Vehicle braking posture change measurement method, device and electronic equipment

Abstract

The present invention relates to the technical field of testing structural components or equipment, and in particular to a method, device and electronic device for measuring the change in braking posture of a vehicle, wherein the method comprises: generating a corresponding test task based on at least one preset measurement target under an AEB braking condition; judging whether the current test site meets the preset test conditions based on the test task; if the current test site meets the preset test conditions, in response to the test task, using an AEB braking robot to control at least one test vehicle that meets the preset measurement conditions to complete at least one preset measurement target, and obtaining multiple groups of measurement data of the test vehicle during the test process, so as to obtain the braking posture change value of each test vehicle based on the multiple groups of measurement data and the test data of the test vehicle. Thus, the technical problem that the influence of AEB intervention on the change in vehicle posture is ignored in the related art, resulting in poor comprehensiveness of vehicle safety development and difficulty in ensuring the safety performance of the vehicle during braking is solved.

Description

Technical Field

[0001] The invention relates to the technical field of testing structural components or equipment, and in particular to a method, a device and an electronic device for measuring changes in vehicle braking posture. Background Art

[0002] Pedestrians and two-wheeled vehicle riders are VRUs (Vulnerable Road Users) among traffic participants. They ignore traffic lights and zebra crossings and walk across them at will, which increases the probability of collision between vulnerable traffic participants and vehicles. At present, the rate of active safety configuration of vehicles is getting higher and higher. Active braking will intervene and force the vehicle to brake before a pedestrian-vehicle accident occurs. The vehicle will tilt forward due to its shock absorption and its own mass.

[0003] In the relevant technologies, the current status of vehicle protection for vulnerable traffic participants is based on the verification and development of the normal driving vehicle posture, but does not take into account the changes in vehicle posture caused by the intervention of AEB (Autonomous Emergency Braking, automatic braking system), which often causes the front structure of the vehicle to tilt forward and the position of the pedestrian's legs to shift, thus affecting the incompleteness of the vehicle safety development of car companies. On the other hand, as a dynamic process, vehicle braking is difficult to capture the changes in vehicle posture under actual conditions, and it is difficult for developers to find a practical solution for monitoring. Therefore, it causes certain difficulties for car companies in the process of developing actual vehicle safety performance, which needs to be improved. Summary of the invention

[0004] The present invention provides a method, device and electronic device for measuring the braking posture change of a vehicle, so as to solve the technical problem that the related art fails to consider the influence of AEB intervention on the vehicle posture change, resulting in poor comprehensiveness of vehicle safety development and difficulty in ensuring the safety performance of the vehicle during braking.

[0005] A first aspect of an embodiment of the present invention provides a method for measuring changes in vehicle braking posture, wherein an AEB braking robot for vehicle braking control is provided on a test vehicle, wherein the method comprises the following steps: generating a corresponding test task based on at least one preset measurement target under an AEB braking condition; judging whether a current test site meets preset test conditions based on the test task; if the current test site meets the preset test conditions, then in response to the test task, using the AEB braking robot to control at least one test vehicle that meets the preset measurement conditions to complete the at least one preset measurement target, and obtaining multiple sets of measurement data of the test vehicle during the test process, so as to obtain a braking posture change value of each test vehicle based on the multiple sets of measurement data and the test data of the test vehicle.

[0006] Optionally, in one embodiment of the present invention, determining whether the current test site meets the preset test conditions based on the test task includes: obtaining site information of the current test site, and determining based on the site information whether an image acquisition device that meets the preset lens direction conditions is set on one side of the runway of the current test site; if an image acquisition device that meets the preset lens direction conditions is set on one side of the runway, determining that the current test site meets the preset test conditions.

[0007] Optionally, in one embodiment of the present invention, in response to the test task, the AEB braking robot is used to control at least one test vehicle that meets preset measurement conditions to complete the at least one preset measurement target, including: determining the measurement point of the current test site based on the position of the image acquisition device; using the AEB braking robot to control the test vehicle to brake at the target location with a target braking force, so that when the test vehicle passes the measurement point, the test vehicle meets the preset image acquisition conditions.

[0008] Optionally, in one embodiment of the present invention, before responding to the test task and using the AEB braking robot to control at least one test vehicle that meets the preset measurement conditions to complete the at least one preset measurement target, it also includes: when the test vehicle is in a preset stationary position, optionally selecting a first preset point and a second preset point on the target scale, and setting the front position of the test vehicle to a third preset point, wherein the target scale is determined by the position of the image acquisition device; or, calibrating the initial angle of the on-board inclinometer when the test vehicle is in the preset stationary position to zero; or, measuring the initial ground clearance of the front position when the test vehicle is in the preset stationary position.

[0009] Optionally, in one embodiment of the present invention, the braking posture change value of the test vehicle is obtained based on the multiple sets of measurement data and the test data of the test vehicle, including: constructing a dynamic coordinate system using the first preset point, the second preset point and the third preset point, and obtaining the initial coordinate position of the third preset point; obtaining the braking coordinate position of the third preset point when the test vehicle passes the measurement point, and calculating the height change value of the front position based on the initial coordinate position and the braking coordinate position.

[0010] Optionally, in one embodiment of the present invention, the braking posture change value of the test vehicle is obtained based on the multiple sets of measurement data and the test data of the test vehicle, including: obtaining the measurement angle of the on-board angle meter when the test vehicle passes the measurement point; and calculating the height change value of the front position based on the measurement angle.

[0011] Optionally, in one embodiment of the present invention, obtaining the braking posture change value of the test vehicle based on the multiple sets of measurement data and the test data of the test vehicle includes: measuring the actual ground clearance of the front position of the test vehicle when the test vehicle passes the measurement point; and calculating the height change value of the front position based on the actual ground clearance and the initial ground clearance.

[0012] Optionally, in one embodiment of the present invention, it also includes: classifying the braking posture change values ​​of all test vehicles according to the models of the test vehicles to obtain classification results; based on the classification results, pre-processing the braking posture change values ​​corresponding to each model to obtain the braking posture reference value of each model; based on the braking posture reference value, generating the active and passive safety parameter adjustment strategy for each model.

