A method and apparatus for testing vehicle performance

Abstract

The embodiment of the present disclosure provides a vehicle performance test method and device, wherein the method is applied to a signal processing device, and the method comprises the following steps: in the case that a starting signal is received, sending a starting instruction to an actuator of the test vehicle, so that the actuator controls automatic driving of the test vehicle according to test data in response to receiving the starting instruction, the test data is test data corresponding to a test working condition pre-sent to the actuator of the test vehicle, and the test data contains a test program and control parameters; and receiving performance data collected by a sensor carried by the test vehicle, wherein the performance data is used to represent driving performance of the test vehicle in the test working condition. The method can collect performance data in the test process by using the sensor of the vehicle, thereby saving cost.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of intelligent driving, in particular to a vehicle performance testing method and device. BACKGROUND

[0002] In the performance development process of an automobile, control arm rubber bushings, bumpers, stabilizer bars, shock absorbers, steering gears and other components and systems need to be adjusted through chassis tuning to make the steering performance, handling stability and ride comfort of the automobile reach the set targets.

[0003] In the current chassis performance tuning process, in order to test the chassis performance data generated in the tuning process, a steering implementer, a pedal implementer, a GPS (Global Positioning System), a gyroscope, a signal input device and other test equipment need to be installed on the test vehicle, which are expensive and time-consuming and laborious to install and remove, and the debugging process is not efficient. SUMMARY

[0004] Therefore, the present disclosure provides at least one vehicle performance testing method and device.

[0005] Specifically, the present disclosure is implemented through the following technical solutions.

[0006] In a first aspect, a vehicle performance testing method is provided, which is applied to a signal processing device, and the method comprises:

[0007] In the case of receiving a start signal, a start instruction is sent to an implementer of the test vehicle, so that the implementer automatically drives the test vehicle according to test data in response to receiving the start instruction; the test data is test data corresponding to a test working condition pre-sent to the implementer of the test vehicle, and the test data includes a test program and control parameters;

[0008] Performance data collected by a sensor carried by the test vehicle itself is received, and the performance data is used to represent the driving performance of the test vehicle under the test working condition.

[0009] According to any one of the embodiments provided by the present disclosure, the signal processing device is located in the test vehicle.

[0010] According to any one of the embodiments provided by the present disclosure, the start signal is received, including:

[0011] The start signal sent by a signal generator located outside the test vehicle is received by a signal receiver of the signal processing device.

[0012] In combination with any of the embodiments provided in the present disclosure, the sensors include at least one of: a vehicle-mounted camera; a vehicle-mounted radar; a vehicle-mounted inertial conducting unit; a vehicle-mounted global positioning system (GPS); a wheel speed sensor located at a wheel; a steering angle sensor located at a steering wheel.

[0013] In combination with any of the embodiments provided in the present disclosure, the performance data includes acceleration data collected by an inertial conducting unit of the test vehicle.

[0014] After receiving the performance data collected by the sensors carried by the test vehicle itself, the method further includes:

[0015] In a case where the test vehicle is in a high-speed transient operating condition, the acceleration data is corrected.

[0016] In combination with any of the embodiments provided in the present disclosure, the acceleration data includes longitudinal acceleration; and the correction of the acceleration data includes:

[0017] According to a wheel pulse signal collected by a wheel speed sensor of the test vehicle, an acceleration of the wheel is calculated and determined as the corrected longitudinal acceleration.

[0018] In combination with any of the embodiments provided in the present disclosure, the acceleration data further includes lateral acceleration; and the method further includes:

[0019] According to a steering angle signal collected by a steering angle sensor at a steering wheel of the test vehicle and a steering transmission ratio, a yaw angle of the test vehicle is calculated.

[0020] According to the yaw angle of the test vehicle and the longitudinal acceleration, a lateral acceleration of the test vehicle is calculated and determined as the corrected lateral acceleration.

[0021] In combination with any of the embodiments provided in the present disclosure, the method further includes:

[0022] According to the corrected longitudinal acceleration and lateral acceleration, and the longitudinal acceleration and lateral acceleration in the acceleration data before correction, a pitch angle and a roll angle of the test vehicle are calculated.

[0023] In combination with any of the embodiments provided in the present disclosure, the method further includes:

[0024] In response to detecting a safety parameter in the performance data triggering a safety limit, the test vehicle is controlled to enter a safety state, the safety limit being a limit set to prevent a safety accident of the test vehicle.

[0025] In combination with any of the embodiments provided in the present disclosure, the control of the test vehicle to enter the safety state includes:

[0026] sending a control instruction to the actuator of the test vehicle, the control instruction being used to instruct the actuator to perform at least one of the following operations: reducing speed; hitting the steering wheel; and stopping driving.

[0027] In a second aspect, a vehicle performance testing method is provided, the method being applied to a test vehicle, the test vehicle being externally connected to a signal processing device, and the method comprising:

[0028] The actuator automatically drives the test vehicle according to test data in response to receiving a start instruction sent by the signal processing device, the start instruction being sent by the signal processing device in the case of receiving a start signal; the test data being test data corresponding to a test working condition pre-sent to the actuator of the test vehicle, the test data including a test program and control parameters.

[0029] The sensor carried by the test vehicle itself collects performance data, and sends the performance data to the signal processing device, the performance data being used to represent the driving performance of the test vehicle in the test working condition.

[0030] In a third aspect, a data correction method is provided, the method comprising:

[0031] The performance data collected by the sensor carried by the test vehicle itself is obtained, the performance data being used to represent the driving performance of the test vehicle in the test working condition, the performance data including acceleration data collected by an inertial conduction unit of the test vehicle; the performance data being obtained when the signal processing device sends a start instruction to the actuator of the test vehicle in the case of receiving a start signal, the actuator automatically driving the test vehicle according to test data in response to receiving the start instruction, the test data being test data corresponding to a test working condition pre-sent to the actuator of the test vehicle, the test data including a test program and control parameters.

