Intelligent automobile collision early warning test method and system based on RCW

Abstract

The invention relates to the technical field of automobile test, and particularly discloses an intelligent automobile collision early warning test method and system based on RCW, and the method comprises the steps: S1, constructing a vehicle rear collision early warning test scene which comprises a plurality of lanes, a background vehicle and a test vehicle; s2, setting a risk avoiding strategy of the background vehicle; s3, the background vehicle and the test vehicle carry out vehicle rear collision early warning test on the lane in the same direction; s4, acquiring and analyzing driving data of the background vehicle and the test vehicle; and S5, after the background vehicle executes the risk avoiding strategy, vehicle rear collision early warning testing is completed, and a backward warning result of the tested vehicle is obtained. According to the invention, the accuracy of the vehicle rear collision early warning test can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile testing, and in particular to a testing method and system for intelligent automobile collision warning based on RCW. Background Art

[0002] Advanced driver assistance systems are an important part of future smart cars. The test methods for forward collision warning (FCW) systems are relatively mature. Drivers can effectively control the braking / steering of the vehicle through vehicle alarms and subjective feelings to avoid collision with the vehicle in front or reduce the collision speed. Since the forward collision warning system relies more on the driver's subjective feelings for operation, inaccurate test data will occur during vehicle collision tests.

[0003] As part of the advanced driver assistance system, rear collision warning (RCW) monitors the target behind the vehicle in real time through sensors while the vehicle is driving. When the system detects that a target is approaching the vehicle quickly from behind and there is a risk of rear-end collision, the system will send an alarm message to the driver so that the driver can react in time to avoid it; at the same time, the vehicle will turn on the double flashes to prompt the vehicle behind to slow down and keep a distance to prevent rear-end collisions. When conducting RCW-based smart car collision tests, the background vehicle is located behind the test vehicle, and the background vehicle is used to test the RCW of the test vehicle.

[0004] In the prior art, there is a test equipment and method for testing FCW, AEBS and RCWS, such as patent application number CN202210075298.7. This patent simulates the road motion as track motion and the real environment to eliminate the lateral motion of the background vehicle and the test vehicle and reduce the lateral deviation; and the test vehicle is set on the fixed track and the background vehicle is set on the moving track to convert the two objects that move separately into relative motion, thereby reducing the longitudinal deviation. However, due to the interference of the road conditions or other environments in the real environment, there is a deviation. If the deviation in the real environment is ignored, an accurate test value cannot be obtained. The real and accurate RCW test values ​​obtained by the test vehicle are all for the purpose of continuously optimizing the TTC of RCW so as to achieve the purpose of being able to be used in a real environment. The test environment simulated by this patent belongs to the test environment under ideal conditions, which has a certain deviation from the real environment, and the test value of RCW in the real environment cannot be obtained.

[0005] In order to obtain the RCW test value in a real environment, some technicians will refer to the test method of the car collision warning based on FCW. However, for the RCW intelligent car collision warning test, the rear collision warning TTC is generally later than the forward collision warning (FCW) TTC. Therefore, if the RCW intelligent car collision warning test method is used to implement the RCW intelligent car collision warning test, and the test is carried out according to the method of testing FCW, it is easy to cause a collision before the test is completed. In this way, if the RCW test is carried out along the FCW test method, there will be a higher risk of collision. Summary of the invention

[0006] In order to improve the accuracy of the vehicle rear collision warning test while ensuring the safety of the test, the first scheme provides a test method for intelligent automobile collision warning based on RCW, including: S1, constructing a vehicle rear collision warning test scenario, wherein the vehicle rear collision warning test scenario includes several lanes, background vehicles and test vehicles; S2, setting a risk avoidance strategy for the background vehicle; S3, the background vehicle and the test vehicle carry out a vehicle rear collision warning test on the same lane; S4, obtaining and analyzing the driving data of the background vehicle and the test vehicle; S5, after the background vehicle executes the risk avoidance strategy, completing the vehicle rear collision warning test and obtaining the rear alarm result of the test vehicle.

[0007] Beneficial effects: Compared with the prior art, the first solution can not only improve the accuracy of the test while ensuring safety, but also improve the test efficiency.

[0008] Preferably, the manipulation of the background vehicle includes robotic brake control, robotic steering wheel control and robotic throttle control.

[0009] Beneficial effects: The use of robot control improves test efficiency, reduces human subjective control, enhances test consistency, and improves test safety.

