprise standards issued by the Ministry of Industry and Information Technology;

[0116] b. Organize the content

[0117] The test standards include test items, test speed, road elements, and one-way lane width;

[0118] The test items are organized according to the L2 vehicle advanced driver assistance system test standards and L3 and above autonomous driving vehicle test standards;

[0119] The test items of the L2 vehicle advanced driver assistance system test standard include cruise control, automatic emergency braking (front collision warning), lane keeping (lane departure warning), speed limit recognition, and blind spot monitoring;

[0120] The test items of the L3 level and above autonomous driving vehicle test standards include sign and line recognition, signal light recognition, front vehicle recognition, obstacle recognition, pedestrian / non-motor vehicle recognition, following vehicle driving, overtaking, merging, intersection driving, roundabout driving, automatic emergency braking, manual takeover and network communication;

[0121] c. Sorting out the results

[0122] Road elements include straight roads, ramps, circular curves, right-angle curves, intersections and roundabouts;

[0123] One-way lane widths include single lane, two lanes and three lanes;

[0124] 2. Build a test road list based on the sorted content

[0125] a. List content

[0126] Each row of the test road list contains the test items, test speed, road elements, one-way lane width, lane length, and test hazard level. Each column contains the information corresponding to each row. The test speed is in km / h and the lane length is in m.

[0127] The lane length is calculated as follows:

[0128] The lane length is calculated based on the test vehicle speed, test requirements and safety factors (this calculation method is a prior art and is described in detail in the patent number: CN202010109431.7, entitled "A Method for Estimating Road Length Requirements for Intelligent Connected Vehicle Test Field");

[0129] Determination of the risk of the test:

[0130] When automatic emergency braking (front collision warning) is in effect, the test risk level is high; otherwise, the test risk level is low.

[0131] Some of the test road list results are shown in Table 1:

[0132] Table 1 Test road list

[0133]

[0134] 3. Test site division

[0135] a. Division basis of each test area

[0136] The test site is divided into high-speed test area, urban test area and flexible test area according to the test vehicle speed, road element type and test risk level;

[0137] b. Zoning rules for each test area

[0138] High-speed test area zoning rules: The roads in the high-speed test area should meet the road requirements of the R1 or R2 test items;

[0139] R1: The test speed is greater than or equal to 70 km / h and the road element is a straight road, and the test risk is low;

[0140] R2: The road element is a ramp;

[0141] Urban test area zoning rules: The roads in the urban test area should meet the road requirements of the R3 and R4 test items;

[0142] R3: The test speed is less than 70km / h;

[0143] R4: road element is not a ramp or a non-circular curve;

[0144] Flexible test area zoning rules: The roads in the flexible test area should meet the road requirements of the R5 or R6 test items;

[0145] R5: The risk of the experiment is high

[0146] R6: The road feature is a circular curve

[0147] c. Test road sublist for each test area

[0148] According to the high-speed test area zoning rules, the high-speed test area test items are extracted from the test road list to create a high-speed test area test road sub-list, whose structure is consistent with the test road list structure; see Table 2;

[0149] Table 2 Partial results of the test road sublist in the high-speed test area

[0150]

[0151] According to the zoning rules of the urban test area, the urban test area test items are extracted from the test road list, and the urban test area test road sub-list is created, and its structure is consistent with the test road list structure; see Table 3;

[0152] Table 3 Partial results of the test road sublist in the urban test area

[0153]

[0154] According to the flexible test area zoning rules, the flexible test area test items are extracted from the test road list, and a flexible test area test road sub-list is created, and its structure is consistent with the test road list structure; see Table 4;

[0155] Table 4 Partial results of the test road sublist in the flexible test area

[0156]

[0157] 4. Calculate the technical parameters of the roads in each test area

[0158] a. Calculation input

[0159] Sublist of test roads in each test area

[0160] b. Determination of road elements

[0161] According to the test road sublist of each test area, the road elements of each test area are counted, see Table 5 for details.

