Vehicle expected functional safety test method and test field based on urban road scenarios

Abstract

The present invention provides a vehicle expected functional safety test method and test field based on urban road scenes, the method comprising: allowing the vehicle to be tested to enter the first test field, the second test field, the third test field and the fourth test field in turn for testing; obtaining real-time vehicle driving data information of the vehicle to be tested traveling in the first test field, the second test field, the third test field and the fourth test field respectively; comparing the real-time vehicle driving data information with a preset evaluation table to obtain rating information of the vehicle to be tested. The present invention is based on real vehicle scenes and can effectively test the expected functional safety of autonomous driving vehicles in urban road scenes, making up for the major defects of unstable performance and imperfect functions of autonomous driving vehicles. At the same time, the robust performance of sensors such as cameras of autonomous driving vehicles can also be judged based on the evaluation results of this solution.

Description

Technical Field

[0001] The present invention relates to the field of electronic technology, and in particular to a vehicle expected functional safety testing method and testing field based on urban road scenarios. Background Art

[0002] The expected functional safety issues of autonomous vehicles come from the performance limitations and functional deficiencies of the autonomous driving system. The performance limitations and functional deficiencies of the autonomous driving system will bring potential hazards to the vehicle. Under such risks, once the vehicle encounters a scenario that triggers the hazard (including known scenarios or unknown scenarios with triggering conditions), a hazard event will occur. If measures are not taken to effectively control the hazard event, it will cause harm and loss. However, as of now, domestic intelligent connected vehicles that claim to have "assisted driving" or "autonomous driving" functions are not enough to fully and correctly deal with the complex expected functional safety issues. In recent years, many different models of many car companies have had many casualties caused by expected functional safety issues in China, which not only caused huge losses, but also seriously affected the society's confidence in the intelligent connected vehicle industry and products. Therefore, there are two industry problems that need to be solved urgently: one is to explore ways to solve the expected functional safety issues of intelligent connected vehicles in the development stage; the other is to prove the reliability of expected functional safety through a reasonable test evaluation system in the test verification stage.

[0003] The autonomous driving simulation scenario test considers the expected functional safety of intelligent connected vehicles from relevant factors such as driving ability, functional characteristics, physical environment, traffic participant behavior, and evaluation criteria within the scope of the design. Autonomous driving scenario tests are divided into two categories: static and dynamic. The scenario design can be designed in accordance with the Open X series standards. Static scenarios usually include roads, facilities, traffic ancillary facilities, and surrounding environments; dynamic scenarios usually include traffic management control, motor vehicles, pedestrians, and non-motor vehicles. Although scenario-based simulation testing methods have natural advantages in test efficiency, cost, and coverage, and cover edge scenarios that cannot be achieved by real vehicles through simulation, faults that are difficult to identify in real vehicle testing cannot be found in the simulation environment. Therefore, real vehicle testing will gradually become a further verification condition for simulation testing and a current research hotspot.

[0004] In actual vehicle testing, in terms of test scenarios, urban road scenarios are the most complex, including not only moving vehicles, but also vulnerable traffic groups such as pedestrians, bicycles, and motorcycles. The intelligent connected vehicles currently developed in the industry have gradually matured in their recognition and avoidance functions for dynamic and static targets, which has greatly reduced the occurrence of traffic accidents. However, traffic accidents still frequently occur in vehicle assisted driving and automatic driving systems in rain, fog, light, and dust environments. The reason is that there is a lack of verification methods for actual vehicle tests of known dangerous scenarios (rain, fog, dust, light, etc.).

[0005] In summary, there are frequent safety accidents involving autonomous vehicles. How to ensure their safety before mass production is an important challenge facing intelligent connected vehicles. Expected functional safety has become an important issue that needs to be solved urgently for intelligent driving, especially for high-level autonomous driving vehicles. However, there are many traffic participants in urban road scenes, and the scene construction is relatively complex. Although there is rich experience in virtual simulation testing, the industry as a whole lacks effective means of real vehicle testing. Summary of the invention

[0006] The present invention aims to solve one of the above-mentioned problems.

[0007] The main purpose of the present invention is to provide a vehicle expected functional safety testing method based on urban road scenarios.

[0008] Another object of the present invention is to provide a vehicle expected functional safety test field based on urban road scenarios.

[0009] To achieve the above object, the technical solution of the present invention is specifically implemented as follows:

[0010] On the one hand, the present invention provides a vehicle expected function safety test method based on an urban road scene, the method comprising: allowing a vehicle to be tested to enter a first test field, a second test field, a third test field and a fourth test field in sequence for testing, wherein the first test field is a longitudinal pursuit pedestrian test field in foggy weather, and the first test field includes at least one lane, a foggy weather simulation device and a first pedestrian simulation device; the second test field is a longitudinal pursuit vehicle test field in rainy weather, and the second test field includes at least one lane, a first obstacle vehicle and a rain spraying device; the third test field is a stationary vehicle occupying the road test field under strong light, and the third test field includes at least one lane, a second obstacle vehicle and a lighting simulation device; the fourth test field is a pedestrian crossing test field in rainy weather, and the fourth test field includes at least one lane, a second pedestrian simulation device and a rain spraying device; obtaining real-time vehicle driving data information of the vehicle to be tested driving in the first test field, the second test field, the third test field and the fourth test field respectively; comparing the real-time vehicle driving data information with a preset evaluation table to obtain rating information of the vehicle to be tested.

[0011] On the other hand, the present invention provides a vehicle expected function safety test field based on an urban road scene, comprising: a central control unit, a data collection unit, a data analysis unit, a first test field, a second test field, a third test field and a fourth test field; the central control unit is used to make the vehicle to be tested enter the first test field, the second test field, the third test field and the fourth test field in sequence for testing, wherein the first test field is a foggy longitudinal pursuit pedestrian test field, the first test field includes at least one lane, a foggy simulation device and a first pedestrian simulation device; the second test field is a rainy longitudinal pursuit vehicle test field, the second test field includes at least one lane, a first obstacle The third test field is a test field for stationary vehicles occupying the road under strong light, and the third test field includes at least one lane, a second obstacle vehicle and a light simulation device; the fourth test field is a test field for pedestrians crossing in rainy days, and the fourth test field includes at least one lane, a second pedestrian simulation device and a rain spray device; the data collection unit is used to obtain real-time vehicle driving data information of the vehicle to be tested traveling in the first test field, the second test field, the third test field and the fourth test field respectively; the data analysis unit is used to compare the real-time vehicle driving data information with a preset evaluation table to obtain the rating information of the vehicle to be tested.