[0013] A second aspect of the present invention provides a device for measuring changes in vehicle braking posture, wherein an AEB braking robot for vehicle braking control is provided on a test vehicle, wherein the device comprises: a generation module for generating a corresponding test task based on at least one preset measurement target under an AEB braking condition; a judgment module for judging whether a current test site meets preset test conditions based on the test task; a testing module for, in response to the test task, controlling at least one test vehicle that meets the preset measurement conditions using the AEB braking robot to complete the at least one preset measurement target when the current test site meets the preset test conditions, and obtaining multiple sets of measurement data of the test vehicle during the test process, so as to obtain a braking posture change value of each test vehicle based on the multiple sets of measurement data and the test data of the test vehicle.

[0014] Optionally, in one embodiment of the present invention, the judgment module includes: a judgment unit, used to obtain site information of the current test site, and judge whether an image acquisition device that meets the preset lens direction condition is set on one side of the runway of the current test site based on the site information; a first determination unit, used to determine that the current test site meets the preset test condition when an image acquisition device that meets the preset lens direction condition is set on one side of the runway.

[0015] Optionally, in one embodiment of the present invention, the test module includes: a second determination module, used to determine the measurement point of the current test site based on the position of the image acquisition device; a control unit, used to use the AEB braking robot to control the test vehicle to brake at a target location with a target braking force, so that when the test vehicle passes the measurement point, the test vehicle meets a preset image acquisition condition.

[0016] Optionally, in one embodiment of the present invention, it also includes: an acquisition module, used to select a first preset point and a second preset point on a target scale when the test vehicle is in a preset static position, and set the front position of the test vehicle to a third preset point, wherein the target scale is determined by the position of the image acquisition device; or, a calibration module, used to calibrate the initial angle of the on-board angle meter when the test vehicle is in the preset static position to zero; or, a measurement module, used to measure the initial ground height of the front position when the test vehicle is in the preset static position.

[0017] Optionally, in one embodiment of the present invention, the test module includes: a construction unit, used to construct a dynamic coordinate system using the first preset point, the second preset point and the third preset point, and obtain the initial coordinate position of the third preset point; a first calculation unit, used to obtain the braking coordinate position of the third preset point when the test vehicle passes the measuring point, and calculate the height change value of the front position based on the initial coordinate position and the braking coordinate position.

[0018] Optionally, in one embodiment of the present invention, the test module includes: an acquisition unit, used to acquire the measurement angle of the vehicle-mounted angle meter when the test vehicle passes through the measurement point; and a second calculation unit, used to calculate the height change value of the front position based on the measurement angle.

[0019] Optionally, in one embodiment of the present invention, the test module includes: a measuring unit, used to measure the actual ground clearance height of the front position when the test vehicle passes the measuring point; and a third calculation unit, used to calculate the height change value of the front position based on the actual ground clearance height and the initial ground clearance height.

[0020] Optionally, in one embodiment of the present invention, it also includes: a classification module, used to classify the braking posture change values ​​of all test vehicles according to the model of the test vehicle to obtain a classification result; a processing module, used to pre-process the braking posture change values ​​corresponding to each model based on the classification result to obtain a braking posture reference value for each model; a generation module, used to generate an active and passive safety parameter adjustment strategy for each model based on the braking posture reference value.

[0021] A third aspect of the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for measuring changes in vehicle braking posture as described in the above embodiment.

[0022] A fourth aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method for measuring changes in vehicle braking posture as described in the above embodiments.

[0023] A fifth aspect of the present invention provides a computer program product, including a computer program, which, when executed, is used to implement the above-mentioned method for measuring changes in vehicle braking posture.

[0024] The embodiment of the present invention can generate a corresponding test task according to the measurement target, and judge whether the current test site meets the preset test conditions, so that when the current test site meets the preset test conditions, in response to the test task, the AEB braking robot is used to control at least one test vehicle that meets the preset measurement conditions to complete at least one preset measurement target, thereby reducing the safety hazards in the measurement process, and obtaining multiple groups of measurement data of the test vehicle during the test process, so as to obtain the braking posture change value of each test vehicle based on the multiple groups of measurement data and the test data of the test vehicle, and then obtain the vehicle posture change caused by the AEB intervention braking behavior, so as to facilitate the relevant developers to carry out the research and development and improvement of vehicle safety and related performance. Therefore, the technical problem that the related technology fails to consider the impact of AEB intervention on the vehicle posture change, resulting in poor comprehensiveness of vehicle safety development and difficulty in ensuring the safety performance of the vehicle during braking is solved.

[0025] 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

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0027] Figure 1 A flow chart of a method for measuring a change in a braking posture of a vehicle provided according to an embodiment of the present invention;

[0028] Figure 2 A simplified diagram of the positions according to one embodiment of the present invention;

[0029] Figure 3 A schematic diagram of a method for calculating the inclination angle of the center of mass of a vehicle according to an embodiment of the present invention;

[0030] Figure 4 A schematic diagram of a method for calculating the inclination angle of the center of mass of a vehicle according to an embodiment of the present invention;

[0031] Figure 5 A schematic diagram of a test for simulating human leg shape according to an embodiment of the present invention;

[0032] Figure 6 A schematic diagram of the structure of a device for measuring a change in braking posture of a vehicle provided according to an embodiment of the present invention;

[0033] Figure 7 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below, examples of which 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 intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0035] The following describes the method, device and electronic device for measuring the braking posture change of a vehicle according to the embodiment of the present invention with reference to the accompanying drawings. In view of the technical problem that the related art mentioned in the above background technology fails to consider the influence of AEB intervention on the vehicle posture change, resulting in poor comprehensiveness of vehicle safety development and difficulty in ensuring the safety performance of the vehicle during braking, the present invention provides a method for measuring the braking posture change of a vehicle, in which a corresponding test task can be generated according to the measurement target, and it is judged whether the current test site meets the preset test conditions, so that when the current test site meets the preset test conditions, in response to the test task, at least one test vehicle that meets the preset measurement conditions is controlled by the AEB braking robot to complete at least one preset measurement target, thereby reducing the safety hazards in the measurement process, and obtaining multiple groups of measurement data of the test vehicle during the test process, so as to obtain the braking posture change value of each test vehicle based on the multiple groups of measurement data and the test data of the test vehicle, and then obtain the vehicle posture change caused by the AEB intervention braking behavior, so as to facilitate the relevant developers to carry out the research and development and improvement of vehicle safety and related performance. Therefore, the technical problem that the related art fails to consider the influence of AEB intervention on the vehicle posture change, resulting in poor comprehensiveness of vehicle safety development and difficulty in ensuring the safety performance of the vehicle during braking is solved.

