Method for rear-end collision risk AEB test

Abstract

The invention discloses a method for a rear-end collision risk AEB test, which comprises the steps of arranging an experimental vehicle in front of an adjacent lane of the vehicle, testing the rear-end collision risk AEB based on an electric adjustable telescopic rod and a radar fixedly connected with the electric adjustable telescopic rod, sending the radar to the lane where the experimental vehicle is located through the electric adjustable telescopic rod, collecting data, and sending the data to an AEB system. The AEB system is tested, the self vehicle and the experiment vehicle are real vehicles, the experiment working condition is convenient to carry out, the scene building cost is low, the rear-end collision risk existing in the actual driving process can be truly simulated, and the real rear-end collision risk does not exist while the AEB algorithm is truly and objectively evaluated.

Description

Technical Field

[0001] The present invention relates to the field of traffic safety, and in particular to a radar telescopic support system for rear-end collision risk AEB testing and a control method thereof. Background Art

[0002] The Autonomous Emergency Braking (AEB) system is an active safety technology for automobiles. The AEB system detects and identifies the vehicle ahead through cameras or radars. When a collision is possible, it will first use sound and warning lights to remind the driver to brake to avoid the collision. If the driver still does not brake, the system determines that the rear-end collision cannot be avoided, and will take automatic braking measures to reduce or avoid the collision. At the same time, the AEB system also includes dynamic braking support, which will supplement the braking force when the driver's brake pedal force is not enough to avoid an impending collision.

[0003] Among them, the radar-based AEB system usually uses a dummy car instead of the real vehicle as the front target vehicle during the vehicle rear-end AEB test experiment because there is an actual rear-end risk in the experiment. Using a dummy car in a static scene experiment can achieve better experimental results. However, in a moving scene experiment, since the experimental conditions have certain requirements for the speed of the front vehicle, it is usually necessary to use an expensive dummy car mobile experimental platform or a long tow bar to pull the dummy car. The above two methods have many disadvantages, such as high cost, and even if the dummy car still has certain damage after a real collision, the collision puts great psychological pressure on the driver, so there are limitations in selecting the test driver, and there are differences between the dummy car and the real vehicle, which has unknown effects on the experimental results. Since the entire process of the radar-based AEB system requires a closed-loop test, there is currently no effective alternative except the above solution. Therefore, the problem of how to build an AEB test experimental scene at a low cost needs to be solved urgently. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention proposes a method for AEB testing of rear-end collision risks, which is convenient for experimental conditions to carry out and can achieve the construction of a low-cost real vehicle AEB testing experimental scene.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention proposes a method for rear-end collision risk AEB testing, comprising placing a test vehicle in front of an adjacent lane of a self-vehicle, and testing the rear-end collision risk AEB based on an electrically adjustable telescopic rod and a radar fixedly connected thereto.

[0007] Preferably, the steps include:

[0008] S1. An electrically adjustable telescopic rod is arranged along the width direction of the vehicle, one end of the electrically adjustable telescopic rod is fixedly connected to the front end of the vehicle, and the other end is fixedly connected to a radar, the radar faces straight ahead, and the electrically adjustable telescopic rod is connected to the AEB system through a signal line;

[0009] S2. The test vehicle is placed in front of the lane adjacent to the ego vehicle. After the ego vehicle starts, the electrically adjustable telescopic rod is unfolded to send the radar to the lane where the test vehicle is located.

[0010] S3, adjusting the speed of the vehicle, the speed of the test vehicle, and the distance between the vehicle and the test vehicle in the direction of travel, collecting the speed of the vehicle and the distance between the vehicle and the test vehicle in the direction of travel by radar, and sending the collected data to the AEB system;

[0011] S4, when the AEB system receives that the distance between the vehicle and the test vehicle in its driving direction is less than the safe distance, it sends a brake signal to the brake system of the vehicle and the electrically adjustable telescopic rod at the same time, and the electrically adjustable telescopic rod retracts after receiving the brake signal. If the AEB system receives that the distance between the vehicle and the test vehicle in its driving direction is less than the safe distance, it does not send a brake signal, and enters step S5;

[0012] S5. The electric adjustable telescopic rod calculates TTC. When TTC is less than the set value, the electric adjustable telescopic rod retracts.

[0013] Preferably, the telescopic stroke of the electrically adjustable telescopic rod is 0-5m.

[0014] Preferably, the electrically adjustable telescopic rod comprises a telescopic rod body, a control motor and a telescopic operating system are arranged in the telescopic rod body near one end of the vehicle, the input end of the telescopic operating system is electrically connected to the AEB system through a signal line, the output end is electrically connected to the input end of the control motor, the output end of the control motor is electrically connected to the telescopic rod body, and the telescopic operating system is used to receive data sent by the AEB system, calculate TTC and issue instructions to the control motor.

[0015] Preferably, in S2, after the electrically adjustable telescopic rod is unfolded, the radar is located in the center of the lane where the experimental vehicle is located.

