Intelligent network connection real vehicle test case screening method in specific scene and medium

Abstract

The invention provides an intelligent network connection real vehicle test case screening method under a specific scene and a medium, and belongs to the technical field of vehicle testing, the method is based on a test case generation method of different speed combinations and shielding distance combinations, and dangerous scene test cases are screened by calculating boundary braking deceleration under different combinations; according to the method, a possible test scene can be covered more comprehensively and visually, and the test effectiveness and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of data testing, and in particular to a method and medium for screening test cases of intelligent connected vehicles in a specific scenario. Background Art

[0002] The current implementation method of testing technology is to design scenarios based on relevant standards, reconstruct combinations based on key elements, and refine and simplify based on real data.

[0003] However, all three implementation methods mentioned above have corresponding problems. The test scenarios set by the relevant standards only cover the most basic and common situations, and it is difficult to fully reflect the various complex and extreme situations that may be encountered in actual road driving. Although the key element combination reconstruction method can achieve a high degree of scenario coverage, the possibility of element combination is extremely large, resulting in a large number of generated test scenarios, which is difficult to implement in full and the test efficiency is low. The collection and processing of real data is costly, and the quality and integrity of the data are difficult to guarantee, which may affect the accuracy and reliability of the refined test scenarios and may be difficult to generalize to a wider range of test needs.

[0004] In response to the above problems, this paper proposes a method and medium for screening test cases of intelligent connected vehicles in specific scenarios. Summary of the invention

[0005] The present invention proposes a method and medium for screening test cases for intelligent connected vehicles in specific scenarios, aiming to cover potential dangerous scenarios more comprehensively by considering different speed combinations and occlusion distance combinations; and to efficiently screen out high-risk test cases by calculating the boundary braking deceleration under various combinations, thereby improving the efficiency and pertinence of the test.

[0006] To achieve the above object, the present invention provides a method for screening test cases of intelligent connected vehicles in a specific scenario, comprising the following steps: S1. Set up test scenarios and constraints; S11. Set the test scene to an urban road scene; specifically, the test scene is equal to a crossroad, a T-junction or an intersection; S12. Initialize the main vehicle HV driving speed to ;in, ; S13. Initialize the test vehicle RV driving speed to ;in ; S14. Initialize the distance between the obstacle on the road side where the main vehicle HV is located and the intersection ; S15. Set the collision area to a square with a side length of W; wherein the side length W = the width of the main vehicle HV = the width of the test vehicle RV; S16. Set the traffic light mark in the urban road scene to an unavailable state.

[0007] Among them, the main vehicle HV is an L2-level vehicle with auxiliary vehicle perception capabilities; it has auxiliary vehicle execution capabilities and can perform longitudinal controls such as early warning and braking; it has an ADAS positioning module, through which it can obtain real-time physical location information; it can obtain surrounding environment target information to judge the current state, know the collision relationship with each target object, and obtain appropriate trajectory planning; it can use a reasonable perception fusion strategy to integrate the vehicle-side perception information and the target information received on the vehicle side; it can calculate the warning time by judging the collision relationship between the crossing vehicle and the vehicle itself.

[0008] S2. Under the test scenario and constraints, establish a collision conflict mathematical model of the main vehicle HV and the test vehicle RV; calculate and obtain the first angle according to the collision conflict mathematical model and first collision time ; Among them, the first angle The calculation formula is: ; Among them, the first angle is the angle between the line connecting the main vehicle HV and the test vehicle RV and the driving direction of the main vehicle HV when the main vehicle HV finds the test vehicle RV; To test the distance between the test vehicle RV and the collision area when the test vehicle RV is discovered by the host vehicle HV; The distance between the main vehicle HV and the collision area when the main vehicle HV finds the test vehicle RV; The first collision time The calculation formula is:

[0009] The first collision time is the time interval from the moment when the host vehicle HV finds the test vehicle RV to the moment when the rear end of the test vehicle RV leaves the collision area; is the length of the test vehicle RV; W is the width of the collision area.

[0010] Specifically, the first collision time As the safety time boundary; the maximum time safety boundary can be understood as: when the main vehicle HV finds the test vehicle RV, the main vehicle HV starts to take braking evasive action. In order to ensure that the rear end of the test vehicle RV just leaves the collision area when the front end of the main vehicle HV reaches the collision area, the minimum time required by the main vehicle HV.

[0011] S3. According to the first angle and first collision time , calculate the minimum braking deceleration of the main vehicle HV ; Among them, the minimum braking deceleration It is the minimum braking deceleration required to take braking evasive action when the host vehicle HV detects the test vehicle RV.

