Method, device and equipment for testing follow-up parking performance of adaptive cruise control system

Abstract

The present application relates to the field of automobile technology, and in particular to a method, device and equipment for testing the following parking performance of an adaptive cruise system, wherein the method comprises: obtaining test data of a test vehicle following a test target parking process; matching the actual slope grade and actual curve radius grade of the test scene in which the test vehicle is located according to the slope data and curve radius data in the test data, and determining the preset evaluation standard of each performance parameter according to the actual slope grade and / or the actual curve radius grade; calculating at least one actual performance parameter of the following parking performance of the adaptive cruise system according to the test data, and judging the following parking performance test of the adaptive cruise system as qualified when any actual performance parameter meets the preset evaluation standard, otherwise judging it as unqualified. Thus, the problem that the related technology does not clearly define the requirements for comprehensive extraction and reverse evaluation and review of optimization indicators of vehicles, environments and systems in the test data, resulting in the lack of objective evaluation standards, etc. is solved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a method, device and equipment for testing the following parking performance of an adaptive cruise system. Background Art

[0002] In the context of automobile intelligence, the current intelligent driving assistance system based on millimeter wave radar, intelligent perception camera and automatic driving assistance controller has been widely used in different positioning automobile models of major brand manufacturers, and the installation rate has increased significantly. Car users are becoming more and more interested in intelligent driving assistance systems, and are beginning to understand more and use them more frequently. The requirements for the scenarios covered by the use of intelligent driving assistance systems have also been further improved. With the widespread application of adaptive cruise control systems, in comparison, the performance evaluations of different brands of models from major OEMs in the same driving environment are often uneven, and there is no unified evaluation standard.

[0003] The related technology uses an improved adaptive Kalman filter algorithm to accurately estimate the vehicle's position, speed and other motion state parameters, and based on the accurately recursive vehicle motion state parameters, proposes and quantifies multi-dimensional adaptive cruise control system performance evaluation indicators, constructs an adaptive cruise control system performance evaluation indicator system, and realizes high-precision, reliable and comprehensive evaluation of the performance of the adaptive cruise system.

[0004] However, the relevant technology does not clearly define the requirements for comprehensive extraction and reverse evaluation of vehicle, environment and system optimization indicators in the test data, resulting in the lack of objective evaluation standards. Summary of the invention

[0005] The present application provides a method, device and equipment for testing the following parking performance of an adaptive cruise control system, so as to solve the problem that the related technology does not clearly define the requirements for comprehensive extraction and reverse evaluation and review of optimization indicators of vehicles, environments and systems in the test data, resulting in the lack of objective evaluation standards.

[0006] A first aspect of the present application provides a method for testing the following parking performance of an adaptive cruise system, comprising the following steps: obtaining test data of a test vehicle following a test target parking process; matching an actual slope grade and an actual curve radius grade of a test scene in which the test vehicle is located according to the slope data and the curve radius data in the test data, and determining a preset evaluation standard for each performance parameter according to the actual slope grade and / or the actual curve radius grade; calculating at least one actual performance parameter of the following parking performance of the adaptive cruise system according to the test data, and determining that the following parking performance test of the adaptive cruise system is qualified when any actual performance parameter meets the preset evaluation standard, otherwise determining that the test is unqualified.

[0007] According to the above technical means, the embodiment of the present application can perform functional logic judgment and data extraction based on the perception test data collected during vehicle driving to obtain the slope data and curve radius data of the current vehicle, while determining the preset evaluation standard for each performance parameter, and calculate the actual performance parameters of the adaptive cruise system's following parking performance based on the test data, such as comfort, the distance of following the front vehicle braking, etc., and evaluate it with reference to a standard to determine whether the adaptive cruise system's following parking performance test is qualified. The embodiment of the present application sets indicators for evaluating the scenario capability of the adaptive cruise system's following parking scenario, and tests and analyzes the system's scenario indicators and capabilities until the scenario capability indicators reach a level that meets the actual performance and improvement requirements, thereby providing an objective evaluation standard for the adaptive cruise system.

[0008] Optionally, in one embodiment of the present application, the at least one actual performance parameter includes: at least one of: deceleration control segmented braking value, deceleration range, deceleration change rate range, target locking distance, deceleration control test vehicle's ability speed to follow the test target to stop, and braking distance.

[0009] According to the above-mentioned technical means, the embodiment of the present application can judge whether the following parking performance of the adaptive cruise system meets the current evaluation criteria based on at least one of the vehicle's multiple performance parameters, and reversely optimize the preliminary evaluation criteria of the embodiment of the present application based on the distribution of data and subjective evaluation performance.

