System and method for testing overtaking reminding function of heavy-duty car

Abstract

The invention relates to the field of vehicle overtaking reminding, and particularly discloses a heavy-duty vehicle overtaking reminding function test system and method. A data processing analysis module is respectively communicated with a main vehicle data acquisition module, a main vehicle positioning data acquisition module and target vehicle positioning data acquisition; obtaining overtaking reminding function parameters of the main vehicle, positioning data of the main vehicle and positioning data of the target vehicle, calculating overtaking reminding function parameters of a third party according to the positioning data of the main vehicle and the positioning data of the target vehicle, and comparing the overtaking reminding function parameters of the main vehicle with the overtaking reminding function parameters of the third party; and judging whether the overtaking reminding function of the main vehicle is normal or not according to a comparison result. Multi-vehicle positioning information is obtained through the positioning system, and the purpose of accurately and quantitatively measuring and evaluating the vehicle overtaking reminding function is achieved.

Description

Technical Field

[0001] The invention relates to the field of vehicle overtaking reminder, and in particular to a heavy-duty vehicle overtaking reminder function testing system and method. Background Art

[0002] With the rapid development of autonomous driving technology, heavy-duty vehicles are important tools for road transportation, and the safety and reliability of their autonomous driving systems are particularly important. As an important part of the autonomous driving system, the overtaking reminder function can timely remind the driver to pay attention to vehicles in adjacent lanes, which is of great significance for reducing traffic accidents and improving road traffic efficiency. However, existing testing methods mostly rely on simulated environments or single data sources, which are difficult to fully reflect the functional performance under actual road conditions.

[0003] Existing real-vehicle testing technology mainly relies on testers to rely on visual inspection in rearview mirrors or on data from the vehicle's front-mounted cameras, radars and other sensors to test and evaluate system functions. This method is not accurate, cannot perform quantitative analysis, and is the same source as the on-board system data, making it difficult to evaluate the accuracy of system functions. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a heavy-duty vehicle overtaking reminder function test system and method, which obtains multiple vehicle positioning information through a positioning system to achieve the purpose of accurately and quantitatively measuring and evaluating the vehicle overtaking reminder function.

[0005] In a first aspect, the technical solution of the present invention provides a heavy-duty vehicle overtaking reminder function test system, comprising: The main vehicle's own data acquisition module is used to obtain the main vehicle's own overtaking reminder function parameters through the main vehicle's internal communication network; The main vehicle positioning data acquisition module is installed on the main vehicle and is used to obtain the main vehicle positioning data through the positioning system; The target vehicle positioning data acquisition module is installed on the target vehicle and is used to obtain the target vehicle positioning data through the positioning system; The data processing and analysis module communicates with the main vehicle's own data acquisition module, the main vehicle positioning data acquisition module, and the target vehicle positioning data, respectively, obtains the main vehicle's own overtaking reminder function parameters, the main vehicle positioning data and the target vehicle positioning data, calculates the third-party overtaking reminder function parameters according to the main vehicle positioning data and the target vehicle positioning data, compares the main vehicle's own overtaking reminder function parameters with the third-party overtaking reminder function parameters, and determines whether the main vehicle's overtaking reminder function is normal according to the comparison result.

[0006] In an optional implementation, the parameters of the host vehicle's own overtaking reminder function include the host vehicle's speed, the host vehicle's acceleration, the host vehicle's yaw angular velocity, the target vehicle's detection speed, the target vehicle's detection acceleration, and the detection relative distance between the host vehicle and the target vehicle.

[0007] In an optional implementation, the main vehicle positioning data acquisition module and the target vehicle positioning data acquisition module obtain positioning data through the Beidou satellite navigation system and an inertial navigation system with a built-in gyroscope.

