Vehicle safety acceptance criterion evaluation test system and method

Abstract

The invention discloses a vehicle safety acceptance criterion evaluation test system and method, and belongs to the technical field of vehicle safety, and the vehicle safety acceptance criterion evaluation test system comprises a driving simulator, a real-time simulation subsystem and an evaluation test subsystem. The real-time simulation subsystem is used for being connected with the driving simulator, the real-time simulation subsystem comprises a vehicle model and a fault database, the driving simulator can convert a driving instruction into driving control over the vehicle model, and the fault database is used for injecting a fault into the vehicle model; the evaluation test subsystem comprises a subjective evaluation module and an objective data acquisition module, the objective data acquisition module is used for acquiring objective attitude data of the vehicle model in the dangerous driving event, and the subjective evaluation module is used for acquiring subjective evaluation of the driver on the objective attitude data to obtain a safety acceptance criterion; the test safety and the test efficiency can be improved, and the vehicle safety acceptance criterion can be reasonably obtained.

Description

Technical Field

[0001] The present invention relates to the field of vehicle safety technology, and in particular to a vehicle safety acceptance criteria evaluation test system and method. Background Art

[0002] With the continuous increase of automobile functions and the gradual improvement of the level of automobile automatic driving, people are paying more and more attention to the driving safety of vehicles. The automotive industry has carried out extensive research on the relationship between functional abnormalities and vehicle parameters and safety acceptance criteria. The safety acceptance criteria of automobiles are a series of standards or conditions under which the performance or behavior of a system or product reaches an acceptable safety level under specific conditions, which directly affects the setting of safety monitoring thresholds or safety boundaries of function-related components. If the safety acceptance criteria are not designed reasonably, it will lead to the problem that functional abnormalities cannot be identified or are frequently misidentified.

[0003] At present, the research on safety acceptance criteria is generally explored and analyzed through a large number of real-vehicle controllable tests, and generally has the defects of low safety and low testing efficiency. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a vehicle safety acceptance criteria evaluation test system, which is conducive to improving the safety and test efficiency of vehicle controllable tests and reasonably obtaining vehicle safety acceptance criteria.

[0005] The invention also provides an evaluation test method.

[0006] The present invention also provides a computer-readable storage medium.

[0007] According to the vehicle safety acceptance criteria evaluation and testing system of the first aspect of the embodiment of the present invention, it includes: a driving simulator, which is used to receive the driving instructions of the driver; a real-time simulation subsystem, which is connected to the driving simulator, the real-time simulation subsystem includes a vehicle model and a fault database, and the driving simulator can convert the driving instructions into driving operations on the vehicle model; the fault database is configured to inject faults into the vehicle model during the driver's driving operations on the vehicle model to form a hazardous driving event; an evaluation and testing subsystem, including a subjective evaluation module and an objective data acquisition module, the objective data acquisition module is used to collect objective posture data of the vehicle model in the hazardous driving event, and the subjective evaluation module is used to collect the driver's subjective evaluation of the objective posture data to obtain safety acceptance criteria.

[0008] The vehicle safety acceptance criteria evaluation test system according to the embodiment of the present invention has at least the following beneficial effects: the vehicle safety acceptance criteria evaluation test system uses a driving simulator to receive the driver's driving instructions, and converts the driving instructions into driving operations for the vehicle model, that is, the use of simulation tests instead of traditional real vehicle tests is beneficial to improving the driver's personal safety and reducing the risk of injury to the driver. The real-time simulation subsystem includes a fault database. During the driver's driving operations on the vehicle model, the fault database can inject unexpected faults into the vehicle model to form a hazardous driving event, that is, simulate the sudden failure of the vehicle during driving. The driver should take risk avoidance operations in response to the hazardous driving event, so that the vehicle model executes the input avoidance operations. Dangerous motion type, the vehicle safety acceptance criteria evaluation test system is conducive to increasing the scope of vehicle fault simulation and improving test efficiency through the setting of fault database. Since objective posture data has a direct impact on the driver's driving experience, the objective data acquisition module is used to collect the objective posture data of the vehicle model in the dangerous driving event, and the subjective evaluation module is used to collect the driver's subjective evaluation of the objective posture data, that is, to evaluate whether the objective posture data generated in the dangerous driving event is within a safe and acceptable range. The evaluation test subsystem combines the objective posture data and the subjective evaluation to obtain the safety acceptance criteria. The vehicle safety acceptance criteria evaluation test system combines the subjective and objective methods to reasonably and efficiently obtain the vehicle safety acceptance criteria.

[0009] According to some embodiments of the present invention, the driving simulator includes a simulated cockpit and a motion response component, the simulated cockpit has a cavity for accommodating the driver, and the motion response component is transmission-connected to the simulated cockpit to drive the simulated cockpit to simulate the movement of the vehicle model.

[0010] Specifically, in order to enhance the user experience and make the obtained vehicle safety acceptance criteria more accurate and reasonable, the driving simulator of the vehicle safety acceptance criteria evaluation test system also includes a simulated cockpit and an action response component. The simulated cockpit has a cavity for accommodating the driver, that is, the driver can enter the simulated cockpit to perform simulated driving operations. Under the action of the simulated cockpit, the driving instructions input by the driver are converted into driving controls on the vehicle model. The action response component is connected to the simulated cockpit to drive the simulated cockpit to simulate the movement of the vehicle model, so that the driver can experience the movement of the vehicle model more truly, making the driver's subjective evaluation more accurate, so that the obtained vehicle safety acceptance criteria are more reasonable and accurate.