[0032] In the case that the test vehicle is in a high-speed transient working condition, the acceleration data is corrected.

[0033] According to any one of the embodiments provided in the present disclosure, the acceleration data includes longitudinal acceleration; and the correction of the acceleration data comprises:

[0034] The acceleration of the wheel is calculated according to the wheel pulse signal collected by the wheel speed sensor of the test vehicle, and the acceleration is determined as the corrected longitudinal acceleration.

[0035] According to any one of the embodiments provided in the present disclosure, the acceleration data further includes lateral acceleration; and the method further comprises:

[0036] According to a rotation angle signal collected by a rotation angle sensor at a steering wheel of the test vehicle and a steering transmission ratio, a yaw angle of the test vehicle is calculated;

[0037] According to the yaw angle and the longitudinal acceleration of the test vehicle, a lateral acceleration of the test vehicle is calculated and determined as a corrected lateral acceleration.

[0038] According to any one of the embodiments provided in the present disclosure, the method further comprises:

[0039] According to the corrected longitudinal acceleration and lateral acceleration, and the longitudinal acceleration and lateral acceleration in the acceleration data before correction, a pitch angle and a roll angle of the test vehicle are calculated.

[0040] In a fourth aspect, a safety limiting method is provided, and the method comprises:

[0041] Performance data collected by a sensor carried by a test vehicle itself is acquired, the performance data being used to represent driving performance of the test vehicle under a test working condition; the performance data is used to send a starting instruction to an actuator of the test vehicle by a signal processing device under the condition that a starting signal is received, and the actuator is used to control the test vehicle to automatically drive according to test data corresponding to the test working condition, which is sent to the actuator of the test vehicle in advance, the test data comprising a test program and a control parameter;

[0042] In response to detecting that a safety parameter in the performance data triggers a safety limit, the test vehicle is controlled to enter a safety state, and the safety limit is a limit set to prevent a safety accident of the test vehicle.

[0043] According to any one of the embodiments provided in the present disclosure, the control of the test vehicle to enter the safety state comprises:

[0044] A control instruction is sent to the actuator of the test vehicle, and the control instruction is used to instruct the actuator to perform at least one of the following operations: reducing speed; hitting the steering wheel; and stopping driving.

[0045] According to any one of the embodiments provided in the present disclosure, the safety parameter comprises at least one of the following: speed; lateral acceleration; longitudinal acceleration; pitch angle; and roll angle.

[0046] In a fifth aspect, a vehicle performance testing device is provided, and the device is applied to a signal processing device, and the device comprises:

[0047] The test starting module is configured to send a starting instruction to the actuator of the test vehicle in response to receiving a starting signal, so that the actuator controls the test vehicle to automatically drive according to test data in response to receiving the starting instruction; the test data is test data corresponding to a test working condition pre-sent to the actuator of the test vehicle, and the test data includes a test program and a control parameter;

[0048] The data receiving module is configured to receive performance data collected by a sensor carried by the test vehicle, and the performance data is used to indicate driving performance of the test vehicle in the test working condition.

[0049] According to any one of the embodiments provided in the present disclosure, the device further comprises a data correction module and / or a safety limiting module; the performance data comprises acceleration data collected by an inertial conduction unit of the test vehicle.

[0050] The data correction module is configured to correct the acceleration data when the test vehicle is in a high-speed transient working condition.

[0051] The safety limiting module is configured to control the test vehicle to enter a safety state in response to detecting that a safety parameter in the performance data triggers safety limiting, and the safety limiting is a limitation set to prevent a safety accident of the test vehicle.

[0052] In a sixth aspect, an electronic device is provided, and the device comprises a memory and a processor, the memory is configured to store computer instructions executable on the processor, and the processor is configured to implement the method described in any one of the embodiments of the present disclosure when executing the computer instructions.

[0053] In a seventh aspect, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, and the program is executed by a processor to implement the method described in any one of the embodiments of the present disclosure.

[0054] The vehicle performance test method provided by the technical solution of the present disclosure can realize vehicle performance test without human intervention for a test vehicle carrying an intelligent driving scheme, and can save a large amount of test equipment cost compared with a traditional test method, and can avoid a time-consuming and laborious process of installing and dismounting a plurality of test equipment, save manpower and time, and be more efficient. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the one or more embodiments of the present disclosure or the related art, the drawings needed to be used in the description of the embodiments or the related art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the one or more embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

[0056] Figure 1 is a flowchart of a vehicle performance test method according to at least one embodiment of the present disclosure;

[0057] Figure 2 is a flowchart of another vehicle performance test method according to at least one embodiment of the present disclosure;

[0058] Figure 3 is a flowchart of a data correction method according to at least one embodiment of the present disclosure;

[0059] Figure 4 is a flowchart of a safety limit method according to at least one embodiment of the present disclosure;

[0060] Figure 5 is a block diagram of a vehicle performance test device according to at least one embodiment of the present disclosure;

[0061] Figure 6 is a block diagram of another vehicle performance test device according to at least one embodiment of the present disclosure;

[0062] Figure 7 is a hardware structure schematic diagram of an electronic device according to at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0063] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, the same numbers are used to indicate the same or similar components. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present description. Rather, they are merely examples of devices and methods consistent with some aspects of the present description as detailed in the appended claims.

[0064] The terms used in the present description are merely for the purpose of describing particular embodiments and are not intended to limit the present description. As used in the present description and the appended claims, singular forms "a," "an," and "the" are intended to include plural forms, unless the context clearly indicates otherwise. It will be further understood that the term "and / or" used herein means and includes any or all possible combinations of one or more associated listed items.