[0008] In an optional implementation, the data processing and analysis module calculates the third-party overtaking reminder function parameters according to the host vehicle positioning data and the target vehicle positioning data, specifically including: Obtain the main vehicle position coordinates through the main vehicle positioning data; Calculate the main vehicle speed based on the main vehicle position coordinates at two moments; Calculate the acceleration of the main vehicle according to the speed of the main vehicle at two moments; Calculate the yaw rate of the main vehicle through the main vehicle positioning data; Obtain the target vehicle position coordinates through the target vehicle positioning data; Calculate the positioning speed of the target vehicle according to the position coordinates of the target vehicle at two moments; Calculate the target vehicle positioning acceleration according to the target vehicle positioning speed at two moments; The relative distance between the host vehicle and the target vehicle is calculated based on the host vehicle position coordinates and the target vehicle position coordinates.

[0009] In an optional implementation, the data processing and analysis module compares the overtaking reminder function parameters of the host vehicle itself with the overtaking reminder function parameters of the third party, and determines whether the overtaking reminder function of the host vehicle is normal according to the comparison result, specifically including: When the host vehicle issues an overtaking reminder, the host vehicle's own overtaking reminder function parameters and the third-party overtaking reminder function parameters are compared in turn with each parameter of the same type; Determine whether the difference of each parameter is within the preset range; If yes, the reminder function of the host vehicle is normal; if no, the reminder function of the host vehicle is abnormal.

[0010] In a second aspect, the technical solution of the present invention provides a method for testing a heavy-duty vehicle overtaking reminder function, comprising the following steps: Obtain the overtaking reminder function parameters of the host vehicle itself through the internal communication network of the host vehicle; Obtain the main vehicle positioning data through the positioning system; Obtain the target vehicle positioning data through the positioning system; Calculate the parameters of the third-party overtaking reminder function based on the main vehicle positioning data and the target vehicle positioning data; Compare the overtaking reminder function parameters of the host vehicle itself with the overtaking reminder function parameters of the third party, and determine whether the overtaking reminder function of the host vehicle is normal based on the comparison result.

[0011] In an optional implementation, the parameters of the host vehicle's own overtaking reminder function include the host vehicle's speed, the host vehicle's acceleration, the host vehicle's yaw angular velocity, the target vehicle's detection speed, the target vehicle's detection acceleration, and the detection relative distance between the host vehicle and the target vehicle.

[0012] In an optional embodiment, the positioning system includes a Beidou satellite navigation system and an inertial navigation system with a built-in gyroscope.

[0013] In an optional implementation, the third-party overtaking reminder function parameters are calculated according to the host vehicle positioning data and the target vehicle positioning data, specifically including: Obtain the main vehicle position coordinates through the main vehicle positioning data; Calculate the main vehicle speed based on the main vehicle position coordinates at two moments; Calculate the acceleration of the main vehicle according to the speed of the main vehicle at two moments; Calculate the yaw rate of the main vehicle through the main vehicle positioning data; Obtain the target vehicle position coordinates through the target vehicle positioning data; Calculate the positioning speed of the target vehicle according to the position coordinates of the target vehicle at two moments; Calculate the target vehicle positioning acceleration according to the target vehicle positioning speed at two moments; The relative distance between the host vehicle and the target vehicle is calculated based on the host vehicle position coordinates and the target vehicle position coordinates.

[0014] In an optional implementation, comparing the overtaking reminder function parameters of the host vehicle itself with the overtaking reminder function parameters of the third party, and judging whether the overtaking reminder function of the host vehicle is normal according to the comparison result, specifically includes: When the host vehicle issues an overtaking reminder, the host vehicle's own overtaking reminder function parameters and the third-party overtaking reminder function parameters are compared in turn with each parameter of the same type; Determine whether the difference of each parameter is within the preset range; If yes, the reminder function of the host vehicle is normal; if no, the reminder function of the host vehicle is abnormal.

