A method and system for rapid verification of off-line vehicle AEB system

Abstract

The application provides a kind of off-line vehicle AEB system quick verification method and system, by setting multiple test modes and test conditions, change target screening condition and target confidence condition for different test scene needs, temporarily relax the detection and verification of target, so that the vehicle target of adjacent lane can be selected by system and participate in risk calculation, so as to quickly screen the collision target around the vehicle, realize the function of triggering the AEB of vehicle without collision, ensure that the AEB automatic emergency braking system function of each off-line vehicle is normally activated, avoid the vehicle with emergency braking function hidden danger flowing into the market;Avoid damaging the vehicle for sale, reduce the loss of vehicle manufacturer;It is suitable for rapid batch testing, not only can test whether the FCW forward collision warning function of vehicle is normal to ensure that the perception sensor works normally, but also can verify whether the function of ESC vehicle body electronic stability regulation system is normal.

Description

Technical Field

[0001] This invention belongs to the field of vehicle system verification technology, specifically relating to a rapid verification method and system for the AEB system of off-line vehicles. Background Technology

[0002] Currently, the most common vehicle configuration on the market is a Level 2 emergency braking system with ADAS (Advanced Driving Assistance System) as standard. An emergency braking system typically includes components such as camera sensors, front radar sensors, corner radar sensors, ADAS, and ESC (Electronic Stability Controller). A malfunction in any of these components can prevent the vehicle's emergency braking function from activating properly. To ensure vehicles have normal emergency braking functionality at the factory, the AEB (Autonomous Emergency Braking) system needs rapid testing and verification. However, the AEB system only activates under conditions of collision risk, but creating such a risk is extremely costly, making rapid batch testing during vehicle production line inspections impossible and severely impacting production efficiency.

[0003] One existing technology determines the functionality of the AEB (Automatic Emergency Braking) system by checking fault codes of various vehicle sensors and actuators. If the sensing components have no fault codes, the sensing system is functioning correctly; if the ESC (Electronic Stability Control) system has no fault codes, it is considered to be functioning correctly. If the AEB system does not have a fault light, then the AEB system is deemed to be functioning correctly. The drawback of this approach is that fault code checking can only partially determine if the AEB system is functioning correctly; it cannot guarantee that the AEB system will definitely activate properly.

[0004] The second existing technology uses a sampling method, randomly selecting one vehicle from each batch of vehicles off the production line for a closed-track AEB (Automatic Emergency Braking) system function test. A balloon-shaped dummy car is used as the target vehicle in the closed track, and the sampled vehicle is used to collide with the target vehicle to simulate a real collision scenario, thereby testing whether the AEB system can be activated normally. The disadvantages of this approach are that sampling cannot guarantee the proper functioning of the AEB system in every vehicle, and using the sampled vehicle for the collision test can still cause damage to the vehicle.

[0005] Existing technology three simulates real-world collision scenarios, testing only the vehicle's FCW (Forward Collision Warning) function. The drawback of this approach is that it can only test whether the FCW function is functioning correctly, ensuring the perception sensors are working properly; it cannot verify whether the ESC (Electronic Stability Control) system is functioning correctly. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a method and system for rapid verification of AEB system in off-line vehicles, which can realistically trigger the AEB function of the vehicle without collision.

[0007] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: a method for rapid verification of AEB system of off-line vehicles. Upon receiving the first switching signal from the diagnostic instrument, the system enters a rapid test mode. In the rapid test mode, it is set that when a collision hazard is located in a preset rapid test hazard area and meets a preset rapid target confidence condition, the AEB system function is triggered. After the collision hazard is set to the rapid test hazard area, the AEB system function test begins. When the AEB system function is triggered normally and all test results pass, the vehicle's AEB system function is determined to be normal.

[0008] According to the above scheme, the rapid test danger zone is located on both sides of the vehicle's forward collision danger zone.

[0009] Furthermore, let the vertical distance from the center of the vehicle's driving path to the edge of the forward collision hazard zone be the lateral screening distance L1; let the vertical distance from the center of the vehicle's driving path to the edges of the rapid test hazard zones on both sides of the forward collision hazard zone be the lateral screening distance L2, L2 > L1, and the difference between L2 and L1 is greater than or equal to the vehicle width.