[0012] It can be seen from the technical solution provided by the present invention that the present invention provides a vehicle expected functional safety test method and test field based on urban road scenarios, which are mainly dedicated to solving the problem of expected functional safety in complex urban road scenarios. There are many traffic participants in urban road scenarios, and the scene construction is relatively complex. The present invention simulates scenes of complex participants such as fog, rain, strong light, pedestrians, and vehicles, builds a closed field real vehicle test environment, and formulates corresponding test methods and evaluation standards according to different test fields to obtain a complete set of field test processes. The present invention applies automatic scene recognition and evaluation scenes and tests trigger events, and designers do not need additional operations. In summary, the present invention is based on real vehicle scenarios, can effectively test the expected functional safety of autonomous driving vehicles in urban road scenarios, and makes up for the major defects of unstable performance and imperfect functions of autonomous driving vehicles. At the same time, the robust performance of sensors such as autonomous driving vehicle cameras can also be judged based on the evaluation results of this solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0014] Figure 1 A flowchart of a vehicle expected function safety test method based on an urban road scenario provided in Example 1 of the present invention;

[0015] Figure 2 A schematic diagram of the structure of a vehicle expected functional safety test field based on an urban road scenario provided in Example 1 of the present invention;

[0016] Figure 3 A simulated scene diagram of a test field for longitudinally chasing pedestrians in foggy weather provided in Example 1 of the present invention;

[0017] Figure 4 A simulated scene diagram of a longitudinal car chase test field in rainy weather provided in Example 1 of the present invention;

[0018] Figure 5 A simulated scene diagram of a stationary vehicle occupying a road under strong light provided in Example 1 of the present invention;

[0019] Figure 6 This is a simulated scene diagram of a pedestrian crossing test field on a rainy day provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0020] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance, quantity or position.

[0022] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0024] Example 1

[0025] This embodiment provides a vehicle expected functional safety test method based on urban road scenarios, such as Figure 1 As shown, the method includes:

[0026] Step S101, order the vehicle to be tested to enter the first test field, the second test field, the third test field and the fourth test field in sequence for testing, wherein the first test field is a test field for longitudinal pursuit of pedestrians in foggy weather, and the first test field includes at least one lane, a foggy weather simulation device and a first pedestrian simulation device; the second test field is a test field for longitudinal pursuit of vehicles in rainy weather, and the second test field includes at least one lane, a first obstacle vehicle and a rain spraying device; the third test field is a test field for stationary vehicles occupying the road under strong light, and the third test field includes at least one lane, a second obstacle vehicle and a lighting simulation device; the fourth test field is a test field for pedestrians crossing in rainy weather, and the fourth test field includes at least one lane, a second pedestrian simulation device and a rain spraying device; specifically, the first test field, the second test field, the third test field and the fourth test field can be built into a closed field real vehicle test environment to prevent interference from external factors from affecting the test results. The fog simulation device of the first test field can simulate the scene of foggy day by producing water mist; the rain spraying devices of the second test field and the fourth test field can spray the test field to simulate the scene of rainy day environment; the third test field simulates the scene when the intensity of sunlight is large through the illumination simulation device. The first test field, the second test field, the third test field and the fourth test field should all include at least one lane. In order to better test the capabilities of the vehicle, multiple lanes can also be set up to simulate more complex test conditions. In addition, the present invention only lists several typical situations. As long as they are within the scope that the first test field, the second test field, the third test field and the fourth test field of the present invention can test, they should be within the protection scope of the present invention.

[0027] Step S102, obtaining real-time vehicle driving data information of the vehicle to be tested respectively driving on the first test field, the second test field, the third test field and the fourth test field; specifically, the test field can be equipped with detection equipment such as measuring equipment, monitoring equipment and sensing equipment, and the motion state and video data of the vehicle to be tested during the test can be recorded by reasonably configuring the software and hardware of these detection equipment. The vehicle motion state data that need to be detected and recorded may include the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane and the relative distance from the target object, whether a collision occurs, etc. of the vehicle to be tested, which can be selected and combined according to different test conditions during the actual test process.

[0028] Step S103, compare the real-time vehicle driving data information with the preset evaluation table to obtain the rating information of the vehicle to be tested. Specifically, it is necessary to evaluate the motion state and video data obtained in step S102. An evaluation table can be set in advance. The motion state parameters to be evaluated, the reference values ​​of the parameters, the weights of the parameters, etc. are set in the evaluation table. The motion state data is compared with the corresponding reference values, and the comparison results of each motion state data and the weight of each motion state data are combined to obtain a comprehensive evaluation result. In addition, in a specific implementation method, the test can be carried out in sequence in each test field, the test data can be recorded and saved, the test results can be rated according to the corresponding evaluation table, and finally the test report can be output. And for each test field, multiple tests can be repeated according to the above steps S101 to S103, and a comprehensive evaluation can be performed based on the results of multiple tests to achieve a more accurate evaluation result.

[0029] The vehicle expected function safety test method based on urban road scenarios in this embodiment is mainly dedicated to solving the problem of expected functional safety in complex urban road scenarios. There are many traffic participants in urban road scenarios, and the scene construction is relatively complex. This embodiment simulates scenes of complex participants such as fog, rain, strong light, pedestrians, and vehicles to build a closed field real vehicle test environment, and formulates corresponding test methods and evaluation standards according to different test sites to obtain a complete set of field test processes. This example applies automatic scene recognition and evaluation scenes and tests trigger events, and designers do not need to perform additional operations. In summary, this application is based on real vehicle scenarios, and can effectively test the expected functional safety of autonomous driving vehicles in urban road scenarios, making up for the major defects of unstable performance and imperfect functions of autonomous driving vehicles. At the same time, the robust performance of sensors such as autonomous driving vehicle cameras can also be judged based on the evaluation results of this solution.

[0030] In an optional implementation of the present embodiment, the vehicle to be tested enters the first test field for testing, specifically including: turning on the fog simulation device so that the visibility in fog is between F1 meters and F2 meters, wherein F1 and F2 are the minimum and maximum values ​​of the visible distance in fog; making the first pedestrian simulation device move forward at a constant speed at a first speed, and making the vehicle to be tested continue to move forward at a constant speed at a second speed when it travels in the same direction to a distance of S1 meters from the first pedestrian simulation device, wherein the axis of the forward direction of the first pedestrian simulation device coincides with or is parallel to the longitudinal center axis of the vehicle to be tested, and both are parallel to the center line of the lane; obtaining real-time vehicle driving data information of the vehicle to be tested traveling in the first test field specifically includes: at least obtaining the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the first pedestrian simulation device of the vehicle to be tested within a first preset time period after the vehicle to be tested travels to a distance of S1 meters from the first pedestrian simulation device.