[0065] It should be understood that, although the terms first, second, third, etc. can be employed in this specification to describe various information, the information is not to be limited to these terms. These terms are only used to distinguish one category of information from another. For example, a first information can also be termed a second information, and, similarly, a second information can also be termed a first information, without departing from the scope of the present specification. The word "if' as used herein means "when" or "upon" or "in response to the determination" depending on the context.

[0066] With the development and maturation of intelligent driving technology, there are more and more intelligent vehicles equipped with intelligent driving solutions in the market. Compared with traditional vehicles, intelligent vehicles are equipped with rich sensors. Based on this, at least one vehicle performance testing method is proposed in the present disclosure to make full use of the sensors carried by intelligent vehicles to realize low-cost and high-efficiency vehicle performance testing.

[0067] As shown in Figure 1 , a flowchart of a vehicle performance testing method according to at least one embodiment of the present disclosure is shown. The method can be used in a signal processing device and includes the following steps: Figure 1

[0068] In step 102, in the case of receiving a start signal, a start instruction is sent to the actuator of the test vehicle, so that the actuator controls the test vehicle to automatically drive according to the test data in response to receiving the start instruction.

[0069] In this embodiment, the test vehicle is an intelligent vehicle equipped with an intelligent driving system, and the signal processing device can be a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, or other electronic devices with data processing and data storage functions. The signal processing device can be connected and communicated with the test vehicle, such as wired connection or wireless connection. When the signal processing device is wirelessly connected, it can be located outside the test vehicle.

[0070] The start signal is used to start the performance test of the test vehicle. The start signal can be a signal sent by a test personnel manually operating a related device, or a signal automatically generated by the signal processing device. In an embodiment, the receiving of the start signal includes:

[0071] The start signal sent by a signal generator located outside the test vehicle is received by a signal receiver of the signal processing device.

[0072] The signal receiver of the signal processing device can be a communication module built-in the signal processing device, such as a Wi-Fi module and a Bluetooth module, or a communication module externally connected to the signal processing device, such as an external network card.

[0073] ​The signal transmitter is an electronic device with a signal transmission function, such as a mobile phone, a computer, etc.

[0074] For example, in the case of a notebook computer as the signal processing device, the notebook computer can be placed in the test vehicle and connected to the actuator of the test vehicle through the OBD interface. Before starting the test, the tester sends a start signal outside the test vehicle through the signal transmitter. The signal receiver transmits the start signal to the signal processing device, thereby realizing remote start test without the tester staying in the vehicle to start.

[0075] The start instruction is used to request the actuator to execute the executable instructions in the test data, thereby controlling the automatic driving of the test vehicle. The start instruction can contain request parameters. When the signal processing device receives the start signal, it sends the request parameters set by the script to the control unit of the actuator. The control unit of the actuator responds to the corresponding test condition through the request parameters.

[0076] The test condition refers to different types of vehicle performance tests, and different test conditions correspond to different test data. The test condition in this embodiment can be various dynamic performance test conditions, for example, acceleration test and braking test with fixed longitudinal acceleration, variable line test with stable longitudinal speed input pulse corner, steady-state turning test with longitudinal speed linear growth corner and insufficient steering slow reduction, etc., so as to test the performance of the vehicle under the test condition. Different test conditions can be tested on the same test vehicle by adjusting the test data, which can reduce the test error caused by multiple device tests.

[0077] The test data is the test data corresponding to the test condition pre-sent to the actuator of the test vehicle. The test data contains test programs and control parameters. The test data can be pre-sent to the actuator by the signal processing device, or the test data can be pre-sent to the actuator by other devices.

[0078] The test data is used to indicate the automatic driving operation of the test vehicle. The test program is a pre-written executable instruction, such as a script. For example, the script can be written in capl language on CANoe (bus development environment). The control parameter is a variable that can be set in the test program, which is usually a lateral and longitudinal parameter required for dynamic performance test of the test vehicle. The lateral parameter refers to the parameter related to steering, and the longitudinal parameter refers to the parameter related to the speed in the direction of vehicle travel, such as steady-state longitudinal speed, lateral corner input size, duration, etc.

[0079] In an embodiment, the signal processing device is located in the test vehicle, and can be connected to the actuators of the test vehicle through an OBD (On-Board Diagnostics) interface of the test vehicle, so that the connection and communication between the signal processing device and the test vehicle are more reliable. For example, when the signal processing device is a notebook computer, the notebook computer can be connected to the test vehicle through a data line inserted into the OBD interface of the test vehicle and the interface of the notebook computer, so that the signal processing device is connected to the CAN (Controller Area Network) bus, the propulsion CAN bus and the flexray CAN bus, and can communicate with the actuators and sensors of the test vehicle. The test data needs to be transmitted to the actuators through the CAN bus, and before transmission, the signal processing device needs to handshake with the control unit in the actuators, and after the handshake is completed, the signal processing device can communicate with the actuators.

[0080] In an embodiment, before step 102, the method further comprises: sending, by the signal processing device, test data corresponding to the test working condition to the actuators of the test vehicle.

[0081] In this step, by externally connecting the signal processing device to the test vehicle, the signal processing device sends test data corresponding to the test working condition to the actuators of the test vehicle, so as to set the test data on the test vehicle.

[0082] In step 104, the performance data collected by the sensors carried by the test vehicle is received, and the performance data is used to represent the driving performance of the test vehicle under the test working condition.

[0083] For example, after receiving the start signal, the signal processing device starts data recording while sending the start instruction, so as to receive the performance data fed back by the sensors of the test vehicle. At the same time when the actuators respond to the start instruction, at least one sensor of the test vehicle records the performance data in the current state of the test vehicle in real time and feeds back the state data to the signal processing device through the CAN bus.

[0084] The sensors can include at least one of the following: a vehicle-mounted camera; a vehicle-mounted radar; a vehicle-mounted IMU (Inertial Measurement Unit); a vehicle-mounted GPS; a wheel speed sensor located at a wheel; and a steering angle sensor located at a steering wheel.

