Vehicle braking test method and device, vehicle and storage medium

Abstract

The invention provides a vehicle braking test method and device, a vehicle and a storage medium. The method comprises the steps that a target speed value and a target braking pressure value of the test are selected; acquiring an actual driving speed value of the vehicle; when the actual driving speed value is equal to the target speed value, whether the vehicle meets a preset safety braking test condition or not is determined; and when the vehicle meets the preset safety braking test condition, controlling the vehicle to enter a braking state under the action of the target braking pressure value, and acquiring braking data of the vehicle in the braking state. The method can improve the safety of the brake test process.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle braking test method, a device, a vehicle and a storage medium in the field of vehicles. Background Art

[0002] Vehicle driving safety is the focus of the development of autonomous driving systems and is also the key to the commercialization of future intelligent connected vehicles. Autonomous driving vehicles use on-board sensor systems to sense the road environment, automatically plan driving routes, and control the vehicle to reach the intended destination. In order to ensure that the autonomous driving system can accurately control the vehicle's braking when the vehicle encounters obstacles or dangerous situations during actual driving, and to ensure that the vehicle can operate safely, the vehicle is usually braked in advance.

[0003] However, there are certain safety hazards in the process of braking testing vehicles. Summary of the invention

[0004] The present application provides a vehicle braking test method, device, vehicle and storage medium, which can improve the safety of the braking test process.

[0005] In a first aspect, a vehicle braking test method is provided, the method comprising: selecting a target speed value and a target braking pressure value for this test; obtaining an actual driving speed value of the vehicle; when the actual driving speed value is equal to the target speed value, determining whether the vehicle meets a preset safety braking test condition; when the vehicle meets the preset safety braking test condition, controlling the vehicle to enter a braking state under the action of the target braking pressure value, and obtaining braking data of the vehicle in the braking state.

[0006] In the above technical solution, when the actual driving speed value of the vehicle is equal to the target speed value of this test, it is first determined whether the vehicle meets the preset safety braking test conditions. When the safety braking test conditions are met, the vehicle is controlled to enter a braking state under the action of the target braking pressure value of this test, thereby obtaining the braking data of this test. Since, during the braking test, when the actual driving speed value of the vehicle is equal to the target speed value of this test, it is further determined that the safety braking test conditions are met, and then the vehicle is controlled to enter a braking state under the action of the target braking pressure value of this test, thereby obtaining the braking data of this test, the safety during this braking test can be improved.

[0007] In combination with the first aspect, in some possible implementations, determining whether the vehicle meets preset safety braking test conditions includes: obtaining actual operating parameters of the vehicle and / or road parameters of the road on which the vehicle is traveling; and determining whether the vehicle meets preset safety braking test conditions based on the actual operating parameters and / or the road parameters.

[0008] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the actual operating parameters of the vehicle include the actual wheel angle of the vehicle, and the road parameters include the actual slope angle of the road on which the vehicle is traveling; determining whether the vehicle meets the preset safety braking test conditions based on the actual operating parameters and / or the road parameters includes: when the actual wheel angle is less than a preset wheel angle threshold and / or the actual slope angle is less than a preset slope angle threshold, determining that the vehicle meets the preset safety braking test conditions.

[0009] In the above technical solution, when the actual wheel angle is less than the preset wheel angle threshold and / or the actual slope angle is less than the preset slope angle threshold, it is determined that the vehicle meets the preset safety brake test conditions, which can ensure that the vehicle has a smaller actual wheel angle during the test, and will not roll over due to excessive wheel angle or excessive brake pressure, thereby ensuring stable and safe vehicle operation. In addition, it can ensure that the vehicle can travel on a relatively straight road during the test. While ensuring the safety of the test, performing the brake test on a straight road is also conducive to improving the accuracy and reliability of the brake data obtained from the test.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, selecting the target speed value and target brake pressure value for this test includes: sampling according to a preset first step length within the executable speed range of the vehicle to obtain multiple sampled speed values; sampling according to a preset second step length within the executable brake pressure range of the vehicle to obtain multiple sampled brake pressure values; selecting the target speed value for this test from the multiple sampled speed values, and selecting the target brake pressure value for this test from the multiple sampled brake pressure values.

