Collision test adjustment method, device, equipment and storage medium

Abstract

The present invention discloses a collision test adjustment method, device, equipment and storage medium, belonging to the technical field of vehicle testing. The present invention controls a target vehicle to travel according to a preset test strategy and detects the driving state of a test vehicle; determines the deviation type of the test vehicle according to the driving state; and adjusts the driving state of the target vehicle according to the deviation type to ensure that the collision point between the test vehicle and the target vehicle meets a preset collision condition. In this way, it is possible to ensure an accurate collision point without relying on steering, braking, and throttle robots, effectively saving test costs, reducing the installation and debugging time of steering, braking, and throttle robots, improving test efficiency, and at the same time reducing the limitation of steering, braking, and throttle robots on the test site, that is, the test can be completed even in a shorter acceleration site.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle testing, and particularly to a collision test adjustment method, device, equipment and storage medium. Background Art

[0002] In the current collision test equipment, the speed of the target vehicle GVT after the acceleration ends is a fixed speed. If there are deviations in the speed or lateral position of the test vehicle VUT, the target vehicle GVT will not adaptively adjust the collision point according to the speed change of the VUT, resulting in inaccurate test collision points, which requires very high requirements for the speed, lateral position and steering deviation of the VUT. In the actual test process, it is necessary to use steering, braking, and throttle robots to control the lateral position and speed accuracy of the VUT, which also leads to very high test costs.

[0003] The above content is only used to assist in understanding the technical solution of the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of the present invention is to provide a collision test adjustment method, device, equipment and storage medium, aiming to solve the technical problems of high test cost and low efficiency in the prior art collision.

[0005] To achieve the above purpose, the present invention provides a collision test adjustment method, and the collision test adjustment method includes the following steps:

[0006] Control the target vehicle to travel according to a preset test strategy, and detect the driving state of the test vehicle;

[0007] Determine the deviation type of the test vehicle according to the driving state;

[0008] Adjust the driving state of the target vehicle according to the deviation type to ensure that the collision point between the test vehicle and the target vehicle meets the preset collision condition.

[0009] Optionally, the adjusting the driving state of the target vehicle according to the deviation type includes:

[0010] When the deviation type is that the test vehicle has a lateral position deviation, determine the offset direction and offset distance according to the driving state of the test vehicle;

[0011] Adjust the driving state of the target vehicle according to the offset direction and the offset distance.

[0012] Optionally, the adjusting the driving state of the target vehicle according to the deviation type includes:

[0013] When the deviation type is that the test vehicle has a speed deviation, determine the actual vehicle speed according to the driving state of the test vehicle;

[0014] Obtain the collision distance of the test vehicle when the test vehicle reaches the preset collision point;

[0015] Calculate the target vehicle speed of the target vehicle according to the actual vehicle speed and the collision distance of the test vehicle;

[0016] Adjust the driving state of the target vehicle according to the target vehicle speed.

[0017] Optionally, the calculating the target vehicle speed of the target vehicle according to the actual vehicle speed and the collision distance of the test vehicle includes:

[0018] Calculate the collision time when the test vehicle reaches the preset collision point according to the actual vehicle speed and the collision distance of the test vehicle;

[0019] Obtain the collision distance of the target vehicle when the target vehicle reaches the preset collision point;

[0020] Calculate the target vehicle speed of the target vehicle according to the collision distance of the target vehicle.

[0021] Optionally, the adjusting the driving state of the target vehicle according to the deviation type includes:

[0022] When the deviation type is that the test vehicle has an angular deviation, determine the current heading angle according to the driving state of the test vehicle;

[0023] Determine the updated collision point according to the current heading angle;

[0024] Determine the updated motion speed of the target vehicle according to the updated collision point;

[0025] Adjust the driving state of the target vehicle according to the updated motion speed.

[0026] Optionally, the determining the updated motion speed of the target vehicle according to the updated collision point includes:

[0027] Determine the updated collision distance when the test vehicle reaches the updated collision point;

[0028] Determine the target collision time when the target vehicle reaches the updated collision point according to the updated collision distance;

[0029] Determine the target collision distance when the target vehicle reaches the updated collision point according to the updated collision point;

[0030] Determine the updated motion speed of the target vehicle according to the target collision distance and the target collision time.