[0085] The performance data is data collected by the sensor during operation, and is used by the tester to calibrate the chassis performance according to the data. The performance data is not limited in this embodiment, and can be set by a person skilled in the art according to the actual needs of the test. For example, the performance data can include the position, speed, acceleration of the test vehicle, wheel speed of the wheel, and steering angle of the steering wheel, etc.

[0086] After completing the test of the required test condition, a stop command can be input to the signal receiver in the vehicle through the off-vehicle signal transmitter, the signal receiver transmits the stop command to the signal processing device, and the signal processing device stops the test and saves the data. Alternatively, in other examples, the signal processing device can also automatically stop the test after the executable instructions in the test data are executed.

[0087] The vehicle performance test method provided in this embodiment can input test data to the test vehicle through the signal processing device to test the test vehicle equipped with an intelligent driving scheme, and collect performance data by using the sensors carried by the test vehicle itself after the test is started. The vehicle performance test can be realized without human intervention, and the safety of the tester is improved. By using the sensors and other devices of the test vehicle itself, a large amount of test device cost can be saved compared with the traditional test method, and the time-consuming and laborious process of installing and disassembling various test devices is avoided, manpower and time are saved, and the efficiency is higher.

[0088] In an embodiment, the performance data includes acceleration data collected by an IMU of the test vehicle. The IMU is installed on the body of the test vehicle and is used to measure acceleration. In the case of low-speed steady state of the test vehicle, the accuracy error of the IMU is small, but in the case of high-speed transient state, the IMU measured acceleration data cannot truly reflect the lateral and longitudinal acceleration due to the change of pitch angle and roll angle. The cumulative error of the acceleration in the IMU needs to be corrected to ensure the accuracy of the performance data.

[0089] On the basis of the above-mentioned embodiments, after receiving the performance data collected by the sensor carried by the test vehicle itself, the method further comprises: correcting the acceleration data in the case that the test vehicle is in a high-speed transient state.

[0090] The high-speed transient state refers to the state of the test vehicle when the driving speed is fast, the acceleration changes greatly, or the steering angle changes greatly. At this time, the test vehicle will appear pitch, roll and other situations. This embodiment does not limit the way of correcting the acceleration data. For example, the acceleration data can be corrected in combination with the data collected by other sensors carried by the test vehicle such as GPS, camera and radar, or the acceleration data can be corrected by using the data collected by measuring devices other than the test vehicle.

[0091] In one embodiment, the acceleration data comprises longitudinal acceleration; and the correcting the acceleration data comprises:

[0092] According to wheel pulse signals collected by wheel speed sensors of the test vehicle, the acceleration of the wheel is calculated and determined as the corrected longitudinal acceleration.

[0093] For example, the wheel speed sensors can be located at the rear wheels of the test vehicle, so that the collected wheel pulse signals can better reflect the longitudinal acceleration. The wheel pulse signals can be used to calculate the wheel speed first, and then the acceleration is calculated in combination with the wheel radius. Since the wheel pulse signals are not affected by the roll angle and the pitch angle, the calculated acceleration can be used as a more accurate longitudinal acceleration of the vehicle.

[0094] In one embodiment, the acceleration data further comprises lateral acceleration; and the method further comprises:

[0095] According to the steering angle signals collected by the steering angle sensor at the steering wheel of the test vehicle and the steering transmission ratio, the yaw angle of the test vehicle is calculated;

[0096] According to the yaw angle of the test vehicle and the longitudinal acceleration, the lateral acceleration of the test vehicle is calculated and determined as the corrected lateral acceleration.

[0097] The yaw angle refers to the angle of rotation of the test vehicle around the z-axis of the vehicle coordinate system, which is controlled by the steering angle of the steering wheel. Therefore, the yaw angle of the test vehicle can be calculated by the steering angle signals collected by the steering angle sensor and the steering transmission ratio.

[0098] The longitudinal acceleration and the lateral acceleration can be regarded as two sides of a right triangle, and the yaw angle is one of the acute angles of the right triangle. Therefore, the lateral acceleration can be calculated by the yaw angle and the longitudinal acceleration with the aid of trigonometric functions. Since the steering angle signals collected by the steering angle sensor are not affected by the roll angle and the pitch angle, the calculated lateral acceleration can be used as a more accurate corrected lateral acceleration.

[0099] In one embodiment, the pitch angle and the roll angle collected by the IMU can also be corrected, and the method further comprises:

[0100] According to the corrected longitudinal acceleration and lateral acceleration, and the longitudinal acceleration and lateral acceleration in the acceleration data before correction, the pitch angle and the roll angle of the test vehicle are calculated.

[0101] The pitch angle refers to the angle of "pitch" of the test vehicle relative to the XOY plane of the inertial coordinate system. The roll angle refers to the angle of "roll" of the test vehicle relative to the XOZ plane of the inertial coordinate system.

[0102] The longitudinal acceleration and the lateral acceleration in the acceleration data collected by the IMU before correction are actually data without considering the pitch angle and the roll angle, that is, the corrected longitudinal acceleration and the corrected lateral acceleration are different from the corrected longitudinal acceleration and the corrected lateral acceleration by the pitch angle and the roll angle, and therefore, the pitch angle and the roll angle can be calculated according to the above data by means of trigonometric functions, and the additional measurement device is reduced.

[0103] In the test process, experienced drivers often need to cooperate on the vehicle to carry out tests, and intervene in emergency situations such as vehicle out of control, which requires high driving experience of the driver and has certain safety risks. In order to reduce the driving ability requirement of the test personnel and improve the safety of the test personnel, in an embodiment, the method further comprises:

[0104] In response to detecting that a safety parameter in the performance data triggers a safety limit, controlling the test vehicle to enter a safety state, the safety limit being a limit set to prevent the test vehicle from having a safety accident.

