Vehicle operation safety model compliance measurement

Abstract

Systems and techniques for vehicle operation safety model (VOSM) conformance measurement are described herein. A subject vehicle is tested for VOSM parameter conformance in a vehicle following scenario. The test measures subject vehicle activity during a phase of the following scenario in which a leading vehicle decelerates and generates log data and calculations that form the basis of a VOSM conformance measurement.

Description

[0001] Priority Statement

[0002] This application claims the benefit of priority to International Application Serial No. PCT / CN2020 / 130231, filed on November 19, 2020, which is incorporated herein by reference in its entirety. Technical Field

[0003] The embodiments described herein generally relate to automated driving or driver-assisted driving, and more specifically to vehicle operation safety model compliance measurements. Background Technology

[0004] Autonomous driving and driver assistance systems are becoming increasingly common. These systems use vehicle sensor data to control or assist in controlling the vehicle (e.g., via driver prompts, partial steering input, emergency braking, etc.). Autonomous driving systems can fully control a vehicle without driver assistance, while driver assistance systems enhance the driver's control over the vehicle. Driver assistance systems, also known as Advanced Driver Assistance Systems (ADAS), are developed to automate, adapt, or enhance vehicle systems to increase safety and provide better driving. In such systems, safety features are designed to avoid collisions and accidents by providing technology that alerts the driver to potential problems, or by implementing safety measures and taking over control of the vehicle.

[0005] While autonomous driving and ADAS systems have incorporated various safety features, there is a growing trend towards creating verifiable safety models for vehicle operation. These models tend to formalize the parameters of motion and interaction between vehicles, using those parameters to model the existence of vehicles in the world and defining acceptable interactions between vehicles based on that existence. One such Vehicle Operation Safety Model (VOSM) is Responsibility Sensitive Safety (RSS). Attached Figure Description

[0006] In accompanying drawings that are not necessarily drawn to scale, similar reference numerals can describe similar components in different views. Similar reference numerals with different letter suffixes can represent different instances of similar components. (Appendix) Figure 1 The various embodiments discussed in this document are illustrated by way of example rather than by way of limitation.

[0007] Figure 1 The illustration shows an example of a mobile transportation scenario demonstrating VOSM according to an embodiment.

[0008] Figure 2 The illustration shows a system for VOSM compliance measurement according to an embodiment.

[0009] Figure 3 The illustration shows an example of an architecture for VOSM compliance measurement according to an embodiment.

[0010] Figure 4 The illustration shows example components of a test apparatus for VOSM compliance measurement according to an embodiment.

[0011] Figure 5 The illustration shows an example of a process flow for VOSM compliance measurement according to an embodiment.

[0012] Figure 6 The illustration shows an example of a method for VOSM compliance measurement according to an embodiment.

[0013] Figure 7 It is a block diagram illustrating an example of a machine on which one or more embodiments may be implemented. Detailed Implementation

[0014] VOSM (such as RSS) typically defines several parameters for an individual vehicle and uses these parameters to model a set of distances that determine whether a vehicle is safe or unsafe. Generally, safe distance addresses sufficient longitudinal and lateral distances. Figure 1 The diagram illustrates some of these parameters in the context of sufficient (e.g., safe) longitudinal and lateral distances.

[0015] Current testing methods for following autonomous or assisted vehicle vehicles generally only verify the final distance between the following and leading vehicles. If no collision occurs, the test is generally considered successful (e.g., passed). Some VOSMs (such as RSS) additionally require certain corrective actions to be taken when a hazardous situation is detected, even if no collision occurs. Therefore, under these VOSMs, a vehicle passes the test only if it engages in an appropriate response as defined by the VOSM after perceiving the hazardous situation. These more complex VOSMs (or industry-wide methods) do not provide the necessary safety information about the vehicle from current testing techniques.

[0016] To address these issues, this paper describes a testing technique that verifies the final state (e.g., collision or no-collision) and also monitors the sequence of the vehicle's entire movement. Therefore, it can be determined whether the vehicle conforms to the entire VOSM (e.g., policy) and whether the safety-related parameters declared by the vehicle manufacturer are consistent with the vehicle's actual performance. For this purpose, performance parameters are collected during testing and evaluated against safety performance expectations as defined in the VOSM (e.g., RSS). In the example, the vehicle's behavior is monitored during the vehicle's response time. In the example, monitoring is performed by a test device attached to the test vehicle to record vehicle data during testing. The recorded values ​​generally cover time periods before, during, and after the vehicle's response time based on hazardous conditions. The actual (e.g., measured against those stated by the manufacturer) performance parameters can then be used to measure conformity, or to indicate to what extent or under what conditions the test vehicle conforms to or does not conform to the VOSM.

[0017] By using the systems and techniques described herein, it is determined whether a test vehicle performs as well as claimed by the manufacturer. In the examples, third-party testing organizations can use this information to verify that the safety-related parameters declared by the vehicle manufacturer are consistent with its actual performance and to provide an authorized report on the safety performance assessment. Such a safety report can be an important reference for customers, regulators, or insurance providers, and others. For example, insurance companies can use the report as a reference when calculating insurance premiums for specific types of vehicles. Additional details and examples are provided below.

[0018] Figure 1 The illustration shows an example of a mobile vehicle scenario demonstrating an autonomous vehicle operation safety model according to an embodiment. As illustrated, the ego vehicle 105 shares a road with two target vehicles (car 120 and truck 125). Here, "ego vehicle" refers to a vehicle from which a certain view is obtained, and the target vehicles are the subjects within that view. In the examples shown later for other figures, the ego vehicle 105 is a test vehicle.

[0019] Generally, VOSM is a mathematical model used for safety assurance during autonomous driving. It expresses a set of safety standards, such as the minimum distance d between vehicles, using formulas. min To avoid collisions. Several parameters are used in the calculation formula, such as response time ρ and the vehicle's minimum braking a. min，brake and maximum acceleration a max，brake If all requirements are met, the vehicle passes through the VOSM and is considered safe; otherwise, the vehicle is not safe.

[0020] The VOSM can define safe longitudinal distance 110 and safe lateral distance 115 for the autonomous vehicle 105. These distances create zones, shells, bubbles, or covers around the autonomous vehicle 105, and are also illustrated around cars 120 and trucks 125. Generally, a breach of these safe distances (e.g., intersection or overlap 130) indicates that the autonomous vehicle 105 is unsafe and corrective action should be taken. Note that an intersection 130 does not necessarily result in a collision, but simply indicates an unsafe situation according to the RSS.

[0021] In the example, VOSM can be represented using the following methods for safe longitudinal and lateral distances, respectively:

[0022]

[0023] as well as

[0024]

[0025] Regarding the safe longitudinal distance in equation (1), a max，accel and a min，brake It is a self-driving vehicle 105 (c) r The maximum acceleration rate and minimum braking rate of the vehicle are given by ρ, and ρ is the response time of the self-driving vehicle 105. For the safe lateral distance in equation (2), ρ1 and ρ2 are the response times of the self-driving vehicle 105 (c1) and the self-driving vehicle (c2) (such as truck 125). Similarly, and These are the maximum acceleration rate and minimum braking rate of c1, respectively. and These are the maximum acceleration rate and minimum braking rate of c2, respectively.

[0026] For clarity, the result from equation (1) is referred to as the minimum safe longitudinal distance, and the result from equation (2) is referred to as the minimum safe lateral distance. When the self-driving vehicle detects that it is closer than the minimum safe longitudinal distance or the minimum safe lateral distance, the self-driving vehicle 105 is expected to take corrective action. Such corrective action may include braking or steering to increase the distance between the self-driving vehicle 105 and the truck 125 or other objects until the minimum safe longitudinal distance and the minimum safe lateral distance are restored.