[0011] According to some embodiments of the present invention, the real-time simulation subsystem further includes a scenario database connected to the driving simulator, and the scenario database is used to create a hazard scenario for the vehicle model.

[0012] Specifically, in order to simulate tests in different scenarios, the real-time simulation subsystem also includes a scenario database connected to the driving simulator. The scenario database is used to create hazardous scenarios for the vehicle model, thereby creating a more realistic and rich driving scenario for the driver, and cooperates with the fault database to inject faults into the vehicle model so that the driver can make risk avoidance operations more accurately, so that the obtained vehicle safety acceptance criteria are more reasonable and accurate. Through the setting of the scenario database, a large number of scenarios can be covered.

[0013] According to some embodiments of the present invention, the vehicle safety acceptance criteria evaluation test system also includes a virtual reality device, which is connected to the driving simulator and the real-time simulation subsystem to provide a virtual driving mirror corresponding to the vehicle model for the driver in the driving simulator.

[0014] Specifically, the vehicle safety acceptance criteria evaluation test system also includes a virtual reality device, which is connected to a driving simulator and a real-time simulation subsystem. By acquiring the mirror parameters of the vehicle model of the real-time simulation subsystem during driving, a virtual driving mirror of the vehicle model in a hazardous scenario is generated, and a virtual driving mirror is provided for the driver in the driving simulator so that the driver can experience the movement of the vehicle model more realistically, which is conducive to improving the accuracy of the driver's control of the vehicle model, making the driver's subjective evaluation more accurate, so that the obtained vehicle safety acceptance criteria are more reasonable and accurate.

[0015] According to the evaluation test method of the second aspect of the present invention, the vehicle safety acceptance criteria evaluation test system as shown in any one of the first aspect is applied; the evaluation test method comprises:

[0016] The vehicle model is driven according to the driving instructions received by the driving simulator, and the fault database is controlled to inject faults into the vehicle model to form a hazardous driving event;

[0017] Controlling the objective data collection module to collect objective posture data of the vehicle model in the hazardous driving event;

[0018] After the hazardous driving event is over, the control subjective evaluation module collects the driver's subjective evaluation of the objective posture data to obtain the safety acceptance criteria.

[0019] The evaluation test method according to the embodiment of the present invention has at least the following beneficial effects: the evaluation test method applies the vehicle safety acceptance criteria evaluation test system as shown in any one of the first aspects, and drives and controls the vehicle model according to the driving instructions received by the driving simulator, that is, the simulation test is used instead of the traditional real vehicle test, which is beneficial to improving the personal safety of the driver and reducing the risk of injury to the driver. The real-time simulation subsystem also includes a fault database. During the process of the driver driving and controlling the vehicle model, the fault database can be controlled to inject unexpected faults into the vehicle model to form a hazardous driving event, that is, to simulate the sudden failure of the vehicle during driving. The driver should take risk avoidance operations in response to the hazardous driving event, so that the vehicle model executes The input avoidance movement type, the evaluation test method is beneficial to increase the scope of vehicle fault simulation and improve test efficiency through the setting of fault database. Since the objective posture data has a direct impact on the driver's driving experience, the objective data acquisition module is controlled to collect the objective posture data of the vehicle model in the dangerous driving event. After the dangerous driving event is over, the subjective evaluation module is controlled to collect the driver's subjective evaluation of the objective posture data, that is, to evaluate whether the objective posture data generated in the dangerous driving event is within a safe and acceptable range. The control evaluation test subsystem combines the objective posture data and the subjective evaluation to obtain the safety acceptance criteria. The evaluation test method combines the subjective and objective methods to reasonably and efficiently obtain the vehicle safety acceptance criteria.

[0020] According to some embodiments of the present invention, controlling the objective data collection module to collect objective posture data of the vehicle model in the hazardous driving event also includes:

[0021] Acquire corresponding data including a correspondence between objective posture data and a risk avoidance action type of a vehicle model;

[0022] According to the type of risk avoidance action performed by the vehicle model in the hazardous driving event, corresponding objective posture data is selected from the corresponding data, and the objective data acquisition module is controlled to collect the data.

[0023] Considering that the driver's subjective evaluation mainly depends on the driving experience in the dangerous driving event, and the relevant driving experience is mainly related to the type of risk avoidance action performed by the vehicle model in the dangerous driving event, the evaluation test method obtains corresponding data including the correspondence between the objective posture data and the risk avoidance action type of the vehicle model. In the process of the driver driving the vehicle model, the control fault database can inject unexpected faults into the vehicle model to form a dangerous driving event. The driver often needs to make risk avoidance operations in response to the dangerous driving event, that is, control the vehicle model to perform the corresponding risk avoidance action type. According to the risk avoidance action type performed by the vehicle model in the dangerous driving event, the corresponding objective posture data is selected from the corresponding data, and the control objective data acquisition module is used to collect the selected objective posture data, so that the driver's subjective evaluation is more consistent with the selected risk avoidance action type, and the obtained vehicle safety acceptance criteria are more real and reasonable.

[0024] According to some embodiments of the present invention, the real-time simulation subsystem further includes a scenario database; and the evaluation test method further includes, before a hazardous driving event occurs:

[0025] A scene selection instruction is obtained, a specified hazard scene is selected from a scene database according to the scene selection instruction, and the hazard scene is superimposed on the vehicle model.