[0162] Table 5 Statistical results of test road elements

[0163]

[0164]

[0165] c. Design of technical parameters of high-speed test area roads

[0166] Step 1: Extract the one-way lane width and lane length of the straight road and the one-way lane width and lane length of the ramp in the high-speed test area according to the road elements;

[0167] Step 2: According to the extracted values ​​of the one-way lane width of the straight road and the one-way lane width of the ramp in the high-speed test area, the maximum values ​​of the one-way lane width and the one-way lane width of the ramp are respectively counted, wherein the maximum value of the one-way lane width of the straight road is three lanes, and the maximum value of the one-way lane width of the ramp is a single lane; the maximum value of the one-way lane width of the straight road is multiplied by 2 as the lane width of the straight road, and the maximum value of the one-way lane width of the ramp is the lane width of the ramp, thus determining that the lane width of the straight road in the high-speed test area is at least six lanes, and the lane width of the ramp is at least a single lane;

[0168] Step 3: According to the extracted value of the lane length of the ramp in the high-speed test area, the maximum value of the ramp lane length is counted. The ramp lane length is at least the maximum value. Specifically, as shown in Table 6, the maximum value of the ramp lane length is 484m, so the ramp lane length is at least 484m.

[0169] Table 6 Partial results of the list of ramp roads in the high-speed test area

[0170]

[0171] Step 4: Calculate the straight lane length coverage calculation function F(y) when the straight lane length y of the high-speed test area is 400, 600, 800, 1000, 1200, 1400, 1600, 1800 and 2000 respectively according to the following formula;

[0172]

[0173] In the above formula:

[0174] y represents the length of the straight lane, in meters;

[0175] n s Indicates the number of rows in the high-speed test area test road sublist whose straight road length is less than or equal to y;

[0176] N s Indicates the total number of rows of straight roads in the test road sublist of the high-speed test area;

[0177] Step 4: Determine the lane length value y according to the range of straight lane length. The actual y values ​​are 400, 600, 800, 1000, 1200, 1400, 1600, 1800 and 2000 respectively;

[0178] Step 5: Count the total number of straight lines N in the test road sublist of the high-speed test area s ;

[0179] Setp6: Count the number of rows n whose straight lane lengths in the test road sublist of the high-speed test area are less than or equal to each value x s ;

[0180] Setp7: Substitute the calculation results of Step5 and Setp6 into the formula F(y), calculate the coverage of the straight lane length for each value y, and fill in the calculation results in Table 7;

[0181] Table 7 Statistical results of straight road length in the high-speed test area

[0182] Coverage x 0.076923 0.230769 0.5 0.615385 0.730769 0.807692 0.846154 0.923077 1 Lane length y 400 600 800 1000 1200 1400 1600 1800 2000

[0183] Setp8: According to the corresponding relationship between each coverage and each value of the straight lane length y obtained in Table 5, an exponential function is used to fit the straight lane length y to obtain the calculation function y = a × e bx , where a is 364.19, b is 1.6944, e is the natural logarithm, x = F(y), is the coverage of the straight lane length;

[0184] Setp9: According to the test coverage requirement, the straight lane length y is calculated using the calculation function as the straight lane length required for the actual construction of the lane, and the calculated lane length is added with 0.5 and then rounded to an integer to obtain the straight road length required for the actual construction of the high-speed test area;

[0185] If the test coverage requirement is 80%, the calculation function of the straight lane length y is used for calculation, and the calculation result is rounded off after adding 0.5, and the road length of the straight lane in the high-speed test area is 1413m, so the lane length is at least 1413m; if the test coverage requirement is 90%, the calculation function of the straight lane length y is used for calculation, and the calculation result is rounded off after adding 0.5, and the road length of the straight lane in the high-speed test area is 1674m, so the lane length is at least 1674m; if the test coverage requirement is 100%, the calculation function of the straight lane length y is used for calculation, and the calculation result is rounded off after adding 0.5, and the road length of the straight lane in the high-speed test area is 1983m, so the lane length is at least 1983m;

[0186] Setp10: Output the technical parameters of the high-speed test area road, see Table 8 for details.

