Whole vehicle steering function safety test evaluation method and device, vehicle and medium

Abstract

The invention relates to the technical field of automobile testing and evaluation, in particular to a method and device for testing and evaluating the safety of a whole automobile steering function, an automobile and a medium. Obtaining vehicle controllability evaluation, a maximum lateral acceleration value, vehicle lateral displacement in target time, fault takeover time, steering wheel torque, a steering wheel angle and time domain curve and vehicle data information of a yaw angle and time domain curve when the test vehicle fails under the target steering test working condition; and according to a test evaluation criterion corresponding to the target steering test working condition, analyzing the multiple pieces of vehicle data information, thereby generating controllability of the test vehicle under multiple dimensions, and further generating a steering system safety evaluation report of the test vehicle. Therefore, the problems that the error of a test evaluation result is increased while the labor cost is increased and the steering system safety mechanism cannot be efficiently and accurately verified and judged when the safety performance is evaluated manually in the related technology are solved.

Description

Technical Field

[0001] The present application relates to the technical field of automobile testing and evaluation, and in particular to a method, device, vehicle and medium for testing and evaluating the safety of steering functions of a whole vehicle. Background Art

[0002] The automobile steering system is a key system assembly related to the vehicle's handling stability and active safety. Its development has gone through the traditional mechanical steering system, mechanical hydraulic power steering system, electronic hydraulic power steering system, electronic power steering system and the developing wire-controlled steering system. While the gradual electronicization and intelligence of steering system components bring portability and maneuverability to the driver, the harm caused by its failure to the driver, passengers and pedestrians is becoming more and more serious, and the requirements for automobile testing are becoming more and more stringent. Therefore, how to conduct a more comprehensive, effective and safer comprehensive evaluation of the steering system safety mechanism has become a top priority.

[0003] The fast vehicle steering function safety road test method in the related technology simulates multiple failure states of the vehicle under test, and for different failure states, the evaluators evaluate the various safety performances of the vehicle under test through human senses.

[0004] However, in the related technology, evaluators use human senses to evaluate the various safety performance of the vehicle under test, which increases labor costs and increases the error of the test evaluation results. In addition, the evaluation method is relatively simple and cannot efficiently and accurately verify and judge the steering system safety mechanism, which reduces the accuracy of vehicle safety testing and needs to be urgently resolved. Summary of the invention

[0005] The present application provides a method, device, vehicle and medium for safety testing and evaluation of the steering function of a whole vehicle, so as to solve the problem in the related technology that the safety performance of the vehicle to be tested is evaluated by evaluators, which increases labor costs and increases the error of the test evaluation results. In addition, the evaluation method is relatively single, and it is impossible to efficiently and accurately verify and judge the safety mechanism of the steering system, thereby reducing the accuracy of vehicle safety testing.

[0006] The first aspect of the present application provides a method for safety testing and evaluation of the steering function of a whole vehicle, comprising the following steps: based on a pre-constructed target vehicle model that meets preset calibration conditions, obtaining a vehicle controllability evaluation, a maximum lateral acceleration value, a vehicle lateral displacement within a target time, a fault takeover time, a steering wheel torque, a steering wheel angle and a time domain curve, and a yaw angle and a time domain curve of at least one test vehicle when it is in a target steering test condition; analyzing the vehicle controllability evaluation, the maximum lateral acceleration value, the target time, and the yaw angle of the at least one test vehicle according to the test evaluation criteria corresponding to the target steering test condition. The controllability of the at least one test vehicle in at least one dimension is generated by using the analysis result of the vehicle controllability evaluation, the maximum lateral acceleration value, the vehicle lateral displacement within the target time, the fault takeover time, the steering wheel torque, the steering wheel angle and the time domain curve, and the yaw angle and the time domain curve, so as to generate a steering system safety evaluation report of the at least one test vehicle according to the controllability.

[0007] Optionally, in one embodiment of the present application, before obtaining the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within a target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve, and yaw angle and time domain curve of at least one test vehicle when it fails under a target steering test condition, it also includes: obtaining target longitudinal performance data and target lateral performance data of the sample vehicle under a target road test; and calibrating an initial vehicle model using the target longitudinal performance data and the target lateral performance data to obtain a target vehicle model that meets the preset calibration conditions.

[0008] Optionally, in one embodiment of the present application, the acquiring of the target longitudinal performance data and target lateral performance data of the prototype vehicle includes: based on a target longitudinal test, acquiring the target longitudinal performance data of the prototype vehicle based on acceleration conditions, braking conditions and coasting conditions; based on a target lateral test, acquiring the target lateral performance data of the prototype vehicle based on on-the-spot steering conditions, idle steering conditions, driving steering conditions, double lane change conditions and steady-state turning conditions.

[0009] Optionally, in one embodiment of the present application, the use of the target longitudinal performance data and the target lateral performance data to calibrate the initial vehicle model to obtain the target vehicle model that meets the preset calibration conditions includes: based on the initial vehicle model, obtaining the test longitudinal performance data and the test lateral performance data of the test vehicle in the target test scene; comparing the test longitudinal performance data and the test lateral performance data with the target longitudinal performance data and the target lateral performance data to obtain a comparison result; when the comparison result is less than a preset threshold, obtaining the target vehicle model that meets the preset calibration conditions.

[0010] Optionally, in one embodiment of the present application, the obtaining of a vehicle controllability evaluation, a maximum lateral acceleration value, a vehicle lateral displacement within a target time, a fault takeover time, a steering wheel torque, a steering wheel angle and a time domain curve, and a yaw angle and a time domain curve of at least one test vehicle when it fails under a target steering test condition includes: obtaining a first vehicle controllability evaluation, a first maximum lateral acceleration value, a vehicle lateral displacement within a first target time, a first fault takeover time, a first steering wheel torque, a first steering wheel angle and a time domain curve, and a first yaw angle and a time domain curve when the test vehicle fails under a straight-ahead test condition; obtaining a second vehicle controllability evaluation, a second fault takeover time, a second steering wheel torque, and a second yaw angle and a time domain curve when the test vehicle fails under a single lane change test condition. Steering wheel angle and time domain curve; obtain the third vehicle controllability evaluation, third fault takeover time, third steering wheel torque and third steering wheel angle and time domain curve when the test vehicle is in a double lane change test condition and fails; obtain the fourth vehicle controllability evaluation, fourth fault takeover time, fourth steering wheel torque and fourth steering wheel angle and time domain curve when the test vehicle is in a turning test condition and fails; obtain the fifth vehicle controllability evaluation, fifth fault takeover time, fifth steering wheel torque and fifth steering wheel angle and time domain curve when the test vehicle is in a snaking test condition and fails; obtain the sixth vehicle controllability evaluation, sixth fault takeover time, sixth steering wheel torque and sixth steering wheel angle and time domain curve when the test vehicle is in a figure-eight test condition and fails.

