Automated forward looking camera obscuration device for autonomous vehicle functional safety testing

Abstract

The application provides an automatic front-view camera shielding device for functional safety testing of an automatic driving vehicle, which comprises a fixing module, a transmission module, a shielding module and a control module. The application has the beneficial effects that the application has high reliability and executability in functional safety whole-vehicle-level shielding fault testing of a vehicle with a driving assistance system, can shield the front-view camera of the vehicle with the driving assistance function turned on, and can realize an automatic shielding process and verify the safety target of the vehicle.

Description

Technical Field

[0001] This invention belongs to the field of functional safety testing technology for autonomous vehicles, and in particular relates to an automated forward-looking camera occlusion device for functional safety testing of autonomous vehicles. Background Technology

[0002] To enhance the driving intelligence of automobiles, more and more vehicles are equipped with driver assistance systems, but the resulting safety risks are also increasing. To ensure the safety of intelligent vehicles, the National Automotive Standardization Committee released the GB / T34590 "Road Vehicle Functional Safety" standard in 2017, serving as an industry guideline to ensure that automobiles do not suffer unreasonable risks due to malfunctions in their electronic and electrical systems.

[0003] The forward-facing camera is one of the most important sensors for realizing the intelligent functions of automotive driver assistance systems. For example, lane keeping assist, lane departure warning assist, and traffic sign recognition assist all rely primarily on the forward-facing camera. However, in actual driving, situations often arise where leaves or other foreign objects suddenly obstruct the forward-facing camera in windy weather. In such cases, if the driver assistance function is activated, the vehicle should disengage from driver assistance mode and issue a warning signal to the driver; otherwise, it will pose a significant safety hazard. Therefore, to simulate the malfunction of a forward-facing camera being obstructed, it is essential to design and develop an automated forward-facing camera obstruction device for autonomous vehicles, which plays a positive role in the development of functional safety testing for automotive driver assistance systems. Summary of the Invention

[0004] In view of this, the present invention aims to provide an automated forward-looking camera occlusion device for functional safety testing of autonomous vehicles, which can be used for vehicle-level functional safety testing of driver assistance systems, and has the characteristics of being flexible, lightweight, easy to operate, and highly reliable.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0006] An automated forward-facing camera occlusion device for functional safety testing of autonomous vehicles includes: a fixing module, a transmission module, an occlusion module, and a control module. The fixing module is used to fix the transmission module and the occlusion module to the vehicle body. The transmission module is used to fix the occlusion module. The occlusion module is used to adjust the angle of the occlusion plate. The control module is used to control the movement of the transmission module and the occlusion module. Both the transmission module and the occlusion module are signal-connected to the control module.

[0007] Furthermore, the fixing module includes two suction cups, which are used to fix the transmission module and the shielding module to the vehicle body. The suction cups are connected to the transmission module by screws. The fixing module is installed above the front-view camera.

[0008] Furthermore, the transmission module includes a stepper motor, a ball screw, a transmission slider, and a guide rail. The stepper motor is mounted on the guide rail, and the output shaft of the stepper motor is coaxially connected to the ball screw. A transmission slider is installed above the screw nut of the ball screw, and a shielding module is installed above the transmission slider.

[0009] Furthermore, the shielding module includes a universal adjusting rod and a shielding plate. One end of the universal adjusting rod is installed to the transmission slider, and the other end is installed to the shielding plate. The shielding plate is located at the front windshield of the vehicle.

[0010] Furthermore, the control module includes a DC power supply, a driver, and a controller. The DC power supply and the driver are both signal-connected to the controller, and the stepper motor is signal-connected to the controller.

[0011] Furthermore, the testing method for the blocking device includes the following steps:

[0012] S1. Test begins. Fix the shielding device on the top of the vehicle being tested, in a suitable position close to the forward-facing camera.

[0013] S2. Start the vehicle and enter the test site;

[0014] S3. Determine whether the driving assistance function is activated. If yes, proceed to step S4; otherwise, return to step S2.

[0015] S4. The tested vehicle enters the curve at a speed of 60 km / h.

[0016] S5. The tester controls the blocking device to initiate fault injection and complete the camera blocking.

[0017] S6. Observe whether the safety mechanism of the vehicle under test is working. If yes, proceed to step S9; otherwise, proceed to step S7.