[0015] The heavy-duty vehicle overtaking reminder function test system and method provided by the present invention has the following beneficial effects compared with the prior art: firstly, the vehicle's own overtaking reminder parameters are obtained, and secondly, the main vehicle positioning data and the target vehicle positioning data are obtained through a positioning system independent of the vehicle, and the third-party overtaking reminder parameters are obtained based on the main vehicle positioning data and the target vehicle positioning data, and the overtaking reminder function is judged whether it is normal by comparing the vehicle's own overtaking reminder parameters and the third-party overtaking reminder parameters. The present invention implements functional testing through the trigger data and real-time positioning data of the overtaking reminder function, can accurately evaluate the accuracy of the function triggering timing, and achieve the purpose of accurate quantitative measurement and evaluation of the vehicle's overtaking reminder function, and supports road type diversity testing, traffic condition simulation and complex overtaking scenario testing, and can comprehensively evaluate the performance of the overtaking reminder function under different road conditions and traffic conditions, and improve the adaptability and stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions of 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 these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of an application scenario of a heavy-duty vehicle overtaking reminder function test system provided by an embodiment of the present invention.

[0018] Figure 2 The present invention provides a schematic structural diagram of a heavy-duty vehicle overtaking reminder function test system.

[0019] Figure 3 The present invention provides a flow chart of a method for testing a heavy-duty vehicle overtaking reminder function. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0022] Figure 1 This is a schematic diagram of an application scenario of a heavy-duty vehicle overtaking reminder function test system provided by an embodiment of the present invention. A heavy-duty vehicle is a main vehicle and travels on a test section. A small vehicle is a target vehicle and travels near the main vehicle. The vehicles are positioned by satellites and base stations, and the overtaking reminder function of the main vehicle is tested based on the positioning data.

[0023] Figure 2 FIG. 1 is a schematic block diagram of a heavy-duty vehicle overtaking reminder function test system provided by an embodiment of the present invention. Figure 2 As shown, the system includes a main vehicle data acquisition module, a main vehicle positioning data acquisition module, a target vehicle positioning data acquisition module, and a data processing and analysis module.

[0024] The main vehicle's own data acquisition module is used to obtain the main vehicle's own overtaking reminder function parameters through the main vehicle's internal communication network.

[0025] The main vehicle positioning data acquisition module is installed on the main vehicle and is used to obtain the main vehicle positioning data through the positioning system.

[0026] The target vehicle positioning data acquisition module is installed on the target vehicle and is used to obtain the target vehicle positioning data through the positioning system.

[0027] The data processing and analysis module communicates with the main vehicle's own data acquisition module, the main vehicle positioning data acquisition module, and the target vehicle positioning data, respectively, obtains the main vehicle's own overtaking reminder function parameters, the main vehicle positioning data and the target vehicle positioning data, calculates the third-party overtaking reminder function parameters according to the main vehicle positioning data and the target vehicle positioning data, compares the main vehicle's own overtaking reminder function parameters with the third-party overtaking reminder function parameters, and determines whether the main vehicle's overtaking reminder function is normal according to the comparison result.

[0028] In this embodiment, the parameters of the main vehicle's own overtaking reminder function obtained by the main vehicle's own data acquisition module are derived from the main vehicle's internal communication network and are taken from the vehicle's self-installed controller and sensor. The parameters of the main vehicle's own overtaking reminder function include the vehicle's own speed, the vehicle's own acceleration, the vehicle's own yaw rate, the target vehicle's detection speed, the target vehicle's detection acceleration, and the detection relative distance between the vehicle and the target vehicle.

[0029] It should be noted that the main vehicle's own data acquisition module has a precise clock synchronization function to ensure that all collected data remain consistent in time, providing a basis for subsequent data analysis and comparison.

[0030] In this embodiment, the main vehicle positioning data acquisition module is installed on the main vehicle, and the main vehicle positioning data is obtained through the positioning system, and then the corresponding overtaking reminder function parameters are obtained through the main vehicle positioning data. It should be noted that the positioning system is a third-party system independent of the vehicle. In an optional implementation, based on high-precision positioning technology, a variety of positioning and navigation technologies such as the Beidou satellite navigation system and the inertial navigation system (INS, with a built-in gyroscope) are integrated to improve positioning accuracy and robustness through a multi-source data fusion algorithm. Even in the case of poor satellite signals, continuous positioning information can be provided through INS.