[0010] Optionally, in one embodiment of the present application, when any actual performance parameter meets the preset evaluation criteria, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified, including: marking all data in the test data on the data time axis according to the time sequence of data acquisition to obtain a marking result; determining the first timestamp when the test vehicle starts to follow the test target and the second timestamp when the test vehicle stops based on the marking result, and obtaining the maximum and minimum values ​​of the deceleration control segmented braking value within the range of the first timestamp and the second timestamp; when the maximum and minimum values ​​of the deceleration control segmented braking value are set values, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified.

[0011] According to the above technical means, the embodiment of the present application can calculate the deceleration range and the deceleration change rate range curve during the deceleration and braking process within the first and second timestamp ranges, and at the same time, calculate the maximum and minimum slope values ​​and the maximum and minimum curve radii from deceleration to complete stop of the following target vehicle through cyclic comparison. When the maximum and minimum values ​​of the segmented braking values ​​during the deceleration and braking process are within the set values, it can be determined that the deceleration is continuous and the following parking performance test of the adaptive cruise system is qualified. Otherwise, it is considered that there are two or more sections of braking in the deceleration and following parking, and the test is unqualified, thereby ensuring the accuracy of the evaluation results of the adaptive cruise system.

[0012] Optionally, in one embodiment of the present application, when any actual performance parameter meets the preset evaluation standard, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified, including: determining whether the deceleration range and the deceleration change rate range both meet the preset standard requirements, whether the distance to the locked target is greater than the preset distance, whether the ability speed of the deceleration control to follow-stop is greater than the preset speed, and whether the braking distance is within the preset safety distance range; if the deceleration control segmented braking continuous values ​​are all set values, the deceleration range and the deceleration change rate range both meet the preset standard requirements, the distance to the locked target is greater than the preset distance, the ability speed of the deceleration control to follow-stop is greater than the preset speed, and the braking distance is within the preset safety distance range, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified.

[0013] According to the above-mentioned technical means, the embodiment of the present application can judge whether the following parking performance test is qualified according to the deceleration control segmented braking continuous value, deceleration range and deceleration change rate range, the distance of the locked target, the ability speed of deceleration control to follow-stop, and the braking distance, thereby further ensuring the accuracy of the test results.

[0014] Optionally, in one embodiment of the present application, after determining that the following parking performance test of the adaptive cruise system is qualified, otherwise it is determined to be unqualified, it also includes: obtaining a preset evaluation value for optimizing the preset performance parameter; iteratively optimizing the preset evaluation standard according to the test data and / or the preset evaluation value until the preset evaluation standard meets the preset optimization condition or reaches the number of iterations, thereby obtaining the optimized preset evaluation standard.

[0015] According to the above-mentioned technical means, when the test result of the embodiment of the present application is unqualified, the evaluation criteria of the following parking performance of the adaptive cruise system are iteratively optimized according to the evaluation value of the test data and / or the preset performance parameters until a certain number of times are met or a level that meets the actual performance and improvement requirements is reached. By adopting a data closed loop and a continuous iterative optimization method, the capability of the adaptive cruise system has an objective evaluation standard.

[0016] A second aspect of the present application provides a device for testing the following parking performance of an adaptive cruise system, including: an acquisition module for acquiring test data of a test vehicle following a test target parking process; a determination module for matching an actual slope grade and an actual curve radius grade of a test scene in which the test vehicle is located according to the slope data and the curve radius data in the test data, and determining a preset evaluation standard for each performance parameter according to the actual slope grade and / or the actual curve radius grade; a testing module for calculating at least one actual performance parameter of the following parking performance of the adaptive cruise system according to the test data, and determining that the following parking performance test of the adaptive cruise system is qualified when any actual performance parameter meets the preset evaluation standard, otherwise determining that the test is unqualified.

[0017] Optionally, in one embodiment of the present application, the at least one actual performance parameter includes: at least one of: deceleration control segmented braking value, deceleration range, deceleration change rate range, target locking distance, deceleration control test vehicle's ability speed to follow the test target to stop, and braking distance.

[0018] Optionally, in one embodiment of the present application, the test module is further used to mark all the data in the test data on the data time axis in the time order of data collection to obtain a marking result; determine the first timestamp when the test vehicle starts to follow the test target and the second timestamp when the test vehicle stops based on the marking result, and obtain the maximum and minimum values ​​of the deceleration control segmented braking value within the range of the first timestamp and the second timestamp; when the maximum and minimum values ​​of the deceleration control segmented braking value are the set values, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified.

[0019] Optionally, in one embodiment of the present application, the test module is further used to determine whether the deceleration range and the deceleration change rate range both meet preset standard requirements, whether the distance to the locked target is greater than a preset distance, whether the ability speed of the deceleration control to follow-up stop is greater than a preset speed, and whether the braking distance is within a preset safety distance range; if the deceleration control segmented braking continuous values ​​are all set values, the deceleration range and the deceleration change rate range both meet preset standard requirements, the distance to the locked target is greater than a preset distance, the ability speed of the deceleration control to follow-up stop is greater than a preset speed, and the braking distance is within a preset safety distance range, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified.