[0010] Preferably, the background vehicle is a flatbed dummy vehicle.

[0011] Beneficial effects: The flatbed dummy car is relatively cheap, low-cost, and simple in structure, making it easy to test; at the same time, it does not require setting too many parameters, thus shortening the preparation time before testing.

[0012] Preferably, the risk avoidance strategy of the background vehicle includes emergency braking and turning and changing lanes.

[0013] Beneficial effects: Background vehicles can provide a variety of risk avoidance strategies and are suitable for testing in different test environments.

[0014] Preferably, when the risk avoidance strategy executed by the background vehicle is emergency braking, when the distance between the two vehicles is S, the background vehicle executes emergency braking; specifically,

[0015]

[0016] V1 is the initial speed of the background vehicle during the test, V0 is the speed of the background vehicle when the relative speed between the background vehicle and the target vehicle is 0, A max is the maximum deceleration of the background vehicle, and M is the safety threshold.

[0017] Beneficial effect: By setting the distance S between the two vehicles, the accuracy and safety of the test can be improved.

[0018] Preferably, the safety threshold M=n*V1; n=0.5s.

[0019] Beneficial effect: By setting the safety threshold M, the accuracy and safety of the test can be improved.

[0020] Preferably, when the risk avoidance strategy executed by the background vehicle is turning and changing lanes, the time for the background vehicle to turn and change lanes is T 测 ; T 测 =T0+T 安全 ; T0 is the time taken by the background vehicle to start turning and changing lanes to the first target point. The first target point is the position of the background vehicle when the overlap rate between the background vehicle and the test vehicle is 0%; T 安全 It is 0.2~1.0s.

[0021] Beneficial effect: By setting T 测 =T0+T 安全 , in order to ensure the safety of the test while improving the accuracy of the test.

[0022] Preferably, the rearward warning result of the test vehicle includes the warning sound, instrument warning, rearward flashing lights and parking lights of the test vehicle.

[0023] Beneficial effect: The test structure that can be accurately obtained during the test is more comprehensive.

[0024] The second solution provides a test system for intelligent automobile collision warning based on RCW, including a background vehicle and a test vehicle;

[0025] Both the background vehicle and the test vehicle are equipped with a dual-vehicle positioning interaction module, which is used to share the driving data of the background vehicle and the test vehicle; the background vehicle is equipped with a driving robot module, which is used to control the background vehicle, specifically including robot braking control, robot steering wheel control and robot throttle control; the test vehicle is equipped with a collection module, which is used to collect the alarm sound, instrument warning, rear flash light and parking light of the test vehicle; the test vehicle is equipped with a signal processing module, which is used to analyze the driving data of the background vehicle and the test vehicle of the dual-vehicle positioning module as well as the alarm sound, instrument warning, rear flash light and parking light of the test vehicle.

[0026] Beneficial effect: The second solution can improve the accuracy of the test while ensuring safety, and can also improve the test efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of a test method for intelligent vehicle collision warning based on RCW in Example 1;

[0028] Figure 2 A reference schematic diagram of a turning path of a background vehicle of a test method for intelligent vehicle collision warning based on RCW in Example 1;

[0029] Figure 3 This is a structural diagram of a test system for an intelligent vehicle collision warning based on RCW according to Embodiment 2. DETAILED DESCRIPTION

[0030] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0031] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0032] TTC: A technical term in the field of automotive crash testing, which refers to the time to collision. TTC is used to evaluate the time required for a vehicle to collide with another object (such as another vehicle, pedestrian, or obstacle) under current driving conditions if no corrective action is taken. In the scenario, it specifically refers to the time required for the background vehicle and the test vehicle to collide.

[0033] Overlap: A technical term in the field of automobile collision test technology, which refers to the ratio of the contact area between the test vehicle and the obstacle or another vehicle to the front width of the vehicle in a frontal collision test.

[0034] RCW: Rear Collision Warning, this function refers to the real-time monitoring of the target behind the vehicle through sensors during driving. When the system detects that a target is approaching the vehicle quickly and there is a risk of rear-end collision, the system will send an alarm message to the driver, allowing the driver to react in time to avoid it; at the same time, the vehicle will also turn on the double flash to prompt the rear vehicle to slow down and keep a distance to prevent rear-end collisions. According to the current GB 4785-2019 Installation Regulations for External Lighting and Light Signal Devices for Motor Vehicles and Trailers, the activation conditions of the rear-end collision warning signal include the following two points: when the speed difference between the vehicle issuing the rear-end collision warning signal and the vehicle following it in the same lane is greater than 30km / h, TTC≤1.4s; when it is less than / equal to 30km / h, TTC≤1.4s and the product of the speed difference between the vehicle issuing the rear-end collision warning signal and the vehicle following it in the same lane divided by 30km / h.