[0105] The safety parameter is data related to the safety degree in the performance data, including at least one of the following: speed; lateral acceleration; longitudinal acceleration; pitch angle; roll angle. The safety state can be a steady state of smooth driving, or a state of stopping driving. The safety limit can be a preset threshold condition, and when the safety parameter triggers the safety limit, it means that the test vehicle is prone to have a safety accident.

[0106] The embodiment does not limit the way of controlling the test vehicle to enter the safety state, for example, the test vehicle can be controlled to gradually stop or immediately stop, or the driving speed or direction of the test vehicle can be adjusted.

[0107] In an example, the controlling the test vehicle to enter the safety state comprises:

[0108] Sending a control instruction to an actuator of the test vehicle, the control instruction being used to instruct the actuator to perform at least one of the following operations: reducing speed; hitting back the steering wheel; stopping driving.

[0109] For example, when an extreme situation that affects the safety of the vehicle such as lateral sliding caused by excessive lateral acceleration, rollover caused by excessive roll angle of the vehicle body, etc. is about to occur, the system safety limit is triggered, the safety limit trigger set on the signal processing device or the test vehicle uses the correction method of reducing speed, hitting back, etc. to send a control instruction to the actuator of the test vehicle, so that the test vehicle returns to a steady state, and then automatically stops the test and saves the performance data.

[0110] The safety limit needs to be calibrated in advance. Before calibration, the vehicle needs to be installed with anti-rollover protection devices on both sides of the vehicle body. The vehicle performance is calibrated at a fixed speed (such as 60kph, 80kph, 100kph, 120kph) to reach a corresponding lateral acceleration (such as 0.2g, 0.4g, 0.6g, 0.8g). For example, when the vehicle appears serious side slip, rollover and other out-of-control conditions at a certain speed and a certain lateral acceleration, the speed and the corresponding lateral acceleration are taken as the maximum boundary. By multiplying a safety factor (such as 90%, 80%, 70%), the critical value that does not cause out-of-control conditions is found to form a safety trigger boundary. During the test, when the monitoring value (vehicle speed and corresponding lateral acceleration) exceeds the safety trigger boundary, the safety limit is triggered immediately.

[0111] The method is simple and easy to operate, and does not require human intervention by the driver on the vehicle. Under the premise of reducing the driving ability requirement of the test personnel, the safety of the test personnel and the vehicle is improved under extreme working conditions.

[0112] As shown in Figure 2 , Figure 2 is a flowchart of another vehicle performance test method according to at least one embodiment of the present disclosure. The method can be used to test a vehicle, including the following steps, wherein the repeated steps of the above embodiments are not described again in this embodiment:

[0113] In step 202, the actuator of the test vehicle automatically drives the test vehicle according to the test data in response to receiving the start instruction sent by the signal processing device. The start instruction is sent by the signal processing device when the start signal is received.

[0114] The test data is the test data corresponding to the test working condition sent to the actuator of the test vehicle in advance. The test data includes a test program and control parameters.

[0115] The test vehicle is an intelligent vehicle equipped with an intelligent driving system. The actuator of the test vehicle can be connected to the signal processing device through wired or wireless connection. For example, when the signal processing device is located in the test vehicle, the OBD interface of the test vehicle can be connected to the actuator of the test vehicle through CAN bus, so that the connection and communication between the signal processing device and the test vehicle are more reliable.

[0116] The start command is used to request the actuator to execute executable instructions in the test data, thereby controlling the test vehicle to drive autonomously. The start command may include request parameters. When the signal processing device receives the start signal, it sends the request parameters set in the script to the actuator's control unit. The actuator's control unit responds to the corresponding test conditions based on the request parameters. For example, if the executable instruction in the test data is to drive at a speed of 50 km / h for 1 minute and then turn left after 1 minute, the actuator will control the accelerator and steering wheel of the test vehicle accordingly.

[0117] In step 204, the sensors on the test vehicle itself collect performance data and send the performance data to the signal processing device. The performance data is used to represent the driving performance of the test vehicle under the test conditions.

[0118] For example, while the actuator responds to the start command, at least one sensor of the test vehicle will record the performance data of the test vehicle in real time and feed the status data back to the signal processing equipment via the CAN bus.

[0119] like Figure 3 As shown, Figure 3 This is a flowchart illustrating at least one embodiment of a data correction method, which can be used in a corrector in a signal processing device, test vehicle, or other equipment, and includes the following steps:

[0120] In step 302, performance data collected by the sensors mounted on the test vehicle are obtained.

[0121] The performance data is used to represent the driving performance of the test vehicle under the test conditions. The performance data includes acceleration data collected by the inertial transmission unit of the test vehicle. The performance data is collected when the signal processing device sends a start command to the actuator of the test vehicle upon receiving a start signal. The actuator, in response to receiving the start command, controls the test vehicle to drive autonomously based on the test data. The test data is the test data corresponding to the test conditions that are pre-sent to the actuator of the test vehicle. The test data includes test procedures and control parameters.

[0122] This embodiment does not limit the way the corrector obtains performance data; it can be obtained from signal processing equipment, from the sensors of the test vehicle, or from other devices.

[0123] In step 304, the acceleration data is corrected when the test vehicle is in a high-speed transient condition.

[0124] High-speed transient conditions refer to the state of the test vehicle when it is traveling at high speed, with large changes in acceleration or steering wheel angle. Under these conditions, the test vehicle may experience pitching and rolling. This embodiment does not limit the method of correcting acceleration data. For example, the acceleration data can be corrected by combining data collected from other sensors on the test vehicle, such as onboard GPS, onboard cameras, and onboard radar. Alternatively, the acceleration data can be corrected using data collected from measuring devices outside the test vehicle.