[0011] The second aspect of the present application provides a device for testing and evaluating the safety of the steering function of a whole vehicle, including: an acquisition module for acquiring, based on a pre-constructed target vehicle model that meets preset calibration conditions, a vehicle controllability evaluation, a maximum lateral acceleration value, a vehicle lateral displacement within a target time, a fault takeover time, a steering wheel torque, a steering wheel angle and a time domain curve, and a yaw angle and a time domain curve of at least one test vehicle when it fails under a target steering test condition; an analysis module for analyzing the vehicle controllability evaluation, the maximum lateral acceleration value, the target steering test condition, and the yaw angle of the at least one test vehicle according to the test evaluation criteria corresponding to the target steering test condition. The invention relates to a steering system safety evaluation report for the at least one test vehicle, comprising: a controllable steering wheel evaluation module, a maximum lateral acceleration value, a lateral displacement of the vehicle within the target time, the fault takeover time, the steering wheel torque, a curve of the steering wheel angle and the time domain, and a curve of the yaw angle and the time domain; and a generating module, for generating the controllability of the at least one test vehicle in at least one dimension by using the analysis results of the vehicle controllability evaluation, the maximum lateral acceleration value, the lateral displacement of the vehicle within the target time, the fault takeover time, the steering wheel torque, the curve of the steering wheel angle and the time domain, and the curve of the yaw angle and the time domain, so as to generate a steering system safety evaluation report for the at least one test vehicle according to the controllability.

[0012] Optionally, in one embodiment of the present application, the device of the embodiment of the present application also includes: a first determination module, which is used to obtain target longitudinal performance data and target lateral performance data of the sample vehicle under a target road test before obtaining the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within a target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve, and yaw angle and time domain curve of at least one test vehicle when it fails under a target steering test condition; a second determination module, which is used to calibrate the initial vehicle model using the target longitudinal performance data and the target lateral performance data before obtaining the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within a target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve, and yaw angle and time domain curve of at least one test vehicle when it fails under a target steering test condition, so as to obtain a target vehicle model that meets the preset calibration conditions.

[0013] Optionally, in one embodiment of the present application, the first determination module includes: a first acquisition unit, used to obtain the target longitudinal performance data of the sample vehicle based on acceleration conditions, braking conditions and coasting conditions based on a target longitudinal test; a second acquisition unit, used to obtain the target lateral performance data of the sample vehicle based on on-the-spot turning conditions, idle steering conditions, driving steering conditions, double lane change conditions and steady-state turning conditions based on a target lateral test.

[0014] Optionally, in one embodiment of the present application, the second determination module includes: a third acquisition unit, used to acquire test longitudinal performance data and test lateral performance data of the test vehicle in a target test scenario based on the initial vehicle model; a first determination unit, used to compare the test longitudinal performance data and the test lateral performance data with the target longitudinal performance data and the target lateral performance data to obtain a comparison result; and a second determination unit, used to compare the test longitudinal performance data and the test lateral performance data with the target longitudinal performance, to obtain a target vehicle model that meets the preset calibration condition when the comparison result is less than a preset threshold.

[0015] Optionally, in one embodiment of the present application, the acquisition module includes: a fourth acquisition unit, used to acquire a first vehicle controllability evaluation, a first maximum lateral acceleration value, a vehicle lateral displacement within a first target time, a first fault takeover time, a first steering wheel torque, a first steering wheel angle and a time domain curve, and a first yaw angle and a time domain curve when the test vehicle fails under a straight-ahead test condition; a fifth acquisition unit, used to acquire a second vehicle controllability evaluation, a second fault takeover time, a second steering wheel torque, and a second steering wheel angle and a time domain curve when the test vehicle fails under a single lane change test condition; a sixth acquisition unit, used to acquire a third vehicle controllability evaluation when the test vehicle fails under a double lane change test condition , third fault takeover time, third steering wheel torque and third steering wheel angle and time domain curve; a seventh acquisition unit, used to obtain the fourth vehicle controllability evaluation, fourth fault takeover time, fourth steering wheel torque and fourth steering wheel angle and time domain curve when the test vehicle fails under the turning test condition; an eighth acquisition unit, used to obtain the fifth vehicle controllability evaluation, fifth fault takeover time, fifth steering wheel torque and fifth steering wheel angle and time domain curve when the test vehicle fails under the snaking test condition; a ninth acquisition unit, used to obtain the sixth vehicle controllability evaluation, sixth fault takeover time, sixth steering wheel torque and sixth steering wheel angle and time domain curve when the test vehicle fails under the figure-eight test condition.

[0016] The third aspect of the present application provides a vehicle, 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 safety testing and evaluation of the steering function of the whole vehicle as described in the above embodiment.

[0017] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the above method for safety testing and evaluation of the steering function of a whole vehicle.

[0018] The fifth aspect of the present application provides a computer program product, including a computer program, which, when executed, is used to implement the above-mentioned method for safety testing and evaluation of the steering function of a whole vehicle.

[0019] The embodiment of the present application can obtain the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within the target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve and yaw angle and time domain curve of the test vehicle when the test vehicle is in the target steering test condition based on the pre-constructed target vehicle model, and analyze at least one vehicle data information according to the test evaluation criteria corresponding to the target steering test condition, thereby generating the controllability of at least one test vehicle in at least one dimension, and then generating the steering system safety evaluation report of the test vehicle according to the controllability, so as to efficiently and accurately verify and judge the steering system safety mechanism. Thus, the problem that the safety performance of the vehicle to be tested is evaluated by the evaluator in the related technology, which increases the labor cost and increases the error of the test evaluation results, and the evaluation method is relatively single, and it is impossible to efficiently and accurately verify and judge the steering system safety mechanism, thereby reducing the accuracy of the vehicle safety test.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] Figure 1 A schematic diagram of a vehicle steering function safety test system provided according to an embodiment of the present application;

[0023] Figure 2 A flowchart of a method for safety testing and evaluation of vehicle steering function provided according to an embodiment of the present application;

[0024] Figure 3 A schematic diagram of a vehicle steering function safety test and evaluation method based on a VIL test bench according to a specific embodiment of the present application;

[0025] Figure 4 A schematic diagram of a straight-ahead scenario model according to a specific embodiment of the present application;

[0026] Figure 5 A schematic diagram of a single lane change scenario model of a specific embodiment of the present application;

[0027] Figure 6 A schematic diagram of a double lane change scenario model of a specific embodiment of the present application;

[0028] Figure 7 A schematic diagram of a turning scene model of a specific embodiment of the present application;

[0029] Figure 8 A schematic diagram of a serpentine scene model according to a specific embodiment of the present application;