[0035] FCW: Forward Collision Warning uses a radar system to constantly monitor the vehicle ahead, determine the distance, direction and relative speed between the vehicle and the vehicle ahead, and warn the driver when there is a potential collision risk.

[0036] Embodiment 1

[0037] For the test of intelligent car collision warning based on RCW, the test method of forward collision warning (FCW) cannot be completely used for testing and evaluation. Because the TTC of rear collision warning is later than the TTC of forward warning, once the test method of rear collision warning (RCW) is tested using the test method of forward collision warning (FCW), the obtained rear collision warning TTC will be later than the normal and real rear collision warning TTC. In this way, the driver in the background vehicle cannot completely and effectively avoid / brake, and there is a high risk of collision. Specifically, in the test of FCW, because the TTC of FCW is earlier, the background vehicle is traveling at a speed of 60kph, and the alarm information can generally be collected in more than 2s, at which time the driver can take over the vehicle in time. In addition, the background vehicle basically has the AEB function when the FCW function is configured, and the background vehicle can automatically brake through the AEB function. In real life, the vehicle behind a vehicle with RCW does not necessarily have AEB function. When such a vehicle is about to collide with the vehicle in front, it can only rely on the driver's active operation. At this time, the vehicle with RCW will issue a warning to the vehicle behind to ensure that the driver of the vehicle behind receives the warning signal from the vehicle in front.

[0038] Therefore, in order to obtain accurate and true test results in RCW-based tests and ensure the safety of the tests, such as Figure 1 As shown, this embodiment provides a test method for intelligent automobile collision warning based on RCW, which is used to carry out RCW testing.

[0039] Specifically, a vehicle rear collision warning test scene is set up, which includes several lanes, background vehicles and test vehicles. In this embodiment, three parallel lanes in the same direction are used for collision testing; at the same time, for the convenience of understanding and description, the background vehicle is the rear vehicle and the test vehicle is the front vehicle. A dual-vehicle positioning data interaction device is installed on the rear vehicle and the front vehicle to achieve real-time interaction of the driving data of the two vehicles. A test computer with the function of recording and analyzing the driving data of the two vehicles is provided on the test vehicle, and the test computer is connected to the dual-vehicle positioning data interaction device in the test vehicle.

[0040] In this embodiment, the rear vehicle is controlled by a robot, and the specific control includes using the robot to control the brakes, steering wheel and throttle control of the rear vehicle.

[0041] Before conducting the rear collision test, the brakes of the rear vehicle are calibrated and debugged. Specifically, the rear vehicle is accelerated to 80km / h, and then the vehicle ABS is triggered by full braking. After the rear vehicle brakes cool for 90s, the experiment is repeated three times or more to find the maximum average value A of the rear vehicle's deceleration during braking. max ; Set the robot brake control so that its brake control execution and the acceleration of the rear vehicle can match A during the test max Consistent.

[0042] Find the maximum average value A of the braking deceleration of the rear vehicle through 3 repeated tests max In this way, the optimal deceleration that the rear vehicle can achieve when fully braking is found, and the braking distance is shortened. When conducting vehicle collision tests, it can not only ensure the safety of the rear vehicle, but also maximize the acquisition of more accurate test data on the basis of safety. At the same time, since full braking is required to trigger the vehicle ABS, if dozens of repeated tests are performed to obtain A max , the brake device of the rear vehicle will be greatly damaged. In the actual vehicle collision test, there will be a large deviation between the actual braking effect and the expected braking effect, resulting in inaccurate testing. At the same time, the brake device of the rear vehicle will also be worn, increasing the maintenance cost. Therefore, only three repeated tests can not only eliminate the error, but also extend the service life of the brake device of the rear vehicle.