[0020] Optionally, in one embodiment of the present application, it also includes: an optimization module, which is used to obtain a preset evaluation value for optimizing the preset performance parameter after determining that the following parking performance test of the adaptive cruise system is qualified, otherwise it is determined to be unqualified; iteratively optimize the preset evaluation standard according to the test data and / or the preset evaluation value until the preset evaluation standard meets the preset optimization condition or reaches the number of iterations, thereby obtaining the optimized preset evaluation standard.

[0021] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the following parking performance test method of the adaptive cruise system as described in the above embodiment.

[0022] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the following parking performance test method of the adaptive cruise system as described in the above embodiment.

[0023] Therefore, this application has at least the following beneficial effects:

[0024] 1. Functional logic judgment and data extraction can be performed based on the perception test data collected during vehicle driving to obtain the slope data and curve radius data of the current vehicle, while determining the preset evaluation standard for each performance parameter, and calculating the actual performance parameters of the adaptive cruise system's following parking performance based on the test data, such as comfort, the distance of the following vehicle braking, etc., and evaluating whether the adaptive cruise system's following parking performance test is qualified with reference to a standard. The embodiment of the present application sets an indicator for evaluating the scenario capability for the following parking scenario of the adaptive cruise system, and tests and analyzes the scenario indicators and capabilities of the system until the indicator of the scenario capability reaches a level that meets the actual performance and improvement requirements, thereby providing an objective evaluation standard for the adaptive cruise system.

[0025] 2. Whether the following parking performance of the adaptive cruise control system meets the current evaluation criteria can be determined from at least one of the multiple performance parameters of the vehicle, and the preliminary evaluation criteria of the embodiment of the present application can be reversely optimized based on the distribution of data and subjective evaluation performance.

[0026] 3. The deceleration range and deceleration change rate range curve during the deceleration and braking process can be calculated within the first and second timestamp ranges. At the same time, the maximum and minimum slope values ​​and the maximum and minimum curve radii from deceleration to complete stop of the following target vehicle can be calculated through cyclic comparison. When the maximum and minimum values ​​of the segmented braking values ​​during the deceleration and braking process are the set values, it can be determined that the deceleration is continuous and the following parking performance test of the adaptive cruise system is qualified. Otherwise, it is considered that there are two or more sections of braking in the deceleration and following parking, and the test is unqualified, which ensures the accuracy of the evaluation results of the adaptive cruise system.

[0027] 4. Whether the following parking performance test is qualified can be judged based on the deceleration control segmented braking continuous value, deceleration range and deceleration change rate range, target locking distance, deceleration control to following stop ability speed, and braking stop distance, which further ensures the accuracy of the test results.

[0028] 5. When the test results are unqualified, the evaluation criteria for the following parking performance of the adaptive cruise control system are iteratively optimized according to the evaluation values ​​of the test data and / or preset performance parameters until a certain number of times are met or a level that meets the actual performance and improvement requirements is reached. By adopting a data closed loop and continuous iterative optimization method, the ability of the adaptive cruise control system has an objective evaluation standard.

[0029] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0031] Figure 1 A flowchart of a method for testing the following parking performance of an adaptive cruise system provided according to an embodiment of the present application;

[0032] Figure 2 A schematic diagram of ramp acceleration calculation provided according to an embodiment of the present application;

[0033] Figure 3 A flowchart of the ability evaluation and analysis of identifying and following a parking vehicle according to an embodiment of the present application;

[0034] Figure 4 A logic flow chart of a method for testing the following parking performance of an adaptive cruise system provided in accordance with an embodiment of the present application;

[0035] Figure 5 A block diagram of a device for testing the following parking performance of an adaptive cruise system provided according to an embodiment of the present application;

[0036] Figure 6 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application.

[0037] Description of the reference numerals: acquisition module-100, determination module-200, test module-300, memory-601, processor-602, communication interface-603. DETAILED DESCRIPTION

[0038] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0039] The following describes the following parking performance test method, device, electronic device and storage medium of the adaptive cruise system of the embodiment of the present application with reference to the accompanying drawings. In view of the problems mentioned in the above background technology, the present application provides a following parking performance test method of an adaptive cruise system, in which the test data of the test vehicle following the test target parking process is obtained; the actual slope level and the actual curve radius level of the test scene where the test vehicle is located are matched according to the slope data and the curve radius data in the test data, and the preset evaluation standard of each performance parameter is determined according to the actual slope level and / or the actual curve radius level; at least one actual performance parameter of the following parking performance of the adaptive cruise system is calculated according to the test data, and when any actual performance parameter meets the preset evaluation standard, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified. Therefore, the problem that the relevant technology does not clarify the requirements for comprehensive extraction and reverse evaluation and review of optimization indicators of vehicles, environments and systems in the test data, resulting in the lack of objective evaluation standards, etc.