[0031] In this embodiment, the target vehicle positioning data acquisition module is installed on the target vehicle, and the target vehicle positioning data is obtained through the positioning system. The positioning system on the target vehicle can be the same as the positioning system on the host vehicle, and both obtain positioning data through the Beidou satellite navigation system and the inertial navigation system with a built-in gyroscope.

[0032] It should be noted that the target vehicle positioning data acquisition module establishes a real-time connection with the data processing and analysis module (installed on the main vehicle) through a wireless communication network to transmit real-time positioning data. The positioning system can be configured and used regardless of the type or number of target vehicles.

[0033] In this embodiment, the data processing and analysis module first calculates the third-party overtaking reminder function parameters based on the main vehicle positioning data and the target vehicle positioning data, and then compares the third-party overtaking reminder function parameters with the main vehicle's own overtaking reminder function parameters, and determines whether the main vehicle's overtaking reminder function is normal based on the comparison result.

[0034] Calculating the parameters of the third-party overtaking reminder function according to the main vehicle positioning data and the target vehicle positioning data specifically includes the following steps.

[0035] Step 1: Obtain the main vehicle position coordinates through the main vehicle positioning data.

[0036] The main vehicle receives signals from multiple Beidou satellites through the positioning system. Beidou satellites send precise time information, and the main vehicle positioning system records this time and synchronizes it with its internal clock. By measuring the propagation time between the received satellite signal and the receiver and multiplying it by the propagation speed of the positioning signal (i.e., the speed of light c), the distance from the main vehicle to each satellite can be calculated.

[0037] d = c × Δt, where d is the distance, c is the speed of light, and Δt is the signal propagation time.

[0038] Knowing the positions of the satellites and the distances from the host vehicle to each satellite, the three-dimensional position (longitude, latitude, and altitude) of the host vehicle can be calculated using triangulation.

[0039] Step 2: Calculate the main vehicle speed based on the main vehicle position coordinates at two moments.

[0040] Repeat step 1 above in a short time (such as 1 second) to obtain the position of the main vehicle at two different time points.

[0041] By comparing these two positions, the displacement of the host vehicle during this period of time can be calculated, and the speed v is equal to the displacement divided by time.

[0042] v = Δs / Δt, where v is the velocity, Δs is the displacement, and Δt is the time interval.

[0043] Step 3, calculate the main vehicle acceleration according to the main vehicle speed at two moments.

[0044] Repeat step 2 above within a certain period of time to obtain the speed of the main vehicle at two time points. By comparing these two speeds, the speed change of the main vehicle during this period can be calculated. The speed change divided by time is the acceleration of the main vehicle.

[0045] Step 4: Calculate the yaw rate of the main vehicle through the main vehicle positioning data.

[0046] According to the change of the position coordinates of the main vehicle, the moving direction of the main vehicle can be determined by calculating the direction of the connecting line of the position coordinates at adjacent moments.

[0047] The yaw angle refers to the angle between the main vehicle's moving direction and a reference direction (such as the north direction). The yaw angle is calculated using trigonometric functions (such as the inverse tangent function).

[0048] The yaw rate refers to the rate of change of the yaw angle over time. The yaw rate is calculated based on the yaw angles (θ1 and θ2) at two adjacent times (t1 and t2) and the time interval (t2-t1).

[0049] yaw_rate = (θ2 - θ1) / (t2 - t1).

[0050] Step 5: Obtain the target vehicle position coordinates through the target vehicle positioning data.

[0051] Step 6, calculating the positioning speed of the target vehicle according to the position coordinates of the target vehicle at two moments.

[0052] Step 7, calculating the target vehicle positioning acceleration according to the target vehicle positioning speed at two moments.