[0043] Before conducting a rear collision test, calibrate and debug the steering and lane change of the rear vehicle. Before conducting a vehicle collision test, calibrate and debug the robot control parameters / paths of the rear vehicle. Calibrate the robot braking control, including the braking force of the brake arm and the deceleration of the rear vehicle. Setting the robot steering control parameters:

[0044] When the rear vehicle is tested for rear collision warning by robot steering, the steering time needs to be set synchronously according to the steering path. Considering that the time when the rear vehicle starts to change lanes to point P is T0, the robot steering time is TTCT from the front vehicle. 测 =T0+T 安全 0.2s≤T 安全 ≤1s.

[0045] In other embodiments, a flatbed dummy vehicle (GST, etc.) can be used as the rear vehicle, and its braking acceleration is -6m / s by default. 2 to set it up.

[0046] Before the collision warning test, it is planned that when the overlap rate between the rear vehicle and the front vehicle is 0%, the rear vehicle will automatically turn. Before the test starts, the control parameters of the rear vehicle robot braking / turning time are set.

[0047] Specifically, Figure 2 As shown in the figure, when the overlap rate between the rear vehicle and the front vehicle reaches point P, the TTC from the rear vehicle starting to change lanes to point P is generally not less than 1s. The specific adjustment can be made according to the function of the front vehicle. The lateral acceleration of the rear vehicle during the turning process should be less than 3m / s 2 .

[0048] Table 1 Path parameter table

[0049]

[0050]

[0051] When the risk avoidance strategy implemented by the background vehicle is turning and changing lanes, as shown in Table 1 and Figure 2 As shown in the figure, from the selection range of the path parameter reference, it can be seen that at point P, the starting radius of the rear vehicle is 72m, and it is turned. The ending radius of the turn is 1200mm, the angle is 0.33°, and the speed is maintained at 60km / h. After turning, the lateral acceleration of the rear vehicle should be less than 3m / s 2 When the risk avoidance strategy implemented by the background vehicle is turning and changing lanes, the time for the background vehicle to turn and change lanes is T 测 ; T 测 =T0+T 安全 ;

[0052] T0 is the time taken by the background vehicle to start turning and changing lanes to the first target point. The first target point is the position of the background vehicle when the overlap rate between the background vehicle and the test vehicle is 0%; T 安全 It is 0.2~1.0s.

[0053] In this embodiment, the turning time needs to be set synchronously according to the turning path. Specifically, the time when the rear vehicle starts to change lanes to point P is T0, then the TTC of the robot from the front vehicle to the turning time is T 测 =T0+T 安全 . T 安全 0.2-1.0s. By setting T 测 , which can improve the safety of testing while ensuring safety.

[0054] Test Example 1

[0055] Test Example 1 is used for testing that the risk avoidance strategy executed by the rear vehicle in Example 1 is turning and changing lanes.

[0056] In this test example, the test results of the RCW test in which the rear vehicle adopted a risk avoidance strategy of turning and changing lanes are shown in the following table.

[0057] Table 2 Test of the rear vehicle adopting the risk avoidance strategy of turning and changing lanes

[0058]

[0059]

[0060] like Figure 2 As shown in Table 3, the test level 1 alarm time is T 测 . Turning and lane changing tests were conducted at speeds of 60, 70 and 80 km / h respectively. The theoretical time T0 to reach point P on the path was 0.95 s, and the difference between the actual time and the theoretical time was 0.18 to 0.21 s. To ensure the safety of the test and improve the accuracy of the test, when the lateral overlap displacement difference after T0+0.2s was between 0.57 and 0.71m, the test results showed that the first-level alarm time TTC of the RCW test was between 0.98 and 1.21 s.

[0061] According to the current GB 4785-2019 standard for the installation of external lighting and light signal devices for vehicles and trailers, the activation conditions of the rear-end collision warning signal include the following two points: when the speed difference between the vehicle issuing the rear-end collision warning signal and the vehicle following in the same lane is greater than 30km / h, TTC≤1.4s. That is, in this test case, the setting of T0+0.2s can not only ensure the safety of the test vehicle, but also meet the TTC≤1.4s of GB 4785-2019.

[0062] In summary, when the overlap rate between the rear vehicle and the front vehicle is 0% at point P, the time when the rear vehicle starts to change lanes to point P is T0, then the TTC of the robot from the front vehicle at the time of turning is T 测 =T0+T 安全Satisfy the requirements of the standard.