[0012] Minimum braking deceleration The calculation process is: S31. When the host vehicle HV finds the test vehicle RV, the braking evasive action is triggered immediately, and the host vehicle HV adopts a constant deceleration Apply the brakes; Set the maximum braking deceleration to g; where g=9.8m / s²; Set the friction coefficient u between the vehicle and the road to 1; in, Formula (1) The initial velocity of the host vehicle HV when discovering the test vehicle RV; is the final velocity of the main vehicle HV when its front reaches the collision area; among them, the initial velocity and final speed The relationship satisfies the following formula: Formula (2) Wherein, t is the time when the front of the host vehicle HV reaches the collision area after the host vehicle HV takes braking evasive action when it finds the test vehicle RV; S32. Calculate and obtain the time t when the front of the main vehicle HV reaches the collision area after the main vehicle HV takes braking evasive action when it finds the test vehicle RV.

[0013] Substituting formula (2) into formula (1) yields:

[0014] Further, we can calculate:

[0015] Among them, t needs to satisfy: .

[0016] S33. Set t to select the safe time boundary , that is, set t = , calculate the minimum braking deceleration ; When t= hour: ; The calculation can be obtained:

[0017] at this time: .

[0018] S4. Combine the test scenario and constraints in step S1 with the minimum braking deceleration calculated in step S3. As a test case; S5. Adjust the distance between the obstruction on the road side where the main vehicle HV is located and the intersection , Main vehicle HV driving speed , Test vehicle RV driving speed , repeatedly execute step S1 to step S4 to generate multiple test cases to form a test case set; S6. Minimum braking deceleration in screening test cases Test cases that do not meet the preset conditions are regarded as dangerous critical scenario test cases.

[0019] The preset conditions include but are not limited to: minimum braking deceleration Greater than the preset threshold .

[0020] The present invention also provides a computer-readable storage medium, on which computer instructions are stored, and the instructions are called by a processor to execute the method for screening test cases for intelligent connected vehicles in a specific scenario.

[0021] The present invention has the following beneficial effects: 1. This invention proposes an innovative test case screening method for real vehicle testing of intelligent connected vehicles in the scene of blocked crossing at intersections. This method first defines the test scenario and constraints, clarifies the test scope and system capability requirements, establishes a collision conflict mathematical model, determines the collision conditions by analyzing the geometric relationship and speed combination between the host vehicle (HV) and the test vehicle (RV), and calculates the minimum braking deceleration when the host vehicle takes braking evasion after discovering the test vehicle, providing a model method for improving the accuracy of the host vehicle taking braking evasion actions and screening high-risk test cases.

[0022] 2. By dynamically adjusting the distance of the obstruction from the intersection, changing the speed combination of the main vehicle and the test vehicle, generating multiple groups of test cases, and calculating the minimum braking deceleration under each test case, test cases with high-risk collisions are screened out, thereby helping testers to more intuitively expand the test scenarios of relevant standards and improve the effectiveness and efficiency of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 Schematic diagram of the actual environment simulated in the intelligent connected vehicle test case screening method under a specific scenario. DETAILED DESCRIPTION

[0025] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0026] like Figure 1 As shown, the present invention provides a method for screening test cases of intelligent connected vehicles in a specific scenario, comprising the following steps: S1. Set up test scenarios and constraints; S11. Set the test scene to an urban road scene; specifically, the test scene is equal to a crossroad, a T-junction or an intersection; S12. Initialize the main vehicle HV driving speed to ;in, ; S13. Initialize the test vehicle RV driving speed to ;in ; S14. Initialize the distance between the obstacle on the road side where the main vehicle HV is located and the intersection ; S15. Set the collision area to a square with a side length of W; wherein the side length W = the width of the main vehicle HV = the width of the test vehicle RV; S16. Set the traffic light mark in the urban road scene to an unavailable state.

[0027] Among them, the main vehicle HV is an L2-level vehicle with auxiliary vehicle perception capabilities; it has auxiliary vehicle execution capabilities and can perform longitudinal controls such as early warning and braking; it has an ADAS positioning module, through which it can obtain real-time powerless position information; it can obtain surrounding environment target information to judge the current state, know the collision relationship with each target object, and obtain appropriate trajectory planning; it can use a reasonable perception fusion strategy to integrate the vehicle-side perception information and the target information received on the vehicle side; it can calculate the warning time by judging the collision relationship between the crossing vehicle and the vehicle itself.

[0028] S2. Under the test scenario and constraints, establish a collision conflict mathematical model of the main vehicle HV and the test vehicle RV; calculate and obtain the first angle according to the collision conflict mathematical model and first collision time ; Among them, the first angle The calculation formula is: ; Among them, the first angle is the angle between the line connecting the main vehicle HV and the test vehicle RV and the driving direction of the main vehicle HV when the main vehicle HV finds the test vehicle RV; To test the distance between the test vehicle RV and the collision area when the test vehicle RV is discovered by the host vehicle HV; The distance between the main vehicle HV and the collision area when the main vehicle HV finds the test vehicle RV; The first collision time The calculation formula is:

[0029] The first collision time is the time interval from the moment when the host vehicle HV finds the test vehicle RV to the moment when the rear end of the test vehicle RV leaves the collision area; is the length of the test vehicle RV; W is the width of the collision area.