[0016] Preferably, the electrically adjustable telescopic rod is retracted within 0.8 seconds after receiving a brake signal or a retraction signal.

[0017] Preferably, the time set in S5 is 1.0 s.

[0018] Preferably, the safety distance is a safety distance corresponding to the current speed of the vehicle.

[0019] Preferably, the radar is a millimeter wave radar

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] (1) When the present invention conducts an experimental test on the AEB rear-end collision risk, both the vehicle and the front experimental vehicle are real vehicles. The vehicle and the front vehicle are in two adjacent lanes. The radar is sent to the rear of the experimental vehicle through an electrically adjustable telescopic rod to collect data. This can truly simulate the rear-end collision risk that exists in the actual driving process, but no rear-end collision will actually occur. While the AEB algorithm is truly and objectively evaluated, there will be no real rear-end collision risk.

[0022] (2) Before the AEB system issues a braking command, the entire system of the present invention still operates in an AEB closed-loop manner. After the AEB system issues a command, the electrically adjustable telescopic rod drives the radar to retract, thereby avoiding damage to the electrically adjustable telescopic rod and the radar.

[0023] (3) In the front test of the present invention, both the front vehicle and the self-vehicle are real vehicles. Compared with the existing test schemes, the experimental conditions are convenient to carry out and the cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the rear-end collision risk AEB test process of the present invention. DETAILED DESCRIPTION

[0026] The embodiments of the present invention will be described in detail below with reference to examples, but those skilled in the art will understand that the following examples are only used to illustrate the present invention and should not be construed as limiting the scope of the present invention.

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0028] In the following description, specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in a variety of other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0029] refer to Figure 1This embodiment proposes a method for rear-end collision risk AEB testing, including placing a test vehicle in front of an adjacent lane of the self-vehicle, and testing the rear-end collision risk AEB based on an electrically adjustable telescopic rod and a radar fixedly connected thereto.

[0030] In this embodiment, the test vehicle is placed in the lane adjacent to the own vehicle. The own vehicle sends the radar to the lane where the test vehicle is located through a telescopic rod to collect data. Both the own vehicle and the test vehicle are real vehicles, and rear-end collisions can be simulated, but real rear-end collisions will not occur. The cost of setting up the scene is low, the experimental conditions are easy to carry out, and the AEB algorithm can be evaluated more accurately.

[0031] Preferably, the above embodiment includes the following steps:

[0032] S1, along the vehicle ( Figure 1 An electrically adjustable telescopic rod is arranged in the width direction of the vehicle shown below, one end of the electrically adjustable telescopic rod is fixedly connected to the front end of the vehicle, for example, it is installed at the front end of the bumper of the vehicle by bolts, so that the electrically adjustable telescopic rod does not shake during the driving of the vehicle, and the other end is fixedly connected to a radar, the radar faces straight ahead, the electrically adjustable telescopic rod is connected to the AEB system through a signal line, the electrically adjustable telescopic rod is used to calculate TTC and send out and retract the radar, and the telescopic stroke of the electrically adjustable telescopic rod is preferably 0-5m;

[0033] S2. Put the experimental vehicle ( Figure 1 The vehicle shown above is arranged in front of the adjacent lane of the self-vehicle. In this embodiment, the experimental vehicle is in the left lane of the self-vehicle as an example. After the self-vehicle starts, the electrically adjustable telescopic rod is manually controlled to unfold and the radar is sent to the left lane. The radar is preferably located in the center of the left lane so that the radar faces the rear of the experimental vehicle in the left lane to achieve an effect similar to that of real AEB radar target tracking. At this time, the lateral distance between the final position of the radar and the center of the self-vehicle is about 3.75m, and this distance can be adjusted according to experimental requirements;

[0034] S3, continuously adjusting the speed of the self-vehicle, the speed of the test vehicle, and the distance between the self-vehicle and the test vehicle in its driving direction, collecting the speed of the self-vehicle and the distance between the self-vehicle and the test vehicle in its driving direction by radar, and sending the collected data to the AEB system;

[0035] S4. When the AEB system receives a signal that the distance between the self-vehicle and the test vehicle in its driving direction is less than the safety distance corresponding to the current speed of the self-vehicle, it sends a brake signal to the self-vehicle brake system and the electrically adjustable telescopic rod at the same time. The self-vehicle brake system receives the brake signal and performs the brake action. The electrically adjustable telescopic rod retracts after receiving the brake signal to avoid damage to the electrically adjustable telescopic rod and the radar.

[0036] To prevent the AEB system from malfunctioning and not issuing a brake signal, if the AEB system receives that the distance between the ego vehicle and the test vehicle in its driving direction is less than the safe distance, no brake signal is issued, and the process goes to step S5;

[0037] S5. When the electric adjustable telescopic rod calculates that TTC is less than the set value, it will automatically retract to avoid damage to the electric adjustable telescopic rod and the radar. The set value of TTC must be less than the collision time value corresponding to the vehicle's safe distance to ensure that the AEB system takes priority in sending a brake signal at a safe distance.