[0063] In addition, in the prior art, there are tests of automobile collision warnings using V2V communication, such as patent application CN202010408413.9, a test method and a test system for a vehicle emergency braking warning system based on V2V. The aforementioned method includes: constructing a test case, including at least a single-lane straight, curved and ramp test road condition and an adjacent double-lane straight and curved test road condition; driving the target vehicle and background vehicles on the test road condition according to the test case, recording the warning information issued by the target vehicle, and recording the runtime information of the target vehicle and the background vehicle; analyzing whether the warning information meets the test indicators based on the runtime information. Although V2V communication is used to enable mutual data exchange and analysis between vehicles, when performing vehicle collision tests based on V2V, it is more dependent on the need for the front vehicle to analyze the behavior status of the rear vehicle during the test in order to obtain the test results. However, Test Example 1 is different from Implementation Example 1. By pre-setting T 测 =T0+T 安全 The front vehicle only needs to record the test results and does not need to analyze the driving behavior of the rear vehicle during the test, so as to reduce the error of the test and improve the accuracy of the test.

[0064] At the same time, compared with the emergency braking strategy, the braking speed is generally limited. Specifically, the TTC time required for braking at high speed is longer. This is because the rear vehicle will also move forward a distance due to inertia when braking, which affects the accuracy of the test. Therefore, the avoidance strategy of turning and changing lanes can be adapted to the situation when the relative speed of the two vehicles is relatively fast.

[0065] Finally, to ensure the accuracy and safety of the test, the rear vehicle will perform emergency braking when it reaches the braking distance. After multiple tests, the rear vehicle's brake device will be worn due to multiple "emergency braking". This wear will affect the braking of the rear vehicle, which may cause certain safety hazards. When the rear vehicle is about to turn, the rear vehicle's inherent turn indicator light will be turned on. The front vehicle can receive the rear vehicle's turn signal through the installed camera device and promptly detect the rear vehicle's turn time, thereby obtaining accurate test data. In addition, the rear vehicle does not need to use "emergency braking", and the rear vehicle's brake device wear is small, which is suitable for multiple tests and ensures safety.

[0066] Embodiment 2

[0067] Different from the first embodiment, the risk avoidance strategy adopted in this embodiment is emergency braking, and the setting of the control parameters of the robot brake arm at the braking moment in this embodiment.

[0068] The target vehicle adopts robot braking test for rear collision warning; the braking moment is designed by considering the maximum braking acceleration Amax of the target vehicle and the reserved safety threshold M, and the braking moment distance S is set as follows:

[0069]

[0070] Where: V1 is the speed of the rear vehicle at the beginning of the test, V0 is the speed of the rear vehicle when the relative speed of the two vehicles is 0, A max is the maximum deceleration calibrated for the target vehicle, and the safety threshold M=n*V1. In this embodiment, n=0.5s.

[0071] In other embodiments, if a flatbed vehicle (GST, etc.) is used as the rear vehicle, its braking deceleration is set to -6 m / s by default. 2 Set it up, and estimate the TTC value when the front vehicle has a collision alarm as T2 based on the design value of the front vehicle, and set the GST braking time to T2-0.2s.

[0072] According to the experimental method of the parameter values ​​set above, the rear vehicle and the front vehicle are controlled to perform vehicle collision tests and the test data and results are recorded.

[0073] The beneficial effects of this embodiment

[0074] Compared with the prior art, the test of the intelligent automobile collision warning based on RCW in this embodiment can not only improve the accuracy of the test while ensuring safety, but also improve the test efficiency.

[0075] First, dual-vehicle positioning data interaction equipment is installed on the two vehicles to obtain the distance, speed and collision time between the two vehicles in real time, which is conducive to the analysis of test results and improves the accuracy of the test. At the same time, the distance, speed and collision time between the two vehicles are sent to the robot. By understanding the data, the robot can control the vehicle in time to ensure the safety of the test.

[0076] Secondly, the robot is used to control the background vehicle. When the robot is used for control, the robot controls the braking device and tests it within a limited number of times to find the optimal deceleration of the background vehicle and shorten the braking distance. This can not only ensure the safety of the rear vehicle, but also extend the RCW test between the two vehicles to find the limit value of the RCW test to improve the accuracy of the test. In addition, the lane change path of the background vehicle, including angle, radius, etc., is processed so that the background vehicle and the test vehicle can be tested on one lane or on multiple lanes to meet a variety of test environments.

[0077] At the same time, setting the braking distance S and TTC value can help improve the accuracy and safety of the test.