[0030] Fig. 9 This is a schematic diagram of an "8"-shaped scene model of a specific embodiment of the present application;

[0031] Fig.10 A schematic diagram of the structure of a method and device for safety testing and evaluation of steering function of a whole vehicle provided according to an embodiment of the present application;

[0032] Fig.11 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0034] The following describes the method, device, vehicle and medium for the safety test and evaluation of the steering function of a whole vehicle of the embodiment of the present application with reference to the accompanying drawings. In view of the related art mentioned in the above background technology, the safety performance of the vehicle to be tested is evaluated by the evaluator, which increases the labor cost and the error of the test evaluation result, and the evaluation method is relatively single, and the steering system safety mechanism cannot be verified and judged efficiently and accurately, and the accuracy of the vehicle safety test is reduced. The present application provides a method for the safety test and evaluation of the steering function of a whole vehicle, in which the vehicle controllability evaluation, the maximum lateral acceleration value, the vehicle lateral displacement within the target time, the fault takeover time, the steering wheel torque, the steering wheel angle and the time domain curve and the yaw angle and the time domain curve of the test vehicle when the test vehicle is in a target steering test condition can be obtained based on a pre-constructed target vehicle model, and at least one vehicle data information is analyzed according to the test evaluation criteria corresponding to the target steering test condition, so as to generate the controllability of at least one test vehicle in at least one dimension, and then generate the steering system safety evaluation report of the test vehicle according to the controllability, so as to efficiently and accurately verify and judge the steering system safety mechanism. This solves the problem in related technologies that the safety performance of the vehicle under test is evaluated by evaluators, which increases labor costs and increases the error of the test evaluation results. In addition, the evaluation method is relatively single and cannot efficiently and accurately verify and judge the safety mechanism of the steering system, thereby reducing the accuracy of vehicle safety testing.

[0035] like Figure 1 As shown, a whole vehicle steering function safety test system is built in the embodiment of the present application. The experimental equipment in the test system includes: a shaft coupling dynamometer (VIL bench), SCANER simulation software, a steering wheel dynamometer, VN1640, EPS (Electric Power Steering, electric power steering system) BOB, Delta power supply (SM3300), mobile battery, etc.

[0036] The experimental principles in this test system are:

[0037] 1) According to the wiring definition of the EPS harness port provided by the vehicle manufacturer, separate the signal harnesses and power harnesses, make a BOB test box, and connect it in series between the EPS, ECU (Electronic Control Unit) and the vehicle ECU;

[0038] 2) Install the vehicle on the VIL test bench, establish the test scenario, and interact with the vehicle by signal;

[0039] 3) Load the vehicle with a steering wheel dynamometer to actually measure the steering wheel torque;

[0040] 4) The tester controls the computer to perform signal functional safety tests on the EPS through software, and performs power functional safety tests by controlling the Delta power supply;

[0041] 5) Testers implement hardware functional safety tests through the wiring terminals of EPS BOB.

[0042] Specifically, Figure 2 A flowchart of a method for safety testing and evaluation of the steering function of a whole vehicle provided in an embodiment of the present application.

[0043] like Figure 2 As shown, the method for testing and evaluating the safety of the vehicle steering function includes the following steps:

[0044] In step S201, based on a pre-constructed target vehicle model that meets preset calibration conditions, the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within a target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve, and yaw angle and time domain curve of at least one test vehicle when it fails under a target steering test condition are obtained.

[0045] In an embodiment of the present application, the target steering test conditions include straight-ahead conditions, single lane change conditions, double lane change conditions, turning conditions, serpentine conditions and figure-8 conditions; the target vehicle model with preset calibration conditions is a vehicle model that is optimized and adjusted based on the test data of the sample vehicle.

[0046] It can be understood that the embodiments of the present application can obtain the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within the target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve, and yaw angle and time domain curve of one or more test vehicles when a test vehicle or multiple test vehicles are in a target steering test condition and fail, based on a pre-built target vehicle model that meets the calibration conditions, thereby effectively improving the executability of the whole vehicle steering function safety test.

[0047] Optionally, in one embodiment of the present application, before obtaining the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within a target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve, and yaw angle and time domain curve of at least one test vehicle when it fails under a target steering test condition, it also includes: obtaining target longitudinal performance data and target lateral performance data of the sample vehicle under a target road test; and calibrating the initial vehicle model using the target longitudinal performance data and the target lateral performance data to obtain a target vehicle model that meets preset calibration conditions.

[0048] In the embodiments of the present application, Figure 3 As shown, firstly, the sample vehicle is confirmed to meet the regulations of the vehicle manufacturer. The sample vehicle components should be inspected and adjusted as necessary according to the technical requirements of the manufacturer to confirm the vehicle chassis parameters, engine or motor parameters, aerodynamic parameters, steering system parameters, braking system parameters, transmission system parameters, tire parameters, suspension parameters, etc. In addition, the required test equipment is the shaft coupling dynamometer and supporting test software, SCANER simulation software, steering wheel dynamometer, and data collector.

[0049] During the actual implementation process, when the sample vehicle is undergoing a road test, the embodiment of the present application can record the longitudinal and lateral performance data of the sample vehicle. For example, when conducting a longitudinal test: ① 0-100 km / h acceleration, recording the vehicle speed and pedal opening at different pedal openings; ② 100 km / h-0 braking, recording the vehicle speed and pedal opening / force at different pedal forces; ③ coasting, recording the coasting time in different gears or driving modes; when conducting a lateral test: ① turning in place, recording the steering wheel torque-steering wheel angle curve; ② idling steering, recording the steering wheel torque-steering wheel angle curve; ③ driving steering, recording the steering wheel torque-steering wheel angle curve at different vehicle speeds during driving steering; ④ double lane shifting, recording the yaw angular velocity, vehicle speed, steering wheel angle, and lateral acceleration curve; ⑤ steady-state rotation, recording the yaw angular velocity, vehicle speed, steering wheel angle, and lateral acceleration curve.

[0050] Secondly, the embodiment of the present application can calibrate the initial vehicle model established in the SCANER simulation software according to the longitudinal performance data and lateral performance data of the sample vehicle to obtain a target vehicle model that meets the calibration conditions, that is, to obtain a vehicle model that is closest to the sample vehicle, thereby effectively improving the accuracy of the test.

[0051] Optionally, in one embodiment of the present application, target longitudinal performance data and target lateral performance data of the prototype vehicle are obtained, including: based on a target longitudinal test, obtaining the target longitudinal performance data of the prototype vehicle based on acceleration conditions, braking conditions and coasting conditions; based on a target lateral test, obtaining the target lateral performance data of the prototype vehicle based on on-the-spot steering conditions, idle steering conditions, driving steering conditions, double lane change conditions and steady-state turning conditions.