[0027] Equations (1) and (2) above illustrate the parameterization of the response time of the self-driving vehicle 105 and the truck 125, the maximum lateral or longitudinal acceleration of the truck 125, and the minimum braking (e.g., deceleration) of the self-driving vehicle 105 in the safety model. Here, the maximum acceleration is the maximum acceleration that the vehicle is capable of performing, and the minimum braking is the deceleration that the vehicle can guarantee will be applied when performing a maneuver. Therefore, if the vehicle is under peak operating conditions, the maximum and minimum braking can be the same. However, if, for example, the self-driving vehicle 105 has worn brakes, the minimum braking of the self-driving vehicle 105 is reduced from the maximum braking based on brake wear. The actual maximum and minimum values ​​for braking or acceleration are generally defined by the manufacturer of the self-driving vehicle 105, or by VOSM and other sources. These values ​​are defined to provide a true safety margin given Equations (1) and (2). It should be noted that Equations (1) and (2) generally assume the worst-case scenario, in which the self-driving vehicle 105 is performing poorly (therefore, minimum braking is used for the self-driving vehicle) and the truck 125 is at peak performance (therefore, maximum acceleration is used for the truck 125), even though it is more likely that the self-driving vehicle 105 will perform better than its minimum braking and the truck 125 will perform worse than its maximum acceleration.

[0028] By using equations (1) and (2), a danger zone is defined around the vehicle 105. As described above, the vehicle 105 is expected to move when another object interferes with or is anticipated to interfere with this zone. Since the speeds of both the vehicle 105 and the truck 125 are parameters of equations (1) and (2), the danger zone is constantly changing based on the detected movement of the vehicle 105 and the truck 125. Entering the danger zone indicates a dangerous situation for the vehicle 105.

[0029] In the context of vehicle following, the minimum longitudinal safety distance is defined by equation (1). The following is a version of equation (1):

[0030]

[0031] [X] (Note this section) + = max{x, 0}, and where:

[0032] v f The longitudinal speed of the vehicle ahead is 240.

[0033] The maximum braking acceleration of the vehicle ahead at 240;

[0034] v r Test the longitudinal speed of vehicle 205;

[0035] ρ: Response time of test vehicle 205;

[0036] Test the maximum forward acceleration of vehicle 205;

[0037] The minimum braking acceleration of vehicle 205 was tested.

[0038] When the distance between the test vehicle 205 and the vehicle ahead 240 is equal to or less than the minimum longitudinal safety distance, the test vehicle 205 shall, during the response time, accelerate at a speed not exceeding the maximum longitudinal acceleration ( The vehicle continues to move forward with an acceleration of ), and then the test vehicle should accelerate at a speed not less than the minimum longitudinal braking acceleration (). The braking acceleration is used to decelerate the test vehicle 205 until it comes to a complete stop or the longitudinal hazard is eliminated (e.g., there is no longer a longitudinal hazard).

[0039] Given the foregoing, the test system and technical measurements described below measure movement in two distinct phases. The first phase occurs before the response time, during which the test vehicle 205 is still accelerating. The second phase follows the termination of the response time, during which the test vehicle 205 begins to decelerate. Measurements, within the limitations of the test sensors, provide precise values ​​of the VOSM parameters adopted by the manufacturer.

[0040] Figure 2 The figure illustrates a system 210 for VOSM compliance measurement according to an embodiment. As illustrated, system 210 is mounted to test vehicle 205 and follows preceding vehicle 240. System 210 includes processing circuitry 215 and memory 220. Memory 220 may be volatile or non-volatile memory and may consist of a single device or several devices. Memory 220 provides storage for data or software. Processing circuitry 215 is hardwired and configured by software stored in memory 220, or a combination thereof, to perform the VOSM compliance measurements described below.

[0041] System 210 also includes an interface 225 for acquiring (e.g., receiving or retrieving) data from sensors (such as sensor 230). System 210 also illustrates internal sensors 235 (such as gyroscopes, inertial sensors, etc.). In this example, external sensor 230 is photon-based, such as a camera, lidar, radar, etc. In this example, external sensor 230 is sound-based, such as an ultrasonic sensor. Figure 4 Additional examples of hardware that can be used in system 210 are provided.

[0042] System 210 is illustrated as being mounted in the housing of test vehicle 205. However, other arrangements can be used, such as a fixed test setup that observes the interaction between test vehicle 205 and the preceding vehicle 240 via, for example, a camera, lidar, or radar. However, the vehicle-mounted system offers greater flexibility and accuracy for most use cases.

[0043] To perform VOSM compliance measurements, the processing circuitry is configured to measure the distance between the test vehicle 205 and the preceding vehicle 240. The measurement can be performed by an external sensor 230 and provided to the processing circuitry, or it can be performed directly by the processing circuitry 215 based on raw data provided by the external sensor 230 and obtained via interface 225. In this example, the measurement has a margin of error of less than or equal to one-tenth of a meter.

[0044] Processing circuitry 215 is configured (e.g., via internal sensor 235 when system 210 is mounted to test vehicle 205) to measure changes in the acceleration of test vehicle 205. In this example, the change in the acceleration of the test vehicle is measured with an error margin of less than or equal to one-tenth of a meter per second squared.

[0045] The measurement of distance and acceleration of the test vehicle is continuous throughout the test. Therefore, the measurement begins at the start of the test and ends at the end of the test, such as when both the test vehicle 205 and the preceding vehicle 240 come to a stop, as described below.

[0046] Processing circuitry 215 is configured to mark (e.g., record, save, etc.) the moment when the preceding vehicle 240 begins braking. This braking event is the inflection point on which the test vehicle 205 is being evaluated. The moment can be detected from external sensor 230, or provided to system 210 from the preceding vehicle 240 or from an external device controlled by the test organization (e.g., wirelessly).

[0047] The speed (e.g., rate) of the test vehicle 205 can be varied between tests to determine VOSM compliance in different operating scenarios. Therefore, in the example, the test vehicle 205 may be at 20%, 50%, or 80% of its maximum speed before the first moment (braking event). Other factors that can be varied between tests include lighting (e.g., time of day), road surface type (e.g., paved, gravel, etc.), or the medium (agent) on the road surface (e.g., ice, oil, etc.).

[0048] The processing circuit 215 is configured to detect when the test vehicle 205 enters a dangerous situation. For example... Figure 1As described above, a hazardous situation occurs when the test vehicle 205 is at the minimum safe distance from the vehicle ahead 240 as defined by VOSM. Distance measurements (e.g., based on readings from external sensors 230) provide data based on the detection of the hazardous situation. Upon detection of a hazardous situation, the processing circuitry 215 is configured to mark a second time (hazard time).

[0049] Processing circuitry 215 is configured to detect braking performed by test vehicle 205 (e.g., based on changes in acceleration measured from internal sensor 235). In this example, braking may be detected based on signals generated by the control system of test vehicle 205. A third time is marked when braking by test vehicle 205 is detected. The difference between the second time—entering a dangerous situation—and this third time is the response time of test vehicle 205. Therefore, the response time is the duration between the initial action performed by the preceding vehicle 240 and the reaction performed by test vehicle 205. In this example, the response time has an error margin of less than or equal to ten milliseconds. The error margin covers the clock accuracy from the clocks marking the various times herein, as well as the processing delays for the various detections. Therefore, to achieve the response time error margin, the accumulated error or delay is less than or equal to ten milliseconds.

[0050] Processing circuit 215 is configured to detect when the test vehicle 205 and the preceding vehicle 240 stop. Upon detecting a stop, processing circuit 215 is configured to mark a fourth time (stop time). In most cases, this is the termination of the test or the start of a test iteration. Subsequent iterations (e.g., to vary test factors) will begin as described above by marking the first time and continue indefinitely.

[0051] Processing circuitry 215 is configured to record various test values. Here, recording means storing test values ​​in a data structure (e.g., a log file, a database, etc.) for archiving, retrieval, etc. In the example, the recorded test values ​​include the distance between the test vehicle and the vehicle ahead, measured between a first time (braking event) and a fourth time (stopping time). In the example, the recorded test values ​​include response time (e.g., the difference between the detected hazardous situation and braking performed by the test vehicle 205). In the example, the recorded test values ​​include the acceleration of the test vehicle between a second time (entering the hazardous situation) and the second time plus the response time (which is also the third time or the time when braking performed by the test vehicle 205 is detected). In the example, the recorded test values ​​include the deceleration of the test vehicle between the second time plus the response time and the fourth time. In the example, the recorded test values ​​include the second time indicating that the test vehicle entered the hazardous situation.