[0078] Finally, by using robots to control background vehicles for testing, labor costs are reduced, and subjective control of background vehicles by humans is reduced, the accuracy of the test is improved, and the test can be performed multiple times, thereby improving test efficiency.

[0079] Test Example 2

[0080] In this test example, the evasive strategy adopted by the rear vehicle is the test result of the RCW test with emergency braking. Calibration setting of the rear vehicle maximum deceleration A max 9(m / s 2 ). A total of 8 tests were conducted when the front vehicle was stationary, and the test data are shown in the following table.

[0081] Table 1 RCW test results when the front vehicle is stationary and the rear vehicle adopts emergency braking as the hazard avoidance strategy

[0082]

[0083] In this test example, when the front vehicle speed is 10 km / h, the maximum deceleration of the rear vehicle is set to A. max 9(m / s 2 ). The test results of the RCW test in which the rear vehicle adopts the emergency braking strategy. The test data are shown in the following table.

[0084] Table 2 RCW test results when the front vehicle is moving and the rear vehicle adopts emergency braking as the hazard avoidance strategy

[0085]

[0086] In Table 1 and Table 2, the theoretical braking distance calculation formula is: The actual preset braking distance formula is: Safety threshold M = n*V1, n = 0.5s. The safety reserve distance is S0 = S-S1. Among them, V1 is the initial speed of the background vehicle during the test, V0 is the speed of the background vehicle when the relative speed between the background vehicle and the target vehicle is 0, and A max is the maximum deceleration of the background vehicle; the actual braking / collision avoidance distance during calibration is S1.

[0087] As shown in Table 1, when the front vehicle is stationary, the braking speed of the rear vehicle in each test increases from 10 km / h to 80 km / h. In existing technical theories, the formula for calculating the braking distance is: The existing technical theory is a limit value, that is, when the braking distance calculation formula is met, the two cars are close and just do not collide. However, in actual tests, if the braking distance is based on the theoretical braking calculation formula, it is very easy to cause safety accidents. Therefore, in order to ensure the accuracy of the test and improve safety, a safety threshold M is added in this test example. When setting the safety threshold M, it is necessary to confirm whether the safety threshold M can obtain accurate RCW test results while ensuring safety through multiple tests as shown in Tables 1 and 2.

[0088] In summary, Embodiment 1, Test Example 1, Embodiment 2 and Test Example 2, a test method for intelligent car collision warning based on RCW will not obtain technical inspiration from the prior art. Specifically, whether it is an emergency braking avoidance strategy or a steering lane change avoidance strategy, it is based on the avoidance strategy executed after the test has been completed. The avoidance strategy has been selected and the parameters have been calibrated before the test begins. Unlike other tests conducted in a real environment, it will only execute the avoidance strategy after confirming that the test is completed during the test. However, this test method is different. This test method selects different avoidance strategies according to the speed of the rear vehicle before the test begins to obtain more accurate test results. Secondly, before the test starts, it is calibrated that the rear vehicle should execute the avoidance strategy in the target time period after the front vehicle completes the test, that is, the formula for emergency braking and steering lane change is used to calculate that the rear vehicle should execute the avoidance strategy in the target time period. The relevant formulas provided by this test method can complete automated and integrated vehicle collision testing and are applicable to any vehicle model. Existing test methods, such as V2V and FCW, require vehicles with AEB functions to complete the test.

[0089] In addition, other conventional testers do not obtain the relevant formulas of risk avoidance strategies through simple means. This is because the braking distance S and the turning lane change time T 测The design is not only optimized based on the standard, but also obtained through multiple tests, and the test formula is simplified. The purpose of simplifying the formula is that since the TTC time of the RCW test is relatively small, if the formula is complicated, the processing time of the processor in the rear vehicle will be longer. During this long time, it is not only difficult to obtain accurate test values, but also the time of vehicle collision may be reached after the accumulation of risk avoidance and processing time, which reduces the safety of the test. At the same time, it is difficult for conventional technicians in this field to think of how to determine the formula through multiple tests. This is because when a large amount of test data is obtained, there are certain errors in determining the braking, driving speed, weight, test scene and torque of the rear vehicle before the test. Before the test, multiple adjustments such as braking distance are made to reduce the error during the test, and different risk avoidance strategies are adjusted according to the driving speed of the rear vehicle to obtain more accurate test results.