[0036] Specifically, Figure 1 A schematic flow chart of a method for measuring changes in vehicle braking posture provided by an embodiment of the present invention.

[0037] like Figure 1 As shown, the method for measuring the change of vehicle braking posture, the test vehicle is provided with an AEB braking robot for vehicle braking control, wherein the method comprises the following steps:

[0038] In step S101 , a corresponding test task is generated based on at least one preset measurement target under the AEB braking condition.

[0039] The embodiments of the present invention can generate corresponding test tasks according to the measurement conditions and preset measurement targets under the measurement conditions. For example, under the premise of simulating the AEB braking conditions of the vehicle, the measurement targets can be the body posture data of the vehicle when it is stationary, and the body posture data of the vehicle at the moment of emergency braking, etc.

[0040] The test task may include the test process, data required to be collected for the test, etc.

[0041] For example, the preset measurement target is to simulate the changes in the vehicle body posture under the AEB braking condition where an obstacle is detected ahead and the vehicle can complete emergency braking before colliding with the obstacle. At this time, the corresponding test tasks can be to measure the vehicle body posture data when stationary and the body posture data at the moment of emergency braking at different driving speeds;

[0042] Preset measurement target: simulate the changes in the vehicle's body posture under the AEB braking condition where an obstacle is detected ahead and the vehicle cannot complete emergency braking before colliding with the obstacle. At this time, the corresponding test tasks can be to measure the vehicle's body posture data when stationary, the body posture data at the moment of collision with the obstacle after emergency braking at different driving speeds, the posture and damage of the obstacle before and after the collision, etc.

[0043] In step S102, it is determined whether the current test site meets the preset test conditions based on the test task.

[0044] According to the test task, the embodiment of the present invention can determine whether the current test site can be tested, such as whether the test track is flat and whether the light in the test site meets the data collection requirements. For example, if the test task is a curve turning test, the current test site needs to have a curve. If the test task is an acceleration test, the current test site needs to have a straight track sufficient for vehicle acceleration, etc.

[0045] Optionally, in one embodiment of the present invention, determining whether the current test site meets preset test conditions based on the test task includes: obtaining site information of the current test site, and determining based on the site information whether an image acquisition device that meets preset lens direction conditions is set on one side of the runway of the test site; if an image acquisition device that meets the preset lens direction conditions is set on one side of the runway, determining that the current test site meets the preset test conditions.

[0046] In some embodiments, when the test task is the change in vehicle braking posture under AEB conditions, the current test site that meets preset test conditions may include: whether image acquisition equipment, such as a high-speed camera, is placed on one side of the runway, and whether the direction of the lens meets certain conditions, such as setting up a ruler for the test task in front of the center of the lens, and the ruler and the lens must remain parallel vertically.

[0047] In step S103, if the current test site meets the preset test conditions, then in response to the test task, the AEB braking robot is used to control at least one test vehicle that meets the preset measurement conditions to complete at least one preset measurement target, and multiple sets of measurement data of the test vehicle during the test process are obtained to obtain the braking posture change value of each test vehicle based on the multiple sets of measurement data and the test data of the test vehicle.

[0048] During the actual implementation process, the AEB braking robot can be used to control the position, speed and braking of the test vehicle. The AEB braking robot is placed in the main driver's cabin to facilitate vehicle braking control.

[0049] When executing the test task, the embodiment of the present invention can use the AEB braking robot to control the motion of the test vehicle to simulate the AEB braking condition, and use acquisition equipment, such as image acquisition equipment, to obtain multiple sets of measurement data of the test vehicle during the test, such as image data, vehicle-mounted angle meter data, laser displacement sensor data, etc., so as to record the posture changes of the vehicle under the AEB braking condition for subsequent analysis, and use the analysis results to make safety adjustments to the vehicle, such as adjusting AEB braking parameters, adjusting the passive safety protection mechanism based on the current simulated AEB braking condition, etc.

[0050] By testing the vehicle's test data, such as vehicle speed, acceleration / deceleration, brake triggering time and other data and multiple sets of measurement data, the embodiment of the present invention can calculate the braking posture change value.

[0051] For example, an embodiment of the present invention can control the test vehicle from the other side of the runway by the AEB braking robot to pass through a high-speed camera screen at a uniform speed of 60km / h and 40km / h. This process requires the AEB braking robot to control the test vehicle and the central yellow line of the runway to be calibrated multiple times, and it must be ensured that the test vehicle remains parallel through the entire lens screen), and use a high-speed camera to record the entire movement process of the test vehicle entering and exiting the lens screen. After multiple tests, the average angle of the on-board angle meter of the test vehicle at a uniform speed of 60km / h and 40km / h is stable near 0. This process is used to verify that the angle of the on-board angle meter when the test vehicle is traveling at a uniform speed remains consistent with that in a stationary state.

[0052] In the embodiment of the present invention, the test vehicle can be controlled by the AEB braking robot from the other side of the runway at a speed of 60km / h. When the test vehicle is driven to the middle position of the high-speed camera, the speed is 40km / h. (This process requires the AEB braking robot to control the test vehicle for multiple calibrations and calibrations in the early stage, and it must be ensured that the test vehicle remains parallel through the entire lens screen). The entire movement process across the entire screen is recorded with a high-speed camera, and the instantaneous vehicle-mounted angle meter angle from 60km / h to 40km / h is measured. .

[0053] Then, the posture change of the test vehicle is determined through the acquired images and / or the angle of the vehicle-mounted inclinometer.