[0053] The calculation method of the target vehicle's position coordinates, speed, and acceleration is the same as that of the host vehicle, and will not be repeated here.

[0054] Step 8: Calculate the relative distance between the host vehicle and the target vehicle based on the host vehicle position coordinates and the target vehicle position coordinates.

[0055] Determine a uniform reference coordinate system, such as the Earth-centered Geodetic Coordinate System (WGS-84) or a local projection coordinate system. Use the spherical distance formula or the distance formula on the projection plane to calculate the straight-line distance between the two vehicles.

[0056] The data processing and analysis module calculates the third-party overtaking reminder function parameters through the above steps, and then compares the host vehicle's own overtaking reminder function parameters with the third-party overtaking reminder function parameters, and determines whether the host vehicle's overtaking reminder function is normal based on the comparison results. It should be noted that the comparison of these two parameters refers to the comparison of each corresponding element in the parameters, which specifically includes the following steps.

[0057] Step 1: When the host vehicle issues an overtaking reminder, the host vehicle's own overtaking reminder function parameters and the third party's overtaking reminder function parameters are sequentially compared with each parameter of the same type.

[0058] Step 2: Determine whether the difference of each parameter is within a preset range.

[0059] Step 3: If yes, the reminder function of the main vehicle is normal; if no, the reminder function of the main vehicle is abnormal.

[0060] In this embodiment, the host vehicle's own overtaking reminder function parameters, including the host vehicle speed, the host vehicle acceleration, the host vehicle's yaw angular velocity, the target vehicle detection speed, the target vehicle detection acceleration, and the detection relative distance between the host vehicle and the target vehicle, respectively correspond to the host vehicle speed, the host vehicle acceleration, the host vehicle's yaw angular velocity, the target vehicle positioning speed, the target vehicle positioning acceleration, and the positioning relative distance between the host vehicle and the target vehicle in the third-party overtaking reminder function parameters.

[0061] In an optional implementation, the main vehicle can collect auxiliary verification data such as vehicle surrounding environment information (such as video images of the front and left and right sides of the vehicle), instrument display images, central control screen display images, sound information, etc. through external cameras, microphones and other sensors. These auxiliary verification data are used to verify the main vehicle's own overtaking reminder function parameters, and then to assist in verifying whether the main vehicle's overtaking reminder function is normal.

[0062] This embodiment implements functional testing through the trigger data and real-time positioning data of the overtaking reminder function, which can accurately evaluate the accuracy of the function triggering timing, achieve the purpose of accurate quantitative measurement and evaluation of the vehicle overtaking reminder function, and support road type diversity testing, traffic condition simulation and complex overtaking scenario testing, and can comprehensively evaluate the performance of the overtaking reminder function under different road conditions and traffic conditions, thereby improving the adaptability and stability of the system.

[0063] An embodiment of a heavy-duty vehicle overtaking reminder function test system is described in detail above. Based on the heavy-duty vehicle overtaking reminder function test system described in the above embodiment, an embodiment of the present invention also provides a heavy-duty vehicle overtaking reminder function test method corresponding to the system.

[0064] Figure 3 The present invention provides a flowchart of a method for testing a heavy-duty vehicle overtaking reminder function. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted.

[0065] like Figure 3 As shown, the method includes the following steps.

[0066] S1, obtaining the overtaking reminder function parameters of the host vehicle itself through the internal communication network of the host vehicle.

[0067] The parameters of the host vehicle's own overtaking reminder function include the host vehicle's speed, the host vehicle's acceleration, the host vehicle's yaw angular velocity, the target vehicle's detection speed, the target vehicle's detection acceleration, and the detection relative distance between the host vehicle and the target vehicle.

[0068] S2, obtaining the main vehicle positioning data through the positioning system.