[0010] According to the above scheme, the fast target confidence condition is that the tracking period flag T = 0, the camera target flag Flag = 0, and the radar target flag Flag = 0.

[0011] According to the above scheme, the rapid test mode also sets the following: the AEB trigger state index is 0.8s≤collision time≤1s; for a stationary collision hazard target with a lateral distance of 4m from the vehicle, the perception and detection state index includes 3.5m≤target lateral distance d≤4.5m, 0≤longitudinal speed≤3kph; the braking response state index is vehicle deceleration≥0.9g.

[0012] According to the above scheme, the switching signal of the diagnostic instrument is received through the vehicle's OBD diagnostic port.

[0013] According to the above scheme, after entering the quick test mode, a pop-up request from the ADAS controller is sent to the vehicle's instrument panel, causing the instrument panel to pop up and keep displaying the "AEB quick test mode" warning pop-up.

[0014] Furthermore, upon receiving the second switching signal from the diagnostic tool, the system switches to standard test mode, stops sending ADAS controller pop-up requests to the vehicle's instrument panel, and causes the warning pop-up for the "AEB quick test mode" to disappear.

[0015] A rapid verification system for AEB system in off-line vehicles includes a trigger module, an AEB system function testing module, and a judgment module;

[0016] The trigger module is used to enter the fast test mode upon receiving the first switching signal from the diagnostic instrument. In the fast test mode, it is set that when a collision hazard target is located in the preset fast test hazard area and meets the preset fast target confidence condition, the AEB system function is triggered.

[0017] The AEB system functional test module is used to start the AEB system functional test after the target to be collided with is set in the rapid test danger area.

[0018] The judgment module is used to determine that the vehicle's AEB system is functioning normally when the AEB system is triggered normally and all test results pass.

[0019] An ADAS controller with a rapid verification system for AEB systems in off-line vehicles.

[0020] The beneficial effects of this invention are as follows:

[0021] 1. The present invention provides a rapid verification method and system for off-line vehicle AEB system. By setting multiple test modes and test conditions, and changing the target screening conditions and target confidence conditions according to different test scenario requirements, the detection and verification of target objects are temporarily relaxed, so that vehicle targets in adjacent lanes can be selected by the system and participate in risk calculation, thereby quickly screening collision targets around the vehicle and realizing the function of triggering the vehicle's AEB without collision.

[0022] 2. This invention ensures that the AEB (Automatic Emergency Braking) system of every vehicle off the production line is activated normally by rapidly testing the AEB function of the off-line vehicle, thus preventing vehicles with potential emergency braking function defects from entering the market.

[0023] 3. This invention can actually trigger the AEB function without collision, eliminating the need for collision tests on vehicles to be inspected, thus avoiding damage to vehicles to be sold and reducing unnecessary losses for vehicle manufacturers.

[0024] 4. This invention is suitable for rapid batch testing. It can not only test whether the FCW forward collision warning function of a vehicle is normal to ensure that the perception sensor works properly, but also verify whether the ESC electronic stability control system is functioning properly. Attached Figure Description

[0025] Figure 1 This is a flowchart of an embodiment of the present invention.

[0026] Figure 2 This is a flowchart of the rapid testing mode according to an embodiment of the present invention.

[0027] Figure 3 This is a principle block diagram of an embodiment of the present invention.

[0028] Figure 4 This is a diagram showing the preparation of a rapid test scenario for the AEB function according to an embodiment of the present invention.

[0029] Figure 5 This is a schematic diagram of the target selection location for AEB rapid testing according to an embodiment of the present invention.

[0030] Figure 6 This is a schematic diagram of the AEB rapid testing scenario in an embodiment of the present invention. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0032] Example 1

[0033] This embodiment uses a stationary vehicle as the collision target for illustration. See also... Figure 1 and Figure 2 The embodiments of the present invention include the following steps:

[0034] S1: Set up a quick test mode for AEB system functions in the vehicle's ADAS controller, and set the relevant parameters and configurations of the diagnostic tool and quick test module in the quick test mode;

[0035] S11: Configure the diagnostic tool; the diagnostic tool's settings are shown in Table 1, including the AEB test mode switch, AEB trigger verification status, TTC value verification status, perception and recognition verification status, and braking response verification status; the AEB test mode switch is used to switch between standard test mode and fast test mode; the AEB trigger verification status is used to verify whether the AEB system function is activated and triggered normally; the TTC value verification status is used to verify whether the TTC value at the AEB trigger moment meets the design requirements; the perception and recognition verification status is used to verify whether the identified hazardous targets meet the design requirements; and the braking response verification status is used to verify whether the braking response meets the design requirements.