[0026] Specifically, in order to simulate tests in different scenarios, the real-time simulation subsystem also includes a scenario database. Before a hazardous driving event occurs, after obtaining a scenario selection instruction, the evaluation test method can select a specified hazardous scenario from the scenario database according to the scenario selection instruction, and superimpose the hazardous scenario with the vehicle model, that is, create a hazardous scenario for the vehicle model, thereby creating a more realistic and rich driving scenario for the user, and cooperate with the fault database to inject faults into the vehicle model, so that the driver can make risk avoidance operations more accurately, so that the obtained vehicle safety acceptance criteria are more reasonable and accurate.

[0027] According to some embodiments of the present invention, the vehicle safety acceptance criteria evaluation test system further includes a virtual reality device, and the driving simulator and the real-time simulation subsystem are both connected to the virtual reality device; the evaluation test method further includes:

[0028] Control the virtual reality device to obtain the mirror parameters of the vehicle model driving in the hazardous scene;

[0029] A virtual driving mirror of a vehicle model is generated according to the mirror parameters, and a virtual driving mirror is provided for a driver in a driving simulator.

[0030] Specifically, the vehicle safety acceptance criteria evaluation and testing system also includes a virtual reality device, which is connected to a driving simulator and a real-time simulation subsystem. The evaluation and testing method controls the virtual reality device to obtain mirror parameters of a vehicle model driving in a hazardous scenario, and generates a virtual driving mirror of the vehicle model based on the mirror parameters, that is, a virtual driving mirror is generated in combination with the driving situation of the vehicle model in the hazardous scenario, thereby providing a virtual driving mirror for the driver in the driving simulator, so that the driver can experience the movement of the vehicle model more realistically, which is conducive to improving the accuracy of the driver's control of the vehicle model, making the driver's subjective evaluation more accurate, so that the obtained vehicle safety acceptance criteria are more reasonable and accurate.

[0031] According to some embodiments of the present invention, a driving simulator includes a simulated cockpit and a motion response component, wherein the simulated cockpit has a cavity for accommodating a driver, and the motion response component is transmission-connected to the simulated cockpit; the evaluation test method further includes:

[0032] Obtain dynamic parameters of the vehicle model;

[0033] The operation of the action response component is controlled according to the dynamic parameters to drive the movement of the simulated cockpit to simulate the vehicle model.

[0034] Specifically, in order to enhance the user experience and make the obtained vehicle safety acceptance criteria more accurate and reasonable, the driving simulator of the vehicle safety acceptance criteria evaluation test system also includes a simulated cockpit and an action response component. The simulated cockpit has a cavity for accommodating the driver, that is, the driver can enter the simulated cockpit to perform simulated driving operations. Under the action of the simulated cockpit, the driving instructions input by the driver are converted into driving controls on the vehicle model. The action response component is transmission-connected to the simulated cockpit. The evaluation test method can obtain the dynamic parameters of the vehicle model during driving, and control the operation of the action response component according to the dynamic parameters to drive the simulated cockpit to simulate the movement of the vehicle model, so that the driver can experience the movement of the vehicle model more truly, and the driver's subjective evaluation is more accurate, so that the obtained vehicle safety acceptance criteria are more reasonable and real.

[0035] According to the computer-readable storage medium of the embodiment of the third aspect of the present invention, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the evaluation test method as shown in any one of the second aspect.

[0036] The evaluation test method according to the embodiment of the present invention has at least the following beneficial effects: the computer executable instructions are used to make the computer execute the evaluation test method as any one of the second aspects, the evaluation test method performs driving control on the vehicle model according to the driving instructions received by the driving simulator, that is, the use of simulation test instead of the traditional real vehicle test is beneficial to improving the personal safety of the driver and reducing the risk of injury to the driver. The real-time simulation subsystem also includes a fault database. During the process of the driver driving the vehicle model, the control fault database can inject unexpected faults into the vehicle model to form a dangerous driving event, that is, simulate the sudden failure of the vehicle during driving, and the driver should take risk avoidance operations in response to the dangerous driving event, so that the vehicle model The evaluation test method is conducive to increasing the scope of vehicle fault simulation and improving test efficiency through the setting of the fault database. Since the objective posture data has a direct impact on the driver's driving experience, the objective data acquisition module is controlled to collect the objective posture data of the vehicle model in the dangerous driving event. After the dangerous driving event is over, the subjective evaluation module is controlled to collect the driver's subjective evaluation of the objective posture data, that is, to evaluate whether the objective posture data generated in the dangerous driving event is within a safe and acceptable range. The evaluation test subsystem is controlled to combine the objective posture data and the subjective evaluation to obtain the safety acceptance criteria. The evaluation test method reasonably and efficiently obtains the vehicle safety acceptance criteria by combining the subjective and objective methods.