[0031] Specifically, in this embodiment, the main purpose is to test the ability of the vehicle to be tested to recognize pedestrians in a foggy environment with low visibility. This test is carried out in a foggy environment, and the visibility parameters of the foggy scene can be set to (500m, 1000m] and <500m, respectively, that is, to simulate light fog and heavy fog scenes, respectively. The pedestrian simulation device can be a robot, an automatically walking dummy or other humanoid objects that can move. The walking speed of the pedestrian simulation device, i.e., the first speed, is set to 5km / h, and the speed of the vehicle to be tested, i.e., the second speed, is set to 20km / h or 30km / h, which are set according to different test conditions. S1 can be set to 50m, and the length of the first preset time period is determined according to the second speed. For example, if the second speed is set to 20km / h, the first preset time period should be at least greater than 9s. The vehicle to be tested The longitudinal center axis of the vehicle coincides with or is parallel to the longitudinal center axis of the target pedestrian simulator. After the collision point is determined, the target pedestrian simulator can start to move forward at a constant speed of 5km / h after a 1m acceleration section. The vehicle to be tested maintains a constant speed of 20 or 30km / h when it is 50m away from the target pedestrian simulator. The test ends if a collision, brake stop or avoidance is detected for the vehicle to be tested. Each test condition is tested three times, and data is recorded throughout the test. The test data should at least include the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, relative distance from the target object, whether a collision occurs, etc. of the vehicle to be tested.

[0032] In an optional implementation manner of the present embodiment, the vehicle to be tested enters the second test proving ground for testing specifically including: turning on the rain spray device, and setting the rain spray intensity to be between R1 (mm / h) and R2 (mm / h), wherein R1 (mm / h) and R2 (mm / h) represent the minimum and maximum rainfall intensity; making the first obstacle vehicle move forward at a uniform speed of a third speed, and making the vehicle to be tested continue to move forward at a uniform speed of a fourth speed when it travels in the same direction to a distance of S2 meters from the first obstacle vehicle, wherein the longitudinal center axis of the first obstacle vehicle coincides with the longitudinal center axis of the vehicle to be tested, and both are parallel to the center line of the lane; obtaining real-time vehicle driving data information of the vehicle to be tested traveling in the second test proving ground specifically includes: obtaining at least the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the first obstacle vehicle of the vehicle to be tested within a second preset time period after the vehicle to be tested travels to a distance of S2 meters from the first obstacle vehicle.

[0033] Specifically, in this embodiment, the main purpose is to test the ability of the vehicle to be tested to recognize the obstacle vehicle in front in a rainy environment. The third speed is set to 12km / h, and the fourth speed is set to 30km / h or 40km / h, which are set according to different test conditions. S2 can be set to 50m, and the length of the second preset time period can be determined according to the fourth speed. For example, if the fourth speed is set to 30km / h, the second preset time period should be at least greater than 6s. The first obstacle vehicle can be a small vehicle such as a bicycle, scooter, electric motorcycle, or motorcycle. The longitudinal driving path of the first obstacle vehicle keeps the longitudinal axis coincident with the path of the vehicle to be tested. This scenario is carried out in a rainy environment. The rainfall intensity in the rainy scenario can be (25,50], (50,70] or >70mm / h, respectively, to simulate light rain, moderate rain and heavy rain scenes, which can be set according to different test conditions. In the specific implementation process, the vehicle to be tested and the first obstacle vehicle are placed on the center line of the lane, and the collision point is determined. The vehicle to be tested maintains a constant speed when it is 50m away from the target first obstacle vehicle. If the vehicle to be tested is detected to have a collision, brake or avoidance, the test ends. Each test condition is tested three times, and data is recorded throughout the test. The test data should at least include the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, relative distance from the target object, whether a collision occurs, etc. of the vehicle to be tested.

[0034] In an optional implementation manner of the present embodiment, the vehicle to be tested enters the third test proving ground for testing, specifically including: turning on the illumination simulation device, and setting the illumination to be between L1 (Lux) and L2 (Lux), wherein the illumination intensities of L1 (Lux) and L2 (Lux) are minimum and maximum values; placing the second obstacle vehicle at rest, and allowing the vehicle to be tested to continue to move forward at a fifth uniform speed when it reaches a distance of S3 meters from the second obstacle vehicle, wherein the longitudinal center axis of the second obstacle vehicle coincides with the longitudinal center axis of the vehicle to be tested, and both are parallel to the center line of the lane; obtaining real-time vehicle driving data information of the vehicle to be tested driving in the third test proving ground specifically includes: obtaining at least the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the second obstacle vehicle of the vehicle to be tested within a third preset time period after the vehicle to be tested reaches a distance of S3 meters from the second obstacle vehicle.

[0035] Specifically, in this embodiment, the main purpose is to test the ability of the vehicle to be tested to recognize the obstacle vehicle in front under strong light illumination. The fifth speed can be 30km / h or 40km / h, which is set according to different test conditions. S3 can be set to 50m, and the length of the third preset period can be determined according to the fifth speed. For example, if the fifth speed is set to 30km / h, the third preset period should be at least greater than 6s. The target second obstacle vehicle is placed stationary, and the target second obstacle vehicle can be a passenger car such as an ordinary car. The position of the target second obstacle vehicle overlaps with the path of the vehicle to be tested. This test field is carried out under the interference of strong light conditions. A light simulation device with an illumination of 20,000 to 35,000 lux can be placed 70 meters in front of the vehicle to be tested to simulate sunlight from 15:00 to 17:00, and the test vehicle drives towards the light source. In the specific implementation process, the position of the stationary second obstacle vehicle is taken as the collision point, the lighting simulation equipment is turned on, and the test vehicle maintains a constant speed when it is 50m away from the target second obstacle vehicle. If the test vehicle brakes, avoids or the two vehicles collide after detecting the target second obstacle vehicle, the test ends. Each test condition is tested three times, and data is recorded throughout the test. The test data should at least include the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, relative distance from the target object, whether a collision occurs, etc. of the test vehicle.

[0036] In an optional implementation of the present embodiment, the vehicle to be tested enters the fourth test field for testing, specifically including: turning on the rain spray device, and setting the rain spray intensity to between R3 (mm / h) and R4 (mm / h), wherein R3 (mm / h) and R4 (mm / h) represent the minimum and maximum rainfall intensity; allowing the second pedestrian simulation device to cross the lane at a sixth speed from outside the lane in a direction perpendicular to the center line of the lane, and allowing the vehicle to be tested to continue to move forward at a seventh speed when it reaches a distance of S4 meters from the plane where the second pedestrian simulation device is located, wherein the longitudinal center axis of the vehicle to be tested is parallel to the center line of the lane; obtaining real-time vehicle driving data information of the vehicle to be tested driving in the fourth test field, specifically including: obtaining at least the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the second pedestrian simulation device of the vehicle to be tested within a fourth preset time period after the vehicle to be tested drives to a distance of S4 meters from the plane where the second pedestrian simulation device is located.