[0036] Table 1 Diagnostic Instrument Settings

[0037] Serial Number Content Items Notes 1 AEB test mode switch When the switch is turned on, the internal test mode of the AEB module is activated via the protocol. 2 AEB triggers verification status. Verify if AEB is activated and triggered. 3 TTC value verification status Verify whether the TTC value at the AEB trigger time meets the design requirements. 4 Perception, recognition, and verification status Verify whether the identification of hazardous targets meets the design requirements. 5 Braking response verification status Verify whether the braking response meets the design requirements.

[0038] The specific settings of the diagnostic tool have been adaptively configured to include a quick test mode, which is used to interact with the vehicle's ADAS controller to trigger the quick test mode and display the test parameters and results.

[0039] S12: Set the rapid test danger zone and rapid target confidence conditions in the rapid test mode of the rapid test module; by changing the target screening conditions and target confidence conditions of the rapid test module, the detection and verification of target objects are temporarily relaxed, so that vehicle targets in adjacent lanes can be selected and participate in the risk calculation of AEB function test.

[0040] S121: Set up a rapid testing danger zone;

[0041] In standard test mode, the AEB system detects collision hazards within the area directly in front of the vehicle; the area directly in front of the vehicle is defined as the lateral screening distance L1, which is the vertical distance from the center of the vehicle's path to the edge of the hazard area. Figure 5 As shown, the original danger zone A for static target screening is located directly in front of the vehicle, with a lateral screening distance of L1.

[0042] To quickly conduct AEB function tests without a collision between the vehicle and the target, the target selection location conditions need to be changed. In rapid test mode, the AEB system detects collision hazards within the range of the vehicle's forward collision hazard area and the rapid test hazard areas on both sides of the forward collision hazard area. The vertical distance from the center of the vehicle's driving path to the edges of the rapid test hazard areas on both sides of the forward collision hazard area is the lateral selection distance L2, where L2 > L1, and the difference between L2 and L1 is greater than or equal to the vehicle width.

[0043] In the rapid test mode, the screening range for stationary hazardous targets is expanded to area B, increasing the lateral distance range to L2. At this point, if a stationary vehicle is located within the A+B area, it will be screened as a hazardous target. Since the time to collision (TTC) of a stationary vehicle is affected by the vehicle's speed and the longitudinal distance between the target and the vehicle, the AEB emergency braking function will also be triggered when the TTC of a hazardous vehicle within area B meets the triggering requirements.

[0044] S122: Set the target confidence level conditions;

[0045] To address issues such as sensor detection errors and ghosting, the AEB system needs to confirm the confidence level of the selected targets. The confidence level criteria include the target tracking period and the verification of confidence flags, which include camera target flags and radar target flags.

[0046] In the standard test mode, the confidence condition for the AEB system to detect a collision hazard is that the tracking cycle flag T ≥ 20, the camera target flag Flag = 1, and the radar target flag Flag = 1.

[0047] In the rapid test mode, the confidence condition for the AEB system to detect a collision hazard is that the tracking cycle flag T = 0, the camera target flag Flag = 0, and the radar target flag Flag = 0.

[0048] When switching to the fast test mode, the selected targets in area B need to be treated as dangerous targets for collision time time (TTC) calculation. Therefore, it is necessary to turn off the judgment of relevant confidence conditions, as shown in Table 2, and set the tracking period and confidence flags (including camera target flags and radar target flags) to zero.

[0049] Table 2 Explanation of Target Confidence Conditions

[0050]

[0051] S123: Determine the test results;

[0052] In standard testing mode, the screening criteria for collision hazard targets include target speed, type, and location.

[0053] The vehicle speed condition of V=30kph was selected as the test condition for AEB detection in the fast test module. The target vehicle and the vehicle do not overlap in the direction of travel, and the lateral distance between the target vehicle and the vehicle is L=4m. See the illustration for the specific scenario conditions. Figure 6 The collision time TTC range for triggering the AEB function under normal 30kph conditions is [0.8, 1]s. The result judgment conditions for the fast test with the AEB state set in the standard test mode are shown in Table 3. The result judgment conditions include AEB trigger state, perception and detection state and braking response state.