[0018] S7. This functional safety test failed;

[0019] S8. After making the functional modifications, return to step S1;

[0020] S9. This functional safety test has passed and is now complete.

[0021] Furthermore, the control logic of the blocking device includes the following steps:

[0022] A1. Test begins. Adjust the position and movement speed of the shield.

[0023] A2. The tested vehicle system is activated and enters the curve;

[0024] A3. The tester turns on the controller;

[0025] A4. Determine if the system has exited. If yes, proceed to step A7; otherwise, proceed to step A5.

[0026] A5. The vehicle travels along the lane lines until the end of the curve;

[0027] A6. Control terminated;

[0028] A7. Turn on the controller to move the cover away from the camera;

[0029] A8. Determine if the system has been reactivated. If yes, proceed to step A9; otherwise, proceed to step A6.

[0030] A9. The vehicle travels along the lane lines until the end of the curve;

[0031] A10, Control Ended.

[0032] Compared with existing technologies, the automated forward-looking camera occlusion device for functional safety testing of autonomous vehicles described in this invention has the following advantages:

[0033] The automated forward-view camera occlusion device for functional safety testing of autonomous vehicles described in this invention has extremely high reliability and feasibility in functional safety vehicle-level occlusion fault testing on vehicles equipped with driver assistance systems. It can occlude the forward-view camera of a vehicle with driver assistance functions activated and can realize the automated occlusion process to verify the vehicle's safety objectives. Attached Figure Description

[0034] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0035] Figure 1 This is a schematic diagram of the overall structural principle described in an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of camera occlusion implementation scenario 1 according to an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of scenario 2 of the camera occlusion implementation according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the testing method of the device described in an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of the control logic of the device described in an embodiment of the present invention. Detailed Implementation

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0041] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0043] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0044] like Figures 1 to 5 As shown, an automated forward-looking camera occlusion device for functional safety testing of autonomous vehicles includes: a fixing module, a transmission module, an occlusion module, and a control module.

[0045] The fixing module consists of two pump-type vacuum suction cups, which are used to fix the transmission module and the shielding module to the vehicle body. It has a stronger suction force and a more secure fixation than a single pump-type vacuum suction cup. The suction cups are connected to the transmission module by screws on top. The fixing module is generally installed above the front-view camera.

[0046] The transmission module consists of a stepper motor, a ball screw, a transmission slider, a guide rail, and a housing. Its function is to fix the shielding module and move it to the desired position. The stepper motor is fixed to the end of the guide rail with screws. The ball screw is fixed above the guide rail parallel to it. The transmission slider is connected to the ball screw and can slide as the ball screw rotates. The shielding plate is connected to the transmission slider via a universal adjusting rod.

[0047] The shielding module consists of a universal adjustment rod and a shielding plate. Its function is to adjust the angle of the shielding plate through a ball joint according to the different tilt degrees of the windshields of different vehicles, so that the shielding plate is in a suitable position.

[0048] The control module consists of a DC power supply, a driver, and a controller, and its function is to control the movement of the transmission module and the shielding module.

[0049] Advantages of this invention:

[0050] This invention patent has extremely high reliability and feasibility in functional safety vehicle-level occlusion fault testing on vehicles equipped with driver assistance systems. It can block the forward-facing camera of a vehicle with driver assistance functions activated and can realize the automated blocking process to verify vehicle safety objectives.

[0051] Example 1

[0052] An automated forward-looking camera occlusion device for autonomous vehicles includes: a fixing module, a transmission module, an occlusion module, and a control module. The specific implementation process is as follows.

[0053] Implementation Scenario 1

[0054] The test road is a combination of a long straight section and a curved section. The length of the straight section is no less than X meters, the length of the curved section is no less than XX meters, and the turning radius of the curved section is XXX meters. For example... Figure 2 As shown:

[0055] Implementation Method 1

[0056] First, securely install the forward-view camera obstruction device on the vehicle body, generally above the forward-view camera. Adjust the obstruction module's obstruction plate so that it is positioned on one side of the guide rail, without affecting the normal operation of the forward-view camera. At the start of the test, start the vehicle and accelerate it to the minimum speed required for function activation on a long straight road, and activate the driving assistance function (e.g., lane keeping assist). After the function is activated, the test vehicle should drive towards the curve at a speed of 60 km / h. After entering the curve, control the obstruction device to move the obstruction plate to the position of the forward-view camera, completing the obstruction of the forward-view camera. Record the image of the instrument panel, with the obstruction method shown in Table 1.