[0069] A positioning system is set up on the main vehicle to obtain the main vehicle positioning data. The positioning system is a third-party system independent of the vehicle. In an optional implementation, based on high-precision positioning technology, multiple positioning and navigation technologies such as the Beidou satellite navigation system and the inertial navigation system (INS, with a built-in gyroscope) are integrated to improve positioning accuracy and robustness through a multi-source data fusion algorithm. Even in the case of poor satellite signals, continuous positioning information can be provided through INS.

[0070] S3, obtaining the target vehicle positioning data through the positioning system.

[0071] A positioning system is set up on the target vehicle to obtain the positioning data of the target vehicle. Like the main vehicle, the positioning system includes the Beidou satellite navigation system and the inertial navigation system with a built-in gyroscope.

[0072] S4, calculating the third-party overtaking reminder function parameters according to the host vehicle positioning data and the target vehicle positioning data.

[0073] Step 1: Obtain the main vehicle position coordinates through the main vehicle positioning data.

[0074] The main vehicle receives signals from multiple Beidou satellites through the positioning system. Beidou satellites send precise time information, and the main vehicle positioning system records this time and synchronizes it with its internal clock. By measuring the propagation time between the received satellite signal and the receiver and multiplying it by the propagation speed of the positioning signal (i.e., the speed of light c), the distance from the main vehicle to each satellite can be calculated.

[0075] d = c × Δt, where d is the distance, c is the speed of light, and Δt is the signal propagation time.

[0076] Knowing the positions of the satellites and the distances from the host vehicle to each satellite, the three-dimensional position (longitude, latitude, and altitude) of the host vehicle can be calculated using triangulation.

[0077] Step 2: Calculate the main vehicle speed based on the main vehicle position coordinates at two moments.

[0078] Repeat step 1 above in a short time (such as 1 second) to obtain the position of the main vehicle at two different time points.

[0079] By comparing these two positions, the displacement of the host vehicle during this period of time can be calculated, and the speed v is equal to the displacement divided by time.

[0080] v = Δs / Δt, where v is the velocity, Δs is the displacement, and Δt is the time interval.

[0081] Step 3, calculate the main vehicle acceleration according to the main vehicle speed at two moments.

[0082] Repeat step 2 above within a certain period of time to obtain the speed of the main vehicle at two time points. By comparing these two speeds, the speed change of the main vehicle during this period can be calculated. The speed change divided by time is the acceleration of the main vehicle.

[0083] Step 4: Calculate the yaw rate of the main vehicle through the main vehicle positioning data.

[0084] According to the change of the position coordinates of the main vehicle, the moving direction of the main vehicle can be determined by calculating the direction of the connecting line of the position coordinates at adjacent moments.

[0085] The yaw angle refers to the angle between the main vehicle's moving direction and a reference direction (such as the north direction). The yaw angle is calculated using trigonometric functions (such as the inverse tangent function).

[0086] The yaw rate refers to the rate of change of the yaw angle over time. The yaw rate is calculated based on the yaw angles (θ1 and θ2) at two adjacent times (t1 and t2) and the time interval (t2-t1).

[0087] yaw_rate = (θ2 - θ1) / (t2 - t1).

[0088] Step 5: Obtain the target vehicle position coordinates through the target vehicle positioning data.

[0089] Step 6, calculating the positioning speed of the target vehicle according to the position coordinates of the target vehicle at two moments.

[0090] Step 7, calculating the target vehicle positioning acceleration according to the target vehicle positioning speed at two moments.

[0091] The calculation method of the target vehicle's position coordinates, speed, and acceleration is the same as that of the host vehicle, and will not be repeated here.

[0092] Step 8: Calculate the relative distance between the host vehicle and the target vehicle based on the host vehicle position coordinates and the target vehicle position coordinates.

[0093] Determine a uniform reference coordinate system, such as the Earth-centered Geodetic Coordinate System (WGS-84) or a local projection coordinate system. Use the spherical distance formula or the distance formula on the projection plane to calculate the straight-line distance between the two vehicles.

[0094] S5, comparing the overtaking reminder function parameters of the host vehicle itself with the overtaking reminder function parameters of the third party, and judging whether the overtaking reminder function of the host vehicle is normal according to the comparison result.