[0054] Furthermore, the posture change value can be used as a data reference for vehicle braking safety control, for example, to evaluate braking stability. If the front of the vehicle sinks or lifts excessively, it may cause the vehicle to lose stability, affecting steering performance and tire grip; the posture change value is used to calibrate the response threshold and other key parameters of the AEB system to ensure that in emergency braking situations, the vehicle can decelerate quickly and smoothly, avoid unnecessary pitching movements or reduce the degree of danger of pitching movements to other traffic participants; the posture change value can also be used to improve the adjustment of the suspension system so that it can better support the vehicle body during emergency braking, reduce unnecessary pitching movements, and improve the vehicle's handling; during braking, the posture change value will also affect the comfort of passengers. Based on the posture change value, the acceleration distribution during braking can be optimized to make braking smoother; the front posture change value can be used to assist in judging the dynamic behavior of the vehicle in emergency braking situations, thereby providing more decision-making basis for avoiding collisions, etc.

[0055] Optionally, in one embodiment of the present invention, in response to a test task, an AEB braking robot is used to control at least one test vehicle that meets preset measurement conditions to complete at least one preset measurement target, including: determining a measurement point of the test site based on the position of an image acquisition device; using the AEB braking robot to control the test vehicle to brake at the target location with a target braking force, so that when the test vehicle passes the measurement point, the test vehicle meets the preset image acquisition conditions.

[0056] In the actual implementation process, the position of the measuring point should be such that when the test vehicle is captured by the image acquisition device, the test vehicle is in the center of the lens of the image acquisition device.

[0057] For example, an embodiment of the present invention can paste a cross mark on the front of the test vehicle, and the position of the cross mark is defined as the front position of the test vehicle. An embodiment of the present invention can place a high-speed camera on one side of the runway, and erect a ruler in front of the center of the lens, and the ruler and the lens must remain parallel in the longitudinal direction. First, an embodiment of the present invention can place the front position of the test vehicle in the center of the lens and keep the front position of the test vehicle parallel to the ruler and the high-speed camera in the longitudinal plane, define the test vehicle at this position as the measurement point, and measure the longitudinal distance from the lens to the ruler, and the lens to the front position of the test vehicle on site.

[0058] For example, the embodiment of the present invention can set the test vehicle's speed reduction degree from 60km / h to 40km / h, set the AEB braking robot's braking position, ensure that when the vehicle passes the measuring point during the braking process, the test vehicle's speed is reduced to 40km / h at this position, and use a high-speed camera to capture real-time dynamic images.

[0059] Optionally, in one embodiment of the present invention, before responding to a test task and using an AEB braking robot to control at least one test vehicle that meets preset measurement conditions to complete at least one preset measurement target, it also includes: when the test vehicle is in a preset stationary position, optionally selecting a first preset point and a second preset point on a target scale, and setting the front position of the test vehicle to a third preset point, wherein the target scale is determined by the position of an image acquisition device; or, calibrating the initial angle of an on-board angle meter when the test vehicle is in a preset stationary position to zero; or, measuring the initial ground clearance of the front position of the test vehicle when the test vehicle is in a preset stationary position.

[0060] In some embodiments, the embodiment of the present invention can use the video capture calculation method to calculate the posture change of the test vehicle. In the embodiment of the present invention, the ruler and the high-speed camera, the vehicle and the ruler in the high-speed camera screen can be kept parallel. First, in a static position, two points point1 and point2 are found on the ruler, and point3 is found in the front position of the vehicle. Define point2 as the origin of the coordinate axis under static conditions, point3 and point2 are both on the X axis, the distance between point1 and point2 is 100mm, point1 is set to Z direction +100mm, the vehicle's driving direction is the X positive direction, and the camera shooting direction is the Y positive direction. Establish a dynamic coordinate system in the software.

[0061] In other embodiments, the embodiment of the present invention can use the vehicle mass center inclination angle calculation method to calculate the posture change of the test vehicle. The embodiment of the present invention can calibrate the initial angle of the vehicle-mounted inclinometer when the test vehicle is in a preset static position to zero.

[0062] In addition, the embodiment of the present invention can also use the laser displacement sensor measurement method to calculate the posture change of the test vehicle. The embodiment of the present invention can keep the original equipment in the above method unchanged, and place a laser displacement sensor with an effective measurement distance of 1000mm at the cross mark position at the front end of the vehicle for measurement. At the measurement point, the embodiment of the present invention can control the front position of the test vehicle to be stationary at the center of the camera lens, and use the laser displacement sensor to measure the distance between the cross mark position at the front end of the vehicle and the ground.

[0063] Optionally, in one embodiment of the present invention, the braking posture change value of the test vehicle is obtained based on multiple sets of measurement data and test data of the test vehicle, including: constructing a dynamic coordinate system using a first preset point, a second preset point and a third preset point, and obtaining an initial coordinate position of the third preset point; obtaining the braking coordinate position of the third preset point when the test vehicle passes the measurement point, and calculating the height change value of the front position based on the initial coordinate position and the braking coordinate position.

[0064] like Figure 2 As shown, the test vehicle is in a stationary state during the test. The embodiment of the present invention can input the actual distances from the lens to the scale and the lens to the longitudinal distance from the front position of the test vehicle measured on site into the software to establish a coordinate system with point1 as the origin. The second step of the test process verifies whether there is a height difference between point3 and point1, the origin of the original scale, during the uniform speed driving of the test vehicle. According to the video screen of the third step of the test process, the coordinate position of point3 of the front of the test vehicle from the third step of the test process from 60km / h to 40km / h after the emergency brake in the coordinate system is calculated, and the height x of the front structure of the test vehicle when the braking speed of the test vehicle is from 60km / h to 40km / h is obtained by subtracting the height value obtained by calculating the value of point3 in the static state in the first step of the test.

[0065] Optionally, in one embodiment of the present invention, the braking posture change value of the test vehicle is obtained based on multiple sets of measurement data and test data of the test vehicle, including: obtaining the measurement angle of the on-board angle meter when the test vehicle passes the measurement point; and calculating the height change value of the front position based on the measurement angle.