[0187] Table 8 Technical parameters of high-speed test area roads

[0188]

[0189] d. Design of technical parameters of roads in urban test areas

[0190] Step 1: Draw a scatter plot with lane length as the horizontal axis and lane width as the vertical axis, where 1 represents a single lane, 2 represents a double lane, 3 represents a triple lane, ..., k represents k lanes, and each point represents a test item; Figure 1 The degree of aggregation of the scattered points in the equation determines the statistical interval i of the lane width and the statistical interval j of the lane length, where the statistical interval 1, statistical interval 2, ..., statistical interval i, ..., statistical interval m of the lane width correspond to single lane, double lane, three lanes, ..., i lane, ..., m lane, respectively, and the statistical interval 1, statistical interval 2, ..., statistical interval j, ..., statistical interval n of the lane length correspond to 0, respectively. <y≤y1、y1<y≤y2、y2<y≤y3、……、y2<y≤y j ,……y n-1 <y≤y n ;

[0191] Draw a scatter plot based on actual data, such as Figure 1 As shown in the figure, according to the degree of aggregation of the scattered points in the figure, the statistical intervals 1, 2, and 3 of the lane width correspond to single lane, double lane, and three lanes respectively, and the statistical intervals 1, 2, and 3 of the lane length correspond to 0 <y≤300m、300m<y≤500m、500m<y≤700m。

[0192] Step 2: Count the number of test items n in the test road sublist of the urban test area that fall into both lane width statistical interval i and lane length statistical interval j ij , where i = 1, 2, ..., m; j = 1, 2, ..., n;

[0193] The statistical results of actual data are shown in Table 9.

[0194] Table 9 Statistical results of test items in urban test area

[0195]

[0196]

[0197] Step 3: Calculate the proportion k of test items that fall into both lane width statistical interval i and lane length statistical interval j according to the following formula ij , the calculation formula is shown in formula (2):

[0198]

[0199] Where:

[0200] N c Indicates the total number of rows in the test road sublist of the urban test area;

[0201] According to the statistical results in Table 5 and the actual data, the total number of rows N in the test road sublist of the urban test area c=49, use formula (2) to calculate the proportion k of test items that fall in both lane width statistical interval i and lane length statistical interval j ij , the calculation results are shown in Table 10.

[0202] Table 10 Combined statistical results of lane width and lane length in the urban test area

[0203]

[0204] Step 4: Combine the lane width and lane length to calculate the proportion of test items k ij , use equations (3) and (4) to calculate the proportion K of test items falling within lane width statistical interval i 1i That is, the proportion of lane width statistics alone and the proportion of test items falling in lane length statistical interval j K 2j That is, the lane length is counted separately;

[0205]

[0206]

[0207] The results are shown in Table 9.

[0208] Table 9 Separate statistics of lane width and lane length in the urban test area

[0209]

[0210]

[0211] Step 5: First, calculate the proportion K based on the lane width 1i And lane length separate statistics account for K 2j , use equations (5) and (6) to calculate the road base N required for each lane width in the urban test area 1i and the road base N required for each lane length 2j Then, apply equations (7) and (8) to calculate the lane width cardinality n w and lane length cardinality n x :

[0212]

[0213]

[0214]

[0215]

[0216] In the formula: int means rounding;

[0217] min means taking the minimum value;

[0218] The calculation results are shown in Table 10.

[0219] Table 10 Calculation results of lane base number in urban test area

[0220]

[0221]

[0222] Step 6: Based on the lane width base n w and lane length cardinality n x , use the following formula (9) to calculate the number of lanes required in the urban test area

[0223]

[0224] In the formula: max means taking the maximum value;

[0225] The number of lanes

[0226] Step 7: Based on the number of lanes required in the urban test area And lane width and lane length joint statistical test items account for k ij , use the following formulas (10) and (11) to calculate the number of lanes N′ required in the urban test area: ij and total number of lanes

[0227]

[0228]

[0229] First, the upper boundary y1, y2, y3, ..., y of the lane length y statistical interval n As the road length represented by the interval, the number of lanes required for different lane lengths and widths in the urban test area can be determined according to the calculation results of formula (10). Finally, the total number of lanes required in the urban test area can be determined according to the calculation results of formula (11).