[0031] Optionally, the determining the target collision distance for the target vehicle to reach the updated collision point according to the updated collision point includes:

[0032] Determine the offset horizontal coordinate according to the preset collision point and the updated collision point;

[0033] Determine the target collision distance for the target vehicle to reach the updated collision point according to the offset horizontal coordinate.

[0034] In addition, to achieve the above object, the present invention also provides a collision test adjustment device, which includes:

[0035] A state detection module, configured to control the target vehicle to travel according to a preset test strategy and detect the driving state of the test vehicle;

[0036] A deviation determination module, configured to determine the deviation type of the test vehicle according to the driving state;

[0037] A vehicle adjustment module, configured to adjust the driving state of the target vehicle according to the deviation type to ensure that the collision point between the test vehicle and the target vehicle meets the preset collision condition.

[0038] In addition, to achieve the above object, the present invention also provides a collision test adjustment device, which includes: a memory, a processor, and a collision test adjustment program stored on the memory and running on the processor, and the collision test adjustment program is configured to implement the collision test adjustment method as described above.

[0039] In addition, to achieve the above object, the present invention also provides a storage medium, on which a collision test adjustment program is stored, and when the collision test adjustment program is executed by a processor, it implements the collision test adjustment method as described above.

[0040] The present invention controls a target vehicle to travel according to a preset test strategy, and detects the driving state of a test vehicle; determines the deviation type of the test vehicle according to the driving state; and adjusts the driving state of the target vehicle according to the deviation type to ensure that the collision point between the test vehicle and the target vehicle meets a preset collision condition. In this way, during the test process, the driving state of the test vehicle is detected in real time, so as to determine the type of driving deviation generated. Furthermore, the driving of the target vehicle can be adjusted according to different deviation types, so as to ensure that the collision point between the test vehicle and the target vehicle meets the preset collision condition. Without relying on steering, braking, and throttle robots, the collision point can be ensured to be accurate, effectively saving the test cost, reducing the installation and debugging time of steering, braking, and throttle robots, improving the test efficiency, and reducing the limitation of steering, braking, and throttle robots on the site, that is, the test can be completed even in a relatively short acceleration site. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a schematic structural diagram of a collision test adjustment device in the hardware operating environment related to the solution of the embodiment of the present invention;

[0042] Figure 2 is a schematic flowchart of the first embodiment of the collision test adjustment method of the present invention;

[0043] Figure 3 is a schematic diagram of a collision test in an embodiment of the collision test adjustment method of the present invention;

[0044] Figure 4 is a schematic diagram of a collision point in an embodiment of the collision test adjustment method of the present invention;

[0045] Figure 5 is a schematic flowchart of the second embodiment of the collision test adjustment method of the present invention;

[0046] Figure 6 is a schematic diagram of collision point adjustment in an embodiment of the collision test adjustment method of the present invention;

[0047] Figure 7 is a structural block diagram of the first embodiment of the collision test adjustment device of the present invention.

[0048] The realization, functional characteristics, and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0050] Refer to Figure 1 , Figure 1Schematic diagram of the structure of a collision test adjustment device for the hardware operating environment involved in the solution of the embodiment of the present invention.

[0051] As shown in Figure 1 , the collision test adjustment device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless-fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0052] Those skilled in the art can understand that Figure 1 the structure shown in

[0053] As shown in Figure 1 does not constitute a limitation on the collision test adjustment device, and may include more or fewer components than shown in the figure, or combine some components, or arrange different components.

[0054] In Figure 1 the collision test adjustment device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the collision test adjustment device of the present invention may be arranged in the collision test adjustment device. The collision test adjustment device calls the collision test adjustment program stored in the memory 1005 through the processor 1001 and executes the collision test adjustment method provided by the embodiment of the present invention.

[0055] The embodiment of the present invention provides a collision test adjustment method. Referring to Figure 2 , Figure 2 is a schematic flowchart of the first embodiment of a collision test adjustment method of the present invention.

[0056] In this embodiment, the collision test adjustment method includes the following steps:

[0057] Step S10: Control the target vehicle to travel according to a preset test strategy, and detect the driving state of the test vehicle.