[0037] Specifically, in this embodiment, the main purpose is to test the ability of the vehicle to be tested to recognize and judge pedestrians crossing the road in a rainy environment. The sixth speed is set to 8km / h, and the seventh speed is set to 30km / h or 50km / h, which are set according to different test conditions. S4 can be set to 50m, and the length of the fourth preset period is determined according to the seventh speed. For example, if the seventh speed is set to 30km / h, the fourth preset period should be at least greater than 6s. The motion path of the pedestrian simulation device is perpendicular to the driving path of the vehicle to be tested. This scenario is carried out in a rainy day scenario, and the rainfall intensity parameter of the rainy day scenario can be set to (25,50] mm / h. A parking space can also be set on the roadside with a parked vehicle. The outer edge line of the parking space is 5m away from the center line of the lane, and the target pedestrian simulation device is 3m away from the outer edge line of the parking space. In the specific implementation process, the vehicle to be tested is placed on the longitudinal center line AA of the lane, and the pedestrian simulation device is placed on the horizontal axis BB of the lane. Line AA is perpendicular to line BB. The collision point position is determined. The vehicle to be tested maintains a constant speed when it is 50m away from the collision point position. The target pedestrian simulation device accelerates from the parking space after 3m, and then rushes out at a constant speed of 8km / h. If the vehicle to be tested detects that the pedestrian simulation device brakes, avoids or collides with the rear vehicle, the test ends. Each test condition is tested three times, and data is recorded throughout the test. The test data should at least include the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, relative distance from the target object, whether a collision occurs, etc. of the vehicle to be tested.

[0038] This embodiment also provides a vehicle expected function safety test field based on an urban road scenario. The test field of this embodiment is used to execute the aforementioned vehicle expected function safety test method based on an urban road scenario. Here, only a brief description of the specific setting of the test field is given. For other matters not covered, please refer to the aforementioned description of the vehicle expected function safety test method based on an urban road scenario. The system architecture of the test field is as follows: Figure 2 As shown, it includes: a central control unit 201, a data collection unit 202, a data analysis unit 203, a first test field 204, a second test field 205, a third test field 206 and a fourth test field 207. The central control unit 201, the data collection unit 202 and the data analysis unit 203 can be integrated in one device, or they can be respectively arranged in different devices. When the central control unit 201, the data collection unit 202 and the data analysis unit 203 are respectively arranged in different devices, the mutual communication between the three can be completed by wireless or wired mode. A system consisting of a central control unit 201, a data collection unit 202 and a data analysis unit 203 can be arranged in the first test field 204, the second test field 205, the third test field 206 and the fourth test field 207, respectively, or a system consisting of a central control unit 201, a data collection unit 202 and a data analysis unit 203 can be shared.

[0039] The central control unit 201 is used to make the vehicle to be tested enter the first test field 204, the second test field 205, the third test field 206 and the fourth test field 207 for testing in sequence, wherein the first test field 204 is a test field for longitudinal pursuit of pedestrians in foggy weather, and the first test field 204 includes at least one lane, a foggy weather simulation device and a first pedestrian simulation device; the second test field 205 is a test field for longitudinal pursuit of vehicles in rainy weather, and the second test field 205 includes at least one lane, a first obstacle vehicle and a rain spraying device; the third test field 206 is a test field for stationary vehicles occupying the road under strong light, and the third test field 206 includes at least one lane, a second obstacle vehicle and a light simulation device; the fourth test field 207 is a test field for pedestrians crossing in rainy days, and the fourth test field 207 includes at least one lane, a second pedestrian simulation device and a rain spray device; specifically, the first test field 204, the second test field 205, the third test field 206 and the fourth test field 207 can be built into a closed field real vehicle test environment to prevent the interference of external factors from affecting the test results. The fog simulation device of the first test field 204 can simulate the scene of foggy days by creating water mist; the rain spray devices of the second test field 205 and the fourth test field 207 can spray the test field to simulate the scene of rainy days; the third test field 206 uses a light simulation device to simulate the scene when the intensity of sunlight is high. The first test field 204, the second test field 205, the third test field 206 and the fourth test field 207 should all include at least one lane. In order to better test the capabilities of the vehicle, multiple lanes can also be set to simulate more complex test conditions. In addition, the present invention only lists several typical situations. As long as they are within the scope of the first test field 204, the second test field 205, the third test field 206 and the fourth test field 207 of the present invention, they should all be within the protection scope of the present invention.

[0040] The central control unit 201 is mainly used to control the progress of the test. The test script can be written in advance in the central control unit 201 to start the automated test process for each vehicle to be tested in sequence. The central control unit 201 can also have the function of communicating with the vehicle to be tested and send a command to the vehicle to start or end the test.

[0041] The data collection unit 202 is used to obtain real-time vehicle driving data information of the vehicle to be tested traveling in the first test field 204, the second test field 205, the third test field 206 and the fourth test field 207 respectively; specifically, the test field can be equipped with detection equipment such as measuring equipment, monitoring equipment and sensor equipment, and the motion state and video data of the vehicle to be tested during the test can be recorded by reasonably configuring the software and hardware of these detection equipment. The vehicle motion state data that need to be detected and recorded may include the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane and the relative distance from the target object, whether a collision occurs, etc. of the vehicle to be tested, which can be selected and combined according to different test conditions during the actual test process.

[0042] The data collection unit 202 may include a plurality of measuring tools, sensing tools and image acquisition devices, which are used to measure and acquire data of the vehicle under test during driving, and to acquire video and image data of the vehicle under test during driving. The data collection unit 202 sends the data to the data analysis unit 203 via wired or wireless means.

[0043] The data analysis unit 203 is used to compare the real-time vehicle driving data information with the preset evaluation table to obtain the rating information of the vehicle to be tested. Specifically, it is necessary to evaluate the motion state and video data obtained by the data collection unit 202. An evaluation table can be pre-set, and the motion state parameters, reference values ​​of the parameters, and weights of the parameters to be evaluated are set in the evaluation table. The motion state data is compared with the corresponding reference values, and the comparison results of each motion state data and the weight of each motion state data are combined to obtain a comprehensive evaluation result. After receiving the real-time vehicle driving data information sent by the data collection unit 202, the data analysis unit 203 finds the corresponding evaluation table, compares the real-time vehicle driving data information one by one according to the parameters and values ​​in the evaluation table, and finally obtains the various evaluation information of the vehicle to be tested. In addition, in a specific implementation, the test can be carried out in sequence in the test field, the test data can be recorded and saved, the test results can be rated according to the corresponding evaluation table, and finally the test report can be output. And multiple tests are carried out for each test condition in each test field, and a comprehensive evaluation is carried out according to the results of multiple tests to achieve a more accurate evaluation result.

[0044] The vehicle expected function safety test field based on the urban road scene of this embodiment is mainly dedicated to solving the problem of expected functional safety in complex urban road scenes. There are many traffic participants in the urban road scene, and the scene construction is relatively complex. This embodiment builds a closed field real vehicle test environment by simulating scenes of complex participants such as fog, rain, strong light, pedestrians, and vehicles. According to the different test fields, corresponding test methods and evaluation standards are formulated to obtain a complete set of field test processes. This example applies automatic scene recognition and evaluation scenes and tests trigger events, and designers do not need to perform additional operations. In summary, this application is based on real vehicle scenes, which can effectively test the expected functional safety of autonomous driving vehicles in urban road scenes, making up for the major defects of unstable performance and imperfect functions of autonomous driving vehicles. At the same time, the robust performance of sensors such as autonomous driving vehicle cameras can also be judged based on the evaluation results of this solution.