[0037] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0039] Figure 1 A schematic diagram of the structure of a vehicle safety acceptance criteria evaluation test system according to an embodiment of the present invention;

[0040] Figure 2 A framework flow chart of a vehicle safety acceptance criteria evaluation test system according to an embodiment of the present invention;

[0041] Figure 3 A flow chart of a vehicle safety acceptance criteria evaluation test system according to an embodiment of the present invention;

[0042] Figure 4 A detailed flow chart of collecting objective posture data of a vehicle safety acceptance criteria evaluation test system according to an embodiment of the present invention;

[0043] Figure 5A detailed flow chart of generating hazard scenarios, virtual driving mirrors and simulating the movement of a vehicle model in a vehicle safety acceptance criteria evaluation test system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0045] In the description of the present invention, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0046] In the description of the present invention, "a plurality" means more than two. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0047] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0048] With the continuous increase of automobile functions and the gradual improvement of the level of automobile automatic driving, people are paying more and more attention to the driving safety of automobiles. The technical means to improve automobile safety are also constantly developing. The ISO26262 "Road Vehicle Functional Safety" related standards provide a set of methodologies to avoid random hardware failures and systematic failures of electronic and electrical systems. Based on this methodology, the automotive industry has conducted extensive research on the relationship between functional abnormalities and vehicle parameters and safety acceptance criteria.

[0049] Safety acceptance criteria directly affect the setting of safety monitoring thresholds or safety boundaries of function-related components. If the safety acceptance criteria are not designed reasonably, functional abnormalities will not be identified or will be frequently misidentified.

[0050] At present, the industry is exploring and analyzing the safety acceptance criteria through a large number of real vehicle controllability tests, but the existing testing methods have the following defects:

[0051] 1) High cost: Real vehicle testing requires a dedicated test site and hardware fault injection equipment;

[0052] 2) Poor flexibility and low testing efficiency: Limited by test conditions, only a few functions and a few hazard scenarios can be tested;

[0053] 3) It is impossible to cover a large number of scenarios, especially those with high risk of collision or instability.

[0054] Therefore, one embodiment of the present invention proposes a vehicle safety acceptance criteria evaluation test system, in which the overall test is changed from "driver-vehicle-hazardous environment" to "driver-driving simulator-real-time simulation subsystem-virtual reality equipment", thereby reducing testing costs, improving testing efficiency and flexibility, and being able to achieve a large number of fault tests and scenario coverage. It can efficiently obtain the driver's subjective evaluation of hazardous driving events and the vehicle's objective posture data, and establish vehicle safety acceptance criteria.

[0055] Reference Figure 1 and Figure 2 As shown, a vehicle safety acceptance criteria evaluation and testing system according to an embodiment of the present invention includes: a driving simulator, a real-time simulation subsystem and an evaluation and testing subsystem.

[0056] Reference Figure 1 and Figure 2 As shown, a cavity is provided in the driving simulator, and the cavity can accommodate the driver, that is, the driver can sit in the cavity, and the driving simulator includes functional components such as a steering wheel, a brake pedal, and an accelerator pedal. The user can input driving instructions to the driving simulator by controlling the functional components such as the steering wheel, the brake pedal, and the accelerator pedal.

[0057] Reference Figure 1 and Figure 2 As shown, the real-time simulation subsystem is connected to the driving simulator. The real-time simulation subsystem includes a scenario database, a vehicle model and a fault digital library. The vehicle model can be a digital model and is modeled based on a real vehicle to improve the test accuracy of the vehicle safety acceptance criteria evaluation test system.

[0058] Reference Figure 1 and Figure 2 As shown, the driving simulator is connected to the real-time simulation subsystem, so that the vehicle model can be loaded onto the driving simulator. The driving simulator can convert driving instructions into driving controls on the vehicle model, that is, simulation testing replaces traditional real vehicle testing, which is beneficial to improving the personal safety of the driver and reducing the risk of injury to the driver.

[0059] Reference Figure 1 and Figure 2As shown, in order to simulate tests in different scenarios, the real-time simulation subsystem also includes a scenario database connected to the driving simulator. The scenario database is used to create hazardous scenarios for the vehicle model, thereby creating a more realistic and rich driving scenario for the user. The fault database is configured to inject faults into the vehicle model during the driver's driving operation of the vehicle model to form a hazardous driving event, that is, to simulate a sudden fault of the vehicle during driving. The driver needs to take risk avoidance actions in response to the hazardous driving event, so that the vehicle model executes the input risk avoidance motion type.

[0060] Reference Figure 1 and Figure 2 As shown, the evaluation test subsystem includes a subjective evaluation module and an objective data acquisition module. The objective data acquisition module is used to collect the objective posture data of the vehicle model in the dangerous driving event. After the dangerous driving event is over, the subjective evaluation module is used to collect the driver's subjective evaluation of the objective posture data. The evaluation test subsystem combines the objective posture data and the subjective evaluation to obtain the safety acceptance criteria.

[0061] Reference Figure 1 and Figure 2 As shown, the vehicle safety acceptance criteria evaluation test system is beneficial to improving the personal safety of the driver through the cooperation of the driving simulator and the real-time simulation subsystem, and makes the test more flexible and efficient. Through the setting of the scenario database, it is beneficial to cover a large number of simulation scenarios for vehicle tests. Through the setting of the fault database, it is beneficial to increase the scope of vehicle fault simulation and improve test efficiency.

[0062] Since objective posture data has a direct impact on the driver's driving experience, the objective data acquisition module is used to collect the objective posture data of the vehicle model in the hazardous driving event. After the hazardous driving event, the subjective evaluation module is used to collect the driver's subjective evaluation of the objective posture data, that is, to evaluate whether the objective posture data collected in the hazardous driving event is within a safe and acceptable range. The evaluation test subsystem combines the objective posture data and the subjective evaluation to obtain the safety acceptance criteria. The vehicle safety acceptance criteria evaluation test system obtains the vehicle safety acceptance criteria reasonably and efficiently by combining the subjective and objective methods.