[0066] In the embodiment of the present invention, the distance from the center of mass to the cross mark at the front position of the vehicle can be defined as L1, and the distance L1 remains unchanged during the braking of the vehicle. Figure 3 The change of the center of mass of the vehicle before and after braking is shown. The instantaneous vehicle angle of the inclinometer when the vehicle braking speed is reduced from 60km / h to 40km / h measured by the above invention method is shown. , wherein the vehicle-mounted angle meter can be set at the center of mass of the vehicle, Figure 4A schematic diagram of the vehicle center of mass inclination calculation method is given. The height x1 of the vehicle front structure dropping when the vehicle brakes from 60km / h to 40km / h can be obtained by the following formula:

[0067] .

[0068] Optionally, in one embodiment of the present invention, a braking posture change value of the test vehicle is obtained based on multiple sets of measurement data and test data of the test vehicle, including: measuring the actual ground clearance of the front position of the test vehicle when it passes the measurement point; and calculating the height change value of the front position based on the actual ground clearance and the initial ground clearance.

[0069] At the measurement point on the runway, the embodiment of the present invention can control the front position of the test vehicle to be stationary at the center of the camera lens, and use a laser displacement sensor to measure the distance between the cross mark position at the front end of the test vehicle and the ground. Then, the test vehicle is controlled by the AEB braking robot to brake at a speed of 60km / h from the other side of the runway (350N force when the pedal is fully depressed). The speed of the test vehicle is 40km / h when it is driven to the middle position of the high-speed camera, and the trigger time of the laser displacement sensor is set to be triggered 50ms before the front end of the test vehicle passes through the measurement point. The trigger signal is also given by placing the in-vehicle equipment (this process requires the AEB braking robot to control the test vehicle for multiple calibrations and calibrations in the early stage, and it must be ensured that the test vehicle remains parallel through the entire lens screen), and the distance from the ground when the test vehicle brakes from 60km / h to 40km / h is measured. By comparing the distance difference during the stationary and braking processes, the height of the front structure of the test vehicle that drops from 60km / h to 40km / h can be calculated.

[0070] Optionally, in one embodiment of the present invention, it also includes: classifying the braking posture change values ​​of all test vehicles according to the models of the test vehicles to obtain classification results; based on the classification results, pre-processing the braking posture change values ​​corresponding to each model to obtain a braking posture reference value for each model; and generating an active and passive safety parameter adjustment strategy for each model based on the braking posture reference value.

[0071] In actual implementation, after performing multiple tests and obtaining braking posture change values ​​of multiple vehicles, the embodiment of the present invention can classify the data according to vehicle types.

[0072] A large number of braking posture change values ​​can be obtained for each vehicle model. It is understandable that the test process may have measurement errors affected by the external environment or measurement errors caused by vehicle failures. Therefore, the embodiment of the present invention can pre-process the data for each vehicle model, that is, filter and screen, to obtain data that can reflect the changes in the body posture of the vehicle model under AEB braking conditions.

[0073] Furthermore, the embodiment of the present invention can obtain a braking posture reference value that can characterize the change in the braking posture of the vehicle model from the preprocessed data by methods such as averaging or taking the median, so as to adjust the parameters involved in the active and passive safety functions of each vehicle according to the braking posture reference value.

[0074] For example, the embodiments of the present invention can adjust the parameters of the AEB system, such as braking force, braking timing, etc., based on the analysis results of posture changes, so as to reduce unnecessary changes in vehicle body posture and improve ride comfort and safety; by reducing the speed before collision and reducing the energy during collision, the damage to the occupants can be reduced.

[0075] In addition, when the measurement target is the change in vehicle body posture after a collision, in addition to adjusting active and passive safety parameters based on the change in vehicle body posture, the adjustment of active and passive safety parameters can also be optimized in combination with the posture change and damage value before and after the obstacle collision, so as to mitigate the impact of the collision on the obstacle under the AEB braking condition when a collision occurs.

[0076] After the adjustment is made, the embodiment of the present invention can also test the adjusted vehicle again to confirm the adjustment effect.

[0077] Combination Figure 2-Figure 5 As shown, the working principle of the method for measuring the change of the braking posture of a vehicle according to an embodiment of the present invention is described in detail with an embodiment.

[0078] The measurement of the embodiment of the present invention can use a straight runway with satellite positioning and an AEB braking robot to control the position, speed and braking of the test vehicle. The AEB braking robot is placed at the center of mass of the test vehicle. A cross mark is pasted on the front of the test vehicle, and the position of the cross mark is defined as the front position of the test vehicle. A high-speed camera is placed on one side of the runway, and a ruler is erected in front of the center of the lens. The ruler and the lens must be kept parallel in the vertical direction.

[0079] First, the embodiment of the present invention can place the front position of the test vehicle in the center of the lens and keep the front position of the test vehicle parallel to the ruler and the high-speed camera in the longitudinal plane, define the position of the test vehicle as the test point, and measure the longitudinal distance from the lens to the ruler and from the lens to the front position of the test vehicle on site. Set the test vehicle deceleration degree to 60km / h to 40km / h, set the braking position of the AEB braking robot, ensure that when the test vehicle passes the test point during the braking process, the speed of the test vehicle is reduced to 40km / h at this position, and use a high-speed camera to capture real-time dynamic images. In order to make the change in height of the front position of the test vehicle from 60km / h to 40km / h after emergency braking more accurate, the height change of the front position of the test vehicle is captured in three states to further reduce the error value in the whole process.

[0080] Step S1: At the test point on the runway, the front of the test vehicle is stationary at the center of the camera lens, a high-speed camera is used to capture the static image, and the vehicle-mounted angle meter is calibrated to an angle of 0.