[0045] In an optional implementation of the present embodiment, the vehicle to be tested enters the first test field 204 for testing, specifically including: turning on the fog simulation device so that the visibility in fog is between F1 meters and F2 meters, wherein F1 and F2 are the minimum and maximum values ​​of the visible distance in fog; making the first pedestrian simulation device move forward at a first uniform speed, and making the vehicle to be tested continue to move forward at a second uniform speed when it travels in the same direction to a distance of S1 meters from the first pedestrian simulation device, wherein the axis of the forward direction of the first pedestrian simulation device coincides with or is parallel to the longitudinal center axis of the vehicle to be tested, and both are parallel to the center line of the lane; obtaining real-time vehicle driving data information of the vehicle to be tested traveling in the first test field 204 specifically includes: at least obtaining the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the first pedestrian simulation device of the vehicle to be tested within a first preset time period after the vehicle to be tested travels to a distance of S1 meters from the first pedestrian simulation device.

[0046] In an optional implementation manner of the present embodiment, the vehicle to be tested enters the second test proving ground 205 for testing specifically including: turning on the rain spray device, and setting the rain spray intensity to be between R1 (mm / h) and R2 (mm / h), wherein R1 (mm / h) and R2 (mm / h) represent the minimum and maximum rainfall intensity; making the first obstacle vehicle move forward at a third uniform speed, and making the vehicle to be tested continue to move forward at a fourth uniform speed when it travels in the same direction to a distance of S2 meters from the first obstacle vehicle, wherein the longitudinal center axis of the first obstacle vehicle coincides with the longitudinal center axis of the vehicle to be tested, and both are parallel to the center line of the lane; obtaining real-time vehicle driving data information of the vehicle to be tested traveling in the second test proving ground 205 specifically includes: obtaining at least the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the first obstacle vehicle of the vehicle to be tested within a second preset time period after the vehicle to be tested travels to a distance of S2 meters from the first obstacle vehicle.

[0047] In an optional implementation manner of the present embodiment, the vehicle to be tested enters the third test proving ground 206 for testing, specifically including: turning on the illumination simulation device, and setting the illumination to be between L1 (Lux) and L2 (Lux), wherein the illumination intensities of L1 (Lux) and L2 (Lux) are minimum and maximum values; placing the second obstacle vehicle at rest, and allowing the vehicle to be tested to continue to move forward at a fifth uniform speed when it is S3 meters away from the second obstacle vehicle, wherein the longitudinal center axis of the second obstacle vehicle coincides with the longitudinal center axis of the vehicle to be tested, and both are parallel to the center line of the lane; obtaining real-time vehicle driving data information of the vehicle to be tested driving in the third test proving ground 206 specifically includes: obtaining at least the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the second obstacle vehicle of the vehicle to be tested within a third preset time period after the vehicle to be tested drives to S3 meters away from the second obstacle vehicle.

[0048] In an optional implementation manner of the present embodiment, the vehicle to be tested enters the fourth test field 207 for testing, specifically including: turning on the rain spray device, and setting the rain spray intensity to between R3 (mm / h) and R4 (mm / h), wherein R3 (mm / h) and R4 (mm / h) represent the minimum and maximum rainfall intensity; allowing the second pedestrian simulation device to cross the lane at a sixth speed from outside the lane in a direction perpendicular to the center line of the lane, and allowing the vehicle to be tested to continue to move forward at a seventh speed when it reaches a distance of S4 meters from the plane where the second pedestrian simulation device is located, wherein the longitudinal center axis of the vehicle to be tested is parallel to the center line of the lane; obtaining real-time vehicle driving data information of the vehicle to be tested driving in the fourth test field 207, specifically including: obtaining at least the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the second pedestrian simulation device of the vehicle to be tested within a fourth preset time period after the vehicle to be tested drives to a distance of S4 meters from the plane where the second pedestrian simulation device is located.

[0049] This embodiment also provides a specific test operation scheme, in which the test method flow and evaluation criteria are detailed. The following is a detailed description of the test operation scheme.

[0050] For this test operation plan, first build the test site and set up each test condition. The specific settings of each test condition are as follows.

[0051] Scene 1: Pedestrian chasing test site in foggy weather

[0052] This test scenario is used to evaluate the ability of the autonomous driving system of the autonomous driving vehicle to be tested to identify and avoid collisions with the target dummy traveling in the same direction in front of the vehicle under the interference of foggy weather conditions. The speed of the vehicle to be tested is set to 20km / h and 30km / h respectively, and the longitudinal target dummy path is parallel to the vehicle path. Table 1 lists the test conditions and test times that need to be completed in this test field, and Table 2 lists the parameters of the foggy environment.

[0053] Table 1 Test conditions of the longitudinal pursuit pedestrian test field in foggy weather

[0054] Serial number Speed ​​of the vehicle to be tested Target pedestrian speed Number of trials 1 20km / h 5km / h 3 2 30km / h 5km / h 3

[0055] Table 2 Visibility parameters for foggy scenes

[0056] Serial number Fog intensity Visibility parameters in foggy weather 1 Light fog (500m, 1000m] 2 Heavy fog ＜500m

[0057] Scene 2: Longitudinal car chase test site in rainy weather

[0058] This test scenario is used to evaluate the ability of the autonomous driving system of the autonomous driving vehicle to be tested to identify and avoid collisions with the target obstacle vehicle (a bicycle in this example) traveling in the same direction in front of the vehicle under the interference of rainy conditions. The speeds of the vehicles to be tested are 30km / h and 40km / h respectively, and the longitudinal target bicycle path is parallel to the vehicle path. Table 3 lists the test conditions and test times that need to be completed in the test field, and Table 4 lists the parameter settings for the rainy environment.

[0059] Table 3 Test conditions of longitudinal pursuit test field in rainy days

[0060] Serial number Speed ​​of the vehicle to be tested Target obstacle vehicle speed Number of trials 1 30km / h 12km / h 3 2 40km / h 12km / h 3

[0061] Table 4 Rainfall intensity parameters for rainy day scenarios

[0062] Serial number Rainfall intensity Rainfall intensity parameters (mm / h) 1 light rain [25，50] 2 moderate rain (50,70] 3 heavy rain ＞70

[0063] Scene 3: Stationary vehicles occupying the road under strong light test field

[0064] This test scenario is used to evaluate the ability of the autonomous driving system of the autonomous driving vehicle to be tested to identify and avoid collisions with a static target obstacle vehicle (a normal car in this example) in the same direction in front of the vehicle under strong light interference. The speeds of the vehicles to be tested are 30km / h and 40km / h respectively, and the position of the static target obstacle vehicle in the longitudinal direction overlaps with the vehicle path. Table 5 lists the test conditions and test times that need to be completed in this test field.