[0125] In one embodiment, the acceleration data includes longitudinal acceleration; the correction of the acceleration data includes:

[0126] Based on the wheel pulse signals collected by the wheel speed sensors of the test vehicle, the wheel acceleration is calculated and determined as the corrected longitudinal acceleration.

[0127] In one embodiment, the acceleration data further includes lateral acceleration; the method further includes:

[0128] The yaw angle of the test vehicle is calculated based on the steering angle signal collected by the steering angle sensor at the steering wheel of the test vehicle and the steering ratio.

[0129] Based on the yaw angle and longitudinal acceleration of the test vehicle, the lateral acceleration of the test vehicle is calculated and determined as the corrected lateral acceleration.

[0130] In one embodiment, the method further includes:

[0131] Based on the corrected longitudinal and lateral accelerations, as well as the longitudinal and lateral accelerations in the acceleration data before correction, the pitch and roll angles of the test vehicle are calculated.

[0132] For details on the specific implementation of the above steps, please refer to the description of the above embodiments; this embodiment will not repeat them here.

[0133] like Figure 4 As shown, Figure 4 This is a flowchart illustrating a security limiting method according to at least one embodiment of the present disclosure. The method can be used in a security limiting trigger in a signal processing device, test vehicle, or other equipment, and includes the following steps:

[0134] In step 402, performance data collected by the sensors mounted on the test vehicle are obtained.

[0135] The performance data is used to represent the driving performance of the test vehicle under the test conditions. The performance data is collected when the signal processing device sends a start command to the actuator of the test vehicle upon receiving a start signal, and the actuator, in response to receiving the start command, controls the test vehicle to drive autonomously based on the test data. The test data is the test data corresponding to the test conditions that are pre-sent to the actuator of the test vehicle, and the test data includes test procedures and control parameters.

[0136] This embodiment does not limit the way the safety limit trigger obtains performance data. It can be obtained from signal processing equipment, from the sensors of the test vehicle, or from other devices.

[0137] In step 404, in response to the detection of a safety parameter in the performance data triggering a safety restriction, the test vehicle is controlled to enter a safe state, the safety restriction being a restriction set to prevent a safety accident from occurring to the test vehicle.

[0138] For example, when extreme situations affecting vehicle safety, such as excessive lateral acceleration leading to skidding or excessive body roll angle leading to rollover, occur, the system safety limit will be triggered. The safety limit trigger set on the signal processing equipment or the test vehicle will use corrective measures such as reducing speed and turning the steering wheel back to send control commands to the actuators of the test vehicle, so that the test vehicle returns to a steady state, and then automatically stops the test and saves the performance data.

[0139] In one embodiment, controlling the test vehicle to enter a safe state includes:

[0140] A control command is sent to the actuator of the test vehicle, the control command instructing the actuator to perform at least one of the following operations: reduce speed; turn the steering wheel back; stop driving.

[0141] In one embodiment, the safety parameters include at least one of the following: velocity; lateral acceleration; longitudinal acceleration; pitch angle; roll angle.

[0142] For details on the specific implementation of the above steps, please refer to the description of the above embodiments; this embodiment will not repeat them here.

[0143] like Figure 5 As shown, Figure 5 This is a block diagram illustrating a vehicle performance testing apparatus according to at least one embodiment of the present disclosure. The apparatus is applied to a signal processing device and includes:

[0144] The test starting module 51 is configured to send a starting instruction to the actuators of the test vehicle in response to receiving a starting signal, so that the actuators control the test vehicle to automatically drive according to test data in response to receiving the starting instruction, the test data being test data corresponding to a test working condition pre-sent to the actuators of the test vehicle, and the test data including a test program and control parameters.

[0145] The data receiving module 52 is configured to receive performance data collected by sensors carried by the test vehicle, the performance data being used to indicate driving performance of the test vehicle in the test working condition.

[0146] In some optional embodiments, the signal processing device is located on the test vehicle.

[0147] In some optional embodiments, the receiving of the starting signal comprises:

[0148] The starting signal is received by a signal receiver of the signal processing device and is sent by a signal generator located outside the test vehicle.

[0149] In some optional embodiments, the sensors include at least one of the following: a vehicle-mounted camera, a vehicle-mounted radar, a vehicle-mounted inertial conducting unit, a vehicle-mounted global positioning system (GPS), a wheel speed sensor located on a wheel, and a steering angle sensor located on a steering wheel.

[0150] As shown in the foregoing device embodiments, the device further comprises: Figure 6

[0151] The data correction module 53 and / or the safety limiting module 54; the performance data includes acceleration data collected by an inertial conducting unit of the test vehicle.

[0152] The data correction module 53 is configured to correct the acceleration data when the test vehicle is in a high-speed transient working condition.

[0153] The safety limiting module 54 is configured to control the test vehicle to enter a safety state in response to detecting a safety parameter in the performance data triggering safety limiting, the safety limiting being a limitation set to prevent the test vehicle from having a safety accident.

[0154] In some optional embodiments, the acceleration data includes longitudinal acceleration; and the correction of the acceleration data comprises:

[0155] The acceleration of the wheel is calculated according to a wheel pulse signal collected by a wheel speed sensor of the test vehicle and is determined as the corrected longitudinal acceleration.

[0156] ​In some optional embodiments, the acceleration data further comprises lateral acceleration; and the data correction module 53 is further configured to:

[0157] According to the yaw angle of the test vehicle and the longitudinal acceleration, the lateral acceleration of the test vehicle is calculated and determined as the corrected lateral acceleration.

[0158] According to the yaw angle of the test vehicle and the longitudinal acceleration, the lateral acceleration of the test vehicle is calculated and determined as the corrected lateral acceleration.