[0095] Step 1: When the host vehicle issues an overtaking reminder, the host vehicle's own overtaking reminder function parameters and the third party's overtaking reminder function parameters are sequentially compared with each parameter of the same type.

[0096] Step 2: Determine whether the difference of each parameter is within a preset range.

[0097] Step 3: If yes, the reminder function of the main vehicle is normal; if no, the reminder function of the main vehicle is abnormal.

[0098] In this embodiment, the host vehicle's own overtaking reminder function parameters, including the host vehicle speed, the host vehicle acceleration, the host vehicle's yaw angular velocity, the target vehicle detection speed, the target vehicle detection acceleration, and the detection relative distance between the host vehicle and the target vehicle, respectively correspond to the host vehicle speed, the host vehicle acceleration, the host vehicle's yaw angular velocity, the target vehicle positioning speed, the target vehicle positioning acceleration, and the positioning relative distance between the host vehicle and the target vehicle in the third-party overtaking reminder function parameters.

[0099] The heavy-duty vehicle overtaking reminder function test method of this embodiment is implemented based on the aforementioned heavy-duty vehicle overtaking reminder function test system. Therefore, the specific implementation method of this method can be seen in the embodiment part of the heavy-duty vehicle overtaking reminder function test system in the previous text. Therefore, its specific implementation method can refer to the description of the corresponding various parts of the embodiment, and will not be introduced in detail here.

[0100] In addition, since the heavy-duty vehicle overtaking reminder function test method of this embodiment is implemented based on the aforementioned heavy-duty vehicle overtaking reminder function test system, its function corresponds to that of the aforementioned method and will not be described in detail here.

[0101] The above disclosure is only a preferred embodiment of the present invention, but the present invention is not limited thereto. Any non-creative changes that can be thought of by a person skilled in the art, as well as several improvements and modifications made without departing from the principle of the present invention, should fall within the protection scope of the present invention.

Claims

1. A heavy-duty vehicle overtaking reminder function test system, characterized in that: include: The main vehicle's own data acquisition module is used to obtain the main vehicle's own overtaking reminder function parameters through the main vehicle's internal communication network; The main vehicle positioning data acquisition module is installed on the main vehicle and is used to obtain the main vehicle positioning data through the positioning system; The target vehicle positioning data acquisition module is installed on the target vehicle and is used to obtain the target vehicle positioning data through the positioning system; The data processing and analysis module communicates with the main vehicle's own data acquisition module, the main vehicle positioning data acquisition module, and the target vehicle positioning data, respectively, obtains the main vehicle's own overtaking reminder function parameters, the main vehicle positioning data and the target vehicle positioning data, calculates the third-party overtaking reminder function parameters according to the main vehicle positioning data and the target vehicle positioning data, compares the main vehicle's own overtaking reminder function parameters with the third-party overtaking reminder function parameters, and determines whether the main vehicle's overtaking reminder function is normal according to the comparison result.

2. The heavy-duty vehicle overtaking reminder function test system according to claim 1 is characterized in that: The parameters of the host vehicle's own overtaking reminder function include the host vehicle's speed, the host vehicle's acceleration, the host vehicle's yaw angular velocity, the target vehicle's detection speed, the target vehicle's detection acceleration, and the detection relative distance between the host vehicle and the target vehicle.

3. The heavy-duty vehicle overtaking reminder function test system according to claim 2, characterized in that: The main vehicle positioning data acquisition module and the target vehicle positioning data acquisition module obtain positioning data through the Beidou satellite navigation system and the inertial navigation system with a built-in gyroscope.