[0052] Processing circuit 215 is configured to calculate the maximum acceleration of the test vehicle during the response time. Here, maximum acceleration means the absence of a recorded greater positive acceleration during the time period following a second time point up to a third time point, which is within the response time. In this example, maximum acceleration can be determined on-the-fly, as if changes in acceleration were measured. In this example, maximum acceleration can be determined based on recorded measurements of changes in acceleration.

[0053] Processing circuit 215 is configured to calculate the minimum braking deceleration of the test vehicle after the response time. Therefore, the minimum braking deceleration is the lowest magnitude deceleration measured after a third time interval. In the example, the minimum braking deceleration can be determined instantaneously, as if the change in acceleration were measured. In the example, the minimum braking deceleration can be determined based on recorded measurements of the change in acceleration.

[0054] Processing circuitry 215 is configured to generate (e.g., display, transmit, deliver, signal, etc.) compliance measurements of the test vehicle 205. The compliance measurement is the result of comparing a value measured or calculated by processing circuitry 215 during testing with a set of predefined values ​​for the test vehicle 205. Generally, these predefined values ​​are provided by the manufacturer of the test vehicle 205.

[0055] The test values ​​compared by processing circuit 215 with corresponding predefined values ​​include the distance between test vehicle 205 and preceding vehicle 240, response time, maximum acceleration, and minimum braking deceleration between the first and fourth time points. In the example, processing circuit 215 is configured to indicate compliance with the response time if the response time is less than or equal to (≤) the deviation caused by the measuring instrument and the predefined response time. The deviation takes into account the margin of error introduced by system 210. In the example, if no compliance is indicated, processing circuit 215 is configured to recommend changes in vehicle operating parameters to address deficiencies in test vehicle 205. Such changes may include a larger trailing distance, increased sensor sensitivity, etc.

[0056] In the example, the processing circuit is configured to indicate compliance with the maximum acceleration in response to a maximum acceleration less than or equal to (≤) a deviation caused by the road surface and (+) a predefined maximum acceleration. Here, the deviation of the road surface addresses road type (e.g., gravel or paved) or road conditions (e.g., wet, icy, etc.). In the example, the processing circuit is configured to indicate compliance with the minimum braking deceleration acceleration in response to a predefined minimum braking deceleration plus (+) a first deviation caused by the road surface under braking less than or equal to (≤) the minimum braking deceleration less than or equal to (≤) the predefined maximum acceleration plus (+) a second deviation caused by the road surface under acceleration. This example indicates that the road surface deviation can vary between acceleration and deceleration. In the example, the processing circuit is configured to indicate compliance with the distance between the test vehicle 205 and the preceding vehicle 240 between the first and fourth times in response to the distance between the test vehicle 205 and the preceding vehicle 240 being greater than or equal to (≥) a predefined safety distance margin in a predefined value.

[0057] Figure 3 The illustration shows an example of an architecture for VOSM compliance measurement according to an embodiment. The illustrated architecture includes a test apparatus 305 (e.g., a test system, test kit, sensor kit, etc.) – such as test apparatus 400 described below – and an iterative test processor 310. Test apparatus 305 is configured to directly measure key parameters used by VOSM, such as the vehicle's response time ρ, maximum longitudinal acceleration (…). or minimum longitudinal braking acceleration ( The test apparatus 305 accordingly includes hardware or software configured to obtain the values ​​of the relevant VOSM parameters.

[0058] The iterative test processor 310 is configured to receive results from the test apparatus 305 and compare the received results with conformity values ​​(such as values ​​represented by the manufacturer to reflect the performance of the test vehicle). In the example, if the actual behavior of the test vehicle differs from the expected behavior—for example, if the measured value deviates from the value represented by the manufacturer—the iterative test processor 310 is configured to vary one or more test parameters for future iterations of the test. Thus, for example, the speed of the test vehicle (e.g., velocity, acceleration, or braking) or the initial distance between vehicles can be iteratively changed until the expected value matches the measured value of the parameter. This enables the determination of under what conditions the manufacturer's representation of the test vehicle's performance is valid.

[0059] Figure 4The illustration shows example components of a test apparatus 400 for VOSM compliance measurement according to an embodiment. These components can be packaged together as a dedicated tester as described above. Generally, for longitudinal testing, the test apparatus 400 (e.g., a test case) will be attached to the front bumper of the vehicle being tested. As illustrated, the dedicated tester includes at least four components: a distance measurement unit (DMU) 405, an inertial measurement unit (IMU) 410, a parameter analysis unit (PAU) 415, and a log display unit (LDU) 420.

[0060] The DMU 405 includes sensors for detecting the distance between the test vehicle and the lead vehicle. Therefore, the DMU 405 can include radar, lidar, or image-based distance measurement sensors.

[0061] The IMU 410 includes sensors that (typically in real time) measure the movement (e.g., acceleration or deceleration) of a test vehicle. Generally, an IMU 410 sensor package will include one or more accelerometers and may also utilize satellite or terrestrial positioning systems.

[0062] The PAU 415 includes an interface for receiving outputs from the DMU 405 and IMU 410, as well as a precise clock (e.g., with resolution in milliseconds) for temporally correlating the data. The PAU 415 also includes processing circuitry for implementing response time calculations or other data processing. The following are examples of processing that can be performed by the PAU 415's processing circuitry:

[0063] 1. Let the detected distance—such as that measured by DMU 405—be d0. When At this time, the PAU 415 is configured to trigger a timer (e.g., an internal clock) to start counting, while simultaneously reading the output from the IMU 410 for displacement and acceleration analysis.

[0064] 2. When the acceleration value becomes negative, the vehicle has begun to brake. At this point, the PAU 415 triggers the timer to stop counting and reads back the timer value for the response time ρ. real Calculation. At this point, PAU 415 calculates the displacement d1 and maximum acceleration during this time period.

[0065] 3. PAU 415 continued to read acceleration values ​​from IMU 410 until the test vehicle came to a stop, and found the minimum braking acceleration during this period. And the displacement d2 during this time period.

[0066] 4. Then, the PAU 415 provides (e.g., output) ρ to the LDU. real , The values ​​of d1 and d2.

[0067] The LDU 420 includes a display or transmission interface (e.g., a transmitter, network interface, etc.) to output key VOSM parameter values ​​during a given cycle of the test. In the example, the LDU 420 includes a storage device to retain the output of the test iterations until the LDU 420 is able to display or transmit them.

[0068] Figure 5 The diagram illustrates an example of a process flow for VOSM compliance measurement according to an embodiment. Again, the illustrated testing process can be used to determine whether a test vehicle complies with VOSM safety requirements and whether the actual values ​​of the parameters are consistent with those declared.

[0069] Set the initial distance between the two vehicles Here, ε is a safety margin, the value of which depends on environmental conditions such as road type, weather, or speed. Consider equation (1) for the braking distance of the vehicle ahead. It can be set as an environment input. Using ρ, and The value—for example, provided by the manufacturer—is the minimum longitudinal safety distance when a test vehicle is traveling at a certain speed. The value can be obtained.

[0070] When the test vehicle conforms to VOSM—during the response time. and ρ real =ρ, and after the response time, —When both vehicles come to a complete stop, the final distance will be ε. If the final distance d f If the value equals ε (determined by 510), then the parameter is recorded (operation 515) and the test ends. If the final distance d... f Not equal to ε (decision 510). Perform calibration 505. Specifically, calibration may include adjusting one or more environmental inputs in the environmental inputs until ρ real , and The true value is measured. Adjustment can be made as illustrated, where if the value d f If less than ∈ (determines 520), then the speed ( The value is reduced (operation 530) because the actual driving strategy is more aggressive than expected (determined 525). Conversely, if d fIf the value is greater than ∈ (decision 520), then the driving strategy is more conservative than expected (decision 540), and the following vehicle is positioned closer to the leading vehicle (operation 545). Once the adjustment is made, the next iteration is performed (operation 535).