[0065] Table 5 Test conditions of stationary vehicle occupying the road test field under strong light

[0066] Serial number Speed ​​of the vehicle to be tested Target obstacle vehicle speed Number of trials 1 30km / h 0km / h 3 2 40km / h 0km / h 3

[0067] Scene 4: Pedestrians crossing the test site on a rainy day

[0068] This test scenario is used to evaluate the ability of the autonomous driving system of the autonomous driving vehicle to be tested to identify and automatically avoid collisions with objects crossing the road in front of the vehicle in rainy weather. The speeds of the vehicles to be tested are 30km / h and 50km / h respectively, and the path of the dummy crossing the road vertically is perpendicular to the path of the vehicle to be tested. Table 6 lists the test conditions and test times that need to be completed in this test field.

[0069] Table 6 Test conditions of pedestrian crossing test field in rainy days

[0070] Serial number Speed ​​of the vehicle to be tested Target dummy speed Number of trials 1 30km / h 8km / h 3 2 50km / h 8km / h 3

[0071] After constructing the test scenario and setting each test condition, it is necessary to build a closed field real vehicle test environment according to the above test scenario and each test condition. The test road surface should be a horizontal concrete or asphalt road surface; during the test, there should be no vehicles, obstacles or other objects that interfere with the test; traffic signs and markings are clearly visible and meet the requirements of GB 5768; roads and infrastructure meet the requirements of GB 14886, GB 14887, and GB / T 24973. Target obstacle vehicles, bicycles and motorcycles should be mass-produced passenger cars, two-wheeled bicycles and two-wheeled ordinary motorcycles, or flexible targets whose surface feature parameters can represent the above vehicles and adapt to the sensor system. Among them, the speed control accuracy of the target obstacle vehicle should be ±2km / h.

[0072] The test system consisting of the central control unit, data collection unit and data analysis unit should meet the following requirements:

[0073] a) The resolution of the video acquisition equipment installed inside and outside the vehicle to be tested shall not be less than (1920×1080) pixels;

[0074] b) The frequency of motion state sampling and storage is not less than 50 Hz;

[0075] c) The speed acquisition accuracy is no more than 0.1km / h;

[0076] d) The horizontal and vertical position acquisition accuracy shall not exceed 0.1m;

[0077] e) Acceleration acquisition accuracy is no more than 0.1m / s 2 .

[0078] The preparation requirements for the vehicle to be tested are as follows: Before the test, the vehicle system to be tested must be initialized, including calibration of sensors such as radar and camera. Before the test begins at each test site, it should be ensured that the system of the vehicle to be tested can work normally in the scenario before the interference source of the test site is turned on.

[0079] After setting up the real vehicle test environment, you can conduct real vehicle testing, as described below.

[0080] The simulated scene of the test field for chasing pedestrians in the foggy weather in scene 1 is shown in the figure below. Figure 3 As shown: This scenario is carried out in a foggy environment. The longitudinal centerline of the target dummy is parallel to the longitudinal centerline of the vehicle to be tested. The target dummy moves forward at a constant speed of 5 km / h after an acceleration section of 1 m. The collision point position can be preset as follows: Figure 3At the M point position shown in , the test vehicle is traveling at a constant speed of 20km / h and 30km / h respectively when it is 50m away from the target collision point. The test ends if the test vehicle brakes, avoids collision, the driver actively deviates (if the test vehicle is equipped with a driver) or a collision occurs. The data is recorded throughout the test, and each test condition is tested 3 times. The test vehicle maintains a stable speed, the speed should be maintained at the set speed ±2km / h, the target dummy speed should be maintained at (5±1)km / h, and the lateral distance deviation of the test vehicle should not exceed ±0.5m of the specified driving path. The evaluation rules for the scene of longitudinal pursuit of pedestrians in foggy weather are as follows:

[0081] The test scenario of chasing pedestrians in the foggy weather scored the safety index and experience index respectively. A total of 4 test conditions (respectively: 20km / h speed, light fog; 20km / h speed, heavy fog; 30km / h speed, light fog; 30km / h speed, heavy fog) were collected. The full score for each test condition was 1 point, and the overall full score was 4 points. Among them, the safety index is whether the vehicle to be tested can identify the target dummy and avoid collision. The specific safety index scores of a test condition are shown in Table 7. If the vehicle to be tested collides with the target dummy, the entire test scenario ends, the experience index of this test is 0 points, and other untested conditions in this scenario are 0 points.

[0082] Table 7 Safety indicators of the test scenario of longitudinal pursuit of pedestrians in foggy weather

[0083]

[0084] Note: AEB is triggered when the maximum deceleration exceeds 6m / s -2 In the case of a collision, TTC (Time to Collision) means the estimated time to collision. The "Driver Departure" item is only available if the vehicle to be tested is equipped with a driver.

[0085] The experience index is the deceleration and deceleration change rate of the vehicle to be tested, as shown in Table 8. Each index accounts for 0.1 points in each test condition.

[0086] Table 8 Experience indicators of the vertical pursuit pedestrian test scenario in foggy weather

[0087]

[0088] The definitions of C1 and C2 are:

[0089] C1 limit requirement for the deceleration of the vehicle to be tested: When the speed of the vehicle to be tested is greater than 72km / h, the deceleration should not exceed 3.5m / s 2 ; When the speed of the vehicle to be tested is less than 18km / h, the deceleration should not exceed 5m / s 2; When the speed of the vehicle to be tested is between 18km / h and 72km / h, the deceleration should change linearly.

[0090] The C2 limit value requirement for the deceleration rate of the vehicle to be tested: When the speed of the vehicle to be tested is greater than 72km / h, the deceleration rate should not exceed 2.5m / s 3 ; When the speed of the vehicle to be tested is less than 18km / h, the deceleration rate should not exceed 5m / s 3 ; When the speed of the vehicle to be tested is between 18km / h and 72km / h, the deceleration change rate should change linearly.

[0091] The simulated scene of the rainy day longitudinal car chase test field in scenario 2 is shown in the figure below. Figure 4 As shown: This test is used to evaluate the ability of the autonomous driving system of the vehicle to be tested to identify and avoid collisions with a target obstacle vehicle (a bicycle in this example) traveling in the same direction in front of the vehicle under the interference of rainy conditions. The speeds of the vehicles to be tested are 30km / h and 40km / h respectively. This scenario is carried out in a rainy environment. The centerline of the target bicycle coincides with the centerline of the vehicle to be tested. After the acceleration section, the target bicycle moves forward at a constant speed of 12km / h. The vehicles to be tested are tested at speeds of 30km / h and 40km / h respectively. The collision point is set as follows: Figure 4 The M point is shown. Data is recorded throughout the test. The speed of the vehicle to be tested is kept stable during the test preparation. The speed of the vehicle to be tested should be maintained at ±2 km / h of the set speed, and the target bicycle speed should be maintained at (12 ± 1) km / h. The lateral distance deviation of the test vehicle should not exceed ±0.5 m of the specified driving path.

[0092] The scoring criteria for longitudinal car pursuit in the rain are as follows: The longitudinal bicycle pursuit scenario evaluates safety indicators and experience indicators separately, with a full score of 6 points.