[0063] Reference Figure 1 and Figure 2 As shown, the following uses the scenario database as a vehicle model to create a dangerous scenario where a straight road extends to a traffic light and a crosswalk, and the fault database injects unexpected rapid acceleration as a fault as an example for explanation:

[0064] Reference Figure 1 and Figure 2As shown, the driver can input driving instructions through the driving simulator, such as stepping on the accelerator pedal and holding the steering wheel to make the vehicle model drive in a straight line along the straight road. As the distance between the vehicle model and the traffic lights and the crosswalk shortens, the driver can release the accelerator pedal through the driving simulator to slow down the speed of the vehicle model. The fault database can inject the fault of the acceleration module into the vehicle model to form an unexpected and dangerous driving event of sudden acceleration, causing the vehicle model to continue to accelerate along the straight road.

[0065] Reference Figure 1 and Figure 2 As shown, the driver may avoid vehicles or pedestrians on the path by turning the steering wheel. At this time, the vehicle model will make a sharp turn. The objective data acquisition module can collect objective posture data such as the roll angle, steering angle, roll angular velocity, yaw angular velocity, longitudinal acceleration and lateral acceleration of the vehicle model. After the dangerous driving event is over, the subjective evaluation module can be used to collect the driver's subjective evaluation of each objective posture data. The evaluation test subsystem combines the objective posture data and the subjective evaluation to obtain the safety acceptance criteria. For example, when the vehicle speed in the dangerous driving event is the first preset speed and the vehicle's roll angle is the first preset angle, the driver may think in the subjective evaluation that when the vehicle speed is traveling at the first preset speed, it is unsafe for the vehicle to turn at a roll angle greater than the first preset angle, that is, the vehicle's roll angle should be controlled within the first preset angle.

[0066] It should be noted that the vehicle model can be adjusted according to the parameters of the tested vehicle model, such as the wheelbase, weight, width, height, etc. of the vehicle model.

[0067] Reference Figure 1 and Figure 2 As shown, it can be understood that in order to enhance the user's experience and make the obtained vehicle safety acceptance criteria more accurate and reasonable, the driving simulator includes a simulated cockpit and a motion response component, the motion response component is connected to the lower end of the simulated cockpit, the simulated cockpit has a cavity for accommodating the driver, and the motion response component is transmission-connected to the simulated cockpit to drive the simulated cockpit to simulate the movement of the vehicle model.

[0068] Reference Figure 1 and Figure 2 As shown, the driver can enter the simulated cockpit and perform simulated driving operations. Under the action of the simulated cockpit, the driving instructions input by the driver are converted into driving controls on the vehicle model. The action response component is connected to the simulated cockpit to drive the simulated cockpit to simulate the movement of the vehicle model, so that the driver can experience the movement of the vehicle model more realistically, making the driver's subjective evaluation more accurate, so that the obtained vehicle safety acceptance criteria are more reasonable and accurate.

[0069] Reference Figure 1 and Figure 2 As shown, specifically, the action response component includes a first driving component driven along a first direction and opposite to the first direction, a second driving component driven along a second direction and opposite to the second direction, and a third driving component driven along a third direction and opposite to the third direction, the first direction, the second direction and the third direction are lateral, longitudinal and vertical directions respectively, that is, the first direction, the second direction and the third direction are perpendicular to each other, so as to drive the simulated cockpit to move in six degrees of freedom along the three directional axes of lateral, longitudinal and vertical directions, so as to simulate the movement of the vehicle model.

[0070] It should be noted that the first driving member, the second driving member and the third driving member may be linear driving mechanisms or swing driving mechanisms, which will not be described in detail here.

[0071] Reference Figure 1 and Figure 2 As shown, it can be understood that the vehicle safety acceptance criteria evaluation test system also includes a virtual reality device, which is connected to the driving simulator and the real-time simulation subsystem to provide a virtual driving mirror corresponding to the vehicle model for the driver in the driving simulator.

[0072] Reference Figure 1 and Figure 2 As shown, the virtual reality device provides a virtual driving mirror for the driver in the driving simulator, so that the driver can experience the movement of the vehicle model more realistically, which is conducive to improving the driver's accuracy in controlling the vehicle model, making the driver's subjective evaluation more accurate, so that the obtained vehicle safety acceptance criteria are more reasonable and accurate.

[0073] It should be noted that the virtual reality device can be VR glasses, VR helmets, etc. The driver can enhance the driving experience by wearing the virtual reality device.

[0074] Reference Figures 1 to 5 As shown, an embodiment of the present invention provides an evaluation test method, which uses a vehicle safety acceptance criteria evaluation test system as shown in any of the above embodiments. The evaluation test method includes the following steps:

[0075] Step S100, driving the vehicle model according to the driving instruction received by the driving simulator, and controlling the fault database to inject faults into the vehicle model to form a dangerous driving event;

[0076] Step S200, controlling the objective data collection module to collect objective posture data of the vehicle model in the dangerous driving event;

[0077] Step S300: After the hazardous driving event ends, the subjective evaluation module is controlled to collect the driver's subjective evaluation of the objective posture data to obtain a safety acceptance criterion.

[0078] In step S100, the evaluation test method can drive the vehicle model according to the driving instructions received by the driving simulator, that is, the simulation test is used instead of the traditional real vehicle test, which is beneficial to improve the personal safety of the driver and reduce the risk of injury to the driver. The real-time simulation subsystem also includes a fault database.