[0040] Specifically, Figure 1 A flowchart of a method for testing the following parking performance of an adaptive cruise system provided in an embodiment of the present application.

[0041] like Figure 1 As shown, the following parking performance test method of the adaptive cruise system includes the following steps:

[0042] In step S101 , test data of a test vehicle following a test target parking process is acquired.

[0043] In the embodiment of the present application, the test data may be the slope data, curve radius, lateral acceleration, deceleration and other data when the vehicle is traveling. The specific calculation method of the slope data and the curve radius is described below, as follows:

[0044] 1. If Figure 2 As shown, when the vehicle is traveling uphill and there is a speed or deceleration in the same direction as the vehicle's traveling direction during the uphill process, the embodiment of the present application can acquire the signal required for use in the present method from the CAN bus or Ethernet, and calculate the slope value of the vehicle during driving, and the process is as follows:

[0045] According to the ESP longitudinal acceleration ESP_Long_Accel of the vehicle and the calculated acceleration AccelVh_mpss of the vehicle on the slope, the slope of the vehicle when decelerating and accelerating when driving uphill is calculated. If the vehicle accelerates when going uphill, the ESP_Long_Accel when the vehicle is moving will be greater than the value when it is stationary, and the acceleration AccelVh_mpss generated when the vehicle is moving needs to be subtracted; conversely, when the vehicle decelerates when going uphill, the acceleration AccelVh_mpss generated when the vehicle is moving needs to be added to obtain the slope acceleration Road_Grade_mpss when accelerating and decelerating. The acceleration AccelVh_mpss generated when the vehicle is moving is empirically calculated by taking the difference of 15 data sampling cycles, each sampling cycle is 0.02s, and calculating the speed difference of the vehicle and then taking the derivative to obtain it.

[0046] After obtaining the ramp acceleration, according to Figure 2 The trigonometric function relationship and slope angle are converted into the definition of slope. At this time, the slope value Slope = 100*tan(arcsin(Road_Grade_mpss / 9.8)).

[0047] 2. The curve radius and lateral acceleration in the embodiment of the present application can be calculated by using the curvature signal of the current lane of the vehicle control driving. The curve radius R = 1 / Curve_Total (m) (C is not equal to 0), combined with the vehicle speed V, lateral acceleration A_Lat = V 2 *C(m 2 s).

[0048] In the actual execution process, the state of the following test target vehicle can be determined by the longitudinal speed, such as Figure 3 As shown, by judging whether the ACC state is only in the control state of being activated and locking the following target, if so, the embodiment of the present application can obtain the longitudinal speed Vehicle_Speed ​​from the various motion attributes of the locked target, and judge whether the controlled vehicle locked in front is stationary or moving, or first moving and then stationary.

[0049] In step S102, the actual slope grade and the actual curve radius grade of the test scenario where the test vehicle is located are matched according to the slope data and the curve radius data in the test data, and the preset evaluation criteria for each performance parameter are determined according to the actual slope grade and / or the actual curve radius grade.

[0050] Among them, both the slope grade and the curve radius grade can be specifically set or calibrated, without specific limitations. For example, the flat road slope range on the predefined road is -2% < Slope < 2%, the uphill slope is Slope > 2%, and the downhill slope is Slope < -2%. Therefore, in the implementation of this application, the slope grade can be divided into the first to the third grades based on the slope range; for another example, the curve radius can be set with 9 range gradients. The first gradient is Radius < 50m, the second gradient is 50m ≤ Radius ≤ 150m, the third gradient is 150m < Radius ≤ 250m, the fourth gradient is 250m < Radius ≤ 500m, the fifth gradient is 500m < Radius ≤ 1000m, the sixth gradient is 1000m < Radius ≤ 3000m, the sixth gradient is 3000m < Radius ≤ 5000m, the seventh gradient is Radius > 5000m, and when the curve radius is greater than 5000m, it can be considered a straight road; therefore, in the embodiments of this application, the curve radius grade can be divided into the first to the ninth grades based on the range gradient of the curve radius.

[0051] Among them, the preset evaluation criteria will be elaborated in detail in the following embodiments. To avoid redundancy, no further description will be given here.

[0052] The embodiments of this application can calculate the maximum and minimum slope values from following the target to complete stop, the maximum and minimum curve radii, so as to test the data of the test vehicle from target recognition to following stop at different slopes and curve radii through the combination of the slope and the curve radius. The embodiments of this application can match the actual slope grade and the actual curve radius grade of the test scenario where the test vehicle is located according to the slope data and the curve radius data in the test data, so as to obtain the evaluation criteria for each performance parameter in the process of the current test vehicle following the test target to stop.

[0053] In step S103, at least one actual performance parameter of the follow - up parking performance of the adaptive cruise system is calculated according to the test data. When any actual performance parameter meets the preset evaluation criteria, it is determined that the follow - up parking performance test of the adaptive cruise system is qualified; otherwise, it is determined to be unqualified.