[0058] In this embodiment, the execution subject of this embodiment can be the collision test adjustment device. This collision test adjustment device has functions such as data processing, data communication, and program operation. The collision test adjustment device can be an in-vehicle computer or a computer and other intelligent processing devices. Of course, it can also be other devices with similar functions, and this embodiment does not limit this. For the convenience of description, this embodiment is described by taking the collision test adjustment device as an example.

[0059] It should be noted that the current speed of the target vehicle GVT in the collision test is a fixed speed after the acceleration ends. When there are deviations in the speed or lateral position of the test vehicle VUT, the target vehicle GVT will not adaptively adjust the collision point following the change of the VUT's speed, resulting in inaccurate test collision points. This places very high requirements on the speed, lateral position, and steering deviation of the VUT. During the actual test process, it is necessary to use steering, braking, and throttle robots to control the lateral position and speed accuracy of the VUT, which also leads to very high test costs. However, in the solution of this embodiment, there is no need to use steering, braking, and throttle robots during the test process. When the speed, lateral position, and steering angle deviation of the VUT are within a certain range, the GVT can adaptively adjust its moving speed to ensure an accurate collision point, that is, the GVT can ensure the collision point between the VUT and the GVT by adaptively adjusting its own moving speed within a certain range.

[0060] It should be understood that in the solution of this embodiment, when the GVT reaches the preset TTC0, the GVT starts to move; the GVT uses time t1 to accelerate to the preset speed v1 and then enters the time t2 for adjustable collision points; within the time t2, the GVT will automatically adjust the speed and position of the GVT according to the test speed deviation, position deviation, and steering angle deviation of the VUT to ensure an accurate collision point between the GVT and the VUT. However, when it is monitored that the acceleration of the VUT < -4m / s2 (TBD), it can be considered that the AEB or JA function of the VUT is triggered, and the GVT no longer automatically adjusts the collision point, that is, it maintains a constant speed with the current speed.

[0061] In specific implementation, first, device installation: Install a gyroscope and communication equipment on the VUT to respectively locate the position, speed, and heading angle information of the VUT and provide communication between the VUT and the VRU host computer. In actual operation, it is usually necessary to build a base station on the test site to improve the positioning accuracy of the VUT (the highest accuracy can reach 2 cm).

[0062] It should be noted that the preset test strategy includes calculating the collision time TTC based on the distance s0 between the VUT and the collision point and the current speed v0 of the VUT and using it as the movement trigger condition of the VRU; when the time TTC between the VUT and the collision point reaches the preset start collision time TTC0 of the GVT, the GVT starts to accelerate to the preset speed V1 in time t1.

[0063] It should be understood that detecting the driving state of the test vehicle refers to detecting the vehicle speed, steering angle and lateral offset of the test vehicle in real time.

[0064] Step S20: determining the deviation type of the test vehicle according to the driving state.

[0065] In a specific implementation, the vehicle speed, steering angle and lateral offset of the test vehicle are determined respectively according to the driving state. When the error of any one of the three exceeds the error range, the offset type is determined to be a parameter whose error exceeds the error range.

[0066] Step S30: adjusting the driving state of the target vehicle according to the deviation type to ensure that the collision point between the test vehicle and the target vehicle reaches a preset collision condition.

[0067] It should be noted that the deviation types are divided into speed deviation of the test vehicle, lateral position deviation of the test vehicle and corner deviation of the test vehicle. The preset collision condition refers to the collision between the 50% position of the front end of the VUT and the outermost edge of the left front end of the GVT.

[0068] Furthermore, in order to ensure the accuracy of the test when the test vehicle has a lateral position deviation, step S30 includes: when the deviation type is a lateral position deviation of the test vehicle, determining an offset direction and an offset distance according to the driving state of the test vehicle; and adjusting the driving state of the target vehicle according to the offset direction and the offset distance.

[0069] It should be understood that if Figure 3 The figure shows a schematic diagram of a collision test. When the lateral position of the VUT deviates to the left or right on the driving path, the time it takes for the VUT and GVT to reach the collision point will change, causing the collision point to change. When the lateral position deviation of the VUT is Δx, in order to ensure the accuracy of the collision point, the GVT will also deviate in the same direction by Δx.

[0070] In a specific implementation, when the lateral position deviation of the VUT is Δx, it needs to be within a preset controllable range;

[0071] It should be noted that the GVT target of this patent is also applicable to targets such as bicycles, electric vehicles, motorcycles, tricycles and pedestrians in the opposite and same directions.