[0079] Reference Figure 1 , Figure 2 and Figure 3 As shown, in the evaluation test method, during the driver's driving operation of the vehicle model, the fault database can be controlled to inject unexpected faults into the vehicle model to form a hazardous driving event, that is, to simulate a sudden failure of the vehicle during driving. The driver should take risk avoidance operations in response to the hazardous driving event, so that the vehicle model executes the input risk avoidance movement type. The evaluation test method is beneficial to increasing the scope of vehicle fault simulation and improving test efficiency through the setting of the fault database.

[0080] Reference Figure 1 , Figure 2 and Figure 3 As shown, in step S200, since the objective posture data has a direct impact on the driver's driving experience, the objective data collection module is controlled to collect the objective posture data of the vehicle model in the hazardous driving event.

[0081] Reference Figure 1 , Figure 2 and Figure 3 As shown, in step S300, the control subjective evaluation module collects the driver's subjective evaluation of the objective posture data, that is, evaluates whether the objective posture data generated in the dangerous driving event is within a safe and acceptable range. The control evaluation test subsystem combines the objective posture data and the subjective evaluation to obtain the safety acceptance criteria. The evaluation test method combines the subjective and objective methods to reasonably and efficiently obtain the vehicle safety acceptance criteria.

[0082] Reference Figure 1 , Figure 2 and Figure 3As shown, the evaluation test method is beneficial to improving the personal safety of the driver through the cooperation of the driving simulator and the real-time simulation subsystem, and makes the test more flexible and the test efficiency higher. Injecting faults into the vehicle model through the fault database is beneficial to increasing the scope of vehicle fault simulation and improving test efficiency. Since the objective posture data has a direct impact on the driver's driving experience, the objective data acquisition module is controlled to collect the objective posture data of the vehicle model in the dangerous driving event. After the dangerous driving event is over, the subjective evaluation module is controlled to collect the driver's subjective evaluation of the objective posture data, that is, to evaluate whether the objective posture data generated in the dangerous driving event is within a safe and acceptable range. The evaluation test subsystem combines the objective posture data and the subjective evaluation to obtain the safety acceptance criteria. The evaluation test method combines the subjective and objective methods to reasonably and efficiently obtain the vehicle safety acceptance criteria.

[0083] Reference Figure 1 , Figure 2 and Figure 4 As shown, it can be understood that controlling the objective data collection module to collect the objective posture data of the vehicle model in the dangerous driving event also includes the following steps:

[0084] Step S210, obtaining corresponding data including a corresponding relationship between the objective posture data and the risk avoidance action type of the vehicle model;

[0085] Step S220 , according to the type of risk avoidance action performed by the vehicle model in the hazardous driving event, corresponding objective posture data is selected from the corresponding data, and the objective data acquisition module is controlled to collect the data.

[0086] Reference Figure 1 , Figure 2 and Figure 4 As shown, considering that the driver's subjective evaluation mainly depends on the driving experience in the dangerous driving event, and the relevant driving experience is mainly related to the type of risk avoidance action performed by the vehicle model in the dangerous driving event, the evaluation test method obtains corresponding data including the correspondence between the objective posture data and the risk avoidance action type of the vehicle model, and then the type of objective posture data that needs to be collected can be obtained through the correspondence between the objective posture data and the risk avoidance action type.

[0087] During the process of the driver driving the vehicle model, the control fault database can inject unexpected faults into the vehicle model to produce dangerous driving events. The driver often needs to take risk avoidance operations to deal with dangerous driving events. The vehicle model executes the corresponding risk avoidance action type according to the input driving instructions.

[0088] This evaluation test method selects corresponding objective posture data from the corresponding data according to the type of risk avoidance action performed by the vehicle model in a hazardous driving event, and controls the objective data acquisition module to collect the selected objective posture data, so that the driver's subjective evaluation is more consistent with the selected risk avoidance action type, and the obtained vehicle safety acceptance criteria are more accurate and reasonable.

[0089] The following example uses the scenario database as a vehicle model to create a dangerous scenario where a straight road extends to a traffic light and a crosswalk, and the fault database injects unexpected rapid acceleration as a fault:

[0090] The driver can input driving instructions through the driving simulator, such as stepping on the accelerator pedal and holding the steering wheel to make the vehicle model drive in a straight line along the straight road. As the distance between the vehicle model and the traffic lights and crosswalks shortens, the driver can release the accelerator pedal through the driving simulator to slow down the speed of the vehicle model. The fault database can inject the fault of the acceleration module into the vehicle model to form an unexpected and dangerous driving event of sudden acceleration, causing the vehicle model to continue to accelerate along the straight road.

[0091] The driver may avoid vehicles or pedestrians on the path by turning the steering wheel. At this time, the vehicle model will generate a sharp turn to avoid danger. The objective data acquisition module can collect objective posture data such as the roll angle, steering angle, roll angular velocity, yaw angular velocity, longitudinal acceleration and lateral acceleration of the vehicle model based on the information in the comparison data. After the dangerous driving event is over, the subjective evaluation module can be used to collect the driver's subjective evaluation of each objective posture data. The evaluation test subsystem combines the objective posture data and subjective evaluation to obtain the safety acceptance criteria. For example, when the vehicle speed in the dangerous driving event is the first preset speed and the vehicle's roll angle is the first preset angle, the driver may think in the subjective evaluation that when the vehicle speed is traveling at the first preset speed, it is unsafe for the vehicle to turn at a roll angle greater than the first preset angle, that is, the vehicle's roll angle should be controlled within the first preset angle.