[0052] For example, Figure 3 As shown, the embodiment of the present application can carry out a longitudinal test, and accelerate the sample vehicle from 0 to 100 km / h: the sample vehicle is accelerated from a stationary state to 100 km / h in a straight line with full accelerator pedal stroke, 2 / 3 accelerator pedal stroke, and 1 / 3 accelerator pedal stroke, and the speed time curve is recorded; the sample vehicle is braked from 100 km / h to 0: after the sample vehicle is accelerated to 105 km / h, it is slowly decelerated to 100 km / h, and the vehicle speed is decelerated to 0 with full brake pedal stroke, 2 / 3 brake pedal stroke, and 1 / 3 brake pedal stroke, and the speed time curve is recorded; the sample vehicle is coasted: the sample vehicle is accelerated to 105 km / h, and enters the coasting area for coasting with different gears or driving modes. During the coasting process, the steering wheel must not be turned until it is below 10 km / h, and the coasting speed time is recorded once for each round trip.

[0053] Secondly, when conducting the longitudinal test, the sample vehicle is steered on the spot: the vehicle is in P gear, the driver operates the steering wheel, slowly and evenly turns the steering wheel from zero position to full position, then turns it to full position in the opposite direction and returns to the center, and the steering wheel torque curve with the turning angle is recorded; the sample vehicle is idling steering: the sample vehicle is in D gear, idling, the driver operates the steering wheel, slowly and evenly turns the steering wheel from zero position to full position, then turns it to full position in the opposite direction and returns to the center, and the steering wheel torque curve with the turning angle is recorded; the sample vehicle is driven and steered: the driver drives the sample vehicle to steer at 30km / h, 60km / h, 90km / h and 120km / h respectively, and the vehicle speed, steering wheel torque, steering wheel angle and lateral acceleration curve are recorded; the sample vehicle is double-shifted: the stakes are arranged according to ISO3888-1, and the driver drives the sample vehicle to test at a speed of 80km / h or higher, and the yaw angular velocity, vehicle speed, steering wheel angle and lateral acceleration curve are recorded;

[0054] When conducting the longitudinal test, the sample vehicle can also be subjected to a steady-state rotation: the driver controls the sample vehicle to drive along a circle with a radius of 20m at the lowest stable speed, fixes the steering wheel and stops the vehicle; the vehicle starts and accelerates slowly and evenly (the longitudinal acceleration does not exceed 0.25m / s 2 ) until the lateral acceleration of the sample vehicle reaches 6.5m / s 2 (or the maximum lateral acceleration that can be achieved due to engine power limitation, or the sample vehicle becomes unstable); record the yaw rate, vehicle speed, steering wheel angle, steering wheel torque, lateral acceleration, and body roll angle curve, thereby effectively improving the comprehensiveness of the test data.

[0055] Optionally, in one embodiment of the present application, the target longitudinal performance data and the target lateral performance data are used to calibrate the initial vehicle model to obtain a target vehicle model that meets preset calibration conditions, including: based on the initial vehicle model, obtaining test longitudinal performance data and test lateral performance data of the test vehicle in the target test scene; comparing the test longitudinal performance data and the test lateral performance data with the target longitudinal performance data and the target lateral performance data to obtain a comparison result; when the comparison result is less than a preset threshold, obtaining a target vehicle model that meets the preset calibration conditions.

[0056] As a feasible approach, Figure 3 As shown, in the embodiment of the present application, the vehicle modeling module in the SCANER simulation software can model the chassis, engine or motor, aerodynamics, steering system, braking system, transmission system, tires, and suspension of the sample vehicle, and the TERRAIN scenario module can establish straight-moving, single lane change, double lane change, turning, snaking, and circling scenario models according to test cases.

[0057] For example, Figure 4 The figure shows a straight-ahead scenario model: three lanes of normal width, buildings and trees on both sides of the road, the main vehicle in the middle lane, and a total length of 1500m.

[0058] like Figure 5 The figure shows a single lane change scenario model: three lanes of normal width, buildings and trees on both sides of the road, the main vehicle is in the leftmost lane, and the total length is 1500m.

[0059] like Figure 6 As shown, this is a double lane change scenario model: three lanes of normal width, buildings and trees on both sides of the road, the main vehicle is in the middle lane, and the total length is 1500m.

[0060] like Figure 7 As shown in the figure, it is a turning scene model: three lanes of normal width, buildings and trees are placed on both sides of the road, the main vehicle is in the middle lane, and curves with radii of 100, 400, and 650 meters are built.

[0061] like Figure 8 The figure shows a serpentine scene model: three lanes of normal width, the main vehicle is in the middle lane, and 10 stakes are arranged in accordance with the "Automobile Handling Stability Test Method", with a total length of 1500m.

[0062] like Fig. 9 Shown is a model of the "8"-shaped test field area.

[0063] Then, if Figure 3 As shown in the figure, after the vehicle model and the scenario model are built, the scenario model can be selected to conduct longitudinal and lateral simulation tests under the same working conditions as the above road test in the SCANER simulation software, where the longitudinal simulation test: ① 0-100km / h acceleration, record the speed time curve under different accelerator pedal strokes ② 100km / h-0 braking, record the vehicle speed and pedal opening / force under different pedal forces; ③ Sliding, record the gliding time under different gears or driving modes. Lateral test: ① In-situ steering, record the steering wheel torque-steering wheel angle curve; ② Idle steering, record the steering wheel torque-steering wheel angle curve; ③ Driving steering, record the steering wheel torque-steering wheel angle curve at different vehicle speeds during driving steering; ④ Double lane change, record the yaw rate, vehicle speed, steering wheel angle, and lateral acceleration curve; ⑤ Steady-state rotation, record the yaw rate, vehicle speed, steering wheel angle, and lateral acceleration curve. The simulation test results of key indicators are compared with the road test results. When the error is greater than 3%, the vehicle model is optimized and adjusted until the error is less than 3%, effectively improving the accuracy of the vehicle model.

[0064] Optionally, in one embodiment of the present application, a vehicle controllability evaluation, a maximum lateral acceleration value, a vehicle lateral displacement within a target time, a fault takeover time, a steering wheel torque, a steering wheel angle and a time domain curve, and a yaw angle and a time domain curve are obtained when at least one test vehicle fails under a target steering test condition, including: obtaining a first vehicle controllability evaluation, a first maximum lateral acceleration value, a vehicle lateral displacement within a first target time, a first fault takeover time, a first steering wheel torque, a first steering wheel angle and a time domain curve, and a first yaw angle and a time domain curve when the test vehicle fails under a straight-ahead test condition; obtaining a second vehicle controllability evaluation, a second fault takeover time, a second steering wheel torque, and a first yaw angle and a time domain curve when the test vehicle fails under a single lane change test condition. 2. Obtain the third vehicle controllability evaluation, third fault takeover time, third steering wheel torque and third steering wheel angle and time domain curve when the test vehicle fails under the double lane change test condition; obtain the fourth vehicle controllability evaluation, fourth fault takeover time, fourth steering wheel torque and fourth steering wheel angle and time domain curve when the test vehicle fails under the turning test condition; obtain the fifth vehicle controllability evaluation, fifth fault takeover time, fifth steering wheel torque and fifth steering wheel angle and time domain curve when the test vehicle fails under the snaking test condition; obtain the sixth vehicle controllability evaluation, sixth fault takeover time, sixth steering wheel torque and sixth steering wheel angle and time domain curve when the test vehicle fails under the figure-eight test condition.