[0054] The actual performance parameters in the embodiments of this application include: deceleration control segmented braking value, deceleration range, deceleration change rate range, distance to the locked target, speed of the deceleration - controlled test vehicle to follow the test target to stop, and braking - stop distance.

[0055] Such as Figure 3 As shown, the embodiment of the present application can calculate and process that in the process of following the vehicle and decelerating to a safe stop, the adaptive cruise control system can remain in a function-activated state and maintain a fixed following time distance (the quotient of the current distance between the vehicle and the vehicle in front and the vehicle's own driving speed). At this time, the system will only enter deceleration control, controlling the vehicle to decelerate until it follows and stops the vehicle in front (always being stationary or moving first and then stationary). If the vehicle follows the locked control target and stops safely, the embodiment of the present application can calculate and output the actual performance parameter information required for the evaluation from locking and following the control target to safe stopping, and judge whether the following parking performance test of the adaptive cruise system is qualified based on whether the actual performance parameters meet the preset evaluation criteria.

[0056] For example, to calculate the rate of change of the following parking deceleration, the embodiment of the present application can calculate the ESP_Long_AccelRate deceleration rate of change based on the ESP longitudinal acceleration ESP_Long_Accel of the vehicle in accordance with the ISO 15622-2018 standard.

[0057] In one embodiment of the present application, when any actual performance parameter meets the preset evaluation criteria, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified, including: marking all data in the test data on the data time axis according to the time sequence of data acquisition to obtain the marking result; determining the first timestamp when the test vehicle starts to follow the test target and the second timestamp when the test vehicle stops based on the marking result, and obtaining the maximum and minimum values ​​of the deceleration control segmented braking value within the range of the first timestamp and the second timestamp; when the maximum and minimum values ​​of the deceleration control segmented braking value are the set values, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified.

[0058] The set value may be specifically set or calibrated, for example, it may be set to 1, etc., without any specific limitation.

[0059] It is understandable that, in the embodiment of the present application, after obtaining the ramp and curve signals required for the system capability analysis in the above embodiment, in order to analyze the process of the adaptive cruise system starting to follow the target parking, the data processing script can be used to extract and mark the signals on the data timeline in the following order, as follows:

[0060] The output time of the vehicle's first deceleration control CDDActive and the distance LockedDistance of the target after the adaptive cruise system function is activated is used as the first timestamp. At the same time, the vehicle's set speed SpeedSet, set time gap TimeGapSet, actual ESP speed SubLockedSpeed, and target vehicle speed ObjLockedSpeed ​​are obtained when the target is locked. The time of following the target to stop is used as the second timestamp, and the safe braking distance StopDistance is obtained at the second timestamp. For CDDActive segmented braking during deceleration braking, if it does not meet the expected requirements, a separate data extraction record is made. The maximum and minimum values ​​in the two timestamps are also used for judgment. If the maximum and minimum values ​​of the deceleration control CDDActive are both 1 from braking to stopping, it means that the deceleration is continuous and there is no problem with the single control. The following parking performance test of the adaptive cruise system is judged to be qualified; otherwise, it is considered that there are two or more segments of braking in the deceleration and stopping, and the following parking performance test of the adaptive cruise system is judged to be unqualified.

[0061] In one embodiment of the present application, when any actual performance parameter meets the preset evaluation standard, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified, including: determining whether the deceleration range and the deceleration change rate range both meet the preset standard requirements, whether the distance to the locked target is greater than the preset distance, whether the ability speed of the deceleration control to the following stop is greater than the preset speed, and whether the braking distance is within the preset safety distance range; if the deceleration control segmented braking continuous values ​​are all set values, the deceleration range and the deceleration change rate range both meet the preset standard requirements, the distance to the locked target is greater than the preset distance, the ability speed of the deceleration control to the following stop is greater than the preset speed, and the braking distance is within the preset safety distance range, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified.

[0062] Among them, the preset standard requirements, preset distances, preset speeds, and preset braking distances can be specifically set or calibrated. For example, the preset standard requirements can be set to ISO 15622-2018 standard requirements, the preset locking target distance LockedDistance ≥ 150m, the deceleration control to follow-stop capability speed SubLockedSpeed ​​≥ 120kph, and the safe braking distance range is 2m ≤ StopDistance ≤ 4m. In this regard, technical personnel in this field can determine according to actual conditions without making specific limitations.

[0063] For example, within the range of the first and second timestamps, the deceleration range and the deceleration change rate range curves during the deceleration and braking process are calculated. The embodiment of the present application can compare the actual performance parameters calculated by the above embodiment with the preset values. When the speed and the deceleration change rate meet the requirements of the ISO 15622-2018 standard, the distance to lock the target is greater than 150m, the speed of deceleration control to follow-up stop is greater than 120kph, and the safe braking distance is between 2m and 4m, the embodiment of the present application can determine that the following parking performance test of the adaptive cruise system is qualified, further ensuring the accuracy of the test results.