[0011] In the above technical solution, multiple sampled speed values ​​are obtained by sampling according to the first step length within the vehicle's executable speed range, and multiple sampled brake pressure values ​​are obtained by sampling according to the second step length within the vehicle's executable brake pressure range. Therefore, the target speed value of this test can be selected from the above multiple sampled speed values, and the target brake pressure value of this test can be selected from the multiple sampled brake pressure values. This is conducive to making the target speed value and target brake pressure value selected during the braking test reasonably and evenly distributed in the vehicle's executable speed range and executable brake pressure range, so that the braking data obtained from the test is more comprehensive and reliable.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle is connected to a remote control, and the remote control includes a first lever and a second lever. The determining of the target speed value of the current test among the multiple sampled speed values ​​and the determining of the target brake pressure value of the current test among the multiple sampled brake pressure values ​​include: determining a first number of times the first lever is moved, and selecting the target speed value from the multiple sampled speed values ​​according to the first number of times; determining a second number of times the second lever is moved, and selecting the target brake pressure value from the multiple sampled brake pressure values ​​according to the second number of times.

[0013] In the above technical solution, the tester can easily and conveniently select the target speed value and target brake pressure value of this test by toggling the first lever and the second lever on the remote control, without having to set the target speed value and target brake pressure value of this test by operating a laptop computer, thereby making the braking test process simpler and more convenient, and thus shortening the test cycle to a certain extent.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the multiple sampled speed values ​​respectively have their own first serial numbers and the first serial numbers of the multiple sampled speed values ​​are different, the multiple sampled brake pressure values ​​respectively have their own second serial numbers, and the second serial numbers of the multiple sampled brake pressure values ​​are different; the selecting the target speed value from the multiple sampled speed values ​​according to the first number includes: determining the first serial number corresponding to the first number; using the sampled speed value with the first serial number corresponding to the first number among the multiple sampled speed values ​​as the target speed value; the selecting the target brake pressure value from the multiple sampled brake pressure values ​​according to the second number includes: determining the second serial number corresponding to the second number; using the sampled brake pressure value with the second serial number corresponding to the second number among the multiple sampled brake pressure values ​​as the target brake pressure value.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after controlling the vehicle to enter a braking state under the action of the target brake pressure value and obtaining the braking data of the vehicle in the braking state, the method also includes: reselecting the target speed value from the multiple sampled speed values ​​through the first lever, and reselecting the target brake pressure value from the multiple sampled brake pressure values ​​through the second lever; using the reselected target speed value and the reselected target brake pressure value as the target speed value and target brake pressure value of the current test until all the multiple sampled speed values ​​and the multiple sampled brake pressure values ​​have been selected.

[0016] In the above technical solution, after obtaining a set of braking data corresponding to the target speed value and the target braking pressure value in each test, the tester can directly reselect a set of new target speed value and target braking pressure value through the first lever and the second lever to conduct a new round of braking test. Instead of requiring the tester to reset the new target speed value and target braking pressure value by operating the computer after each test, the method of resetting the target speed value and target braking pressure value through the first lever and the second lever on the remote controller in this embodiment is simpler, thus facilitating shortening the test cycle and thus facilitating rapid iteration of project development work.

[0017] In a second aspect, a vehicle braking test device is provided, which includes: a selection module for selecting a target speed value and a target braking pressure value for this test; an acquisition module for acquiring an actual driving speed value of the vehicle; a determination module for determining whether the vehicle meets a preset safety braking test condition when the actual driving speed value is equal to the target speed value; and a control module for controlling the vehicle to enter a braking state under the action of the target braking pressure value when the vehicle meets the preset safety braking test condition, and acquiring braking data of the vehicle in the braking state.

[0018] In combination with the second aspect, in some possible implementations, the determination module is specifically used to obtain actual operating parameters of the vehicle and / or road parameters of the road on which the vehicle is traveling; and determine whether the vehicle meets preset safety braking test conditions based on the actual operating parameters and / or the road parameters.