[0092] The driver may also use the evasive operation of sudden braking to avoid collision with vehicles or pedestrians on the path. At this time, the vehicle model will generate an evasive motion type of sudden braking. The objective data acquisition module can collect objective posture data such as acceleration, pitch angle, and roll angle of the vehicle model based on the information in the comparison data. After the dangerous driving event is over, the subjective evaluation module can be used to collect the driver's subjective evaluation of each objective posture data. The evaluation test subsystem combines the objective posture data and subjective evaluation to obtain the safety acceptance criteria. For example, when the initial vehicle speed in the dangerous driving event is the second preset speed and the pitch angle of the vehicle is the second preset angle, the driver may think in the subjective evaluation that when the vehicle speed is decelerated at the second preset speed, it is unsafe for the pitch angle of the vehicle to be greater than the second preset angle when the vehicle is suddenly braked, that is, the pitch angle of the vehicle should be controlled within the second preset angle.

[0093] Reference Figure 1 , Figure 2 and Figure 5 As shown, it is understandable that the real-time simulation subsystem also includes a scenario database; the evaluation test method also includes the following steps before a hazardous driving event is formed:

[0094] Step S400, obtaining a scene selection instruction, selecting a specified hazard scene from a scene database according to the scene selection instruction, and superimposing the hazard scene with the vehicle model.

[0095] Reference Figure 1 , Figure 2 and Figure 5 As shown, in step S400, specifically, in order to simulate tests in different scenarios, the real-time simulation subsystem also includes a scenario database. After obtaining the scenario selection instruction, the evaluation test method can select a specified hazard scenario in the scenario database according to the scenario selection instruction, and superimpose the hazard scenario with the vehicle model, that is, create a hazard scenario for the vehicle model, thereby creating a more realistic and rich driving scenario for the user, and cooperate with the fault database to inject faults into the vehicle model, so that the driver can make risk avoidance operations more accurately, so that the obtained vehicle safety acceptance criteria are more reasonable and accurate.

[0096] Reference Figure 1 , Figure 2 and Figure 5 As shown, it can be understood that the vehicle safety acceptance criteria evaluation test system also includes a virtual reality device, and the driving simulator and the real-time simulation subsystem are both connected to the virtual reality device; the evaluation test method also includes the following steps:

[0097] Step S500, controlling the virtual reality device to obtain mirror parameters of the vehicle model driving in the hazardous scene;

[0098] Step S600, generating a virtual driving mirror of the vehicle model according to the mirror parameters, and providing a virtual driving mirror for the driver in the driving simulator.

[0099] Reference Figure 1 , Figure 2 and Figure 5 As shown, in step S500 and step S600, specifically, the vehicle safety acceptance criteria evaluation test system also includes a virtual reality device, which is connected to the driving simulator and the real-time simulation subsystem. The evaluation test method controls the virtual reality device to obtain the mirror parameters of the vehicle model driving in the hazardous scene, and generates a virtual driving mirror of the vehicle model according to the mirror parameters, that is, the virtual driving mirror is generated in combination with the driving situation of the vehicle model in the hazardous scene, thereby providing a virtual driving mirror for the driver in the driving simulator, so that the driver can experience the movement of the vehicle model more realistically, which is conducive to improving the accuracy of the driver's control of the vehicle model, making the driver's subjective evaluation more accurate, so that the obtained vehicle safety acceptance criteria are more reasonable and accurate.

[0100] Reference Figure 1 , Figure 2 and Figure 5 As shown, it can be understood that the driving simulator includes a simulated cockpit and an action response component, the simulated cockpit has a cavity for accommodating the driver, and the action response component is transmission-connected to the simulated cockpit; the evaluation test method also includes the following steps:

[0101] Step S700, obtaining dynamic parameters of the vehicle model;

[0102] Step S800, controlling the operation of the action response component according to the dynamic parameters to drive the movement of the simulated cockpit simulated vehicle model.

[0103] Reference Figure 1 , Figure 2 and Figure 5As shown, in step S700 and step S800, specifically, in order to enhance the user's experience and make the acquired vehicle safety acceptance criteria more accurate and reasonable, the driving simulator of the vehicle safety acceptance criteria evaluation test system also includes a simulated cockpit and an action response component. The simulated cockpit has a cavity for accommodating the driver, that is, the driver can enter the simulated cockpit to perform simulated driving operations. Under the action of the simulated cockpit, the driving instructions input by the driver are converted into driving controls on the vehicle model. The action response component is transmission-connected to the simulated cockpit. The evaluation test method can obtain the dynamic parameters of the vehicle model during driving, and control the operation of the action response component according to the dynamic parameters to drive the simulated cockpit to simulate the movement of the vehicle model, so that the driver can experience the movement of the vehicle model more truly, and the driver's subjective evaluation is more accurate, so that the acquired vehicle safety acceptance criteria are more reasonable and accurate.

[0104] It should be noted that the objective posture data may be the value of the dynamic parameters at a certain moment. For example, the dynamic parameters of the vehicle model in a dangerous driving event include the roll angle. In a dangerous driving event, the roll angle changes continuously, and the objective posture data may be the value when the roll angle is maximum.

[0105] An embodiment of the present invention provides a computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are used to enable a computer to execute the evaluation test method shown in any of the above embodiments.