[0072] It should be understood that when the GVT monitors that the acceleration of the VUT ≤ -4 m / s², it can be considered that the AEB or JA function of the VUT vehicle is triggered, and the GVT will no longer automatically adjust the collision point according to the change in the lateral position of the VUT, but will maintain a constant speed at the current speed;

[0073] In a specific implementation, such as Figure 4 shown, the accurate collision point means that the 50% position of the front end of the VUT collides with the outermost edge of the left front end of the GVT.

[0074] In this way, the driving of the target vehicle is adjusted when the test vehicle has a lateral position deviation, and the experiment is completed while ensuring the accuracy of the collision point.

[0075] Furthermore, in order to make adjustments when the deviation type is that the test vehicle has a speed deviation to ensure the completion of the test, step S30 includes: when the deviation type is that the test vehicle has a speed deviation, determining the actual vehicle speed according to the driving state of the test vehicle; obtaining the collision distance of the test vehicle when it reaches the preset collision point; calculating the target vehicle speed of the target vehicle according to the actual vehicle speed and the collision distance of the test vehicle; and adjusting the driving state of the target vehicle according to the target vehicle speed.

[0076] It should be noted that the collision time TTC is calculated based on the distance s0 between the VUT and the collision point and the current speed v0 of the VUT and used as the motion trigger condition of the GVT; when the time TTC of the VUT from the collision point reaches the preset start collision time TTC0 of the GVT, the GVT starts to accelerate to the preset speed V1 in time t1, and then the GVT enters the variable speed time period t2.

[0077] It should be understood that within the time t2, if the speed of the VUT changes, that is, the speed of the VUT changes to v r +Δv, at this time, if the motion speed of the GVT remains unchanged, it will cause the collision position between the VUT and the GVT to change or the two will miss the collision.

[0078] In a specific implementation, when the speed of the VUT changes to v r +Δv, the GVT will determine the speed V2 that the target vehicle needs to reach again according to the current distance Sv of the VUT from the collision point and the current speed of the VUT. That is, when the speed of the VUT changes from Vr to v r +Δv, the speed of the GVT also changes from V1 to V2, so as to ensure that the VUT and the GVT reach the collision point at the same time to ensure the accuracy of the collision point.

[0079] It should be noted that the speed change of the VUT needs to be within a certain range (such as ±5 kph) for the GVT to automatically adjust the collision point according to the speed change of the VUT.

[0080] It should be understood that it is difficult to ensure a very stable speed under normal driving conditions of the driver. In tests, throttle and braking robots are often used to ensure speed stability. This patent can solve the problem of ensuring the preparation of the collision point without using throttle and braking robots, saving the installation time and usage cost of the driving robot.

[0081] In a specific implementation, when the GVT monitors that the acceleration of the VUT ≤ -4 m / s², it can be considered that the AEB or JA function of the VUT vehicle is triggered, and the GVT will no longer automatically adjust the collision point according to the speed change of the VUT, and will maintain a constant speed at the current speed.

[0082] It should be noted that taking the GVT moving speed of 8 m / s and the distance from the collision point of 40 m as an example to calculate the preset start collision time TTC0 of the GVT: In the acceleration stage, the GVT accelerates uniformly with an acceleration distance of 16 m and an acceleration of 2 m / s². At this time, according to x = 1 / 2at 2 The time required for the uniform acceleration stage is obtained as t1’ = 4 s; after the GVT undergoes uniform acceleration, it maintains a uniform linear motion. Then, according to the formula t’2 = s / v, the time required for the uniform motion stage is calculated as t2’ = 3 s, that is, the preset start collision time TTC0 of the GVT = t1’ + t2’ = 7 s.

[0083] Furthermore, in order to accurately determine the target vehicle speed, the steps of calculating the target vehicle speed of the target vehicle according to the actual vehicle speed and the collision distance of the test vehicle include: calculating the collision time for the test vehicle to reach the preset collision point according to the actual vehicle speed and the collision distance of the test vehicle; obtaining the target vehicle collision distance for the target vehicle to reach the preset collision point; calculating the target vehicle speed of the target vehicle according to the target vehicle collision distance.