[0065] For example, Figure 3 As shown, the embodiment of the present application can perform a safety test of the steering function of the whole vehicle based on the VIL test bench based on the vehicle model after optimization and adjustment in the above steps, that is, perform a test of a failure in the steering system of the whole vehicle, and observe the ability of the test vehicle to trigger the safety mechanism and ensure normal driving, as follows:

[0066] Conduct a straight-ahead fault injection test:

[0067] 1) Turn on the power of the instrument and put it in normal working condition;

[0068] 2) Select the vehicle model in the SCANER simulation software, select a scene with a single lane or more, and set the adhesion conditions; the driver should have rich experience in test bench driving and be familiar with the test scene before the formal test;

[0069] 3) The driver accelerates in a straight line to the specified speed in the test scenario;

[0070] 4) Maintain the vehicle speed for 10 seconds, then inject the fault and keep driving in a straight line for 10 seconds;

[0071] 5) Stop the vehicle and end the recording. The recorded content includes a subjective evaluation of whether the vehicle is controllable, and measures the maximum lateral acceleration value, fault takeover time, vehicle lateral displacement within 1 second from the start of fault injection, steering wheel torque, steering wheel angle and time domain curves, and yaw angle and time domain curves.

[0072] Perform a single lane change fault injection test:

[0073] 1) Turn on the power of the instrument and put it in normal working condition;

[0074] 2) Select the vehicle model in the SCANER simulation software, select a scene with two lanes or more, and set the adhesion conditions;

[0075] 3) The driver should have extensive experience in test bench driving and be familiar with the test scenario before the formal test;

[0076] 4) The driver accelerates in a straight line to the specified speed in the test scenario;

[0077] 5) Maintain the vehicle speed for 10 seconds before changing lanes, inject faults during the lane change, and keep driving straight for 10 seconds after changing lanes;

[0078] 6) Stop the vehicle and end the recording, wherein the recorded content is a subjective evaluation of whether the vehicle is controllable, and the curves of the fault takeover time, steering wheel torque, steering wheel angle and time domain are measured.

[0079] Perform a double lane change fault injection test:

[0080] 1) Turn on the power of the instrument and put it in normal working condition;

[0081] 2) Select the vehicle model in the SCANER simulation software, select a scene with two lanes or more, and set the adhesion conditions;

[0082] 3) The driver should have extensive experience in test bench driving and be familiar with the test scenario before the formal test;

[0083] 4) The driver accelerates in a straight line to the specified speed in the test scenario;

[0084] 5) Maintain the vehicle speed for 10 seconds before injecting faults, inject faults when changing lanes, and keep driving straight for 10 seconds after double lane changes;

[0085] 6) Stop the vehicle and end the recording, wherein the recorded content is a subjective evaluation of whether the vehicle is controllable, and the curves of the fault takeover time, steering wheel torque, steering wheel angle and time domain are measured.

[0086] Perform a cornering fault injection test:

[0087] 1) Turn on the power of the instrument and put it in normal working condition;

[0088] 2) Select the vehicle model in the SCANER simulation software, select a turning scene with a certain straight-line acceleration section and a certain radius, and set the adhesion conditions;

[0089] 3) The driver should have extensive experience in test bench driving and be familiar with the test scenario before the formal test;

[0090] 4) The driver accelerates to the specified speed on the straight section of the test scene and maintains the speed until the curve;

[0091] 5) After entering the curve, maintain the vehicle speed for 5 seconds to inject faults, and keep turning for 5 seconds;

[0092] 6) Stop the vehicle and end the recording, wherein the recorded content is a subjective evaluation of whether the vehicle is controllable, and the curves of the fault takeover time, steering wheel torque, steering wheel angle and time domain are measured.

[0093] Perform a snaking fault injection test:

[0094] 1) Turn on the power of the instrument and put it in normal working condition;

[0095] 2) Select the vehicle model in the SCANER simulation software, select a scene with two lanes or more, set the adhesion conditions, and arrange the stakes according to the "Automobile Handling Stability Test Method";

[0096] 3) The driver should have extensive experience in test bench driving and be familiar with the test scenario and practice five round trips before the formal test;

[0097] 4) The driver accelerates in a straight line to the specified speed in the test scenario and maintains the speed to the snaking test area;

[0098] 5) Inject a fault when passing the third snaking stake and keep circling the stake until the snaking is completed (knocking down the stake is not counted in the test times);

[0099] 6) Stop the vehicle and end the recording, wherein the recorded content is a subjective evaluation of whether the vehicle is controllable, and the curves of the fault takeover time, steering wheel torque, steering wheel angle and time domain are measured.

[0100] Perform fault injection test in the figure-eight condition:

[0101] 1) Turn on the power of the instrument and put it in normal working condition;

[0102] 2) Select the vehicle model in the SCANER simulation software, select the scene with a dynamic square, set the attachment conditions, and arrange the double twisted wire stakes according to the "Automobile Handling Stability Test Method";

[0103] 3) The driver should have extensive experience in test bench driving and be familiar with the test scenario before the formal test;

[0104] 4) The driver starts at the specified speed in the tangent direction at the midpoint of the double-twist line and drives along the double-twist line stakes;

[0105] 5) Maintain driving on the double-twisted line for 10 seconds, then perform fault injection and continue driving along the double-twisted line until a full circle is completed;

[0106] 6) Stop the vehicle and end the recording, wherein the recorded content is a subjective evaluation of whether the vehicle is controllable, and the curves of the fault takeover time, steering wheel torque, steering wheel angle and time domain are measured.

[0107] In step S202, at least one of the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within the target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curves, and yaw angle and time domain curves of at least one test vehicle is analyzed according to the test evaluation criteria corresponding to the target steering test condition.