[0019] In combination with the second aspect, in some possible implementations, the actual operating parameters of the vehicle include the actual wheel angle of the vehicle, and the road parameters include the actual slope angle of the road on which the vehicle is traveling; the determination module is specifically used to determine that the vehicle meets the preset safety braking test conditions when the actual wheel angle is less than a preset wheel angle threshold and / or the actual slope angle is less than a preset slope angle threshold.

[0020] In combination with the second aspect, in some possible implementations, the selection module is specifically used to: obtain multiple sampled speed values ​​by sampling according to a preset first step length within the executable speed range of the vehicle; obtain multiple sampled brake pressure values ​​by sampling according to a preset second step length within the executable brake pressure range of the vehicle; select the target speed value of the test from the multiple sampled speed values, and select the target brake pressure value of the test from the multiple sampled brake pressure values.

[0021] In combination with the second aspect, in some possible implementations, the vehicle is connected to a remote control, the remote control includes a first lever and a second lever, and the selection module is specifically used to: determine a first number of times the first lever is moved, and select the target speed value from the multiple sampled speed values ​​based on the first number of times; determine a second number of times the second lever is moved, and select the target brake pressure value from the multiple sampled brake pressure values ​​based on the second number of times.

[0022] In combination with the second aspect, in some possible implementations, the multiple sampled speed values ​​each have their own first serial numbers and the first serial numbers of the multiple sampled speed values ​​are different, the multiple sampled brake pressure values ​​each have their own second serial numbers, and the second serial numbers of the multiple sampled brake pressure values ​​are different; the selection module is specifically used to: determine the first serial number corresponding to the first number; use the sampled speed value with the first serial number corresponding to the first number among the multiple sampled speed values ​​as the target speed value; determine the second serial number corresponding to the second number; use the sampled brake pressure value with the second serial number corresponding to the second number among the multiple sampled brake pressure values ​​as the target brake pressure value.

[0023] In combination with the second aspect, in certain possible implementations, after controlling the vehicle to enter a braking state under the action of the target brake pressure value and obtaining the braking data of the vehicle in the braking state, the selection module is also used to: reselect a target speed value from the multiple sampled speed values ​​through the first lever, and reselect a target brake pressure value from the multiple sampled brake pressure values ​​through the second lever; and use the reselected target speed value and the reselected target brake pressure value as the target speed value and target brake pressure value of this test until all of the multiple sampled speed values ​​and the multiple sampled brake pressure values ​​have been selected.

[0024] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0025] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0026] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic flow chart of a vehicle braking test method provided in an embodiment of the present application;

[0028] Figure 2 This is a network topology diagram of a test method provided by an embodiment of the present application;

[0029] Figure 3 It is a structural schematic diagram of a vehicle braking test device provided in an embodiment of the present application;

[0030] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0032] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0033] An embodiment of the present application relates to a vehicle braking test method, which is applied to a vehicle, and the vehicle may be a vehicle with an automatic driving function, and the vehicle with an automatic driving function may specifically be a logistics vehicle.

[0034] Logistics vehicles with autonomous driving functions are intelligent vehicles that use on-board sensor systems to sense the road environment, automatically plan driving routes, and control the vehicle to reach the intended destination. The wire-controlled chassis of logistics vehicles is a key execution end and a necessary condition for realizing the autonomous driving function. Logistics vehicles equipped with autonomous driving systems need to calculate the braking deceleration as a reference condition for the vehicle's autonomous driving control. By testing and calibrating the braking deceleration of the wire-controlled chassis of logistics vehicles, when the logistics vehicle encounters obstacles or dangerous situations where the autonomous driving system needs to brake, the braking system of the wire-controlled chassis can accurately and quickly execute the braking instructions issued by the autonomous driving system, thereby enabling the logistics vehicle to operate safely.

[0035] Compared with traditional vehicles, logistics vehicles with autonomous driving functions do not have steering wheels, accelerator pedals, brake pedals and other operating mechanisms. In the early stages of project development, the braking test of the logistics vehicle was mainly based on the bus development environment (CAN Open Environment, CANoe) and the programming function of the C-like language (Communication Access Programming Language, CAPL) designed for the CANoe development environment. The braking simulation test project was used to simulate the sending and receiving of messages to achieve vehicle operation control and braking testing. The above test method uses the CANoe hardware tool as a controller area network (Controller Area Network, CAN) message monitoring tool and the CAPL program as a software tool to connect a laptop computer and the entire vehicle. During the braking test process, the tester is required to hold a laptop computer to control the vehicle and follow the vehicle, which poses certain safety hazards and has a long test cycle, which is not conducive to the rapid iteration of project development.