[0054] In standard testing mode, for a stationary collision hazard target located in the forward collision hazard zone of the vehicle, the indicators of the perception and detection status include the target's lateral distance d being within the range of -0.2 ≤ d ≤ 0.2 m, and its longitudinal velocity V. x Within the range of 0 ≤ Vx ≤ 3 kph, the indicator for braking response is vehicle deceleration A ≥ 0.9g;

[0055] In the rapid testing mode, the AEB triggering status is defined as a collision time TTC within the range of 0.8 ≤ TTC ≤ 1 s; for a stationary collision hazard target at a lateral distance of 4 m from the vehicle, the perception and detection status is defined as a target lateral distance d within the range of 3.5 ≤ d ≤ 4.5 m and a longitudinal velocity V. x Within the range of 0 ≤ Vx ≤ 3 kph, the indicator for braking response is vehicle deceleration A ≥ 0.9g.

[0056] The final judgment result is then sent to the diagnostic instrument.

[0057] Table 3 Explanation of the criteria for passing the AEB test

[0058]

[0059] S2: Switch to test mode; connect the diagnostic tool to the vehicle's OBD diagnostic port for interaction with the AEB control module in the ADAS controller, setting test parameters, and displaying test results;

[0060] S21: After the diagnostic tool is connected to the vehicle through the OBD diagnostic port, it displays the corresponding vehicle model configuration and AEB function test mode selection interface for the operator to choose from.

[0061] S22: Test Mode Reminder; To ensure test safety, when switching to AEB quick test mode, the test mode reminder submodule sends a text pop-up request to the instrument to remind the operator to perform the test as required; after receiving the request, the instrument will display a warning pop-up window for "AEB quick test mode" for an extended period of time until the pop-up window is removed after switching to standard test mode.

[0062] S3: Test AEB function;

[0063] S31: As Figure 4 As shown, a static balloon car is prepared and placed next to the test lane as a target, without overlapping with the vehicle to be tested;

[0064] S32: The vehicle to be tested travels at a constant speed of 30 kph in the test lane until the AEB function is triggered and the vehicle comes to a stop.

[0065] S33: If the AEB function is triggered normally and all test results pass, the AEB function is judged to be normal, the test mode is turned off, and the vehicle is put into the parking lot; if the AEB function cannot be triggered normally, the AEB emergency braking system is judged to be malfunctioning, and the vehicle is returned for repair and inspection; after repair, the AEB function is retested until the AEB function is triggered normally before the test mode is turned off.

[0066] S4: Vehicle enters the warehouse.

[0067] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0068] Example 2

[0069] See Figure 3 This embodiment includes a diagnostic tool, an ADAS controller, sensors, instruments, and an ESC actuator controller. The diagnostic tool is connected to the ADAS controller via the vehicle's OBD diagnostic port; the ADAS controller is connected to the sensors, instruments, and ESC actuator controller respectively.

[0070] The diagnostic tool has an AEB function test selection interface, which is used to switch test modes through the diagnostic tool.

[0071] The AEB software model is installed in the ADAS controller. The AEB software model includes a rapid test module and an AEB control module.

[0072] The quick test module consists of three parts: a horizontal filtering and shielding submodule, a target confidence submodule, and a test mode reminder submodule. When the test mode is enabled, the quick test module processes collision targets through the horizontal filtering and shielding submodule and the target confidence submodule, relaxing the target filtering conditions. The test mode reminder submodule is used to send the current AEB function mode to the instrument.

[0073] The instrument is used to display a text reminder pop-up window indicating the AEB test mode to the operator after receiving a signal from the test mode reminder submodule.

[0074] The sensor sends the collected information to the horizontal screening and shielding submodule, the target confidence submodule, and the test mode reminder submodule through the AEB control module;

[0075] The AEB control module issues control commands to the ESC execution controller based on the information exchanged with the lateral screening and shielding submodule, the target confidence submodule, and the test mode reminder submodule.

[0076] This embodiment also includes a processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; the memory stores a computer program, and when the program is executed by the processor, the processor performs the steps of a rapid verification method for an off-line vehicle AEB system.