[0038] Preferably, the electrically adjustable telescopic rod comprises a telescopic rod body, a control motor and a telescopic operating system are arranged in the telescopic rod body near one end of the vehicle, the input end of the telescopic operating system is electrically connected to the AEB system through a signal line, the output end is electrically connected to the input end of the control motor, the output end of the control motor is electrically connected to the telescopic rod body, the telescopic operating system is used to receive data sent by the AEB system, calculate TTC in real time and issue instructions to the control motor, the control motor is used to control the extension and retraction of the telescopic rod body, and the telescopic stroke of the telescopic rod body is the telescopic stroke of the electrically adjustable telescopic rod.

[0039] In this embodiment, the telescopic operating system and the control motor are arranged in the telescopic rod body close to one end of the vehicle, so that the telescopic operating system, the control motor and the signal line do not affect the telescopic extension of the telescopic rod body.

[0040] Preferably, the electrically adjustable telescopic rod retracts within 0.8 seconds after receiving a brake signal or a retraction signal, thereby ensuring that the electrically adjustable telescopic rod responds immediately after receiving the signal, thereby avoiding damage to the electrically adjustable telescopic rod and the radar.

[0041] Preferably, the time set in S5 is 1.0s, which is slightly longer than the retraction time of the electrically adjustable telescopic rod, and can ensure that the adjustable telescopic rod has been completely retracted before the rear-end collision, further avoiding damage to the electrically adjustable telescopic rod and the radar.

[0042] In the above embodiments, the radar is preferably a millimeter wave radar.

[0043] Although the present invention has been described in detail in this specification by means of general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements may be made thereto on the basis of the present invention. Therefore, these modifications or improvements made without departing from the present invention all fall within the scope of protection claimed by the present invention.

Claims

1. A method for rear-end collision risk AEB testing, characterized in that: It involves placing the experimental vehicle in front of the adjacent lane of the own vehicle, and testing the AEB for rear-end collision risk based on an electrically adjustable telescopic pole and a radar fixedly connected to it.

2. The method for rear-end collision risk AEB testing according to claim 1, characterized in that: The following steps are involved: S1. An electrically adjustable telescopic rod is arranged along the width direction of the vehicle, one end of the electrically adjustable telescopic rod is fixedly connected to the front end of the vehicle, and the other end is fixedly connected to a radar, the radar faces straight ahead, and the electrically adjustable telescopic rod is connected to the AEB system through a signal line; S2. The test vehicle is placed in front of the lane adjacent to the ego vehicle. After the ego vehicle starts, the electrically adjustable telescopic rod is unfolded to send the radar to the lane where the test vehicle is located. S3, adjusting the speed of the vehicle, the speed of the test vehicle, and the distance between the vehicle and the test vehicle in the direction of travel, collecting the speed of the vehicle and the distance between the vehicle and the test vehicle in the direction of travel by radar, and sending the collected data to the AEB system, and the AEB system sends the received data to the electrically adjustable telescopic rod; S4, when the AEB system receives that the distance between the vehicle and the test vehicle in its driving direction is less than the safe distance, it sends a brake signal to the brake system of the vehicle and the electrically adjustable telescopic rod at the same time, and the electrically adjustable telescopic rod retracts after receiving the brake signal. If the AEB system receives that the distance between the vehicle and the test vehicle in its driving direction is less than the safe distance, it does not send a brake signal, and enters step S5; S5. The electric adjustable telescopic rod calculates TTC. When TTC is less than the set value, the electric adjustable telescopic rod automatically retracts.

3. The method for rear-end collision risk AEB testing according to claim 1, characterized in that: The telescopic stroke of the electrically adjustable telescopic rod is 0-5m.

4. The method for rear-end collision risk AEB testing according to claim 1, characterized in that: The electrically adjustable telescopic rod includes a telescopic rod body, in which a control motor and a telescopic operating system are arranged at one end of the telescopic rod body close to the vehicle. The input end of the telescopic operating system is electrically connected to the AEB system through a signal line, and the output end is electrically connected to the input end of the control motor. The output end of the control motor is electrically connected to the telescopic rod body. The telescopic operating system is used to receive data sent by the AEB system, calculate TTC and issue instructions to the control motor.

5. The method for rear-end collision risk AEB testing according to claim 1, characterized in that: In S2, after the electrically adjustable telescopic pole is unfolded, the radar is located in the center of the lane where the experimental vehicle is located.

6. The method for rear-end collision risk AEB testing according to claim 1, characterized in that: The electric adjustable telescopic rod will retract within 0.8s when receiving a brake signal or calculating that the TTC is less than the set value.

7. The method for rear-end collision risk AEB testing according to claim 1, characterized in that: The set value in S5 is 1.0s.

8. The method for rear-end collision risk AEB testing according to claim 1, characterized in that: The safety distance is the safety distance corresponding to the current speed of the vehicle.

9. The method for rear-end collision risk AEB testing according to claim 1, characterized in that: The radar is a millimeter wave radar.

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