[0084] It should be noted that first, calculate the time for the VUT to reach the collision point

[0085]

[0086] At this time, according to the distance Sg of the current GVT from the collision point, the speed V2 that the GVT needs to reach again is calculated as

[0087]

[0088] In this embodiment, the target vehicle is controlled to travel according to a preset test strategy, and the driving state of the test vehicle is detected; the deviation type of the test vehicle is determined according to the driving state; and the driving state of the target vehicle is adjusted according to the deviation type to ensure that the collision point between the test vehicle and the target vehicle meets the preset collision conditions. In this way, during the testing process, the driving state of the test vehicle is detected in real time, so as to determine the type of driving deviation generated. Furthermore, the driving of the target vehicle can be adjusted according to different deviation types, ensuring that the collision point between the test vehicle and the target vehicle meets the preset collision conditions. Without relying on steering, braking, and throttle robots, the accuracy of the collision point can be guaranteed, effectively saving the testing cost, reducing the installation and debugging time of steering, braking, and throttle robots, improving the testing efficiency, and reducing the limitation of steering, braking, and throttle robots on the site, that is, the test can be completed even in a shorter acceleration site.

[0089] Reference Figure 5 , Figure 5 is a schematic flowchart of the second embodiment of a collision test adjustment method of the present invention.

[0090] Based on the above first embodiment, the collision test adjustment method in this embodiment includes in the step S30:

[0091] Step S301: When the deviation type is that the test vehicle has an angular deviation, determine the current heading angle according to the driving state of the test vehicle.

[0092] It should be noted that as Figure 6 shown is the update of the collision position when the test vehicle in this embodiment has an angular deviation. At this time, the current heading angle is first determined, and then the offset steering angle is determined.

[0093] Step S302: Determine the updated collision point according to the current heading angle.

[0094] It should be understood that within the time t2, if the angle of the VUT changes, the computer unit will re-virtualize a new collision point as the updated collision point according to the heading angle of the VUT.

[0095] Step S303: Determine the updated motion speed of the target vehicle according to the updated collision point.

[0096] In a specific implementation, after obtaining the updated collision point, the updated collision distance and the target collision distance are determined, and then the updated motion speed is calculated.

[0097] Further, to determine the updated movement speed, step S303 includes: determining the updated collision distance for the test vehicle to reach the updated collision point; determining the target collision time for the target vehicle to reach the updated collision point based on the updated collision distance; determining the target collision distance for the target vehicle to reach the updated collision point based on the updated collision point; and determining the updated movement speed of the target vehicle based on the target collision distance and the target collision time.

[0098] It should be noted that the distance Sn to the new collision point is recalculated. According to the formula

[0099]

[0100] where S n is the distance for the VUT to reach the new collision point, and V n is the current vehicle speed of the VUT.

[0101] The time tn required for the GVT to reach the new collision point is calculated. According to

[0102]

[0103] The movement speed required for the GVT to reach the new collision point is calculated. Here, S g1 +ΔS g is the target collision distance.

[0104] Further, to accurately determine the target collision distance, the step of determining the target collision distance for the target vehicle to reach the updated collision point based on the updated collision point includes: determining the offset horizontal coordinate based on the preset collision point and the updated collision point; and determining the target collision distance for the target vehicle to reach the updated collision point based on the offset horizontal coordinate.

[0105] It should be noted that first, the horizontal coordinate of the updated collision point in the horizontal position is determined, then compared with the preset collision point to obtain the offset horizontal coordinate, and finally, the increased target collision distance is determined in the two-dimensional space based on the offset horizontal coordinate.

[0106] Step S304: Adjust the driving state of the target vehicle according to the updated movement speed.

[0107] It should be understood that after determining the updated movement speed, the vehicle speed of the target vehicle is adjusted to the updated movement speed, so as to ensure that the collision point meets the preset collision conditions.

[0108] In this embodiment, when the deviation type is that the test vehicle has an angular deviation, the current heading angle is determined according to the driving state of the test vehicle; the updated collision point is determined according to the current heading angle; the updated moving speed of the target vehicle is determined according to the updated collision point; and the driving state of the target vehicle is adjusted according to the updated moving speed. In this way, the automatic calculation of a new collision position is achieved when the test vehicle has an angular deviation, thereby ensuring the normal progress of the test.

[0109] In addition, an embodiment of the present invention further provides a storage medium, on which a collision test adjustment program is stored. When the collision test adjustment program is executed by a processor, the steps of the collision test adjustment method described above are implemented.