[0064] In one embodiment of the present application, after determining that the following parking performance test of the adaptive cruise system is qualified, otherwise it is determined to be unqualified, it also includes: obtaining a preset evaluation value for optimizing the preset performance parameter; iteratively optimizing the preset evaluation standard according to the test data and / or the preset evaluation value until the preset evaluation standard meets the preset optimization condition or reaches the number of iterations, thereby obtaining the optimized preset evaluation standard.

[0065] It is understandable that after being judged as unqualified, the embodiment of the present application can iteratively optimize the evaluation criteria of the following parking performance of the adaptive cruise system according to the evaluation value of the test data and / or the preset performance parameters until a certain number of times are met or a level that meets the actual performance and improvement requirements is reached. By adopting a data closed loop and a method of continuous iterative optimization, the ability of the adaptive cruise system can be objectively analyzed and evaluated in a closed loop, thereby providing an objective evaluation standard for the ability of the adaptive cruise system.

[0066] Combine the following Figure 4 The following parking performance testing method of the adaptive cruise control system of the embodiment of the present application is described in detail with specific embodiments.

[0067] The following parking performance test method of the adaptive cruise control system of the embodiment of the present application includes three parts, namely, a method for estimating the slope value of the ramp based on sensor data on the ramp, converting the curve radius and lateral acceleration of the vehicle when driving based on perception or map data, and an evaluation method and analysis system for target recognition and locking, deceleration control and following parking capabilities in the process of identifying and following the vehicle to stop.

[0068] 1. Calculate the slope of the vehicle when it is traveling;

[0069] If there is ramp acceleration signal data directly in the test data collected during vehicle driving, the basic slope acceleration and gravity acceleration balance model can be directly used to calculate the slope angle α at this time; then, according to the definition of slope, the tangent value tanα of the slope angle α is calculated, which is the slope value of the current vehicle driving.

[0070] 2. Calculate the curve radius and lateral acceleration of the vehicle;

[0071] The test data collected by the vehicle driving directly contains the curvature information of the current lane perceived by the vehicle or the map. The road curvature C used by the vehicle control can be directly used to calculate the curve radius R = 1 / C (m) (C is not equal to 0) and the lateral acceleration A_Lat = V 2 *C(m 2 s).

[0072] 3. Evaluation method and analysis system for target recognition and locking, deceleration control and follow-up stop capabilities;

[0073] 3-1. Identify the motion state and attributes of the approaching target

[0074] When the adaptive cruise control system is not in the closed state, the target in front of the lane will be selected as a potential target and continuously tracked. When the vehicle's speed is faster than the speed of the vehicle in front, it can be considered that the vehicle is approaching the vehicle in front. At this time, the test data collected by the vehicle's driving will include various motion attributes when identifying the target. The embodiment of the present application can only select the longitudinal speed of the target to determine whether the vehicle in front is stationary or moving (that is, first in motion and then stationary) to distinguish whether the target that the vehicle is approaching and tracking is a moving target or a stationary target.

[0075] 3-2. Determine the working status of the adaptive cruise control system

[0076] When following a vehicle and decelerating to a safe stop, the adaptive cruise control system should remain in an activated state and maintain a fixed following time distance (the quotient of the current distance between the vehicle and the vehicle in front and the vehicle's own speed). At this time, the system will only enter deceleration control, controlling the vehicle to decelerate until it stops following the vehicle in front (always stationary or moving first and then stationary).

[0077] 3-3. Calculate the deceleration and deceleration change rate of follow-up parking

[0078] The test data collected during vehicle driving will include ESP longitudinal deceleration, which is derived and calculated to obtain the deceleration change rate. The script program is then used to batch process the collected test data to capture the target distance from locking on to the start of deceleration until the final stop.

[0079] 3-4. Evaluation and analysis of the ability to identify and follow parking vehicles

[0080] Before evaluating the ability to identify and follow a stopped vehicle, the embodiment of the present application can set several preliminary indicators of the adaptive cruise system in identifying and following a stopped vehicle based on the ability of system analysis and design and previous subjective evaluation experience, such as locking target distance, following target parking distance, deceleration range, deceleration change rate, maximum recognition speed for stationary targets, maximum safe braking speed for stationary targets, etc., and compare them with the large amount of data captured in step 3 to see whether they meet the current indicators; at the same time, according to the distribution of the data and the subjective evaluation performance, the preliminary indicators are optimized in reverse.

[0081] It should be noted that the adaptive cruise system of the embodiment of the present application includes a millimeter-wave radar, a vehicle-mounted camera and a controller connected to the millimeter-wave radar and the camera, and the controller is programmed to perform the functions of the above-mentioned adaptive cruise system; the script program samples and marks the MDF or MF4 measurement standard format data output by the test data collected during the driving of the vehicle with the adaptive cruise system, and captures and analyzes the data according to the processing logic, and the script language can be selected by the user.