[0077] This embodiment also provides a computer-readable storage medium storing executable instructions that, when executed by a processor, enable the processor to implement a rapid verification method for an AEB system of a vehicle off-line.

[0078] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects.

[0079] Furthermore, this application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0080] This application is described with reference to a block diagram of an apparatus (system) according to Embodiment 1 and a flowchart of a method and computer program product according to Embodiment 2. It should be understood that each step or block in the flowchart or block diagram, as well as combinations of steps or blocks in the flowchart or block diagram, can be implemented by computer program instructions.

[0081] These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions, which are executable by the processor of the computer or other programmable data processing device, produce instructions for implementing the process. Figure 1 One or more processes or boxes Figure 1 A rapid verification system for AEB system of off-line vehicles, specifying the functions in one or more boxes.

[0082] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes or boxes Figure 1 The function specified in one or more boxes.

[0083] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes or boxes Figure 1 The steps of a rapid verification method for an offline vehicle AEB system are specified in one or more boxes.

[0084] The above embodiments are only used to illustrate the design concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes or modifications made based on the principles and design ideas disclosed in the present invention are within the protection scope of the present invention.

Claims

1. A method for rapid verification of AEB system in off-line vehicles, characterized in that: Upon receiving the first switching signal from the diagnostic instrument, the system enters the rapid test mode. In the rapid test mode, it is set that when a collision hazard target is located in the preset rapid test hazard area and meets the preset rapid target confidence condition, the AEB system function is triggered. The rapid target confidence condition is that the tracking cycle flag T=0, the camera target flag Flag=0, and the radar target flag Flag=0, that is, the judgment of the relevant confidence condition is turned off. Once the collision hazard target is set in the rapid test hazard area, the AEB system functional test will begin. When the AEB system is triggered normally and all test results are passed, the vehicle's AEB system is deemed to be functioning normally. The rapid test danger zone is located on both sides of the vehicle's forward collision danger zone; Let the vertical distance from the center of the vehicle's driving path to the edge of the forward collision hazard zone be the lateral screening distance L1; let the vertical distance from the center of the vehicle's driving path to the edges of the rapid test hazard zones on both sides of the forward collision hazard zone be the lateral screening distance L2, where L2 > L1, and the difference between L2 and L1 is greater than or equal to the vehicle width.

2. The rapid verification method for AEB system of off-line vehicles according to claim 1, characterized in that: The rapid testing mode also sets the following: the AEB trigger state index is 0.8s≤collision time≤1s; for a stationary collision hazard target with a lateral distance of 4m from the vehicle, the perception and detection state index includes 3.5m≤target lateral distance d≤4.5m, 0≤longitudinal velocity≤3kph; the braking response state index is vehicle deceleration≥0.9g.

3. The rapid verification method for AEB system of off-line vehicles according to claim 1, characterized in that: The switching signal of the diagnostic instrument is received through the vehicle's OBD diagnostic port.

4. The rapid verification method for AEB system of off-line vehicles according to claim 1, characterized in that: After entering the quick test mode, a pop-up request from the ADAS controller is sent to the vehicle's instrument panel, causing the instrument panel to display a warning pop-up window for "AEB quick test mode".

5. The rapid verification method for AEB system of off-line vehicles according to claim 4, characterized in that: When the diagnostic tool receives the second switching signal, it switches to standard test mode and stops sending ADAS controller pop-up requests to the vehicle's instrument panel, causing the warning pop-up of the "AEB quick test mode" to disappear.

6. A rapid verification system for AEB (Autonomous Emergency Braking) systems in off-line vehicles, characterized in that: The verification system implements the rapid verification method for the AEB system of off-line vehicles as described in any one of claims 1-5. It includes a trigger module, an AEB system function testing module, and a judgment module; The trigger module is used to enter the fast test mode upon receiving the first switching signal from the diagnostic instrument. In the fast test mode, it is set that when a collision hazard target is located in the preset fast test hazard area and meets the preset fast target confidence condition, the AEB system function is triggered. The AEB system functional test module is used to start the AEB system functional test after the target to be collided with is set in the rapid test danger area. The judgment module is used to determine that the vehicle's AEB system is functioning normally when the AEB system is triggered normally and all test results pass.

7. An ADAS controller, characterized in that: The system includes the rapid verification system for the AEB system of off-line vehicles as described in claim 6.

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