[0110] Since this storage medium adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one.

[0111] Refer to Figure 7 , Figure 7 which is a structural block diagram of the first embodiment of the collision test adjustment device of the present invention.

[0112] As Figure 7 shown, the collision test adjustment device proposed by the embodiment of the present invention includes:

[0113] A state detection module 10, configured to control the target vehicle to drive according to a preset test strategy and detect the driving state of the test vehicle.

[0114] A deviation determination module 20, configured to determine the deviation type of the test vehicle according to the driving state.

[0115] A vehicle adjustment module 30, configured to adjust the driving state of the target vehicle according to the deviation type to ensure that the collision point between the test vehicle and the target vehicle meets a preset collision condition.

[0116] This embodiment controls the target vehicle to travel according to a preset test strategy, and detects the driving state of the test vehicle; determines the deviation type of the test vehicle according to the driving state; adjusts the driving state of the target vehicle according to the deviation type to ensure that the collision point between the test vehicle and the target vehicle meets the preset collision conditions. In this way, during the testing process, the driving state of the test vehicle is detected in real time, so as to determine the type of driving deviation generated. Furthermore, the driving of the target vehicle can be adjusted according to different deviation types, ensuring that the collision point between the test vehicle and the target vehicle meets the preset collision conditions. Without relying on the steering, braking, and throttle robots, the collision point can be ensured to be accurate, effectively saving the test cost, reducing the installation and debugging time of the steering, braking, and throttle robots, improving the test efficiency, and at the same time reducing the restrictions of the steering, braking, and throttle robots on the test site, that is, the test can be completed even in a shorter acceleration site.

[0117] In one embodiment, the vehicle adjustment module 30 is further configured to, when the deviation type is that the test vehicle has a lateral position deviation, determine the deviation direction and deviation distance according to the driving state of the test vehicle; adjust the driving state of the target vehicle according to the deviation direction and the deviation distance.

[0118] In one embodiment, the vehicle adjustment module 30 is further configured to, when the deviation type is that the test vehicle has a speed deviation, determine the actual vehicle speed according to the driving state of the test vehicle; obtain the collision distance of the test vehicle to reach the preset collision point; calculate the target vehicle speed of the target vehicle according to the actual vehicle speed and the collision distance of the test vehicle; adjust the driving state of the target vehicle according to the target vehicle speed.

[0119] In one embodiment, the vehicle adjustment module 30 is further configured to calculate the collision time for the test vehicle to reach the preset collision point according to the actual vehicle speed and the collision distance of the test vehicle; obtain the collision distance of the target vehicle to reach the preset collision point; calculate the target vehicle speed of the target vehicle according to the collision distance of the target vehicle.

[0120] In one embodiment, the vehicle adjustment module 30 is further configured to, when the deviation type is that the test vehicle has an angular deviation, determine the current heading angle according to the driving state of the test vehicle; determine the updated collision point according to the current heading angle; determine the updated movement speed of the target vehicle according to the updated collision point; adjust the driving state of the target vehicle according to the updated movement speed.

[0121] In one embodiment, the vehicle adjustment module 30 is further configured to determine an updated collision distance for the test vehicle to reach the updated collision point; determine a target collision time for the target vehicle to reach the updated collision point according to the updated collision distance; determine a target collision distance for the target vehicle to reach the updated collision point according to the updated collision point; and determine an updated movement speed of the target vehicle according to the target collision distance and the target collision time.

[0122] In one embodiment, the vehicle adjustment module 30 is further configured to determine an offset horizontal coordinate according to the preset collision point and the updated collision point; and determine a target collision distance for the target vehicle to reach the updated collision point according to the offset horizontal coordinate.

[0123] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can set according to needs, and the present invention does not limit this.

[0124] It should be noted that the above-described workflow is only illustrative and does not limit the protection scope of the present invention. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and there is no limitation here.

[0125] In addition, for the technical details not described in detail in this embodiment, reference can be made to the collision test adjustment method provided in any embodiment of the present invention, which will not be elaborated here.

[0126] In addition, it should be noted that in this article, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the phrase "including a..." does not exclude the existence of another identical element in the process, method, article or system including that element.