[0082] According to the method for testing the following parking performance of the adaptive cruise system proposed in the embodiment of the present application, the test data of the test vehicle following the test target parking process is obtained; the actual slope level and actual curve radius level of the test scene where the test vehicle is located are matched according to the slope data and curve radius data in the test data, and the preset evaluation standard of each performance parameter is determined according to the actual slope level and / or the actual curve radius level; at least one actual performance parameter of the following parking performance of the adaptive cruise system is calculated according to the test data, and when any actual performance parameter meets the preset evaluation standard, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified. Therefore, the problem that the relevant technology does not clearly define the requirements for comprehensive extraction and reverse evaluation and review of optimization indicators of vehicles, environments and systems in the test data, resulting in the lack of objective evaluation standards, etc., is solved.

[0083] Next, a following parking performance testing device for an adaptive cruise system proposed in an embodiment of the present application will be described with reference to the accompanying drawings.

[0084] Figure 5 It is a block diagram of a device for testing the following parking performance of an adaptive cruise system according to an embodiment of the present application.

[0085] like Figure 5 As shown, the following parking performance testing device 10 of the adaptive cruise system includes: an acquisition module 100 , a determination module 200 and a testing module 300 .

[0086] Among them, the acquisition module 100 is used to obtain test data of the test vehicle following the test target parking process; the determination module 200 is used to match the actual slope level and the actual curve radius level of the test scene in which the test vehicle is located according to the slope data and the curve radius data in the test data, and determine the preset evaluation standard of each performance parameter according to the actual slope level and / or the actual curve radius level; the testing module 300 is used to calculate at least one actual performance parameter of the following parking performance of the adaptive cruise system according to the test data, and when any actual performance parameter meets the preset evaluation standard, it is determined that the following parking performance test of the adaptive cruise system is qualified, otherwise it is determined to be unqualified.

[0087] In one embodiment of the present application, at least one actual performance parameter includes: at least one of the deceleration control segmented braking value, deceleration range, deceleration change rate range, target locking distance, deceleration control test vehicle's ability speed to follow the test target to stop, and braking distance.

[0088] In one embodiment of the present application, the test module 300 is further used to mark all data in the test data on the data time axis according to the time sequence of data collection to obtain a marking result; based on the marking result, determine the first timestamp when the test vehicle starts to follow the test target and the second timestamp when the test vehicle stops, and obtain the maximum and minimum values ​​of the deceleration control segmented braking value within the first timestamp and the second timestamp; when the maximum and minimum values ​​of the deceleration control segmented braking value are the set values, determine that the following parking performance test of the adaptive cruise system is qualified, otherwise determine that it is unqualified.

[0089] In one embodiment of the present application, the test module 300 is further used to determine whether the deceleration range and the deceleration change rate range both meet the preset standard requirements, whether the distance to the locked target is greater than the preset distance, whether the speed of the deceleration control to the following stop is greater than the preset speed, and whether the braking distance is within the preset safety distance range; if the deceleration control segmented braking continuous values ​​are all set values, the deceleration range and the deceleration change rate range both meet the preset standard requirements, the distance to the locked target is greater than the preset distance, the speed of the deceleration control to the following stop is greater than the preset speed, and the braking distance is within the preset safety distance range, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified.

[0090] In one embodiment of the present application, the following parking performance test device 10 of the adaptive cruise system also includes: an optimization module, which is used to obtain a preset evaluation value for optimizing the preset performance parameter after determining that the following parking performance test of the adaptive cruise system is qualified, otherwise it is determined to be unqualified; iteratively optimize the preset evaluation standard according to the test data and / or the preset evaluation value until the preset evaluation standard meets the preset optimization condition or reaches the number of iterations, thereby obtaining the optimized preset evaluation standard.

[0091] It should be noted that the above explanation of the embodiment of the following parking performance test method of the adaptive cruise system is also applicable to the following parking performance test device of the adaptive cruise system of this embodiment, which will not be repeated here.

[0092] According to the following parking performance test device of the adaptive cruise system proposed in the embodiment of the present application, the test data of the test vehicle following the test target parking process is obtained; the actual slope level and actual curve radius level of the test scene where the test vehicle is located are matched according to the slope data and curve radius data in the test data, and the preset evaluation standard of each performance parameter is determined according to the actual slope level and / or the actual curve radius level; at least one actual performance parameter of the following parking performance of the adaptive cruise system is calculated according to the test data, and when any actual performance parameter meets the preset evaluation standard, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified. Therefore, the problem that the relevant technology does not clearly define the requirements for comprehensive extraction and reverse evaluation and review of optimization indicators of vehicles, environments and systems in the test data, resulting in the lack of objective evaluation standards, etc.