[0071] Figure 6 The illustration shows an example of a method 600 for VOSM compliance measurement according to an embodiment. The operation of method 600 is implemented in computer hardware (such as the computer hardware described above or below, e.g., processing circuitry).

[0072] At operation 605, the distance between the test vehicle and the vehicle ahead is measured. Here, the measurement is performed while both the test vehicle and the vehicle ahead are moving, and the test vehicle is following the vehicle ahead. In this example, the measurement is performed by a sensor with an error margin of less than or equal to one-tenth of a meter.

[0073] At operation 610, the change in the acceleration of the test vehicle is measured. In this example, the change in the acceleration of the test vehicle is measured by a sensor with an error margin of less than or equal to one-tenth of a meter per second squared.

[0074] At operation 615, a first moment is marked (e.g., recorded) in response to braking by the vehicle in front. In the example, the test vehicle was at 20 percent of its maximum speed before the first moment. In the example, the test vehicle was at 50 percent of its maximum speed before the first moment. In the example, the test vehicle was at 80 percent of its maximum speed before the first moment. In the example, both the test vehicle and the vehicle in front were at constant speed before the first moment. In the example, the test vehicle was at maximum acceleration at the first moment.

[0075] At operation 620, a hazardous situation is detected when the test vehicle enters the area of ​​danger, based on the distance between the test vehicle and the vehicle ahead. Here, a hazardous situation occurs when the distance between the test vehicle and the vehicle ahead is equal to the minimum safe distance as defined by VOSM. A second time is marked upon detection of the hazardous situation.

[0076] At operation 625, braking by the test vehicle is detected based on changes in its acceleration. A third time is marked upon detection of braking by the test vehicle. The difference between the second time (operation 320) and this third time is the response time of the test vehicle. In this example, the response time has a margin of error less than or equal to ten milliseconds.

[0077] At operation 630, a stop is detected by the test vehicle and the vehicle ahead to mark the fourth time. This fourth time is the conclusion of the iteration of this test. Measurements from operations 605 and 610 are generally performed up to this point.

[0078] At operation 635, various test values ​​are recorded. For example, the records include: the distance between the test vehicle and the vehicle ahead between the first time point (operation 615) and the fourth time point (operation 630); the response time (operation 625); the acceleration of the test vehicle between the second time point (operation 620) and the second time point plus the response time—based on the change in the acceleration of the test vehicle (operation 610); or the deceleration of the test vehicle between the second time point plus the response time and the fourth time point—based on the change in the acceleration of the test vehicle. In this example, the records include recording the second time point indicative of the test vehicle entering a hazardous situation.

[0079] At operation 640, for example, the maximum acceleration of the test vehicle during the response time is calculated based on the recorded test values.

[0080] At operation 645, for example, the minimum braking deceleration of the test vehicle after the response time is calculated based on the recorded test values.

[0081] At operation 650, compliance measurements of the test vehicle are generated by comparing the distance between the test vehicle and the preceding vehicle, response time, maximum acceleration, and minimum braking deceleration between the first and fourth time points with corresponding predefined values. In the example, generating a compliance measurement for response time includes indicating compliance with the predefined response time as being less than or equal to a deviation caused by the measuring instrument and a predefined response time within the predefined values. In the example, generating a compliance measurement for maximum acceleration includes indicating compliance with the maximum acceleration as being less than or equal to a deviation caused by the road surface and a predefined maximum acceleration within the predefined values. In the example, generating a compliance measurement for minimum braking deceleration includes indicating compliance as the first deviation caused by the road surface under braking is less than or equal to a second deviation caused by the road surface under acceleration, where the predefined minimum braking deceleration and predefined maximum acceleration are within the predefined values. In the example, generating a compliance measurement of the distance between the test vehicle and the vehicle ahead between the first and fourth times includes indicating compliance of the distance between the test vehicle and the vehicle ahead between the first and fourth times in response to the distance between the test vehicle and the vehicle ahead being greater than or equal to a predefined safety distance margin in a predefined value.

[0082] Figure 7 The illustration shows a block diagram of an example machine 700 on which any one or more of the techniques (e.g., methods) discussed herein can be performed. As described herein, the example may include logic or multiple components or mechanisms in or operable by the machine 700. A circuit (e.g., a processing circuit) is a collection of circuits implemented in a tangible entity of the machine 700, the collection including hardware (e.g., simple circuits, gates, logic, etc.). Circuit membership can be flexible over time. A circuit includes members that can perform a specified operation individually or in combination during operation. In the example, the hardware of the circuit may be designed immutably to perform a specific operation (e.g., hardwired). In the example, the hardware of the circuit may include physically connected components (e.g., execution units, transistors, simple circuits, etc.) including machine-readable media that are physically modified (e.g., magnetic ground, electric ground, movable arrangement of massless particles, etc.) to encode instructions for a specific operation. When connecting physical components, the basic electrical properties of the hardware components are changed, for example, from an insulator to a conductor, or vice versa. The instructions enable embedded hardware (e.g., an execution unit or loading mechanism) to create members of a circuit in the hardware via variable connections to perform portions of a specific operation when in operation. Accordingly, in the example, a machine-readable medium element is a part of the circuit, or a component communicatively coupled to the circuit when the device is in operation. In the example, any physical component can be used in more than one member of more than one circuit. For example, in operation, an execution unit can be used in a first circuit of a first circuit system at one point in time and reused at different times by a second circuit in the first circuit system or by a third circuit in the second circuit system. Additional examples of these components for machine 700 are as follows.

[0083] In alternative embodiments, machine 700 may operate as a standalone device or may be connected (e.g., networked) to other machines. In a networked deployment, machine 700 may operate as a server machine, a client machine, or both in a server-client network environment. In the example, machine 700 may act as a peer-to-peer (P2P) (or other distributed) network environment. Machine 700 may be a personal computer (PC), tablet PC, set-top box (STB), personal digital assistant (PDA), mobile phone, web device, network router, switch, or bridge, or any machine capable of executing instructions (sequentially or otherwise) specifying the action that machine should take. Furthermore, although only a single machine is illustrated, the term "machine" should also be considered to include any set of machines that individually or collectively execute a set (or sets of sets) of instructions to perform any or more of the methods discussed herein, such as cloud computing, Software as a Service (SaaS), or other computer cluster configurations.

[0084] Machine (e.g., computer system) 700 may include a hardware processor 702 (e.g., a central processing unit (CPU), graphics processing unit (GPU), hardware processor core, or any combination thereof), main memory 704, static memory (e.g., memory or storage device for firmware, microcode, basic input / output (BIOS), unified extensible firmware interface (UEFI), etc.) 706, and mass storage device 708 (e.g., hard disk drive, tape drive, flash storage device, or other block device), some or all of which may communicate with each other via an interconnect (e.g., bus) 730. Machine 700 may additionally include a display unit 710, an alphanumeric input device 712 (e.g., keyboard), and a user interface (UI) navigation device 714 (e.g., mouse). In the example, display unit 710, input device 712, and UI navigation device 714 may be a touchscreen display. Machine 700 may additionally include a storage device (e.g., a drive unit) 708, a signal generation device 718 (e.g., a speaker), a network interface device 720, and one or more sensors 716 (such as a Global Positioning System (GPS) sensor, compass, accelerometer, or other sensor). Machine 700 may include an output controller 728, such as a serial (e.g., Universal Serial Bus (USB), parallel, or other wired or wireless (e.g., infrared (IR), near field communication (NFC), etc.) connection, to communicate with or control one or more peripheral devices (e.g., a printer, card reader, etc.)).