[0127] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0128] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as Read Only Memory (ROM) / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0129] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A collision test adjustment method, characterized in that The collision test adjustment method includes: Controlling the target vehicle to travel according to a preset test strategy and detecting the driving state of the test vehicle; Determining the deviation type of the test vehicle according to the driving state; Adjusting the driving state of the target vehicle according to the deviation type to ensure that the collision point between the test vehicle and the target vehicle meets the preset collision conditions; Wherein, adjusting the driving state of the target vehicle according to the deviation type includes: When the deviation type is that the test vehicle has a lateral position deviation, determining the offset direction and offset distance according to the driving state of the test vehicle; Adjusting the driving state of the target vehicle according to the offset direction and the offset distance; Wherein, adjusting the driving state of the target vehicle according to the deviation type includes: When the deviation type is that the test vehicle has an angular deviation, determining the current heading angle according to the driving state of the test vehicle; Determining an updated collision point according to the current heading angle; Determining the updated motion speed of the target vehicle according to the updated collision point; Adjusting the driving state of the target vehicle according to the updated motion speed.

2. The collision test adjustment method according to claim 1, characterized in that, Adjusting the driving state of the target vehicle according to the deviation type includes: When the deviation type is that the test vehicle has a speed deviation, determining the actual vehicle speed according to the driving state of the test vehicle; Obtaining the collision distance of the test vehicle when it reaches the preset collision point; Calculating the target vehicle speed of the target vehicle according to the actual vehicle speed and the collision distance of the test vehicle; Adjusting the driving state of the target vehicle according to the target vehicle speed.

3. The collision test adjustment method according to claim 2, characterized in that, Calculating the target vehicle speed of the target vehicle according to the actual vehicle speed and the collision distance of the test vehicle includes: Calculating the collision time when the test vehicle reaches the preset collision point according to the actual vehicle speed and the collision distance of the test vehicle; Obtaining the collision distance of the target vehicle when it reaches the preset collision point; Calculating the target vehicle speed of the target vehicle according to the collision distance of the target vehicle.

4. The collision test adjustment method according to claim 1, characterized in that Determining the updated motion speed of the target vehicle according to the updated collision point includes: Determining the updated collision distance when the test vehicle reaches the updated collision point; Determining the target collision time when the target vehicle reaches the updated collision point according to the updated collision distance; Determining the target collision distance when the target vehicle reaches the updated collision point according to the updated collision point; Determining the updated motion speed of the target vehicle according to the target collision distance and the target collision time.

5. The collision test adjustment method according to claim 4, characterized in that Determining the target collision distance when the target vehicle reaches the updated collision point according to the updated collision point includes: Determining the offset horizontal coordinate according to the preset collision point and the updated collision point; Determining the target collision distance when the target vehicle reaches the updated collision point according to the offset horizontal coordinate.

6. A collision test adjustment device, characterized in that, The collision test adjustment device includes: A state detection module for controlling the target vehicle to travel according to a preset test strategy and detecting the driving state of the test vehicle; A deviation determination module for determining the deviation type of the test vehicle according to the driving state; A vehicle adjustment module, configured to adjust the driving state of the target vehicle according to the deviation type, so as to ensure that the collision point between the test vehicle and the target vehicle meets the preset collision conditions; Wherein, the adjusting the driving state of the target vehicle according to the deviation type includes: When the deviation type is that the test vehicle has a lateral position deviation, determining the deviation direction and the deviation distance according to the driving state of the test vehicle; Adjusting the driving state of the target vehicle according to the deviation direction and the deviation distance; Wherein, the adjusting the driving state of the target vehicle according to the deviation type includes: When the deviation type is that the test vehicle has an angular deviation, determining the current heading angle according to the driving state of the test vehicle; Determining an updated collision point according to the current heading angle; Determining the updated movement speed of the target vehicle according to the updated collision point; Adjusting the driving state of the target vehicle according to the updated movement speed.

7. A collision test adjustment device, characterized in that, The collision test adjustment device includes: a memory, a processor, and a collision test adjustment program stored on the memory and running on the processor, and the collision test adjustment program is configured to implement the collision test adjustment method according to any one of claims 1 to 5.

8. A storage medium, characterized in that, A collision test adjustment program is stored on the storage medium, and when the collision test adjustment program is executed by a processor, it implements the collision test adjustment method according to any one of claims 1 to 5.

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