[0090] Embodiment 3

[0091] like Figure 3 As shown, this embodiment provides a test system for intelligent automobile collision warning based on RCW, and executes the test method described in the aforementioned embodiments and test examples, including a background vehicle and a test vehicle; both the background vehicle and the test vehicle are provided with a dual-vehicle positioning interaction module, and the dual-vehicle positioning interaction module is used to share the driving data of the background vehicle and the test vehicle; the background vehicle is provided with a driving robot module, and the driving robot module is used to control the background vehicle, specifically including robot braking control, robot steering wheel control and robot throttle control; the test vehicle is provided with a collection module, which is used to collect the alarm sound, instrument warning, rear flash light and parking light of the test vehicle; the test vehicle is provided with a signal processing module, which is used to analyze the driving data of the background vehicle and the test vehicle of the dual-vehicle positioning module as well as the alarm sound, instrument warning, rear flash light and parking light of the test vehicle.

[0092] In this specification, a lot of specific details are described. However, it is understood that embodiments of the present invention can be put into practice without these specific details. In some examples, known methods, systems and techniques are not shown in detail so as not to obscure the understanding of this specification. In the description of this specification, the description of reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, methods, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this specification.

[0093] In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, systems, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A test method for intelligent vehicle collision warning based on RCW, characterized in that: include: S1, constructing a vehicle rear collision warning test scenario, wherein the vehicle rear collision warning test scenario includes a plurality of lanes, background vehicles and a test vehicle; S2, setting the risk avoidance strategy for background vehicles; S3, the background vehicle and the test vehicle carry out a vehicle rear collision warning test in the same lane; S4, obtaining and analyzing driving data of background vehicles and test vehicles; S5, after the background vehicle executes the risk avoidance strategy, the vehicle rear collision warning test is completed and the rear warning result of the test vehicle is obtained.

2. The test method of the RCW-based intelligent vehicle collision warning according to claim 1, characterized in that: The control of the background vehicle includes robotic brake control, robotic steering wheel control and robotic throttle control.

3. The test method of the RCW-based intelligent vehicle collision warning according to claim 1, characterized in that: The background vehicle is a flatbed dummy vehicle.

4. The test method of the RCW-based intelligent vehicle collision warning according to claim 1, characterized in that: Background Vehicle avoidance strategies include emergency braking and turning to change lanes.

5. The test method of the RCW-based intelligent vehicle collision warning according to claim 4 is characterized in that: When the risk avoidance strategy implemented by the background vehicle is emergency braking, when the distance between the two vehicles is S, the background vehicle performs emergency braking; specifically, V1 is the initial speed of the background vehicle during the test, V0 is the speed of the background vehicle when the relative speed between the background vehicle and the target vehicle is 0, A max is the maximum deceleration of the background vehicle, and M is the safety threshold.

6. The test method of RCW-based intelligent vehicle collision warning according to claim 5, characterized in that: Safety threshold M=n*V1; n=0.5s.

7. The test method of RCW-based intelligent vehicle collision warning according to claim 4, characterized in that: When the risk avoidance strategy implemented by the background vehicle is turning and changing lanes, the time for the background vehicle to turn and change lanes is T 测 ; T 测 =T0+T 安全 ; T0 is the time taken by the background vehicle to start turning and changing lanes to the first target point. The first target point is the position of the background vehicle when the overlap rate between the background vehicle and the test vehicle is 0%; T 安全 It is 0.2~1.0s.

8. The test method of RCW-based intelligent vehicle collision warning according to claim 1, characterized in that: The test vehicle's rear warning results include the test vehicle's alarm sound, instrument warning, rear flashers and parking lights.

9. A test system for intelligent vehicle collision warning based on RCW, characterized in that: Includes background vehicles and test vehicles; Both the background vehicle and the test vehicle are equipped with a dual-vehicle positioning interaction module, which is used to share the driving data of the background vehicle and the test vehicle; The background vehicle is provided with a driving robot module, which is used to control the background vehicle, specifically including robot brake control, robot steering wheel control and robot throttle control; The test vehicle is equipped with a collection module for collecting the alarm sound, instrument warning, rear flasher and parking light of the test vehicle; The test vehicle is equipped with a signal processing module for analyzing the driving data of the background vehicle and the test vehicle of the dual-vehicle positioning module, as well as the alarm sound, instrument warning, rear flasher and parking light of the test vehicle.

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