[0030] Specifically, the first collision time As the safety time boundary; the maximum time safety boundary can be understood as: when the main vehicle HV finds the test vehicle RV, the main vehicle HV starts to take braking evasive action. In order to ensure that the rear end of the test vehicle RV just leaves the collision area when the front end of the main vehicle HV reaches the collision area, the minimum time required by the main vehicle HV.

[0031] S3. According to the first angle and first collision time , calculate the minimum braking deceleration of the main vehicle HV ; Among them, the minimum braking deceleration It is the minimum braking deceleration required to take braking evasive action when the host vehicle HV detects the test vehicle RV.

[0032] Minimum braking deceleration The calculation process is: S31. When the host vehicle HV finds the test vehicle RV, the braking evasive action is triggered immediately, and the host vehicle HV adopts a constant deceleration Apply the brakes; Set the maximum braking deceleration to g; where g=9.8m / s²; Set the friction coefficient u between the vehicle and the road to 1; in, Formula (1) The initial velocity of the host vehicle HV when discovering the test vehicle RV; is the final velocity of the main vehicle HV when its front reaches the collision area; among them, the initial velocity and final speed The relationship satisfies the following formula: Formula (2) Wherein, t is the time when the front of the host vehicle HV reaches the collision area after the host vehicle HV takes braking evasive action when it finds the test vehicle RV; S32. Calculate and obtain the time t when the front of the main vehicle HV reaches the collision area after the main vehicle HV takes braking evasive action when it finds the test vehicle RV.

[0033] Substituting formula (2) into formula (1) yields:

[0034] Further, we can calculate:

[0035] Among them, t needs to satisfy: .

[0036] S33. Set t to select the safe time boundary , that is, set t = , calculate the minimum braking deceleration ; When t= hour: ; The calculation can be obtained:

[0037] at this time: .

[0038] S4. Combine the test scenario and constraints in step S1 with the minimum braking deceleration calculated in step S3. As a test case; S5. Adjust the distance between the obstruction on the road side where the main vehicle HV is located and the intersection , Main vehicle HV driving speed , Test vehicle RV driving speed , repeatedly execute step S1 to step S4 to generate multiple test cases to form a test case set; S6. Minimum braking deceleration in screening test cases Test cases that do not meet the preset conditions are regarded as dangerous critical scenario test cases.

[0039] The preset conditions include but are not limited to: minimum braking deceleration Greater than the preset threshold .

[0040] Furthermore, step S6 further includes: S61. Obtain the minimum braking deceleration in the test case set Greater than the preset threshold A plurality of test case sets as the first dangerous critical scenario test case set; S62. Select any two test cases from the first critical scenario test case set and , respectively get the test cases and In , , Numeric value; Among them, the test case The corresponding value is , , ; Test Cases The corresponding value is , , ; S63. Computational test cases and test cases The use case distance H; in, ; S64. When the use case distance H is less than the preset threshold When , ; when When the test case is deleted from the first critical scenario test case set , execute step S66; when When the test case is deleted from the first critical scenario test case set , execute step S66; When the use case distance H is greater than or equal to the preset threshold When , execute step S65; S65. Calculation test cases and The corresponding minimum braking deceleration difference, when the difference is less than the preset threshold When ; ; Dangdang When the test case is deleted from the first critical scenario test case set , execute step S66; when When the test case is deleted from the first critical scenario test case set , execute step S66; S66. For any two test cases in the first dangerous critical scenario test case set, repeat steps S62 to S65 to obtain a second dangerous critical scenario test case set; S67. Use the test cases in the second dangerous critical scenario test case set as dangerous critical scenario test cases.

[0041] The present invention has the following beneficial effects: 1. This invention proposes an innovative test case screening method for real vehicle testing of intelligent connected vehicles in the scene of blocked crossing at intersections. This method first defines the test scenario and constraints, clarifies the test scope and system capability requirements, establishes a collision conflict mathematical model, determines the collision conditions by analyzing the geometric relationship and speed combination between the host vehicle (HV) and the test vehicle (RV), and calculates the minimum braking deceleration when the host vehicle takes braking evasion after discovering the test vehicle, providing a model method for improving the accuracy of the host vehicle taking braking evasion actions and screening high-risk test cases.

[0042] 2. By dynamically adjusting the distance of the obstruction from the intersection, changing the speed combination of the main vehicle and the test vehicle, generating multiple groups of test cases, and calculating the minimum braking deceleration under each test case, test cases with high-risk collisions are screened out, thereby helping testers to more intuitively expand the test scenarios of relevant standards and improve the effectiveness and efficiency of the test.