[0085] The registers of processor 702, main memory 704, static memory 706, or mass storage device 708 may be or include machine-readable medium 722, on which one or more sets of data structures or instructions 724 (e.g., software) are stored, embodying or being utilized by any one or more of the techniques or functions described herein. Instructions 724 may also reside wholly or at least partially in any register of processor 702, main memory 704, static memory 706, or mass storage device 708 during their execution via machine 700. In the example, one or any combination of hardware processor 702, main memory 704, static memory 706, or mass storage device 708 may constitute machine-readable medium 722. Although machine-readable medium 722 is illustrated as a single medium, the term "machine-readable medium" may include a single medium or multiple media (e.g., a centralized or distributed database, and / or associated caches and servers) configured to store one or more instructions 724.

[0086] The term "machine-readable medium" can include any medium capable of storing, encoding, or carrying instructions executable by machine 700 and causing machine 700 to perform any one or more of the technologies disclosed herein, or any medium capable of storing, encoding, or carrying data structures used by or associated with such instructions. Examples of non-limiting machine-readable media can include solid-state memory, optical media, magnetic media, and signals (e.g., radio frequency signals, other photon-based signals, sound signals, etc.). In examples, non-transitory machine-readable media includes machine-readable media having a plurality of particles having invariant (e.g., rest) mass and thus being components of matter. Accordingly, non-transitory machine-readable media is machine-readable media that does not include transiently propagating signals. Specific examples of non-transitory machine-readable media can include: non-volatile memory, such as semiconductor memory devices (e.g., electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM)) and flash memory devices; disks, such as internal hard disks and removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks.

[0087] In the example, information stored or otherwise provided on machine-readable medium 722 may represent instructions 724, such as instructions 724 themselves or formats from which instructions 724 can be derived. Such formats from which instructions 724 can be derived may include source code, encoded instructions (e.g., in compressed or encrypted form), packaged instructions (e.g., divided into multiple packages), etc. The information representing instructions 724 in machine-readable medium 722 may be processed by processing circuitry into instructions to perform any of the operations discussed herein. For example, deriving instructions 724 from information (e.g., processed by processing circuitry) may include: compiling (e.g., from source code, object code, etc.), interpreting, loading, organizing (e.g., dynamic or static linking), encoding, decoding, encrypting, decrypting, packaging, unpacking, or otherwise manipulating the information into instructions 724.

[0088] In the example, deriving instruction 724 may include assembling, compiling, or interpreting information (e.g., via processing circuitry) to create instruction 724 according to some intermediate or preprocessed format provided by machine-readable medium 722. When information is provided in multiple parts, the information may be combined, unpacked, and modified to create instruction 724. For example, the information may be in multiple compressed source code packages (or object code or binary executable code, etc.) on one or more remote servers. The source code packages may be encrypted during transmission over a network and, if necessary, decrypted, decompressed, assembled (e.g., linked), compiled or interpreted at the local machine (e.g., becoming a library, a standalone executable, etc.), and executed by the local machine.

[0089] The instructions 724 can be further transmitted or received on the communication network 726 via the network interface device 720 using a transmission medium, utilizing any of a variety of transport protocols (e.g., Frame Relay, Internet Protocol (IP), Transmission Control Protocol (TCP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), etc.). Example communication networks may include local area networks (LANs), wide area networks (WANs), packet data networks (e.g., the Internet), mobile phone networks (e.g., cellular networks), conventional telephone (POTS) networks, and wireless data networks (e.g., Wi-Fi). The IEEE 802.11 family of standards, IEEE 802.16 family of standards, IEEE 802.15.4 family of standards, peer-to-peer (P2P) networks, and others are included. In the example, network interface device 720 may include one or more physical jacks (e.g., Ethernet, coaxial, or telephone jacks) or one or more antennas for connection to communication network 726. In the example, network interface device 720 may include multiple antennas for wireless communication using at least one of the following technologies: single-input multiple-output (SIMO), multiple-input multiple-output (MIMO), or multiple-input single-output (MISO) technology. The term "transmission medium" should be considered to include any intangible medium capable of storing, encoding, or carrying instructions executable by machine 700, and includes digital or analog communication signals or other intangible media to facilitate communication of such software. The transmission medium is a machine-readable medium.

[0090] Additional notes and examples

[0091] Example 1 is an apparatus for measuring compliance with a vehicle operation safety model. The apparatus includes: an interface for receiving data from external sensors; an internal sensor for measuring changes in acceleration; and processing circuitry configured to: measure the distance between the test vehicle and the preceding vehicle when both are in motion and the test vehicle is following the preceding vehicle, based on data generated by the external sensors; measure changes in the acceleration of the test vehicle using the internal sensor; mark a first time in response to braking by the preceding vehicle; detect that the test vehicle has entered a dangerous situation based on the distance between the test vehicle and the preceding vehicle, marking a second time when the distance between the test vehicle and the preceding vehicle is less than or equal to a minimum safe distance as defined by the vehicle operation safety model; and detect braking by the test vehicle based on changes in the acceleration of the test vehicle to mark a third time. The difference between the first and third times is the response time of the test vehicle; a stop by the test vehicle and the vehicle ahead is detected to mark the fourth time; the following are written to the log: the distance between the test vehicle and the vehicle ahead between the first and fourth times; the response time; the acceleration of the test vehicle between the second time and the second time plus the response time, based on the change in the acceleration of the test vehicle; and the deceleration of the test vehicle between the second time plus the response time and the fourth time, based on the change in the acceleration of the test vehicle; the maximum acceleration of the test vehicle during the response time is calculated using data from the log; the minimum braking deceleration of the test vehicle after the response time is calculated using data from the log; and a conformity measurement of the test vehicle is generated by comparing the distance between the test vehicle and the vehicle ahead between the first and fourth times, the response time, the maximum acceleration, and the minimum braking deceleration with corresponding predefined values.

[0092] In Example 2, the subject of Example 1 is repeated, where the processing circuitry is configured to write a second time indication to the test vehicle that it has entered a dangerous situation to the log.

[0093] In Example 3, the subject of Example 2 is that, in order to generate a compliance measurement of the distance between the test vehicle and the vehicle in front between a first time and a fourth time, the processing circuit is configured to: in response to the distance between the test vehicle and the vehicle in front between the first time and the fourth time being greater than or equal to a predefined safety distance margin in a predefined value, thereby indicating the compliance of the distance between the test vehicle and the vehicle in front between the first time and the fourth time.

[0094] In Example 4, the subject of any of Examples 1-3 is that, in order to generate a compliance measurement of response time, the processing circuit is configured to indicate compliance of the response time in response to a response time less than or equal to a predefined response time in a predefined value caused by the measuring instrument.

[0095] In Example 5, the subject of any of the examples in Examples 1-4, the processing circuit is configured to indicate the compliance of the maximum acceleration in order to generate a compliance measurement of the maximum acceleration.

[0096] In Example 6, the subject of any of Examples 1-5, in order to generate a compliance measurement of minimum braking deceleration, the processing circuit is configured to: indicate compliance in response to a first deviation of a predefined minimum braking deceleration caused by the road surface under braking being less than or equal to a second deviation of a predefined maximum acceleration caused by the road surface under acceleration, wherein the predefined minimum braking deceleration and the predefined maximum acceleration are in predefined values.

[0097] In Example 7, the subject of any of Examples 1-6 is that the test vehicle is at 20 percent of its maximum speed before the first moment.

[0098] In Example 8, the subject of any of the examples in Examples 1-7 is that the test vehicle is at 50 percent of its maximum speed before the first moment.

[0099] In Example 9, the subject of any of Examples 1-8 is that the test vehicle is at 80 percent of its maximum speed before the first moment.

[0100] In Example 10, the subject of any of Examples 1-9 is that the test vehicle and the vehicle ahead are at a constant speed before the first moment.

[0101] In Example 11, the subject of any of the examples 1-10 is that the test vehicle is at maximum acceleration at the first moment.

[0102] In Example 12, the subject of any of Examples 1-11 is that, when the test vehicle and the preceding vehicle are moving in the form of the test vehicle following the preceding vehicle, the distance between the test vehicle and the preceding vehicle is measured by a sensor, wherein the margin of error is less than or equal to one-tenth of a meter.