[0093] The safety index mainly judges whether the vehicle to be tested brakes and avoids collision, as shown in Table 7. If it is detected that the vehicle to be tested collides with the target bicycle, the entire test scenario ends, and the test experience index is scored 0 points. Other untested conditions in the scenario are scored 0 points.

[0094] The experience index is the deceleration and deceleration change rate of the vehicle to be tested, as shown in Table 8. Each index accounts for 0.1 points in each test condition.

[0095] The simulation scene of the test field of stationary vehicles occupying the road under strong light in scene three is shown in the figure Figure 5As shown in the figure, the scene is carried out in a strong light environment. A light simulation device with an illumination of 20,000 to 35,000 lux is placed 70 meters in front of the test vehicle to simulate the sunlight from 15:00 to 17:00, and the car drives towards the light source. The test requires the vehicle to be tested to maintain a stable speed. The speed of the vehicle to be tested set to a uniform speed should be maintained at (30±2) km / h or (40±2) km / h, and the lateral distance between the two vehicles should not exceed ±0.5m. In the specific example operation, the test steps are as follows: the target static obstacle vehicle is placed on the center line of the lane, the light simulation device is turned on, the longitudinal axis of the vehicle to be tested coincides with the longitudinal axis of the target obstacle vehicle, and the vehicle to be tested moves at a uniform speed of 30 or 40 km / h when it is 50m away from the target obstacle vehicle. If the vehicle to be tested detects the target obstacle vehicle and avoids, stops, or the two vehicles collide, the test ends. Data is recorded throughout the test process, and each test condition is tested 3 times.

[0096] The scoring criteria for the test of a stationary vehicle occupying the road under strong light are as follows: safety indicators and experience indicators are evaluated separately, with a full score of 1 point.

[0097] The safety index mainly judges whether the vehicle to be tested brakes and avoids collisions, as shown in Table 7. If it is detected that the vehicle to be tested collides with the target obstacle vehicle, the entire test scenario ends, and the test experience index is scored 0 points. Other untested conditions in the scenario are scored 0 points.

[0098] The experience index is the deceleration and deceleration change rate of the vehicle to be tested, as shown in Table 8. Each index accounts for 0.1 points in each test condition.

[0099] The simulated scene of the pedestrian crossing test site in rainy weather in scenario 4 is shown in the figure below. Figure 6 As shown in the figure, this scenario is conducted in an environment where there is a roadside parking space next to the lane and a vehicle is parked. The test is conducted in a rainy environment to test the emergency response of the vehicle to a target object (a dummy in this example) that suddenly rushes out of the roadside parking area. The test requires the vehicle to maintain a stable speed. The vehicle to be tested is set to travel at a constant speed at (30±2) km / h or (50±2) km / h, and the speed of the target dummy is (8±2) km / h. In a specific example operation, the vehicle to be tested is placed on the longitudinal centerline AA of the lane, and the pedestrian simulation device is placed on the transverse axis BB of the lane. Line AA is perpendicular to line BB. A blocking vehicle facing the lane is parked in a non-adjacent parking space next to the lane. The walking path of the target dummy is perpendicular to the driving centerline of the vehicle to be tested. The target dummy passes through the middle parking space next to the lane and accelerates for 3m before rushing out in the direction of the lane at a uniform speed of 8km / h. The vehicle to be tested is tested at 30km / h or 50km / h, approaching the target dummy at a uniform speed, and the test data is recorded throughout the process. Each test condition is tested three times. If it is detected that the vehicle to be tested collides with or avoids a collision with the target dummy, the test ends.

[0100] The scoring criteria for the rainy day pedestrian crossing test site are as follows: The pedestrian emergency crossing scenario evaluates the safety index and experience index separately, with a full score of 3 points.

[0101] The safety index mainly judges whether the vehicle to be tested brakes and avoids collision, as shown in Table 7. If it is detected that the vehicle to be tested collides with the target dummy, the entire test scenario ends, and the test experience index is scored 0 points. Other untested conditions in the scenario are scored 0 points.

[0102] The experience index is the deceleration and deceleration change rate of the vehicle to be tested, as shown in Table 8. Each index accounts for 0.1 points in each test condition.

[0103] Through the above four test scenarios of chasing pedestrians longitudinally in foggy weather, chasing vehicles longitudinally in rainy weather, stationary vehicles occupying the road under strong light, and pedestrians crossing in rainy weather, the expected functional safety in special weather urban scenarios is rated, with a full score of 14 points. The specific details are shown in Table 9:

[0104] Table 9 Urban scene evaluation details

[0105]

[0106]

[0107] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention 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 the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0108] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of 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 (PGA), a field programmable gate array (FPGA), etc.

[0109] 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.

[0110] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0111] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0112] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" 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 invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0113] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vehicle expected functional safety test method based on urban road scenarios, characterized in that: The method includes: The vehicle to be tested is ordered to enter the first test field, the second test field, the third test field and the fourth test field in sequence for testing, wherein the first test field is a test field for longitudinal pursuit of pedestrians in foggy weather, and the first test field includes at least one lane, a foggy weather simulation device and a first pedestrian simulation device; the second test field is a test field for longitudinal pursuit of vehicles in rainy weather, and the second test field includes at least one lane, a first obstacle vehicle and a rain spraying device; the third test field is a test field for stationary vehicles occupying the road under strong light, and the third test field includes at least one lane, a second obstacle vehicle and a lighting simulation device; the fourth test field is a test field for pedestrians crossing in rainy weather, and the fourth test field includes at least one lane, a second pedestrian simulation device and a rain spraying device; Acquire real-time vehicle driving data information of the vehicle to be tested driving on the first test proving ground, the second test proving ground, the third test proving ground and the fourth test proving ground respectively; Comparing the real-time vehicle driving data information with a preset evaluation table to obtain rating information of the vehicle to be tested; The vehicle to be tested enters the first test proving ground for testing specifically including: Turning on the fog simulation device so that the visibility in fog is between F1 meters and F2 meters, wherein F1 and F2 are the minimum and maximum values ​​of the visibility distance in fog; The first pedestrian simulation device is made to move forward at a first uniform speed, and the vehicle to be tested is made to move forward at a second uniform speed when it moves in the same direction to a distance of S1 meters from the first pedestrian simulation device, wherein the axis of the forward direction of the first pedestrian simulation device coincides with or is parallel to the longitudinal central axis of the vehicle to be tested, and both are parallel to the center line of the lane; Acquiring the real-time vehicle driving data information of the vehicle to be tested driving on the first test proving ground specifically includes: acquiring at least the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the first pedestrian simulation device of the vehicle to be tested within a first preset time period after the vehicle to be tested drives to a distance of S1 meters from the first pedestrian simulation device; The vehicle to be tested enters the second test proving ground for testing specifically including: Turn on the rain spray device and set the rain spray intensity to between R1 and R2, where R1 and R2 represent the minimum and maximum rainfall intensity; The first obstacle vehicle is made to move forward at a uniform speed of a third speed, and the vehicle to be tested is made to move forward at a uniform speed of a fourth speed when it moves in the same direction to a distance of S2 meters from the first obstacle vehicle, wherein the longitudinal center axis of the first obstacle vehicle coincides with the longitudinal center axis of the vehicle to be tested, and both are parallel to the center line of the lane; Acquiring the real-time vehicle driving data information of the vehicle to be tested driving on the second test proving ground specifically includes: acquiring at least the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the first obstacle vehicle of the vehicle to be tested within a second preset time period after the vehicle to be tested drives to a distance of S2 meters from the first obstacle vehicle; The vehicle to be tested enters the third test proving ground for testing specifically including: Turn on the light simulation device and set the illumination to between L1 and L2, where L1 and L2 represent the minimum and maximum illumination intensity; The second obstacle vehicle is placed at rest, and the vehicle to be tested is driven to a distance of S3 meters from the second obstacle vehicle and then continues to drive forward at a fifth uniform speed, wherein the longitudinal center axis of the second obstacle vehicle coincides with the longitudinal center axis of the vehicle to be tested and both are parallel to the center line of the lane; Acquiring the real-time vehicle driving data information of the vehicle to be tested while driving on the third test proving ground specifically includes: acquiring at least the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the second obstacle vehicle of the vehicle to be tested within a third preset time period after the vehicle to be tested drives to a distance of S3 meters from the second obstacle vehicle; The vehicle to be tested enters the fourth test proving ground for testing specifically including: Turn on the rain spray device and set the rain spray intensity to between R3 and R4, where R3 and R4 represent the minimum and maximum rainfall intensity; The second pedestrian simulation device is made to cross the lane at a sixth speed uniformly from outside the lane in a direction perpendicular to the center line of the lane, and the vehicle to be tested is made to continue to move forward at a seventh speed uniformly when it reaches a distance of 4 meters from the plane where the second pedestrian simulation device is located, wherein the longitudinal center axis of the vehicle to be tested is parallel to the center line of the lane; Obtaining real-time vehicle driving data information of the vehicle to be tested traveling in the fourth test field specifically includes: at least obtaining the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the second pedestrian simulation device of the vehicle to be tested within a fourth preset time period after the vehicle to be tested travels to a plane S4 meters away from the second pedestrian simulation device.