[0043] 3. The present invention proposes a method for screening test cases. First, the test cases whose minimum braking deceleration is greater than a preset threshold are screened to form a first dangerous critical scenario test case set; then, through multi-level judgment of the minimum braking deceleration, main vehicle speed, test vehicle speed, and distance of obstructions from the intersection in the test cases, the test cases with small case distances and high similarity are eliminated to form a second dangerous critical scenario test case set, thereby improving the accuracy of high-risk test case screening.

[0044] The medium in the present invention may adopt any combination of one or more computer-readable media. The medium may be a computer-readable signal medium or a computer-readable storage medium. The medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of the medium (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, the medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device, or device.

[0045] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A method for screening test cases of intelligent connected vehicles in a specific scenario, characterized in that: The following steps are involved: S1. Set up test scenarios and constraints; S11. Set the test scene to an urban road scene; the test scene is equal to a crossroad, a T-junction or an intersection; S12. Initialize the main vehicle HV driving speed to ;in, ; S13. Initialize the test vehicle RV driving speed to ;in ; S14. Initialize the distance between the obstacle on the road side where the main vehicle HV is located and the intersection ; S15. Set the collision area to a square with a side length of W; wherein the side length W = the width of the main vehicle HV = the width of the test vehicle RV; S16. Set the traffic light logo in the urban road scene to an unavailable state; S2. Under the test scenario and constraints, establish a collision conflict mathematical model of the main vehicle HV and the test vehicle RV; calculate and obtain the first angle according to the collision conflict mathematical model and first collision time ; S3. According to the first angle and first collision time , calculate the minimum braking deceleration of the main vehicle HV ; S4. Combine the test scenario and constraints in step S1 with the minimum braking deceleration calculated in step S3. As a test case; S5. Adjust the distance between the obstruction on the road side where the main vehicle HV is located and the intersection , Main vehicle HV driving speed , Test vehicle RV driving speed , repeatedly execute step S1 to step S4 to generate multiple test cases to form a test case set; S6. Minimum braking deceleration in screening test cases Test cases that do not meet the preset conditions are regarded as dangerous critical scenario test cases.

2. The method for screening test cases of intelligent connected vehicles in a specific scenario according to claim 1, characterized in that: Step S2 specifically includes: First Angle The calculation formula is: ； Among them, the first angle is the angle between the line connecting the main vehicle HV and the test vehicle RV and the driving direction of the main vehicle HV when the main vehicle HV finds the test vehicle RV; To test the distance between the test vehicle RV and the collision area when the test vehicle RV is discovered by the host vehicle HV; The distance between the main vehicle HV and the collision area when the main vehicle HV finds the test vehicle RV; The first collision time The calculation formula is: The first collision time is the time interval from the moment when the host vehicle HV finds the test vehicle RV to the moment when the rear end of the test vehicle RV leaves the collision area; is the length of the test vehicle RV; W is the width of the collision area; Specifically, the first collision time As a safe time boundary.

3. The method for screening test cases of intelligent connected vehicles in a specific scenario according to claim 1, characterized in that: Minimum braking deceleration It is the minimum braking deceleration required to take braking evasive action when the host vehicle HV detects the test vehicle RV.

4. The method for screening test cases of intelligent connected vehicles in a specific scenario according to claim 2, characterized in that: Step S3 specifically includes: minimum braking deceleration The calculation process is: S31. When the host vehicle HV finds the test vehicle RV, the braking evasive action is immediately triggered, and the host vehicle HV adopts a constant deceleration Apply the brakes; Set the maximum braking deceleration to g; where g=9.8m / s²; Set the friction coefficient u between the vehicle and the road to 1; in, The initial velocity of the host vehicle HV when discovering the test vehicle RV; is the final velocity of the main vehicle HV when its front reaches the collision area; among them, the initial velocity and final speed The relationship satisfies the following formula: Wherein, t is the time when the front of the host vehicle HV reaches the collision area after the host vehicle HV takes braking evasive action when it finds the test vehicle RV; S32. Calculate the time t when the main vehicle HV reaches the collision area after the main vehicle HV takes braking evasive action when it finds the test vehicle RV; We can get: Further, we can calculate: Among them, t needs to satisfy: ; S33. Set t to select the safe time boundary , that is, set t = , calculate the minimum braking deceleration ; When t= hour: ； The calculation can be obtained: at this time: 。 5. The method for screening test cases of intelligent connected vehicles in a specific scenario according to claim 1, characterized in that: Step S6 includes: Preset conditions include: minimum braking deceleration Greater than the preset threshold .

6. A computer-readable storage medium, characterized in that: The medium stores computer instructions, and the computer instructions execute the method according to any one of claims 1-5.

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