[0108] In the embodiments of the present application, Figure 3 As shown in the figure, the test evaluation criteria corresponding to the target steering test condition are as follows:

[0109] The evaluation criteria for the fault injection test results of the straight-ahead condition are:

[0110] a. Subjective evaluation of whether the vehicle deviates from the lane and whether it is controllable: 1. Sudden change in hand force makes the vehicle uncontrollable or deviates from the lane; 2. Controllable, with a change in hand force; 3. No change;

[0111] b. Maximum lateral acceleration value a≤0.3g;

[0112] c. Fault takeover time ΔT≤200ms;

[0113] d. The vehicle lateral displacement ΔS≤0.6m within 1s after the fault injection starts;

[0114] e. Curves of steering wheel torque, steering wheel angle and time domain;

[0115] f. Curve of yaw angle and time domain.

[0116] The evaluation criteria for the single lane change fault injection test are:

[0117] a. Subjective evaluation of whether the vehicle deviates from the lane and whether it is controllable: 1. Sudden change in hand force makes the vehicle uncontrollable or deviates from the lane; 2. Controllable, with a change in hand force; 3. No change;

[0118] b. Fault takeover time ΔT≤200ms;

[0119] c. Curves of steering wheel torque, steering wheel angle and time domain.

[0120] The evaluation criteria for the double lane change fault injection test are:

[0121] a. Subjective evaluation of whether the vehicle deviates from the lane and whether it is controllable: 1. Sudden change in hand force makes the vehicle uncontrollable or deviates from the lane; 2. Controllable, with a change in hand force; 3. No change;

[0122] b. Fault takeover time ΔT≤200ms;

[0123] c. Curves of steering wheel torque, steering wheel angle and time domain.

[0124] The evaluation criteria for the turning condition fault injection test are:

[0125] a. Subjective evaluation of whether the vehicle deviates from the lane and whether it is controllable: 1. Sudden change in hand force makes the vehicle uncontrollable or deviates from the lane; 2. Controllable, with a change in hand force; 3. No change;

[0126] b. Fault takeover time ΔT≤200ms;

[0127] c. Curves of steering wheel torque, steering wheel angle and time domain.

[0128] The evaluation criteria for the snaking fault injection test are:

[0129] a. Subjective evaluation of whether the vehicle deviates from the lane and whether it is controllable: 1. Sudden change in hand force makes the vehicle uncontrollable or deviates from the lane; 2. Controllable, with a change in hand force; 3. No change;

[0130] b. Fault takeover time ΔT≤200ms;

[0131] c. Curves of steering wheel torque, steering wheel angle and time domain.

[0132] Evaluation criteria for fault injection test under figure-eight condition:

[0133] a. Subjective evaluation of whether the vehicle deviates from the lane and whether it is controllable: 1. Sudden change in hand force makes the vehicle uncontrollable or deviates from the lane; 2. Controllable, with a change in hand force; 3. No change;

[0134] b. Fault takeover time ΔT≤200ms;

[0135] c. Curves of steering wheel torque, steering wheel angle and time domain.

[0136] It can be understood that the embodiments of the present application can analyze at least one of the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within the target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve and yaw angle and time domain curve of the test vehicle according to the test evaluation criteria corresponding to the target steering test condition in the above steps. In other words, different steering test conditions can analyze the data information recorded by the test vehicle according to the requirements of the test evaluation criteria, which effectively improves the efficiency and accuracy of the test.

[0137] In step S203, the controllability of at least one test vehicle in at least one dimension is generated using the analysis results of at least one of the vehicle controllability evaluation, the maximum lateral acceleration value, the vehicle lateral displacement within the target time, the fault takeover time, the steering wheel torque, the curve of the steering wheel angle and the time domain, and the curve of the yaw angle and the time domain, so as to generate a steering system safety evaluation report of at least one test vehicle based on the controllability.

[0138] It can be understood that the embodiments of the present application can utilize the analysis results of at least one of the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within the target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve, and yaw angle and time domain curve to generate the controllability of at least one test vehicle in one or more dimensions. Combined with the above data, the controllability of the vehicle under different fault injection conditions is comprehensively analyzed to ensure that the vehicle can still be effectively controlled by the driver when a steering system failure occurs. Based on this, a safety evaluation report of the steering system is generated, which may include charts, analysis conclusions and improvement suggestions for various test data, so as to effectively evaluate the safety performance of the steering system. At the same time, it can also provide a scientific reference for the formulation and revision of vehicle steering system test method standards and specifications, and help the efficient development of the automotive industry.

[0139] According to the method for safety test and evaluation of the steering function of a whole vehicle proposed in the embodiment of the present application, based on the pre-constructed target vehicle model, the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within the target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve and yaw angle and time domain curve of the test vehicle when the test vehicle is in a fault under the target steering test condition can be obtained, and at least one vehicle data information can be analyzed according to the test evaluation criteria corresponding to the target steering test condition, so as to generate the controllability of at least one test vehicle in at least one dimension, and then generate the steering system safety evaluation report of the test vehicle according to the controllability, so as to efficiently and accurately verify and judge the steering system safety mechanism. Thus, the problem that the safety performance of the vehicle to be tested is evaluated by the evaluator in the related technology, which increases the labor cost and increases the error of the test evaluation results, and the evaluation method is relatively single, and the steering system safety mechanism cannot be verified and judged efficiently and accurately, and the accuracy of the vehicle safety test is reduced.

[0140] Next, a device for safety testing and evaluating the steering function of a vehicle proposed in an embodiment of the present application will be described with reference to the accompanying drawings.

[0141] Fig.10 It is a block diagram of a device for safety testing and evaluation of the steering function of a whole vehicle according to an embodiment of the present application.

[0142] like Fig.10 As shown, the device 10 for testing and evaluating the safety of the steering function of a whole vehicle includes: an acquisition module 100 , an analysis module 200 and a generation module 300 .

[0143] Specifically, the acquisition module 100 is used to obtain the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within a target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve, and yaw angle and time domain curve of at least one test vehicle when it fails under a target steering test condition based on a pre-built target vehicle model that meets preset calibration conditions.

[0144] The analysis module 200 is used to analyze at least one of the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within a target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curves, and yaw angle and time domain curves of at least one test vehicle according to the test evaluation criteria corresponding to the target steering test condition.

[0145] The generation module 300 is used to generate the controllability of at least one test vehicle in at least one dimension by using the analysis results of at least one of the vehicle controllability evaluation, the maximum lateral acceleration value, the vehicle lateral displacement within the target time, the fault takeover time, the steering wheel torque, the curve of the steering wheel angle and the time domain, and the curve of the yaw angle and the time domain, so as to generate a steering system safety evaluation report of at least one test vehicle according to the controllability.

[0146] Optionally, in an embodiment of the present application, the device 10 of the embodiment of the present application further includes: a first determination module and a second determination module.

[0147] Among them, the first determination module is used to obtain the target longitudinal performance data and target lateral performance data of the sample vehicle under the target road test before obtaining the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within the target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve and yaw angle and time domain curve of at least one test vehicle when it is in a target steering test condition.