4. The heavy-duty vehicle overtaking reminder function test system according to claim 3 is characterized in that: The data processing and analysis module calculates the parameters of the third-party overtaking reminder function based on the main vehicle positioning data and the target vehicle positioning data, including: Obtain the main vehicle position coordinates through the main vehicle positioning data; Calculate the main vehicle speed based on the main vehicle position coordinates at two moments; Calculate the acceleration of the main vehicle according to the speed of the main vehicle at two moments; Calculate the yaw rate of the main vehicle through the main vehicle positioning data; Obtain the target vehicle position coordinates through the target vehicle positioning data; Calculate the positioning speed of the target vehicle according to the position coordinates of the target vehicle at two moments; Calculate the target vehicle positioning acceleration according to the target vehicle positioning speed at two moments; The relative distance between the host vehicle and the target vehicle is calculated based on the host vehicle position coordinates and the target vehicle position coordinates.

5. The heavy-duty vehicle overtaking reminder function test system according to claim 4, characterized in that: The data processing and analysis module compares the overtaking reminder function parameters of the host vehicle itself and the overtaking reminder function parameters of the third party, and determines whether the overtaking reminder function of the host vehicle is normal according to the comparison results, including: When the host vehicle issues an overtaking reminder, the host vehicle's own overtaking reminder function parameters and the third-party overtaking reminder function parameters are compared in turn with each parameter of the same type; Determine whether the difference of each parameter is within the preset range; If yes, the reminder function of the host vehicle is normal; if no, the reminder function of the host vehicle is abnormal.

6. A method for testing the overtaking reminder function of a heavy-duty vehicle, characterized in that: The following steps are involved: Obtain the overtaking reminder function parameters of the host vehicle itself through the internal communication network of the host vehicle; Obtain the main vehicle positioning data through the positioning system; Obtain the target vehicle positioning data through the positioning system; Calculate the parameters of the third-party overtaking reminder function based on the main vehicle positioning data and the target vehicle positioning data; Compare the overtaking reminder function parameters of the host vehicle itself with the overtaking reminder function parameters of the third party, and determine whether the overtaking reminder function of the host vehicle is normal based on the comparison result.

7. The method for testing the overtaking reminder function of a heavy-duty vehicle according to claim 6, characterized in that: The parameters of the host vehicle's own overtaking reminder function include the host vehicle's speed, the host vehicle's acceleration, the host vehicle's yaw angular velocity, the target vehicle's detection speed, the target vehicle's detection acceleration, and the detection relative distance between the host vehicle and the target vehicle.

8. The method for testing the overtaking reminder function of a heavy-duty vehicle according to claim 7, characterized in that: The positioning system includes the Beidou satellite navigation system and an inertial navigation system with a built-in gyroscope.

9. The method for testing the overtaking reminder function of a heavy-duty vehicle according to claim 8, characterized in that: The parameters of the third-party overtaking reminder function are calculated based on the main vehicle positioning data and the target vehicle positioning data, including: Obtain the main vehicle position coordinates through the main vehicle positioning data; Calculate the main vehicle speed based on the main vehicle position coordinates at two moments; Calculate the acceleration of the main vehicle according to the speed of the main vehicle at two moments; Calculate the yaw rate of the main vehicle through the main vehicle positioning data; Obtain the target vehicle position coordinates through the target vehicle positioning data; Calculate the positioning speed of the target vehicle according to the position coordinates of the target vehicle at two moments; Calculate the target vehicle positioning acceleration according to the target vehicle positioning speed at two moments; The relative distance between the host vehicle and the target vehicle is calculated based on the host vehicle position coordinates and the target vehicle position coordinates.

10. The heavy-duty vehicle overtaking reminder function testing method according to claim 9, characterized in that: Compare the overtaking reminder function parameters of the host vehicle itself with the overtaking reminder function parameters of the third party, and judge whether the overtaking reminder function of the host vehicle is normal according to the comparison results, including: When the host vehicle issues an overtaking reminder, the host vehicle's own overtaking reminder function parameters and the third-party overtaking reminder function parameters are compared in turn with each parameter of the same type; Determine whether the difference of each parameter is within the preset range; If yes, the reminder function of the host vehicle is normal; if no, the reminder function of the host vehicle is abnormal.

Images