[0159] In some optional embodiments, the data correction module 53 is further configured to:

[0160] According to the corrected longitudinal acceleration and lateral acceleration, and the longitudinal acceleration and lateral acceleration in the acceleration data before correction, the pitch angle and roll angle of the test vehicle are calculated.

[0161] In some optional embodiments, the control of the test vehicle into a safe state comprises:

[0162] sending a control instruction to an actuator of the test vehicle, the control instruction being used to instruct the actuator to perform at least one of the following operations: reducing speed; hitting the steering wheel; and stopping driving.

[0163] In some optional embodiments, the safety parameters comprise at least one of the following: speed; lateral acceleration; longitudinal acceleration; pitch angle; and roll angle.

[0164] The implementation process of the functions and roles of each module in the above apparatus is specifically described in the implementation process of the corresponding steps in the above method, which will not be repeated here.

[0165] The embodiments of the present disclosure further provide an electronic device, as shown in the accompanying drawings. Figure 7 The electronic device comprises a memory 71 and a processor 72, the memory 71 is used to store computer instructions executable on the processor, and the processor 72 is used to implement the method described in any embodiment of the present disclosure when executing the computer instructions.

[0166] The embodiments of the present disclosure further provide a computer program product, which comprises computer programs / instructions, and the computer programs / instructions are executed by a processor to implement the method described in any embodiment of the present disclosure.

[0167] The embodiments of the present disclosure further provide a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the method described in any embodiment of the present disclosure.

[0168] For the apparatus embodiments, since they basically correspond to the method embodiments, the relevant parts are referred to the part of the description of the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the modules described as separate components can or can not be physically separated, and the components shown as modules can or can not be physical modules, i.e., can be located in one place or distributed on multiple network modules. Some or all of the modules can be selected to achieve the purposes of the solutions of the present specification according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0169] The above describes specific embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the acts or steps recited in the claims can be performed in a different order than the order in which they are recited and still achieve the desired results. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0170] Other embodiments of the present specification will be apparent to those skilled in the art after consideration of the specification and practice of the application disclosed herein. The specification and examples given herein are intended as illustrative only and are not intended to limit the true scope and spirit of the present specification. The true scope and spirit of the present specification are indicated by the following claims.

[0171] It should be understood that the present specification is not limited to the precise structures described herein and illustrated in the drawings and that various modifications and changes can be made without departing from the scope thereof. The scope of the present specification is indicated by the appended claims.

[0172] The above only describes the preferred embodiments of the present specification and does not limit the present specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification shall be included in the scope of protection of the present specification.

Claims

1. A method of testing the performance of a vehicle, characterized by, The method is applied to a signal processing device, and the method comprises: In the case of receiving a start signal, a start instruction is sent to an actuator of a test vehicle, so that the actuator controls automatic driving of the test vehicle according to test data in response to receiving the start instruction, the test data being test data corresponding to a test working condition pre-sent to the actuator of the test vehicle, the test data containing a test program and control parameters; Performance data collected by a sensor carried by the test vehicle itself is received; In the case of the test vehicle being in a high-speed transient working condition, wheel acceleration is calculated according to a wheel pulse signal collected by a wheel speed sensor of the test vehicle, and the wheel acceleration is determined as a corrected longitudinal acceleration; A yaw angle of the test vehicle is calculated according to a steering angle signal collected by a steering angle sensor at a steering wheel of the test vehicle and a steering transmission ratio, and a lateral acceleration of the test vehicle is calculated according to the yaw angle of the test vehicle and the longitudinal acceleration, and the lateral acceleration is determined as a corrected lateral acceleration; The performance data are used to represent driving performance of the test vehicle in the test working condition, and the performance data comprise acceleration data collected by an inertial conducting unit of the test vehicle, the acceleration data containing longitudinal acceleration and lateral acceleration.

2. The method of claim 1, wherein, The signal processing device is located on the test vehicle.

3. The method of claim 1, wherein, The start signal is received by a signal receiver of the signal processing device. The sensor comprises at least one of the following: a vehicle-mounted camera, a vehicle-mounted radar, a vehicle-mounted inertial conducting unit, a vehicle-mounted global positioning system (GPS), a wheel speed sensor located at a wheel, and a steering angle sensor located at a steering wheel.

4. The method of claim 1, wherein, The method further comprises:

5. The method of claim 1, wherein, A pitch angle and a roll angle of the test vehicle are calculated according to the corrected longitudinal acceleration and lateral acceleration and longitudinal acceleration and lateral acceleration in the acceleration data before correction. The method further comprises:

6. The method of claim 1, wherein, In response to detecting a safety parameter in the performance data triggering a safety limit, the test vehicle is controlled to enter a safety state, the safety limit being a limit set to prevent a safety accident of the test vehicle. The control of the test vehicle to enter the safety state comprises:

7. The method of claim 6, wherein, A control instruction is sent to the actuator of the test vehicle, the control instruction being used to instruct the actuator to perform at least one of the following operations: reducing speed, hitting the steering wheel, and stopping driving. The method is applied to a test vehicle, and the test vehicle is connected with a signal processing device, and the method comprises:

8. A method of testing vehicle performance, characterized by, An actuator of the test vehicle controls automatic driving of the test vehicle according to test data in response to receiving a start instruction sent by the signal processing device, the start instruction being sent by the signal processing device in the case of receiving a start signal, the test data being test data corresponding to a test working condition pre-sent to the actuator of the test vehicle, the test data containing a test program and control parameters; A sensor carried by the test vehicle itself collects performance data, and the performance data are sent to the signal processing device. ​ The signal processing device is configured to calculate the acceleration of the wheel and determine the corrected longitudinal acceleration according to the wheel pulse signal collected by the wheel speed sensor of the test vehicle when the test vehicle is in the high-speed transient working condition; calculate the yaw angle of the test vehicle according to the rotation angle signal collected by the rotation angle sensor at the steering wheel of the test vehicle and the steering transmission ratio; calculate the lateral acceleration of the test vehicle according to the yaw angle of the test vehicle and the longitudinal acceleration, and determine the corrected lateral acceleration. The performance data is used to represent the driving performance of the test vehicle in the test working condition, and the performance data includes acceleration data collected by the inertial conduction unit of the test vehicle, wherein the acceleration data includes longitudinal acceleration and lateral acceleration.