[0057] Obstruction Form 1

[0058] Table 1. Obstruction Patterns of Front-View Camera

[0059]

[0060] Judgment condition 1

[0061] Let's take the lane keeping assist system as an example to illustrate the judgment conditions when the forward-facing camera is obstructed.

[0062] In a single test, with the forward-facing camera obstructed, the vehicle's dashboard and overall performance are observed according to the pre-defined safety measures for this driver assistance function. The test ends when the vehicle has traveled along the lane markings and completed the curve. If the vehicle's performance meets the safety requirements of the driver assistance function, it passes the obstruction test; otherwise, it fails the obstruction test.

[0063] Example 2

[0064] Implementation Scenario 2

[0065] The test road is a long, straight road with at least one lane. The test vehicle drives towards a target vehicle that is moving slowly in front of it. Figure 3 As shown.

[0066] Implementation Method 2

[0067] First, securely install the forward-view camera obstruction device on the vehicle body, typically above the forward-view camera. Adjust the obstruction module's obstruction plate so that it is positioned to one side of the guide rail, without affecting the normal operation of the forward-view camera. Activate the driving assistance function (e.g., automatic emergency braking assist). After activation, both the test vehicle and the target vehicle should be positioned in the middle of the road. Set the test vehicle speed to 60 km / h and the target vehicle speed to 20 km / h, with an initial distance of at least 150 meters between the two vehicles. The test vehicle should drive steadily towards the target vehicle, with the driver's hands on the steering wheel, without interfering with the system's normal operation. When the test vehicle's speed decreases to 40 km / h while following the target vehicle, inject the obstruction as shown in Table 1 and record the image from the instrument panel.

[0068] Judgment condition 2

[0069] In a single test, when the camera is obstructed by an obstruction device in this scenario, observe the vehicle's performance to determine if it meets the safety measures that the automatic emergency braking assist function should take after camera obstruction. If the test vehicle collides with the target vehicle in a single test, the test is terminated and fails; if the test vehicle continues to follow the target vehicle for at least 10 seconds, the test passes.

[0070] Furthermore, regarding the control logic in this case:

[0071] 1. For example Figure 4 The diagram shown is a flowchart of the test method for functional safety testing using this device.

[0072] The test begins by debugging the test equipment. The shielding device is fixed on the top of the vehicle under test, in a suitable position close to the front-view camera. This position should not affect the normal operation of the vehicle's functions. At the same time, the control module is placed in the passenger seat of the vehicle under test and connected to the vehicle's DC 12V power supply.

[0073] After the testing equipment is debugged, the vehicle under test is started and taken to a professional automotive testing site to debug the vehicle's tested functions.

[0074] After the test vehicle is debugged, the driving assistance function is activated, and the test vehicle enters the curve at a speed of 60km / h.

[0075] After the tested function is running stably, the testers control the controller inside the vehicle to block the forward-facing camera with a shield and inject a fault.

[0076] After the obstruction is completed, observe whether the safety mechanism of the vehicle under test is working and record the corresponding test data.

[0077] After the above occlusion test is completed, analyze whether the security mechanism meets the expected requirements. If it does, the functional safety test is passed; otherwise, the test fails, the function is modified, and the test is repeated.

[0078] 2. For example Figure 5 The diagram shown is the control logic diagram of the shielding device.

[0079] (1) At the start of the test, first adjust the test equipment and fix the shielding device on the upper part of the vehicle body, close to the front view camera. At the same time, place the control module of the shielding device in the passenger seat of the vehicle under test, connect it to the DC 12V power supply in the vehicle, and adjust the position and moving speed of the shielding plate so that the shielding device does not affect the operation of the whole vehicle.

[0080] (2) When the test vehicle system is activated and enters the curve, the tester turns on the controller and controls the shielding device to place the shield in front of the forward-looking camera.

[0081] (3) After the forward-facing camera is blocked, observe whether the vehicle's driver assistance system has disengaged.