[0081] Step S2: The test vehicle is controlled by the AEB braking robot from the other side of the runway to pass through the high-speed camera screen at a uniform speed of 60km / h and 40km / h. This process requires the AEB braking robot to control the test vehicle and the central yellow line of the runway to be calibrated multiple times, and it must be ensured that the test vehicle remains parallel through the entire lens screen), and the entire movement process of the test vehicle entering and exiting the lens screen is recorded with a high-speed camera. After multiple tests, the average angle of the on-board angle meter of the test vehicle at a uniform speed of 60km / h and 40km / h is stable near 0. This process is used to verify that the angle of the on-board angle meter when the test vehicle is traveling at a uniform speed is consistent with that in a stationary state.

[0082] Step S3: The test vehicle is driven from the other side of the runway by the AEB brake robot to brake at a speed of 60km / h (350N force when the brake is fully depressed). The speed of the test vehicle is 40km / h when it reaches the middle position of the high-speed camera. (This process requires the AEB brake robot to control the test vehicle for multiple calibrations and calibrations in the early stage, and it must be ensured that the test vehicle remains parallel to the entire lens screen). The entire movement process across the entire screen is recorded with a high-speed camera, and the instantaneous vehicle-mounted angle meter angle from 60km / h to 40km / h is measured. .

[0083] Measurement method 1: Video capture calculation method

[0084] Requirements for the ruler, high-speed camera and test vehicle mentioned during the test: The ruler and high-speed camera in the high-speed camera screen, the test vehicle and ruler should be kept parallel. First, in the static position, find two points point1 and point2 on the ruler, and find point3 in front of the test vehicle. Define point2 as the origin of the coordinate axis under static conditions, point3 and point2 are both on the X axis, the distance between point1 and point2 is 100mm, point1 is set as Z direction +100mm, the driving direction of the test vehicle is the positive X direction, the camera shooting direction is the positive Y direction, and a dynamic coordinate system is established in the software.

[0085] Figure 2 The test vehicle is in a stationary state in step S1. The actual distances from the lens to the scale and from the lens to the longitudinal distance of the front position of the test vehicle measured on site are input into the software to establish a coordinate system with point1 as the origin.

[0086] The second step of the measurement process verifies whether there is a height difference between point 3 and the original scale origin point 1 during the test vehicle's uniform speed driving. According to the video screen of the third step of the test process, the coordinate position of point 3 of the front part of the test vehicle from the third step of the test after the emergency brake from 60km / h to 40km / h is calculated in the coordinate system, and the height value obtained by subtracting the value of point 3 in the static state calculated in the first step of the test is obtained to obtain the height x of the front structure of the test vehicle when the braking speed of the test vehicle changes from 60km / h to 40km / h.

[0087] Measurement method 2: Test vehicle center of mass inclination calculation method

[0088] The embodiment of the present invention can perform a method for calculating the inclination angle of the test vehicle's center of mass based on the above parameters. The verification method determines that the movement of the test vehicle's center of mass during the braking process is negligible.

[0089] The distance from the center of mass to the cross mark at the front of the test vehicle is defined as L1, and the L1 distance remains unchanged during the braking of the test vehicle. Figure 3 The figure shows the change of the center of mass of the test vehicle before and after braking. The instantaneous vehicle angle of the inclinometer when the braking speed of the test vehicle is from 60km / h to 40km / h measured by the above calculation method , Figure 4 A schematic diagram of the method for calculating the inclination angle of the test vehicle's center of mass is given. The height x1 of the test vehicle's front structure dropping when the test vehicle's braking speed drops from 60km / h to 40km / h can be obtained by the following formula:

[0090] .

[0091] Measurement method 3: Laser displacement sensor measurement method

[0092] The original equipment in the above calculation method remains unchanged, and a laser displacement sensor with an effective measurement distance of 1000 mm is placed at the cross mark position at the front end of the test vehicle for measurement. In step S1, the embodiment of the present invention can be at a runway test point, with the front position of the test vehicle stationary at the center of the camera lens, and the laser displacement sensor is used to measure the distance between the cross mark position at the front end of the test vehicle and the ground.

[0093] Then, step S3 is carried out: In the embodiment of the present invention, the test vehicle can be controlled by the AEB braking robot to brake the test vehicle at a speed of 60km / h from the other side of the runway (350N force in the pedal-depressed state). When the test vehicle is driven to the middle position of the high-speed camera, the speed is 40km / h, and the trigger time of the laser displacement sensor is set to be triggered 50ms before the front end of the test vehicle passes the test point. The trigger signal is also given by placing the equipment in the vehicle (this process requires the AEB braking robot to control the test vehicle for multiple calibrations and calibrations in the early stage, and it must be ensured that the test vehicle remains parallel through the entire lens screen), and the distance from the ground to the test vehicle when the braking speed changes from 60km / h to 40km / h is measured. By comparing the distance difference during the static and braking process, the height of the front structure of the test vehicle that drops when the braking speed of the test vehicle changes from 60km / h to 40km / h can be calculated.

[0094] It should be noted that enterprise developers can conduct brake tests on test vehicles through any of the above methods, measure the height of the front structure of the development test vehicle when the vehicle decelerates to 40km / h at any speed, and conduct comprehensive performance development of the test vehicle's safety system to help further improve the safety of the test vehicle.

[0095] Taking the pedestrian safety of the test vehicle as an example, the specific implementation plan for the test vehicle development is as follows:

[0096] First, if Figure 5 As shown, the embodiment of the present invention can adjust the front and rear wheel eyebrows of the test vehicle to the vehicle body posture of the test vehicle at a normal driving posture of 40km / h. After adjustment, the vehicle is stationary on the impact platform, and a 1000mm steel ruler is used to record the height H of the cross cursor position of the front end of the test vehicle from the ground, and a simulated human leg shape is used to impact at a speed of 40km / h in the direction of movement, and the damage suffered by the simulated human leg shape at various positions is measured. The front and rear wheel eyebrows of the test vehicle are adjusted to the height Hx of the front structure of the test vehicle when the test vehicle brakes from 60km / h to 40km / h, and a simulated human leg shape is used to impact at a speed of 40km / h in the direction of movement again, and the damage suffered by the simulated human leg shape at various positions is measured to develop the pedestrian protection performance of the test vehicle when the brake speed is from 60km / h to 40km / h.