9. A data correction method characterized by, The method comprises: The performance data collected by the sensor carried by the test vehicle is obtained, the performance data is used to represent the driving performance of the test vehicle in the test working condition, the performance data includes acceleration data collected by the inertial conduction unit of the test vehicle, and the acceleration data includes longitudinal acceleration and lateral acceleration; the performance data is used to send a start instruction to the actuator of the test vehicle when a start signal is received by the signal processing device, and the actuator is used to control the test data according to the test data collected when the test vehicle is automatically driven in response to receiving the start instruction, the test data is the test data corresponding to the test working condition in the test data sent to the actuator of the test vehicle in advance, and the test data includes a test program and control parameters; The acceleration data is corrected when the test vehicle is in the high-speed transient working condition, including: calculating the acceleration of the wheel and determining the corrected longitudinal acceleration according to the wheel pulse signal collected by the wheel speed sensor of the test vehicle when the test vehicle is in the high-speed transient working condition; The yaw angle of the test vehicle is calculated according to the rotation angle signal collected by the rotation angle sensor at the steering wheel of the test vehicle and the steering transmission ratio; the lateral acceleration of the test vehicle is calculated according to the yaw angle of the test vehicle and the longitudinal acceleration, and the corrected lateral acceleration is determined.

10. The method of claim 9, wherein, The method further comprises: The pitch angle and roll angle of the test vehicle are calculated according to the corrected longitudinal acceleration and lateral acceleration, and the longitudinal acceleration and lateral acceleration in the acceleration data before correction.

11. A method of safety limiting, characterized by The method comprises: The performance data collected by sensors carried by the test vehicle itself is acquired; in the case that the test vehicle is in a high-speed transient working condition, the acceleration of the wheel is calculated according to the wheel pulse signal collected by the wheel speed sensor of the test vehicle, and the acceleration is determined as the corrected longitudinal acceleration; the yaw angle of the test vehicle is calculated according to the rotation angle signal collected by the rotation angle sensor at the steering wheel of the test vehicle and the steering transmission ratio; the lateral acceleration of the test vehicle is calculated according to the yaw angle of the test vehicle and the longitudinal acceleration, and the lateral acceleration is determined as the corrected lateral acceleration; the performance data is used to represent the driving performance of the test vehicle in the test working condition, and the performance data includes: the acceleration data collected by the inertia conduction unit of the test vehicle, the acceleration data including longitudinal acceleration and lateral acceleration; the performance data is used for the signal processing device to send a start instruction to the actuator of the test vehicle in the case that a start signal is received, and the actuator controls the test vehicle to automatically drive according to the test data collected when the test vehicle automatically drives in response to receiving the start instruction, the test data being the test data corresponding to the test working condition sent to the actuator of the test vehicle in advance, the test data including a test program and control parameters. In response to detecting a safety parameter in the performance data, a safety limit is triggered to control the test vehicle to enter a safety state, and the safety limit is a limit set to prevent safety accidents of the test vehicle.

12. The method of claim 11, wherein, The control of the test vehicle to enter the safety state includes: sending a control instruction to the actuator of the test vehicle, the control instruction being used to instruct the actuator to perform at least one of the following operations: reducing speed; hitting the steering wheel; stopping driving.

13. The method of claim 11, wherein, The safety parameter includes at least one of the following: speed; lateral acceleration; longitudinal acceleration; pitch angle; roll angle.

14. A vehicle performance testing apparatus characterized by comprising: The device is applied to a signal processing device, and the device includes: a test start module configured to send a start instruction to the actuator of the test vehicle in the case that a start signal is received, so that the actuator controls the test vehicle to automatically drive according to test data in response to receiving the start instruction, the test data being test data corresponding to a test working condition sent to the actuator of the test vehicle in advance, the test data including a test program and control parameters; a data receiving module configured to receive performance data collected by sensors carried by the test vehicle itself, the performance data being used to represent the driving performance of the test vehicle in the test working condition. The data correction module is configured to calculate an acceleration of a wheel and determine the acceleration as a corrected longitudinal acceleration according to a wheel pulse signal collected by a wheel speed sensor of the test vehicle when the test vehicle is in a high-speed transient working condition; calculate a yaw angle of the test vehicle according to a steering angle signal collected by a steering angle sensor at a steering wheel of the test vehicle and a steering transmission ratio; calculate a lateral acceleration of the test vehicle according to the yaw angle of the test vehicle and the longitudinal acceleration and determine the lateral acceleration as a corrected lateral acceleration; and the performance data includes acceleration data collected by an inertial conduction unit of the test vehicle, the acceleration data including the longitudinal acceleration and the lateral acceleration.

15. The apparatus of claim 14, wherein, The device further includes a safety limit module configured to trigger a safety limit and control the test vehicle to enter a safety state in response to detecting a safety parameter in the performance data, the safety limit being a limit set to prevent a safety accident of the test vehicle.

16. An electronic device, comprising: The device includes a memory and a processor, the memory being configured to store computer instructions executable on the processor, and the processor being configured to implement the method of any one of claims 1 to 7, or the method of claim 8, or the method of any one of claims 9 to 10, or the method of any one of claims 11 to 13 when executing the computer instructions.

17. A computer readable storage medium having stored thereon a computer program, characterized in that The program, when executed by the processor, implements the method of any one of claims 1 to 7, or the method of claim 8, or the method of any one of claims 9 to 10, or the method of any one of claims 11 to 13.

Images