[0082] (4) If the system exits, turn on the controller, adjust the shield to move away from the forward camera, and observe whether the system can be reactivated. If it can be reactivated and driven along the lane line to the end of the curve, the test ends; if it cannot be reactivated, the test ends.

[0083] (5) If the system does not exit and the vehicle travels along the lane line to the end of the curve, the test ends.

[0084] This invention proposes for the first time a functional safety testing method for driver assistance systems (such as lane keeping assist systems) that use a forward-facing camera as a sensing element in autonomous vehicles. Specifically, after the system is activated, the shielding device is used to control the shielding plate to block the camera, and the effectiveness of the vehicle's safety mechanism is observed and recorded.

[0085] Secondly, without making any modifications or damage to the vehicle, a fault injection method for occlusion is proposed for the first time to conduct functional safety and expected functional safety tests on the perception layer of autonomous vehicles.

[0086] Furthermore, this invention innovatively designs an automated forward-facing camera blocking device, which has the following main advantages:

[0087] It can be adsorbed and installed on the top of different car models and shapes, and has strong stability;

[0088] The angle and coverage area of ​​the screen can be adjusted or replaced according to different vehicle models, making it highly adaptable.

[0089] The movement speed of the baffle can be adjusted according to the testing needs, and it is highly adjustable.

[0090] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated forward-looking camera occlusion device for functional safety testing of autonomous vehicles, characterized in that: include: The system includes a fixing module, a transmission module, a shielding module, and a control module. The fixing module is used to fix the transmission module and the shielding module to the vehicle body. The transmission module is used to fix the shielding module. The shielding module is used to adjust the angle of the shielding plate. The control module is used to control the movement of the transmission module and the shielding module. Both the transmission module and the shielding module are signal-connected to the control module. The transmission module includes a stepper motor, a ball screw, a transmission slider, and a guide rail. The stepper motor is mounted on the guide rail, and the output shaft of the stepper motor is coaxially connected to the ball screw. The transmission slider is mounted above the screw nut of the ball screw, and a shielding module is mounted above the transmission slider. The shielding module includes a universal adjusting rod and a shielding plate. One end of the universal adjusting rod is installed to the transmission slider, and the other end is installed to the shielding plate. The shielding plate is located at the front windshield of the vehicle.

2. The automated forward-looking camera occlusion device for functional safety testing of autonomous vehicles according to claim 1, characterized in that: The fixing module includes two suction cups, which are used to fix the transmission module and the shielding module to the vehicle body. The suction cups are connected to the transmission module by screws. The fixing module is installed above the front-view camera.

3. The automated forward-looking camera occlusion device for functional safety testing of autonomous vehicles according to claim 1, characterized in that: The control module includes a DC power supply, a driver, and a controller. The DC power supply and the driver are both signal-connected to the controller, and the stepper motor is signal-connected to the controller.

4. The automated forward-looking camera occlusion device for functional safety testing of autonomous vehicles according to claim 1, characterized in that: The testing method for the shielding device includes the following steps: S1. Test begins. Fix the shielding device on the top of the vehicle being tested, in a suitable position close to the forward-facing camera. S2. Start the vehicle and enter the test site; S3. Determine whether the driving assistance function is activated. If yes, proceed to step S4; otherwise, return to step S2. S4. The tested vehicle enters the curve at a speed of 60 km / h. S5. The tester controls the blocking device to initiate fault injection and complete the camera blocking. S6. Observe whether the safety mechanism of the vehicle under test is working. If yes, proceed to step S9; otherwise, proceed to step S7. S7. This functional safety test failed; S8. After making the functional modifications, return to step S1; S9. This functional safety test has passed and is now complete.

5. The automated forward-looking camera occlusion device for functional safety testing of autonomous vehicles according to claim 1, characterized in that: The control logic of the blocking device includes the following steps: A1. Test begins. Adjust the position and movement speed of the shield. A2. The tested vehicle system is activated and enters the curve; A3. The tester turns on the controller; A4. Determine if the system has exited. If yes, proceed to step A7; otherwise, proceed to step A5. A5. The vehicle travels along the lane lines until the end of the curve; A6. Control terminated; A7. Turn on the controller to move the cover away from the camera; A8. Determine if the system has been reactivated. If yes, proceed to step A9; otherwise, proceed to step A6. A9. The vehicle travels along the lane lines until the end of the curve; A10, Control Ended.

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