2. A vehicle expected functional safety test field based on urban road scenarios, characterized by: include: a central control unit, a data collection unit, a data analysis unit, a first test proving ground, a second test proving ground, a third test proving ground, and a fourth test proving ground; The central control unit is used to make the vehicle to be tested enter the first test field, the second test field, the third test field and the fourth test field in sequence for testing, wherein the first test field is a test field for longitudinal pursuit of pedestrians in foggy weather, and the first test field includes at least one lane, a foggy weather simulation device and a first pedestrian simulation device; the second test field is a test field for longitudinal pursuit of vehicles in rainy weather, and the second test field includes at least one lane, a first obstacle vehicle and a rain spraying device; the third test field is a test field for stationary vehicles occupying the road under strong light, and the third test field includes at least one lane, a second obstacle vehicle and a lighting simulation device; the fourth test field is a test field for pedestrians crossing in rainy weather, and the fourth test field includes at least one lane, a second pedestrian simulation device and a rain spraying device; The data collection unit is used to obtain real-time vehicle driving data information of the vehicle to be tested driving on the first test proving ground, the second test proving ground, the third test proving ground and the fourth test proving ground respectively; The data analysis unit is used to compare the real-time vehicle driving data information with a preset evaluation table to obtain rating information of the vehicle to be tested; The vehicle to be tested enters the first test proving ground for testing specifically including: Turning on the fog simulation device so that the visibility in fog is between F1 meters and F2 meters, wherein F1 and F2 are the minimum and maximum values ​​of the visibility distance in fog; The first pedestrian simulation device is made to move forward at a first uniform speed, and the vehicle to be tested is made to move forward at a second uniform speed when it moves in the same direction to a distance of S1 meters from the first pedestrian simulation device, wherein the axis of the forward direction of the first pedestrian simulation device coincides with or is parallel to the longitudinal central axis of the vehicle to be tested, and both are parallel to the center line of the lane; Acquiring the real-time vehicle driving data information of the vehicle to be tested driving on the first test proving ground specifically includes: acquiring at least the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the first pedestrian simulation device of the vehicle to be tested within a first preset time period after the vehicle to be tested drives to a distance of S1 meters from the first pedestrian simulation device; The vehicle to be tested enters the second test proving ground for testing specifically including: Turn on the rain spray device and set the rain spray intensity to between R1 and R2, where R1 and R2 represent the minimum and maximum rainfall intensity; The first obstacle vehicle is made to move forward at a uniform speed of a third speed, and the vehicle to be tested is made to move forward at a uniform speed of a fourth speed when it moves in the same direction to a distance of S2 meters from the first obstacle vehicle, wherein the longitudinal center axis of the first obstacle vehicle coincides with the longitudinal center axis of the vehicle to be tested, and both are parallel to the center line of the lane; Acquiring the real-time vehicle driving data information of the vehicle to be tested driving on the second test proving ground specifically includes: acquiring at least the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the first obstacle vehicle of the vehicle to be tested within a second preset time period after the vehicle to be tested drives to a distance of S2 meters from the first obstacle vehicle; The vehicle to be tested enters the third test proving ground for testing specifically including: Turn on the light simulation device and set the illumination to between L1 and L2, where L1 and L2 represent the minimum and maximum illumination intensity; The second obstacle vehicle is placed at rest, and the vehicle to be tested is driven to a distance of S3 meters from the second obstacle vehicle and then continues to drive forward at a fifth uniform speed, wherein the longitudinal center axis of the second obstacle vehicle coincides with the longitudinal center axis of the vehicle to be tested and both are parallel to the center line of the lane; Acquiring the real-time vehicle driving data information of the vehicle to be tested while driving on the third test proving ground specifically includes: acquiring at least the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the second obstacle vehicle of the vehicle to be tested within a third preset time period after the vehicle to be tested drives to a distance of S3 meters from the second obstacle vehicle; The vehicle to be tested enters the fourth test proving ground for testing specifically including: Turn on the rain spray device and set the rain spray intensity to between R3 and R4, where R3 and R4 represent the minimum and maximum rainfall intensity; The second pedestrian simulation device is made to cross the lane at a sixth speed uniformly from outside the lane in a direction perpendicular to the center line of the lane, and the vehicle to be tested is made to continue to move forward at a seventh speed uniformly when it reaches a distance of 4 meters from the plane where the second pedestrian simulation device is located, wherein the longitudinal center axis of the vehicle to be tested is parallel to the center line of the lane; Obtaining real-time vehicle driving data information of the vehicle to be tested traveling in the fourth test field specifically includes: at least obtaining the speed, deceleration, deceleration change rate, lateral offset speed, lateral distance from the center line of the lane, and relative distance from the second pedestrian simulation device of the vehicle to be tested within a fourth preset time period after the vehicle to be tested travels to a plane S4 meters away from the second pedestrian simulation device.

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