[0148] The second determination module is used to calibrate the initial vehicle model using the target longitudinal performance data and the target lateral performance data before obtaining the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within a target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve and yaw angle and time domain curve of at least one test vehicle when it is in a target steering test condition to obtain a target vehicle model that meets preset calibration conditions.

[0149] Optionally, in one embodiment of the present application, the first determination module includes: a first acquisition unit and a second acquisition unit.

[0150] The first acquisition unit is used to acquire target longitudinal performance data of the sample vehicle based on acceleration conditions, braking conditions and coasting conditions based on the target longitudinal test.

[0151] The second acquisition unit is used to obtain target lateral performance data of the prototype vehicle based on the target lateral test based on the in-situ steering condition, the idling steering condition, the driving steering condition, the double lane change condition and the steady-state turning condition.

[0152] Optionally, in one embodiment of the present application, the second determination module includes: a third acquisition unit, a first determination unit and a second determination unit.

[0153] The third acquisition unit is used to acquire the test longitudinal performance data and the test lateral performance data of the test vehicle in the target test scenario based on the initial vehicle model.

[0154] The first determination unit is used to compare the test longitudinal performance data and the test lateral performance data with the target longitudinal performance data and the target lateral performance data to obtain a comparison result.

[0155] The second determination unit is used to compare the test longitudinal performance data and the test lateral performance data with the target longitudinal performance, and to obtain a target vehicle model that meets a preset calibration condition when a comparison result is less than a preset threshold.

[0156] Optionally, in one embodiment of the present application, the acquisition module 100 includes: a fourth acquisition unit, a fifth acquisition unit, a sixth acquisition unit, a seventh acquisition unit, an eighth acquisition unit and a ninth acquisition unit.

[0157] Among them, the fourth acquisition unit is used to obtain the first vehicle controllability evaluation, the first maximum lateral acceleration value, the vehicle lateral displacement within the first target time, the first fault takeover time, the first steering wheel torque, the first steering wheel angle and time domain curve, and the first yaw angle and time domain curve when the test vehicle is in a straight-line test condition and fails.

[0158] The fifth acquisition unit is used to obtain the second vehicle controllability evaluation, the second fault takeover time, the second steering wheel torque and the second steering wheel angle and the time domain curve when the test vehicle is in a single lane change test condition and fails.

[0159] The sixth acquisition unit is used to obtain the third vehicle controllability evaluation, the third fault takeover time, the third steering wheel torque and the third steering wheel angle and the time domain curve when the test vehicle is in a double lane change test condition and fails.

[0160] The seventh acquisition unit is used to obtain the fourth vehicle controllability evaluation, the fourth fault takeover time, the fourth steering wheel torque and the fourth steering wheel angle and the time domain curve when the test vehicle is in a turning test condition and fails.

[0161] The eighth acquisition unit is used to obtain the fifth vehicle controllability evaluation, the fifth fault takeover time, the fifth steering wheel torque and the fifth steering wheel angle and the time domain curve when the test vehicle is in a snaking test condition and fails.

[0162] The ninth acquisition unit is used to obtain the sixth vehicle controllability evaluation, the sixth fault takeover time, the sixth steering wheel torque and the sixth steering wheel angle and the time domain curve when the test vehicle is in a fault condition under the figure-eight test condition.

[0163] It should be noted that the aforementioned explanation of the method embodiment for safety testing and evaluation of the steering function of a whole vehicle is also applicable to the device for safety testing and evaluation of the steering function of a whole vehicle of this embodiment, and will not be repeated here.

[0164] According to the device for the safety test and evaluation of the steering function of the whole vehicle proposed in the embodiment of the present application, based on the pre-constructed target vehicle model, the vehicle controllability evaluation, the maximum lateral acceleration value, the vehicle lateral displacement within the target time, the fault takeover time, the steering wheel torque, the steering wheel angle and the time domain curve and the yaw angle and the time domain curve of the test vehicle when the test vehicle is in the target steering test condition, the vehicle data information can be obtained, and at least one vehicle data information can be analyzed according to the test evaluation criteria corresponding to the target steering test condition, so as to generate the controllability of at least one test vehicle in at least one dimension, and then generate the steering system safety evaluation report of the test vehicle according to the controllability, so as to efficiently and accurately verify and judge the steering system safety mechanism. Thus, the problem that the safety performance of the vehicle to be tested is evaluated by the evaluator in the related technology, which increases the labor cost and increases the error of the test evaluation results, and the evaluation method is relatively single, and the steering system safety mechanism cannot be verified and judged efficiently and accurately, and the accuracy of the vehicle safety test is reduced.

[0165] Fig.11 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0166] A memory 1101 , a processor 1102 , and a computer program stored in the memory 1101 and executable on the processor 1102 .

[0167] When the processor 1102 executes the program, the method for safety testing and evaluation of the steering function of the whole vehicle provided in the above embodiment is implemented.

[0168] Furthermore, the vehicle also includes:

[0169] The communication interface 1103 is used for communication between the memory 1101 and the processor 1102 .

[0170] The memory 1101 is used to store computer programs that can be executed on the processor 1102 .

[0171] The memory 1101 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.

[0172] If the memory 1101, the processor 1102 and the communication interface 1103 are implemented independently, the communication interface 1103, the memory 1101 and the processor 1102 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 Interconnect (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, Fig.11 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.

[0173] Optionally, in a specific implementation, if the memory 1101, the processor 1102 and the communication interface 1103 are integrated on a chip, the memory 1101, the processor 1102 and the communication interface 1103 can communicate with each other through an internal interface.

[0174] The processor 1102 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 application.

[0175] 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 method for safety testing and evaluation of the steering function of a whole vehicle as described above is implemented.

[0176] This embodiment also provides a computer program product, including a computer program, which, when executed, is used to implement the above method for safety testing and evaluation of vehicle steering functions.

[0177] 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 application. 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.

[0178] 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 technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0179] 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 application 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 application belong.

[0180] 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 purpose 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 of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), 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), a fiber optic 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.

[0181] It should be understood that the various parts of the present application 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 or a combination of the following technologies known in the art: 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.

[0182] 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.

[0183] In addition, each functional unit in each embodiment of the present application 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.