[0106] The computer executable instructions are used to enable the computer to execute the evaluation test method as shown in any of the above embodiments, wherein the evaluation test method performs driving control on the vehicle model according to the driving instructions received by the driving simulator, that is, the traditional real vehicle test is replaced by a simulation test, which is beneficial to improving the personal safety of the driver and reducing the risk of injury to the driver. The real-time simulation subsystem also includes a fault database. During the process of the driver driving the vehicle model, the fault database can be controlled to inject unexpected faults into the vehicle model to form a hazardous driving event, that is, to simulate a sudden fault of the vehicle during driving. The driver should perform risk avoidance operations in response to the hazardous driving event, so that the vehicle model executes the input risk avoidance movement type. The evaluation test method is beneficial to increasing the scope of vehicle fault simulation and improving test efficiency through the setting of a fault database. Since objective posture data has a direct impact on the driver's driving experience, the objective data acquisition module is controlled to collect the objective posture data of the vehicle model in the hazardous driving event. After the hazardous driving event is over, the subjective evaluation module is controlled to collect the driver's subjective evaluation of the objective posture data, that is, to evaluate whether the objective posture data generated in the hazardous driving event is within a safe and acceptable range. The evaluation test subsystem is controlled to combine the objective posture data and the subjective evaluation to obtain the safety acceptance criterion. The evaluation test method reasonably and efficiently obtains the vehicle safety acceptance criterion by combining the subjective and objective methods.

[0107] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention 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.

[0108] The present invention is described by flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0109] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0110] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0111] It should be noted that in each specific implementation of the present application, when it comes to the need to perform relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of these data will comply with the relevant laws, regulations, and standards of the relevant countries and regions. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0112] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. Vehicle safety acceptance criteria evaluation test system, characterized in that: include: A driving simulator, used to receive driving instructions from a driver; A real-time simulation subsystem connected to the driving simulator, the real-time simulation subsystem comprising a vehicle model and a fault database, and the driving simulator is capable of converting the driving instructions into driving manipulations of the vehicle model; The fault database is configured to inject faults into the vehicle model during the process in which the driver performs the driving operation on the vehicle model, so as to form a hazardous driving event; The evaluation and testing subsystem includes a subjective evaluation module and an objective data collection module. The objective data collection module is used to collect the objective posture data of the vehicle model in the hazardous driving event, and the subjective evaluation module is used to collect the driver's subjective evaluation of the objective posture data to obtain safety acceptance criteria.

2. The vehicle safety acceptance criteria evaluation test system according to claim 1, characterized in that: The driving simulator comprises a simulated cockpit and a motion response component. The simulated cockpit has a cavity for accommodating a driver. The motion response component is transmission-connected to the simulated cockpit to drive the simulated cockpit to simulate the movement of the vehicle model.

3. The vehicle safety acceptance criteria evaluation test system according to claim 1, characterized in that: The real-time simulation subsystem also includes a scenario database connected to the driving simulator, and the scenario database is used to create a hazard scenario for the vehicle model.

4. The vehicle safety acceptance criteria evaluation test system according to claim 3, characterized in that: It also includes a virtual reality device, which is connected to the driving simulator and the real-time simulation subsystem to provide a virtual driving mirror corresponding to the vehicle model for the driver in the driving simulator.

5. Evaluation test method, characterized in that, Applying the vehicle safety acceptance criteria evaluation test system as described in any one of claims 1 to 4; The evaluation test method comprises: Performing the driving operation on the vehicle model according to the driving instruction received by the driving simulator, and controlling the fault database to inject faults into the vehicle model to form the hazardous driving event; Controlling the objective data acquisition module to acquire objective posture data of the vehicle model in the hazardous driving event; After the hazardous driving event ends, the subjective evaluation module is controlled to collect the driver's subjective evaluation of the objective posture data to obtain a safety acceptance criterion.

6. The evaluation test method according to claim 5, characterized in that: The controlling the objective data collection module to collect the objective posture data of the vehicle model in the hazardous driving event also includes: Acquiring corresponding data including a corresponding relationship between the objective posture data and a risk avoidance action type of the vehicle model; According to the type of risk avoidance action performed by the vehicle model in the hazardous driving event, the corresponding objective posture data is selected from the corresponding data, and the objective data acquisition module is controlled to perform acquisition.

7. The evaluation test method according to claim 5, characterized in that: The real-time simulation subsystem also includes a scenario database; before the hazardous driving event is formed, the evaluation test method also includes: A scene selection instruction is obtained, a specified hazard scene is selected from the scene database according to the scene selection instruction, and the hazard scene is superimposed on the vehicle model.

8. The evaluation test method according to claim 7, characterized in that: The vehicle safety acceptance criteria evaluation test system further includes a virtual reality device, and the driving simulator and the real-time simulation subsystem are both connected to the virtual reality device; The evaluation test method further comprises: Controlling the virtual reality device to obtain mirror parameters of the vehicle model driving in the hazardous scenario; A virtual driving mirror of the vehicle model is generated according to the mirror parameters, and the virtual driving mirror is provided to the driver in the driving simulator.

9. The evaluation test method according to claim 5, characterized in that: The driving simulator comprises a simulated cockpit and an action response component, wherein the simulated cockpit has a cavity for accommodating a driver, and the action response component is transmission-connected to the simulated cockpit; the evaluation test method further comprises: Acquiring dynamic parameters of the vehicle model; The motion response component is controlled to operate according to the dynamic parameters to drive the simulated cockpit to simulate the movement of the vehicle model.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the evaluation test method according to any one of claims 6 to 9.

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