[0097] In summary, the embodiments of the present invention can quickly measure the height change of the front position of the vehicle during the braking process of the vehicle, and verify the measurement accuracy by multiple methods. In the related art, enterprises can only obtain the height change of the front position of the vehicle during the braking process from the simulation software, but there are many problems such as low simulation accuracy and complex structure of vehicle subsystems, which makes it difficult to truly restore the actual situation during the braking process of the vehicle, causing certain difficulties for automobile companies in vehicle safety development. Through the embodiments of the present invention, the height of the front position of the vehicle body in the braking state of the vehicle can be measured, and the safety of pedestrians in active and passive combined scenarios can be developed in advance in accidents between people and vehicles, which can provide technical support for the subsequent development of vehicle safety by enterprises.

[0098] According to the vehicle braking posture change measurement method proposed in the embodiment of the present invention, a corresponding test task can be generated according to the measurement target, and it can be determined whether the current test site meets the preset test conditions. Therefore, when the current test site meets the preset test conditions, in response to the test task, the AEB braking robot is used to control at least one test vehicle that meets the preset measurement conditions to complete at least one preset measurement target, thereby reducing the safety hazards in the measurement process, and obtaining multiple groups of measurement data of the test vehicle during the test process, so as to obtain the braking posture change value of each test vehicle based on the multiple groups of measurement data and the test data of the test vehicle, and then obtain the vehicle posture change caused by the AEB intervention braking behavior, so as to facilitate the relevant developers to carry out the research and development and improvement of vehicle safety and related performance. Therefore, the technical problem that the related technology fails to consider the impact of AEB intervention on vehicle posture change, resulting in poor comprehensiveness of vehicle safety development and difficulty in ensuring the safety performance of the vehicle during braking is solved.

[0099] Next, a device for measuring changes in vehicle braking posture according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0100] Figure 6 It is a block diagram of a device for measuring a change in a braking posture of a vehicle according to an embodiment of the present invention.

[0101] like Figure 6 As shown, the device 10 for measuring the change in vehicle braking posture is provided with an AEB braking robot for vehicle braking control on a test vehicle, wherein the device 10 for measuring the change in vehicle braking posture includes: a generating module 100, a judging module 200 and a testing module 300.

[0102] Specifically, the generating module 100 is used to generate a corresponding test task based on at least one preset measurement target under the AEB braking condition.

[0103] The judgment module 200 is used to judge whether the current test site meets the preset test conditions based on the test task.

[0104] The test module 300 is used to control at least one test vehicle that meets the preset measurement conditions using the AEB braking robot in response to the test task when the current test site meets the preset test conditions to complete at least one preset measurement target, and obtain multiple groups of measurement data of the test vehicle during the test process, so as to obtain the braking posture change value of each test vehicle based on the multiple groups of measurement data and the test data of the test vehicle.

[0105] Optionally, in one embodiment of the present invention, the judgment module 200 includes: a judgment unit and a first determination unit.

[0106] The judging unit is used to obtain the site information of the current test site, and judge whether an image acquisition device satisfying a preset lens direction condition is arranged on one side of the runway of the test site based on the site information.

[0107] The first determining unit is used to determine that the current test site meets the preset test condition when an image acquisition device that meets the preset lens direction condition is set on one side of the runway.

[0108] Optionally, in one embodiment of the present invention, the testing module 300 includes: a second determination module and a control unit.

[0109] The second determination module is used to determine the measurement point of the test site based on the position of the image acquisition device.

[0110] The control unit is used to control the test vehicle to brake at a target location with a target braking force using the AEB braking robot, so that when the test vehicle passes the measuring point, the test vehicle meets the preset image acquisition conditions.

[0111] Optionally, in one embodiment of the present invention, the device 10 for measuring changes in vehicle braking posture further includes: an acquisition module or a calibration module or a measurement module.

[0112] The acquisition module is used to select a first preset point and a second preset point on a target scale when the test vehicle is in a preset static position, and set the front position of the test vehicle to a third preset point, wherein the target scale is determined by the position of the image acquisition device.

[0113] The calibration module is used to calibrate the initial angle of the vehicle-mounted inclinometer to zero when the test vehicle is in a preset static position.

[0114] The measuring module is used to measure the initial ground clearance of the front part of the test vehicle when the test vehicle is in a preset static position.

[0115] Optionally, in one embodiment of the present invention, the test module 300 includes: a construction unit and a first calculation unit.

[0116] The construction unit is used to construct a dynamic coordinate system using the first preset point, the second preset point and the third preset point, and obtain an initial coordinate position of the third preset point.

[0117] The first calculation unit is used to obtain the brake coordinate position of the third preset point when the test vehicle passes through the measurement point, and calculate the height change value of the front position based on the initial coordinate position and the brake coordinate position.

[0118] Optionally, in one embodiment of the present invention, the testing module 300 includes: an acquisition unit and a second calculation unit.

[0119] The acquisition unit is used to acquire the measurement angle of the vehicle-mounted angle meter when the test vehicle passes through the measurement point.

[0120] The second calculation unit is used to calculate the height change value of the front position based on the measured angle.

[0121] Optionally, in one embodiment of the present invention, the test module 300 includes: a measuring unit and a third calculating unit.

[0122] The measuring unit is used to measure the actual ground clearance of the front position of the test vehicle when it passes through the measuring point.

[0123] The third calculation unit is used to calculate the height change value of the front position based on the actual height above the ground and the initial height above the ground.

[0124] Optionally, in one embodiment of the present invention, the device 10 for measuring changes in vehicle braking posture further includes: a classification module, a processing module and a generation module.

[0125] Among them, the classification module is used to classify the braking posture change values ​​of all test vehicles according to the model of the test vehicle to obtain the classification result.

[0126] The processing module is used to pre-process the braking posture change value corresponding to each vehicle model based on the classification result to obtain the braking posture reference value of each vehicle model.

[0127] The generation module is used to generate active and passive safety parameter adjustment strategies for each vehicle type based on the braking posture reference value.

[0128] It should be noted that the above explanation of the embodiment of the method for measuring the change in braking posture of a vehicle is also applicable to the device for measuring the change in braking posture of a vehicle of this embodiment, and will not be repeated here.