[0230] According to the lane base number required in the urban test area and the combined statistical results of lane width and lane length in Table 6, formula (10) is first used to calculate the number of lanes required in the urban test area. The calculation results are shown in Table 11. Finally, formula (11) is used to calculate the total number of lanes required in the urban test area.

[0231] Table 11 Calculation results of the number of lanes required in the urban test area

[0232]

[0233]

[0234] First, according to the upper boundary of the lane length statistical interval, it can be determined that the lane length represented by each interval is 300m, 500m and 700m respectively. Then, according to the calculation results in Table 11, it can be determined that the urban test area requires at least 4 300m single lanes, at least 4 500m single lanes, and at least 3 700m single lanes; at least 3 300m double lanes, at least 5 500m double lanes, and at least 1 700m double lane; at least 1 300m single lane, at least 1 500m double lane, and at least 1 700m three lanes; the total number of lanes required in the urban test area is

[0235] Step 8: Assume that the urban test area consists of r transverse roads and s longitudinal roads, and at least 2 transverse roads and 2 longitudinal roads are required to form a closed rectangle. Therefore, the following formula (12) is used to calculate the number of test lanes N″ that the urban test area can provide: rs

[0236] N″ rs =r×(s-1)+(r-1)×s,r≥2 and s≥2 (12)

[0237] Assume that the initial number of transverse and longitudinal roads in the urban test area is 2, and use formula (11) to calculate the number of test lanes at this time; on this basis, add one transverse lane first, then add one longitudinal lane, and so on. Each time the number is increased, use formula (12) to calculate the total number of test lanes at this time until

[0238] The specific calculation results are shown in Table 12. According to this table, it can be determined that the urban test area has at least 4 transverse lanes and at least 4 longitudinal lanes.

[0239] Table 12 Calculation results of the total number of test lanes

[0240]

[0241] e. Technical parameters of flexible test area roads

[0242] Step 1: Count the maximum lane length L of the arc curve in the test road sublist of the flexible test area max ;

[0243] According to actual data, the maximum lane length of the arc curve is L max =818m;

[0244] Step 2: Determine the maximum radius R of the arc curve max ;

[0245] According to actual data, the radius of the circular curve is 125m, 250m, and 500m respectively, so the maximum radius of the circular curve is R max =500m;

[0246] Step 3: Calculate the angle θ1 of the arc curve in the flexible test area according to the following formula, see formula (13) for details:

[0247]

[0248] According to the maximum lane length L of the circular curve max =818m and maximum radius R max =500m, use formula (13) to calculate the angle of the arc curve θ1 = 1.636

[0249] Step 4: Calculate the chord length b of the arc curve in the flexible test area according to the following formula c Chord height h c , see equations (14) and (15) for details:

[0250] b c =2R max sin(0.5θ1) (14)

[0251]

[0252] According to the maximum radius R of the arc max =500m, the angle of the arc curve θ1 = 1.636, use formula (14) to calculate the chord length b of the arc curve c =730m.

[0253] According to the maximum radius R of the arc max =500m, the chord length b of the circular curve c =729.8m, use formula (15) to calculate the chord height h of the circular arc curve c =388m.

[0254] Step 5: Calculate the length L of the flexible test area according to the following formula h , see formula (16) for details:

[0255] L h =b c cos(θ2)+h c *sin(θ2) (16)

[0256] In formula (16), θ2 represents the angle factor of the flexible test area, which is determined according to the required length-to-width ratio of the site. When the length and width of the site are required to be equal,

[0257] According to the chord length b of the circular arc c=730m, chord height h c =388m and angle factor Use formula (16) to calculate the length L of the flexible test area h =790m.

[0258] Step 6: Calculate the width L of the flexible test area according to the following formula v , see formula (17) for details:

[0259] L v =b c sin(θ2)+h c *cos(θ2) (17)

[0260] According to the chord length b of the circular arc c =730m, chord height h c =388m and angle factor Formula (17) is used to calculate the length of the flexible test area Lv=790m.