[0103] In Example 13, the subject of any of Examples 1-12 is that the change in the acceleration of the test vehicle is measured by a sensor, where the margin of error is less than or equal to one-tenth of a square meter per second.

[0104] In Example 14, the subject of any of the examples in Examples 1-13 is that the response time has a margin of error of less than or equal to ten milliseconds.

[0105] Example 15 is a method for measuring compliance with a vehicle operation safety model, the method comprising: measuring the distance between a test vehicle and a preceding vehicle when both are in motion and the test vehicle is following the preceding vehicle; measuring a change in the acceleration of the test vehicle; marking a first time in response to braking by the preceding vehicle; detecting that the test vehicle has entered a hazardous situation based on the distance between the test vehicle and the preceding vehicle, and marking a second time when the distance between the test vehicle and the preceding vehicle is less than or equal to a minimum safe distance as defined by the vehicle operation safety model; detecting braking by the test vehicle based on a change in the acceleration of the test vehicle to mark a third time, the difference between the second and third times being the response time of the test vehicle; and detecting... The test vehicle and the vehicle ahead come to a stop to mark a fourth time; the following are recorded: the distance between the test vehicle and the vehicle ahead between the first and fourth times; the response time; the acceleration of the test vehicle between the second time and the second time plus the response time, based on the change in the acceleration of the test vehicle; and the deceleration of the test vehicle between the second time plus the response time and the fourth time, based on the change in the acceleration of the test vehicle; the maximum acceleration of the test vehicle during the response time is calculated based on the records; the minimum braking deceleration of the test vehicle after the response time is calculated based on the records; and a conformity measurement of the test vehicle is generated by comparing the distance between the test vehicle and the vehicle ahead between the first and fourth times, the response time, the maximum acceleration, and the minimum braking deceleration with corresponding predefined values.

[0106] In Example 16, the subject of Example 15 is recorded, where the record includes the recording of the second time in which the test vehicle enters a dangerous situation.

[0107] In Example 17, the subject of Example 16, wherein generating a compliance measurement of the distance between the test vehicle and the vehicle ahead between a first time and a fourth time includes: indicating compliance of the distance between the test vehicle and the vehicle ahead between the first time and the fourth time in response to the distance between the test vehicle and the vehicle ahead being greater than or equal to a predefined safety distance margin in a predefined value.

[0108] In Example 18, the subject of any of the examples in Examples 15-17, wherein the conformity measurement of the response time includes: responding to a response time less than or equal to a predefined response time in a predefined value and a deviation caused by the measuring instrument, thereby indicating conformity of the response time.

[0109] In Example 19, the subject of any of the examples in Examples 15-18, the conformity measurement that generates the maximum acceleration includes: indicating conformity of the maximum acceleration in response to the maximum acceleration being less than or equal to the deviation caused by the road surface and a predefined maximum acceleration in a predefined value.

[0110] In Example 20, the subject of any of the examples in Examples 15-19, wherein the conformity measurement that produces the minimum braking deceleration includes: in response to a first deviation of a predefined minimum braking deceleration caused by the road surface under braking being less than or equal to a second deviation of a predefined maximum acceleration caused by the road surface under acceleration, thereby indicating conformity, the predefined minimum braking deceleration and the predefined maximum acceleration being in predefined values.

[0111] In Example 21, the subject of any of the examples 15-20 is that the test vehicle is at 20 percent of its maximum speed before the first moment.

[0112] In Example 22, the subject of any of the examples 15-21 is that the test vehicle is at 50 percent of its maximum speed before the first moment.

[0113] In Example 23, the subject of any of the examples 15-22 is that the test vehicle is at 80 percent of its maximum speed before the first moment.

[0114] In Example 24, the subject of any of the examples 15-23 is that the test vehicle and the vehicle ahead are at a constant speed before the first moment.

[0115] In Example 25, the subject of any of the examples 15-24 is that the test vehicle is at maximum acceleration at the first moment.

[0116] In Example 26, the subject of any of Examples 15-25, the distance between the test vehicle and the preceding vehicle is measured by a sensor as the test vehicle follows the preceding vehicle, with the margin of error being less than or equal to one-tenth of a meter.

[0117] In Example 27, the subject of any of the examples 15-26 is that the change in the acceleration of the test vehicle is measured by a sensor, where the margin of error is less than or equal to one-tenth of a square meter per second.

[0118] In Example 28, the subject of any of the examples in Examples 15-27 is that the response time has a margin of error of less than or equal to ten milliseconds.

[0119] Example 29 is a machine-readable medium including instructions for measuring compliance with a vehicle operation safety model, the instructions, when executed by processing circuitry, causing the processing circuitry to perform operations including: measuring the distance between the test vehicle and the preceding vehicle when the test vehicle and the preceding vehicle are in motion and the test vehicle is following the preceding vehicle; measuring a change in the acceleration of the test vehicle; marking a first time in response to braking by the preceding vehicle; detecting that the test vehicle has entered a dangerous situation based on the distance between the test vehicle and the preceding vehicle, and marking a second time when the distance between the test vehicle and the preceding vehicle is less than or equal to a minimum safe distance as defined by the vehicle operation safety model; detecting braking by the test vehicle based on a change in the acceleration of the test vehicle to mark a third time, the difference between the second time and the third time being... The test vehicle's response time is measured; a stop is detected by the test vehicle and the vehicle ahead to mark a fourth time; the distance between the test vehicle and the vehicle ahead is recorded between the first and fourth times; the response time is recorded; the acceleration of the test vehicle between the second and second times plus the response time is recorded based on the change in the test vehicle's acceleration; and the deceleration of the test vehicle between the second and fourth times plus the response time is recorded based on the change in the test vehicle's acceleration; the maximum acceleration of the test vehicle during the response time is calculated based on the records; the minimum braking deceleration of the test vehicle after the response time is calculated based on the records; and a conformity measurement of the test vehicle is generated by comparing the distance between the test vehicle and the vehicle ahead, the response time, the maximum acceleration, and the minimum braking deceleration between the first and fourth times with corresponding predefined values.

[0120] In Example 30, the subject of Example 29 is that the record includes recording the second time in which the test vehicle enters a dangerous situation.

[0121] In Example 31, the subject of Example 30, wherein generating a compliance measurement of the distance between the test vehicle and the vehicle ahead between a first time and a fourth time includes: indicating compliance of the distance between the test vehicle and the vehicle ahead between the first time and the fourth time in response to the distance between the test vehicle and the vehicle ahead being greater than or equal to a predefined safety distance margin in a predefined value.

[0122] In Example 32, the subject of any of the examples 29-31, the conformity measurement of the response time includes: responding to a response time less than or equal to a predefined response time in a predefined value and a deviation caused by the measuring instrument, thereby indicating conformity of the response time.

[0123] In Example 33, the subject of any of the examples in Examples 29-32, the conformity measurement for generating maximum acceleration includes: indicating conformity of maximum acceleration in response to a maximum acceleration being less than or equal to a deviation caused by the road surface and a predefined maximum acceleration in a predefined value.

[0124] In Example 34, the subject of any of the examples 29-33, wherein the conformity measurement that produces the minimum braking deceleration includes: in response to a first deviation of a predefined minimum braking deceleration caused by the road surface under braking being less than or equal to a second deviation of a predefined maximum acceleration caused by the road surface under acceleration, thereby indicating conformity, the predefined minimum braking deceleration and the predefined maximum acceleration being in predefined values.

[0125] In Example 35, the subject of any of the examples 29-34 is that the test vehicle is at 20 percent of its maximum speed before the first moment.

[0126] In Example 36, the subject of any of the examples 29-35 is that the test vehicle is at 50 percent of its maximum speed before the first moment.

[0127] In Example 37, the subject of any of Examples 29-36 is that the test vehicle is at 80 percent of its maximum speed before the first moment.

[0128] In Example 38, the subject of any of the examples 29-37 is that the test vehicle and the vehicle ahead are at a constant speed before the first moment.