[0129] According to the vehicle braking posture change measurement device proposed in the embodiment of the present invention, a corresponding test task can be generated according to the measurement target, and it can be determined whether the current test site meets the preset test conditions. Therefore, when the current test site meets the preset test conditions, in response to the test task, the AEB braking robot is used to control at least one test vehicle that meets the preset measurement conditions to complete at least one preset measurement target, thereby reducing the safety hazards in the measurement process, and obtaining multiple groups of measurement data of the test vehicle during the test process, so as to obtain the braking posture change value of each test vehicle based on the multiple groups of measurement data and the test data of the test vehicle, and then obtain the vehicle posture change caused by the AEB intervention braking behavior, so as to facilitate the relevant developers to carry out the research and development and improvement of vehicle safety and related performance. Therefore, the technical problem that the related technology fails to consider the impact of AEB intervention on vehicle posture change, resulting in poor comprehensiveness of vehicle safety development and difficulty in ensuring the safety performance of the vehicle during braking is solved.

[0130] Figure 7 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device may include:

[0131] A memory 701 , a processor 702 , and a computer program stored in the memory 701 and executable on the processor 702 .

[0132] When the processor 702 executes the program, the method for measuring the change in the braking posture of the vehicle provided in the above embodiment is implemented.

[0133] Furthermore, the electronic device further comprises:

[0134] The communication interface 703 is used for communication between the memory 701 and the processor 702 .

[0135] The memory 701 is used to store computer programs that can be executed on the processor 702 .

[0136] The memory 701 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0137] If the memory 701, the processor 702 and the communication interface 703 are implemented independently, the communication interface 703, the memory 701 and the processor 702 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0138] Optionally, in a specific implementation, if the memory 701, the processor 702 and the communication interface 703 are integrated on a chip, the memory 701, the processor 702 and the communication interface 703 can communicate with each other through an internal interface.

[0139] The processor 702 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0140] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned method for measuring the change in the braking posture of the vehicle is implemented.

[0141] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the method for measuring the change in the braking posture of a vehicle provided by an embodiment of the present invention.

[0142] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0143] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0144] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0145] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0146] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0147] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0148] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0149] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for measuring a change in a vehicle's braking posture, characterized in that: The test vehicle is provided with an AEB braking robot for vehicle braking control, wherein the method comprises the following steps: Generate a corresponding test task based on at least one preset measurement target under the AEB braking condition; Determine whether the current test site meets the preset test conditions based on the test task; If the current test site meets the preset test conditions, then in response to the test task, when the test vehicle is in a preset static position, a first preset point and a second preset point are optionally selected on the target scale, and a third preset point is set at the front position of the test vehicle, wherein the target scale is determined by the position of an image acquisition device, is erected in front of the central position of the image acquisition device, and is longitudinally parallel to the image acquisition device, and the AEB braking robot is used to control at least one test vehicle that meets the preset measurement conditions to complete the at least one preset measurement target, and based on the first preset point, the second preset point and the third preset point, multiple groups of measurement data of the test vehicle during the test process are obtained, so as to obtain a braking posture change value of each test vehicle based on the multiple groups of measurement data and the test data of the test vehicle.

2. The method for measuring the change in vehicle braking posture according to claim 1, characterized in that: The determining whether the current test site meets the preset test conditions based on the test task includes: Acquire site information of the current test site, and determine, based on the site information, whether an image acquisition device that meets a preset lens direction condition is set on one side of the runway of the current test site; If an image acquisition device that meets the preset lens direction condition is set on one side of the runway, it is determined that the current test site meets the preset test condition.

3. The method for measuring the change in vehicle braking posture according to claim 2, characterized in that: In response to the test task, using the AEB braking robot to control at least one test vehicle that meets the preset measurement conditions to complete the at least one preset measurement target includes: Determine a measurement point of the current test site based on the position of the image acquisition device; The AEB braking robot is used to control the test vehicle to brake at a target location with a target braking force, so that when the test vehicle passes the measuring point, the test vehicle meets a preset image acquisition condition.

4. The method for measuring the change in vehicle braking posture according to claim 1, characterized in that: The step of obtaining the braking posture change value of the test vehicle based on the multiple groups of measurement data and the test data of the test vehicle includes: Constructing a dynamic coordinate system using the first preset point, the second preset point and the third preset point, and obtaining an initial coordinate position of the third preset point; The braking coordinate position of the third preset point when the test vehicle passes through the measuring point is obtained, and the height change value of the front position is calculated based on the initial coordinate position and the braking coordinate position.

5. The method according to claim 1, characterized in that Also includes: Classify the braking posture change values ​​of all test vehicles according to the models of the test vehicles to obtain classification results; Based on the classification result, preprocessing the braking posture change value corresponding to each vehicle type to obtain the braking posture reference value of each vehicle type; An active and passive safety parameter adjustment strategy for each vehicle type is generated based on the braking posture reference value.

6. A device for measuring changes in vehicle braking posture, characterized in that: The test vehicle is provided with an AEB braking robot for vehicle braking control, wherein the device comprises: A generating module, configured to generate a corresponding test task based on at least one preset measurement target under an AEB braking condition; A judgment module, used to judge whether the current test site meets the preset test conditions based on the test task; A test module is used for, when the current test site meets the preset test conditions, responding to the test task, and when the test vehicle is in a preset static position, to select a first preset point and a second preset point on the target scale at will, and to set the front position of the test vehicle to a third preset point, wherein the target scale is determined by the position of an image acquisition device, is erected in front of the central position of the image acquisition device, and is longitudinally parallel to the image acquisition device, and uses an AEB braking robot to control at least one test vehicle that meets the preset measurement conditions to complete the at least one preset measurement target, and based on the first preset point, the second preset point and the third preset point, obtain multiple groups of measurement data of the test vehicle during the test process, so as to obtain a braking posture change value of each test vehicle based on the multiple groups of measurement data and the test data of the test vehicle.

7. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for measuring changes in vehicle braking posture as described in any one of claims 1 to 5.

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