[0261] The preferred embodiments of the present invention are described in detail above. However, the protection scope of the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention. These simple variations all belong to the protection scope of the present invention.

[0262] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0263] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A method for designing a test site for an intelligent connected vehicle, characterized in that It includes the following:

1. Review of test standards for intelligent connected vehicles a. Standard scope Including L2-level vehicle advanced driver assistance system test standards, L3-level and above autonomous driving vehicle test standards; b. Organize the content The test standards include test items, test speed, road elements, and one-way lane width; The test items are organized according to the L2 vehicle advanced driver assistance system test standards and L3 and above autonomous driving vehicle test standards; Road elements include straight roads, ramps, circular curves, right-angle curves, intersections and roundabouts; One-way lane widths include single lane, two lanes and three lanes; 2. Build a test road list based on the sorted content a. List content Each row of the test road list contains the test items, test speed, road elements, one-way lane width, lane length, and test hazard level. Each column contains the information corresponding to each row. The test speed is in km / h and the lane length is in m. The lane length is calculated as follows: The lane length is calculated based on the test vehicle speed, test requirements and safety factors; Determination of the risk of the test: When automatic emergency braking is performed, the test risk level is high; otherwise, the test risk level is low.

3. Test site division a. Division basis of each test area The test site is divided into high-speed test area, urban test area and flexible test area according to the test vehicle speed, road element type and test risk level; b. Zoning rules for each test area High-speed test area zoning rules: The roads in the high-speed test area should meet the road requirements of the R1 or R2 test items; R1: The test speed is greater than or equal to 70 km / h and the road element is a straight road, and the test risk is low; R2: The road element is a ramp; Urban test area zoning rules: The roads in the urban test area should meet the road requirements of the R3 and R4 test items; R3: The test speed is less than 70km / h; R4: road element is not a ramp or a non-circular curve; Flexible test area zoning rules: The roads in the flexible test area should meet the road requirements of the R5 or R6 test items; R5: The risk of the experiment is high R6: The road feature is a circular curve c. Test road sublist for each test area According to the high-speed test area zoning rules, the high-speed test area test items are extracted from the test road list, and a high-speed test area test road sub-list is created, and its structure is consistent with that of the test road list; According to the zoning rules of the urban test area, the urban test area test items are extracted from the test road list, and the urban test area test road sub-list is created, and its structure is consistent with that of the test road list; According to the flexible test area zoning rules, the flexible test area test items are extracted from the test road list, and a flexible test area test road sub-list is created, and its structure is consistent with that of the test road list; 4. Calculate the technical parameters of the roads in each test area a. Calculation input Sublist of test roads in each test area; b. Determination of road elements According to the test road sublist of each test area, count the road elements of each test area; c. Design of technical parameters of high-speed test area roads Step 1: Extract the one-way lane width and lane length of the straight road and the one-way lane width and lane length of the ramp in the high-speed test area according to the road elements; Step 2: Count the maximum widths of one-way lanes and ramps, multiply the maximum width of one-way lanes on straight roads by 2 as the lane width of straight roads, and the maximum width of one-way lanes on ramps as the lane width of ramps; Step 3: According to the extracted value of the lane length of the ramp in the high-speed test area, the maximum value of the ramp lane length is calculated, and the ramp lane length is at least the maximum value; Step 4: Calculate the straight lane length coverage F(y) when the straight lane length y of the high-speed test area is 400, 600, 800, 1000, 1200, 1400, 1600, 1800 and 2000 respectively according to the following formula; In the above formula: y represents the length of the straight lane, in meters; n s Indicates the number of rows in the high-speed test area test road sublist whose straight road length is less than or equal to y; N s Indicates the total number of rows of straight roads in the test road sublist of the high-speed test area; Setp5: According to the corresponding relationship between each coverage and each value of the straight lane length y, an exponential function is used to fit the