[0129] In Example 39, the subject of any of Examples 29-38 is that the test vehicle is at maximum acceleration at the first moment.

[0130] In Example 40, the subject of any of Examples 29-39, the distance between the test vehicle and the preceding vehicle is measured by a sensor while the test vehicle is moving in the manner of following the preceding vehicle, with the margin of error being less than or equal to one-tenth of a meter.

[0131] In Example 41, the subject of any of the examples 29-40 is that the change in the acceleration of the test vehicle is measured by a sensor, where the margin of error is less than or equal to one-tenth of a square meter per second.

[0132] In Example 42, the subject of any of the examples 29-41 is that the response time has a margin of error of less than or equal to ten milliseconds.

[0133] Example 43 is a system for measuring compliance with a vehicle operation safety model. The system includes: components for measuring the distance between a test vehicle and a preceding vehicle when the test vehicle and the preceding vehicle are in motion and the test vehicle is following the preceding vehicle; components for measuring changes in the acceleration of the test vehicle; components for marking a first time in response to braking by the preceding vehicle; components for detecting that the test vehicle has entered a hazardous situation based on the distance between the test vehicle and the preceding vehicle, marking a second time when the hazardous situation occurs when the distance between the test vehicle and the preceding vehicle is less than or equal to a minimum safe distance as defined by the vehicle operation safety model; components for detecting braking by the test vehicle based on changes in the acceleration of the test vehicle to mark a third time, the difference between the second and third times being the response time of the test vehicle; and components for detecting... The system includes: a component for measuring the stop of the test vehicle and the vehicle ahead to mark a fourth time; a component for recording the following: the distance between the test vehicle and the vehicle ahead between the first and fourth times; the response time; the acceleration of the test vehicle between the second time and the second time plus the response time, based on changes in the acceleration of the test vehicle; and the deceleration of the test vehicle between the second time plus the response time and the fourth time, based on changes in the acceleration of the test vehicle; a component for calculating the maximum acceleration of the test vehicle during the response time based on the records; a component for calculating the minimum braking deceleration of the test vehicle after the response time based on the records; and a component for generating a conformity measurement of the test vehicle by comparing the distance between the test vehicle and the vehicle ahead between the first and fourth times, the response time, the maximum acceleration, and the minimum braking deceleration with corresponding predefined values.

[0134] In Example 44, the subject of Example 43, wherein the component for recording includes: a component for recording a second time indicating that the test vehicle has entered a dangerous situation.

[0135] In Example 45, the subject of Example 44, wherein the component for generating a compliance measurement of the distance between the test vehicle and the preceding vehicle between a first time and a fourth time includes: a component for indicating the compliance of the distance between the test vehicle and the preceding vehicle between the first time and the fourth time in response to the distance between the test vehicle and the preceding vehicle between the first time and the fourth time being greater than or equal to a predefined safety distance margin in a predefined value.

[0136] In Example 46, the subject of any of the examples 43-45, wherein the component for generating a conformity measurement of response time includes: a component for indicating conformity of response time in response to a response time less than or equal to a predefined response time in a predefined value and a deviation caused by the measuring instrument.

[0137] In Example 47, the subject of any of the examples 43-46, wherein the component for generating a conformity measurement of maximum acceleration includes: a component for indicating conformity of maximum acceleration in response to a maximum acceleration being less than or equal to a deviation caused by the road surface and a predefined maximum acceleration in a predefined value.

[0138] In Example 48, the subject of any of the examples 43-47, wherein the component for generating a compliance measurement of minimum braking deceleration includes: a component for indicating compliance in response to a first deviation of a predefined minimum braking deceleration caused by the road surface under braking being less than or equal to a second deviation of a predefined maximum acceleration caused by the road surface under acceleration, wherein the predefined minimum braking deceleration and the predefined maximum acceleration are in predefined values.

[0139] In Example 49, the subject of any of the examples 43-48 is that the test vehicle is at 20 percent of its maximum speed before the first moment.

[0140] In Example 50, the subject of any of the examples 43-49 is that the test vehicle is at 50 percent of its maximum speed before the first moment.

[0141] In Example 51, the subject of any of the examples 43-50 is that the test vehicle is at 80 percent of its maximum speed before the first moment.

[0142] In Example 52, the subject of any of the examples 43-51 is that the test vehicle and the vehicle ahead are at a constant speed before the first moment.

[0143] In Example 53, the subject of any of the examples 43-52 is that the test vehicle is at maximum acceleration at the first moment.

[0144] In Example 54, the subject of any of Examples 43-53, the distance between the test vehicle and the preceding vehicle is measured by a sensor while the test vehicle is moving in the manner of following the preceding vehicle, with the margin of error being less than or equal to one-tenth of a meter.

[0145] In Example 55, the subject of any of the examples in Examples 43-54, the change in the acceleration of the test vehicle is measured by a sensor, where the margin of error is less than or equal to one-tenth of a square meter per second.

[0146] In Example 56, the subject of any of the examples 43-55 is that the response time has a margin of error of less than or equal to ten milliseconds.

[0147] Example 57 of PNUM is at least one machine-readable medium including instructions that, when executed by processing circuitry, cause the processing circuitry to perform operations to implement any of the examples 1-56.

[0148] PNUM Example 58 is a device that includes components for implementing any of the examples 1-56.

[0149] PNUM Example 59 is a system that implements any of the examples in Examples 1-56.

[0150] PNUM Example 60 is a method to implement any of the examples in Examples 1-56.

[0151] The above detailed description includes references to the accompanying drawings, which form part of the detailed description. The drawings illustrate specific embodiments that can be practiced by way of illustration. These embodiments are also referred to herein as “examples.” Such examples may include elements other than those shown or described. However, the inventors also contemplate examples in which only those elements shown or described are provided. Furthermore, the inventors contemplate examples (or examples of examples) using any combination or arrangement of those elements shown or described for a particular example (or one or more aspects thereof) or for other examples (or one or more aspects thereof) shown or described herein.

[0152] All publications, patents, and patent documents cited in this document are incorporated herein by reference in their entirety, as if they were individually incorporated by reference. In the event of any inconsistency between the usage in this document and those documents thus incorporated by reference, the usage in the incorporated reference(s) shall be considered supplementary to the usage in this document; in the event of any conflict, the usage in this document shall prevail.

[0153] In this document, as is commonly used in patent documents, the term "a (or an)" is used to include one or more, independent of any other instances or uses of "at least one" or "one or more." In this document, the term "or" is used to mean non-exclusive or such that "A or B" includes "A but not B," "B but not A," and "A and B," unless otherwise indicated. In the appended claims, the terms "comprising" and "in which" are used as their concise English equivalents. Similarly, in the following claims, the terms "comprising" and "including" are open-ended, meaning that a system, apparatus, article, or process that includes elements other than those listed after such terms in a claim is still considered to fall within the scope of that claim. Furthermore, in the following claims, the terms "first," "second," and "third," etc., are used merely as labels and are not intended to impose numerical requirements on their objects.

[0154] The above description is intended to be illustrative and not restrictive. For example, the above examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments may be used by those skilled in the art upon review of the above description. The abstract is intended to allow the reader to quickly determine the nature of the technical disclosure and to understand that it will not be used to interpret or limit the scope or meaning of the claims. Similarly, in the detailed description above, various features may be grouped together to simplify this disclosure. This should not be construed as meaning that any of the disclosed features not claimed are necessary for any claim. Rather, the subject matter of the invention may lie in fewer than all features of a particular disclosed embodiment. Therefore, the following claims are hereby incorporated into the detailed description, wherein each claim is an independent embodiment. The scope of the embodiments should be determined by referring to the appended claims together with all the scope of the equivalents to which such claims are conferred.