[0093] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0094] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0095] When the processor 402 executes the program, the following parking performance test method of the adaptive cruise system provided in the above embodiment is implemented.

[0096] Furthermore, the electronic device further comprises:

[0097] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0098] The memory 601 is used to store computer programs that can be executed on the processor 602 .

[0099] The memory 601 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0100] If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0101] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0102] The processor 602 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0103] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for testing the following parking performance of an adaptive cruise system.

[0104] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0105] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0106] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0107] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0108] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0109] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for testing the following parking performance of an adaptive cruise control system, characterized in that: The following steps are involved: Acquire test data of the test vehicle following the test target parking process; Matching the actual slope grade and the actual curve radius grade of the test scene where the test vehicle is located according to the slope data and the curve radius data in the test data, and determining a preset evaluation standard for each performance parameter according to the actual slope grade and / or the actual curve radius grade; Calculating at least one actual performance parameter of the following parking performance of the adaptive cruise system according to the test data, and determining that the following parking performance test of the adaptive cruise system is qualified when any actual performance parameter meets the preset evaluation standard, otherwise determining that the following parking performance test of the adaptive cruise system is unqualified; The at least one actual performance parameter includes: at least one of: a deceleration control segmented braking value, a deceleration range, a deceleration change rate range, a distance to a locked target, a deceleration control test vehicle's ability to follow a test target to stop, and a braking distance; when any actual performance parameter meets the preset evaluation criteria, the following parking performance test of the adaptive cruise system is judged to be qualified, otherwise it is judged to be unqualified, including: Mark all the data in the test data on the data time axis according to the time sequence of data collection to obtain a marking result; Determine a first timestamp when the test vehicle starts to follow the test target and a second timestamp when the test vehicle stops based on the marking result, and obtain a maximum value and a minimum value of the deceleration control segmented braking value within the range of the first timestamp and the second timestamp; When the maximum value and the minimum value of the deceleration control segmented braking value are set values, it is determined that the following parking performance test of the adaptive cruise system is qualified, otherwise it is determined to be unqualified.

2. The method according to claim 1, characterized in that When any actual performance parameter meets the preset evaluation standard, determining that the following parking performance test of the adaptive cruise system is qualified, otherwise determining that it is unqualified, includes: Determine whether the deceleration range and the deceleration change rate range both meet preset standard requirements, whether the distance to the locked target is greater than a preset distance, whether the speed of the deceleration control to the following stop is greater than a preset speed, and whether the braking distance is within a preset safety distance range; If the deceleration control segmented braking continuous values ​​are all set values, the deceleration range and the deceleration change rate range meet the preset standard requirements, the distance to the locked target is greater than the preset distance, the deceleration control to follow-stop ability speed is greater than the preset speed, and the braking distance is within the preset safety distance range, the following parking performance test of the adaptive cruise system is determined to be qualified, otherwise it is determined to be unqualified.

3. The method according to claim 1, characterized in that After determining that the following parking performance test of the adaptive cruise system is qualified, or otherwise determined to be unqualified, the method further includes: Obtaining preset evaluation values ​​for optimizing preset performance parameters; The preset evaluation criteria are iteratively optimized according to the test data and / or the preset evaluation value until the preset evaluation criteria meet the preset optimization conditions or the number of iterations is reached, thereby obtaining the optimized preset evaluation criteria.

4. A device for testing the following parking performance of an adaptive cruise system, characterized in that: include: An acquisition module is used to acquire test data of a test vehicle following a test target parking process; A determination module, configured to match an actual slope grade and an actual curve radius grade of a test scene in which the test vehicle is located according to the slope data and the curve radius data in the test data, and determine a preset evaluation standard for each performance parameter according to the actual slope grade and / or the actual curve radius grade; a testing module, configured to calculate at least one actual performance parameter of the following parking performance of the adaptive cruise system according to the test data, and determine that the following parking performance test of the adaptive cruise system is qualified when any actual performance parameter meets the preset evaluation standard, otherwise, determine that the following parking performance test of the adaptive cruise system is unqualified; The at least one actual performance parameter includes: at least one of the deceleration control segmented braking value, deceleration range, deceleration change rate range, target lock distance, deceleration control test vehicle's ability speed to follow the test target to stop, and braking distance; the test module is further used to mark all the data in the test data on the data time axis according to the time sequence of data acquisition to obtain a marking result; based on the marking result, determine the first timestamp when the test vehicle starts to follow the test target and the second timestamp when the test vehicle stops, and obtain the maximum and minimum values ​​of the deceleration control segmented braking value within the range of the first timestamp and the second timestamp; When the maximum value and the minimum value of the deceleration control segmented braking value are set values, it is determined that the following parking performance test of the adaptive cruise system is qualified, otherwise it is determined to be unqualified.

5. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the following parking performance test method of the adaptive cruise system according to any one of claims 1 to 3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the following parking performance test method of the adaptive cruise system according to any one of claims 1 to 3.

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