straight lane length y to obtain the calculation function y = a × e bx , where a is 364.19, b is 1.6944, e is the natural logarithm, x = F(y), is the coverage of the straight lane length; Setp6: According to the test coverage requirement, the calculation function of the straight lane length y is used to calculate the straight lane length required for the actual construction of the lane, and the calculated lane length is added with 0.5 and then rounded to an integer to obtain the straight road length required for the actual construction of the high-speed test area; Setp7: Output the technical parameters of the high-speed test area road; d. Design of technical parameters of roads in urban test areas Step 1: Draw a scatter plot with lane length as the horizontal axis and lane width as the vertical axis, and determine the statistical interval i of lane width and the statistical interval j of lane length according to the degree of aggregation of the scattered points in the plot; Step 2: Count the number of test items n in the test road sublist of the urban test area that fall into both lane width statistical interval i and lane length statistical interval j ij , where i = 1, 2, ..., m; j = 1, 2, ..., n; Step 3: Calculate the proportion k of test items that fall into both lane width statistical interval i and lane length statistical interval j according to the following formula ij : Where: N c Indicates the total number of rows in the test road sublist of the urban test area; Step 4: Calculate the proportion K of test items falling within lane width statistical interval i according to the following formula 1i That is, the proportion of lane width statistics alone and the proportion of test items falling in lane length statistical interval j K 2j That is, the lane length is counted separately; Step 5: Calculate the road base number N of each lane width requirement in the urban test area according to the following formula: 1i , the road base number N required for each lane length 2j , Lane width cardinality n w and lane length cardinality n x : In the formula: int means rounding; min means taking the minimum value; Step 6: Based on the lane width base n w and lane length cardinality n x , the following formula is used to calculate the number of lanes required in the urban test area In the formula: max means taking the maximum value; Step 7: Based on the number of lanes required in the urban test area And lane width and lane length joint statistical test items account for k ij , the number of lanes N′ required in the urban test area should be calculated using the following formula: ij and total number of lanes Step 8: Assume that the urban test area consists of r transverse roads and s longitudinal roads, and at least 2 transverse roads and 2 longitudinal roads are required to form a closed rectangle. Therefore, the following formula is used to calculate the number of test lanes N″ that the urban test area can provide rs : N″ rs =r×(s-1)+(r-1)×s, r≥2 and s≥2 Assume that the initial number of transverse and longitudinal roads in the urban test area is 2, and calculate the number of test lanes at this time; on this basis, add 1 transverse lane first, then add 1 longitudinal lane, and so on, and calculate the total number of test lanes at this time each time it is added, until e. Technical parameters of flexible test area roads Step 1: Count the maximum lane length L of the arc curve in the test road sublist of the flexible test area max ; Step 2: Determine the maximum radius R of the arc curve max ; Step 3: Calculate the angle θ1 of the arc bend in the flexible test area according to the following formula: Step 4: Calculate the chord length b of the arc curve in the flexible test area according to the following formula c Chord height h c : b c =2R max sin(0.5θ1) Step 5: Calculate the length L of the flexible test area according to the following formula h : L h =b c cos(θ2)+h c *sin(θ2) Where: θ2 represents the angle factor of the flexible test area. When the length and width of the site are required to be equal, Step 6: Calculate the width L of the flexible test area according to the following formula v : L v =b c sin(θ2)+h c *cos(θ2)。 2. The method for designing a test site for an intelligent connected vehicle according to claim 1, characterized in that The test items of the L2-level vehicle advanced driving assistance system test standard in the intelligent connected vehicle test standard include cruise control, automatic emergency braking, i.e. forward collision warning, lane keeping, i.e. lane departure warning, speed limit recognition, and blind spot monitoring.

3. The method for designing a test site for an intelligent connected vehicle according to claim 1, characterized in that The test items of the L3 level and above autonomous driving vehicle test standards in the intelligent connected vehicle test standards include sign and marking recognition, traffic light recognition, preceding vehicle recognition, obstacle recognition, pedestrian / non-motor vehicle recognition, following vehicle, overtaking, merging, intersection passing, roundabout passing, automatic emergency braking, manual takeover and network communication.

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