Claims

1. An apparatus for measuring the compliance of a vehicle operation safety model, the apparatus comprising: An interface for receiving data from external sensors; Internal sensors are used to measure changes in acceleration; as well as The processing circuit is configured as follows: The distance between the test vehicle and the vehicle in front is measured based on data generated by the external sensors when the test vehicle and the vehicle in front are in motion and the test vehicle is following the vehicle in front. The internal sensors are used to measure changes in the acceleration of the test vehicle; The first time is marked in response to braking by the vehicle ahead; The test vehicle is detected to have entered a dangerous situation based on the distance between the test vehicle and the vehicle ahead. When the distance between the test vehicle and the vehicle ahead is less than or equal to the minimum safe distance as defined by the vehicle operation safety model, the dangerous situation occurs to mark a second time. The braking performed by the test vehicle is detected based on the change in the acceleration of the test vehicle to mark a third time, and the difference between the second time and the third time is the response time of the test vehicle. The stoppages made by the test vehicle and the preceding vehicle are detected to mark a fourth time. Write the following to your log: The distance between the test vehicle and the vehicle ahead between the first time and the fourth time; The response time; Based on the change in the acceleration of the test vehicle, the acceleration of the test vehicle between the second time and the second time plus the response time; as well as Based on the change in the acceleration of the test vehicle, the test vehicle decelerates between the second time and the response time and the fourth time; The maximum acceleration of the test vehicle during the response time was calculated using data from the logs. The minimum braking deceleration of the test vehicle after the response time was calculated using data from the logs. as well as A conformity measurement of the test vehicle is generated by comparing the distance between the test vehicle and the vehicle ahead, the response time, the maximum acceleration, and the minimum braking deceleration between the first time and the fourth time with corresponding predefined values.

2. The device as claimed in claim 1, wherein, The processing circuitry is configured to write the second time indicating that the test vehicle has entered the dangerous situation to the log.

3. The device as described in claim 2, wherein, In order to generate the conformity measurement of the distance between the test vehicle and the preceding vehicle between the first time and the fourth time, the processing circuit is configured to: In response to the distance between the test vehicle and the preceding vehicle being greater than or equal to a predefined safety distance margin in the predefined values ​​between the first time and the fourth time, the compliance of the distance between the test vehicle and the preceding vehicle between the first time and the fourth time is indicated.

4. The device as claimed in claim 1, wherein, In order to generate the compliance measurement of the response time, the processing circuit is configured to: The compliance of the response time is indicated in response to the deviation caused by the measuring instrument and the predefined response time in the predefined value.

5. The device as claimed in claim 1, wherein, In order to generate the conformity measurement of the maximum acceleration, the processing circuit is configured to: In response to the maximum acceleration being less than or equal to the deviation caused by the road surface and the predefined maximum acceleration in the predefined values, the conformity of the maximum acceleration is indicated.

6. The device as claimed in claim 1, wherein, In order to generate the compliance measurement of the minimum braking deceleration, the processing circuit is configured to: In response to a first deviation caused by the road surface under braking of a predefined minimum braking deceleration being less than or equal to a second deviation caused by the road surface under acceleration of a predefined maximum acceleration, compliance is indicated, wherein the predefined minimum braking deceleration and the predefined maximum acceleration are in the predefined values.

7. The device as claimed in claim 1, wherein, The test vehicle was at 20 percent of its maximum speed before the first time point.

8. The device as claimed in claim 1, wherein, The test vehicle was at 50 percent of its maximum speed before the first time point.

9. The device as claimed in claim 1, wherein, The test vehicle was at 80% of its maximum speed before the first time point.

10. The device as claimed in claim 1, wherein, The test vehicle and the vehicle ahead were at constant speeds before the first time interval.

11. The device as claimed in claim 1, wherein, The test vehicle was at maximum acceleration at the first moment.

12. The device as claimed in claim 1, wherein, When the test vehicle and the preceding vehicle are moving with the test vehicle following the preceding vehicle, the distance between the test vehicle and the preceding vehicle is measured by a sensor, wherein the margin of error is less than or equal to one-tenth of a meter.

13. The device as claimed in claim 1, wherein, The change in the acceleration of the test vehicle is measured by a sensor, wherein the margin of error is less than or equal to one-tenth of a square meter per second.

14. The device as claimed in claim 1, wherein, The response time has a margin of error of less than or equal to ten milliseconds.

15. A method for measuring the conformity of a vehicle operation safety model, the method comprising: Measure the distance between the test vehicle and the vehicle ahead when they are in motion and the test vehicle is following the vehicle ahead; Measure the changes in the acceleration of the test vehicle; The first time is marked in response to braking by the vehicle ahead; The test vehicle is detected to have entered a dangerous situation based on the distance between the test vehicle and the vehicle ahead. When the distance between the test vehicle and the vehicle ahead is less than or equal to the minimum safe distance as defined by the vehicle operation safety model, the dangerous situation occurs to mark a second time. The braking performed by the test vehicle is detected based on the change in the acceleration of the test vehicle to mark a third time, and the difference between the second time and the third time is the response time of the test vehicle. The stoppages made by the test vehicle and the preceding vehicle are detected to mark a fourth time. Record: The distance between the test vehicle and the vehicle ahead between the first time and the fourth time; The response time; Based on the change in the acceleration of the test vehicle, the acceleration of the test vehicle between the second time and the second time plus the response time; as well as Based on the change in the acceleration of the test vehicle, the test vehicle decelerates between the second time and the response time and the fourth time; Calculate the maximum acceleration of the test vehicle during the response time based on the records; Calculate the minimum braking deceleration of the test vehicle after the response time based on the recorded data; as well as A conformity measurement of the test vehicle is generated by comparing the distance between the test vehicle and the vehicle ahead, the response time, the maximum acceleration, and the minimum braking deceleration between the first time and the fourth time with corresponding predefined values.

16. The method of claim 15, wherein, The record includes recording the second time in which the test vehicle was instructed to enter the dangerous situation.

17. The method of claim 16, wherein, The conformity measurement that generates the distance between the test vehicle and the preceding vehicle between the first time and the fourth time includes: In response to the distance between the test vehicle and the preceding vehicle being greater than or equal to a predefined safety distance margin in the predefined values ​​between the first time and the fourth time, the compliance of the distance between the test vehicle and the preceding vehicle between the first time and the fourth time is indicated.

18. The method of claim 15, wherein, The compliance measurement that generates the response time includes: The compliance of the response time is indicated in response to the deviation caused by the measuring instrument and the predefined response time in the predefined value.

19. The method of claim 15, wherein, The conformity measurement that generates the maximum acceleration includes: In response to the maximum acceleration being less than or equal to the deviation caused by the road surface and the predefined maximum acceleration in the predefined values, the conformity of the maximum acceleration is indicated.

20. The method of claim 15, wherein, The compliance measurement that generates the minimum braking deceleration includes: In response to a first deviation caused by the road surface under braking of a predefined minimum braking deceleration being less than or equal to a second deviation caused by the road surface under acceleration of a predefined maximum acceleration, compliance is indicated, wherein the predefined minimum braking deceleration and the predefined maximum acceleration are in the predefined values.

21. The method of claim 15, wherein, The test vehicle was at 20 percent of its maximum speed before the first time point.

22. The method of claim 15, wherein, The test vehicle was at 50 percent of its maximum speed before the first time point.

23. The method of claim 15, wherein, The test vehicle was at 80% of its maximum speed before the first time point.

24. The method of claim 15, wherein, The test vehicle and the vehicle ahead were at constant speeds before the first time interval.

25. The method of claim 15, wherein, The test vehicle was at maximum acceleration at the first moment.

26. The method of claim 15, wherein, When the test vehicle and the preceding vehicle are moving with the test vehicle following the preceding vehicle, the distance between the test vehicle and the preceding vehicle is measured by a sensor, wherein the margin of error is less than or equal to one-tenth of a meter.

27. The method of claim 15, wherein, The change in the acceleration of the test vehicle is measured by a sensor, wherein the margin of error is less than or equal to one-tenth of a square meter per second.

28. The method of claim 15, wherein, The response time has a margin of error of less than or equal to ten milliseconds.

29. A machine-readable medium comprising instructions that, when executed by processing circuitry, cause the processing circuitry to perform the method of any one of claims 15-28.

30. A system comprising components for performing the method of any one of claims 15-28.

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