[0184] 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 application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for testing and evaluating the safety of vehicle steering function, characterized in that: The following steps are involved: Based on a pre-built target vehicle model that meets preset calibration conditions, obtaining a vehicle controllability evaluation, a maximum lateral acceleration value, a vehicle lateral displacement within a target time, a fault takeover time, a steering wheel torque, a steering wheel angle and a time domain curve, and a yaw angle and a time domain curve of at least one test vehicle when the vehicle fails under a target steering test condition; Analyzing at least one of the vehicle controllability evaluation, the maximum lateral acceleration value, the vehicle lateral displacement within the target time, the fault takeover time, the steering wheel torque, the curve of the steering wheel angle and the time domain, and the curve of the yaw angle and the time domain of the at least one test vehicle according to the test evaluation criteria corresponding to the target steering test condition; The controllability of the at least one test vehicle in at least one dimension is generated by utilizing the analysis result of at least one of the vehicle controllability evaluation, the maximum lateral acceleration value, the vehicle lateral displacement within the target time, the fault takeover time, the steering wheel torque, the curve of the steering wheel angle and the time domain, and the curve of the yaw angle and the time domain, so as to generate a steering system safety evaluation report of the at least one test vehicle according to the controllability.

2. The method according to claim 1, characterized in that Before obtaining the vehicle controllability evaluation, the maximum lateral acceleration value, the vehicle lateral displacement within the target time, the fault takeover time, the steering wheel torque, the steering wheel angle and the time domain curve and the yaw angle and the time domain curve of at least one test vehicle when the vehicle is in a target steering test condition, the following is also included: Under the target road test, obtain the target longitudinal performance data and target lateral performance data of the prototype vehicle; An initial vehicle model is calibrated using the target longitudinal performance data and the target lateral performance data to obtain a target vehicle model that meets the preset calibration condition.

3. The method according to claim 2, characterized in that The obtaining of target longitudinal performance data and target lateral performance data of the sample vehicle includes: Based on the target longitudinal test, obtaining the target longitudinal performance data of the prototype vehicle based on the acceleration condition, the braking condition and the coasting condition; Based on the target lateral test, the target lateral performance data of the prototype vehicle based on the in-situ steering condition, the idling steering condition, the driving steering condition, the double lane change condition and the steady-state turning condition are obtained.

4. The method according to claim 2, characterized in that: The step of calibrating the initial vehicle model using the target longitudinal performance data and the target lateral performance data to obtain a target vehicle model that satisfies the preset calibration condition includes: Based on the initial vehicle model, acquiring test longitudinal performance data and test lateral performance data of the test vehicle in a target test scenario; Comparing the test longitudinal performance data and the test lateral performance data with the target longitudinal performance data and the target lateral performance data to obtain a comparison result; When the comparison result is less than a preset threshold, a target vehicle model that meets the preset calibration condition is obtained.

5. The method according to claim 1, characterized in that The step of obtaining a vehicle controllability evaluation, a maximum lateral acceleration value, a vehicle lateral displacement within a target time, a fault takeover time, a steering wheel torque, a steering wheel angle and a time domain curve, and a yaw angle and a time domain curve of at least one test vehicle when the vehicle fails under a target steering test condition comprises: Obtaining a first vehicle controllability evaluation, a first maximum lateral acceleration value, a vehicle lateral displacement within a first target time, a first fault takeover time, a first steering wheel torque, a first steering wheel angle and a time domain curve, and a first yaw angle and a time domain curve when the test vehicle is in a straight-ahead test condition and fails; Obtaining a second vehicle controllability evaluation, a second fault takeover time, a second steering wheel torque, and a second steering wheel angle and a time domain curve when the test vehicle is in a single lane change test condition and fails; Obtaining a third vehicle controllability evaluation, a third fault takeover time, a third steering wheel torque, and a third steering wheel angle and a time domain curve when the test vehicle is in a double lane change test condition; Obtaining a fourth vehicle controllability evaluation, a fourth fault takeover time, a fourth steering wheel torque, and a fourth steering wheel angle and a time domain curve when the test vehicle fails under a turning test condition; Obtaining a fifth vehicle controllability evaluation, a fifth fault takeover time, a fifth steering wheel torque, and a fifth steering wheel angle and a time domain curve when the test vehicle is in a snaking test condition and fails; Obtain the sixth vehicle controllability evaluation, sixth fault takeover time, sixth steering wheel torque, sixth steering wheel angle and time domain curve when the test vehicle is in a fault condition under the figure-eight test condition.

6. A device for testing and evaluating the safety of vehicle steering function, characterized in that: include: an acquisition module, for acquiring, based on a pre-built target vehicle model that meets preset calibration conditions, a vehicle controllability evaluation, a maximum lateral acceleration value, a vehicle lateral displacement within a target time, a fault takeover time, a steering wheel torque, a steering wheel angle and a time domain curve, and a yaw angle and a time domain curve of at least one test vehicle when the vehicle fails under a target steering test condition; an analysis module, configured to analyze at least one of the vehicle controllability evaluation, the maximum lateral acceleration value, the vehicle lateral displacement within the target time, the fault takeover time, the steering wheel torque, the curve of the steering wheel angle and the time domain, and the curve of the yaw angle and the time domain of the at least one test vehicle according to the test evaluation criteria corresponding to the target steering test condition; A generation module is used to generate the controllability of the at least one test vehicle in at least one dimension by using the analysis result of at least one of the vehicle controllability evaluation, the maximum lateral acceleration value, the vehicle lateral displacement within the target time, the fault takeover time, the steering wheel torque, the curve of the steering wheel angle and the time domain, and the curve of the yaw angle and the time domain, so as to generate a steering system safety evaluation report of the at least one test vehicle according to the controllability.

7. The device according to claim 6, characterized in that Also includes: A first determination module is used to obtain target longitudinal performance data and target lateral performance data of a sample vehicle under a target road test before obtaining a vehicle controllability evaluation, a maximum lateral acceleration value, a vehicle lateral displacement within a target time, a fault takeover time, a steering wheel torque, a steering wheel angle and a time domain curve, and a yaw angle and a time domain curve when at least one test vehicle is in a target steering test condition and fails; The second determination module is used to calibrate the initial vehicle model using the target longitudinal performance data and the target lateral performance data before obtaining the vehicle controllability evaluation, maximum lateral acceleration value, vehicle lateral displacement within a target time, fault takeover time, steering wheel torque, steering wheel angle and time domain curve, and yaw angle and time domain curve of at least one test vehicle when it is in a target steering test condition to obtain a target vehicle model that meets the preset calibration conditions.

8. The device according to claim 7, characterized in that The first determining module comprises: A first acquisition unit is used to acquire the target longitudinal performance data of the sample vehicle based on an acceleration condition, a braking condition and a coasting condition based on a target longitudinal test; The second acquisition unit is used to acquire the target lateral performance data of the prototype vehicle based on the in-situ steering condition, the idling steering condition, the driving steering condition, the double lane change condition and the steady-state turning condition based on the target lateral test.

9. A vehicle, 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 safety testing and evaluation of the steering function of a whole vehicle as described in any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the method for safety testing and evaluation of the steering function of a whole vehicle as described in any one of claims 1 to 5.

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