[0036] In order to at least solve the technical problem that there are certain potential safety hazards in the above-mentioned braking test process, an embodiment of the present application provides a vehicle braking test method. Figure 1 It is a schematic flow chart of a vehicle braking test method provided in an embodiment of the present application.

[0037] For example, Figure 1 As shown, the method includes:

[0038] Step 101: Select the target speed value and target brake pressure value for this test.

[0039] Step 102: Obtain the actual driving speed value of the vehicle.

[0040] Step 103: When the actual driving speed value is equal to the target speed value, determine whether the vehicle meets the preset safety braking test condition. If yes, proceed to step 104, otherwise continue to execute step 103.

[0041] Step 104: Control the vehicle to enter a braking state under the effect of the target braking pressure value, and obtain braking data of the vehicle in the braking state.

[0042] exist Figure 1 In the embodiment shown, when the actual driving speed value of the vehicle is equal to the target speed value of this test, it is first determined whether the vehicle meets the preset safety braking test conditions. When the safety braking test conditions are met, the vehicle is controlled to enter a braking state under the action of the target braking pressure value of this test, thereby obtaining the braking data of this test. Since, during the braking test, when the actual driving speed value of the vehicle is equal to the target speed value of this test, it is further determined that the safety braking test conditions are met, and then the vehicle is controlled to enter a braking state under the action of the target braking pressure value of this test, thereby obtaining the braking data of this test, the safety during this braking test can be improved.

[0043] In step 101, the target speed value can be understood as: the actual driving speed value of the vehicle when braking is expected to start during this test. The target brake pressure value can be understood as: the brake pressure value expected to be used during this test. The target speed value and the target brake pressure value can be set by the tester according to the actual test needs. In order to obtain braking data under different target speed values ​​and different target brake pressure values, multiple tests can be performed, and the target speed value and target brake pressure value of this test are selected each time.

[0044] In an exemplary embodiment, the implementation method of the above-mentioned step 101 may include: sampling according to a preset first step length within the vehicle's executable speed range to obtain multiple sampled speed values; sampling according to a preset second step length within the vehicle's executable braking pressure range to obtain multiple sampled brake pressure values; selecting a target speed value for this test from the above-mentioned multiple sampled speed values, and selecting a target brake pressure value for this test from the multiple sampled brake pressure values.

[0045] Among them, the first step length and the second step length can be set according to actual needs, and the first step length and the second step length can be the same or different in size, which is not specifically limited in this embodiment. The executable speed range of the vehicle has an upper speed limit value Vmax and a lower speed limit value Vmin. The lower speed limit value Vmin can be the minimum speed value of the vehicle, and the upper speed limit value Vmax can be the maximum speed value that the vehicle can reach during driving. The executable braking pressure range of the vehicle has an upper pressure limit value Pmax and a lower pressure limit value Pmin. The lower pressure limit value Pmin can be the minimum braking pressure value of the vehicle, and the upper pressure limit value Pmax can be the maximum braking pressure value of the vehicle.

[0046] In this embodiment, multiple sampled speed values ​​{V1, V2, V3, ... Vn} can be obtained by sampling according to the preset first step length in the interval [Vmin, Vmax], and multiple sampled brake pressure values ​​{P1, P2, P3, ... Pm} can be obtained by sampling according to the preset second step length in the interval [Pmin, Pmax]. Then, a sampled speed value is selected from {V1, V2, V3, ... Vn} as the target speed value of this test, and a sampled brake pressure value is selected from {P1, P2, P3, ... Pm} as the target brake pressure value of this test.

[0047] By sampling according to the first step length within the vehicle's executable speed range to obtain multiple sampled speed values, and sampling according to the second step length within the vehicle's executable brake pressure range to obtain multiple sampled brake pressure values, it is possible to select a target speed value for this test from the above multiple sampled speed values, and select a target brake pressure value for this test from the multiple sampled brake pressure values. This is beneficial for ensuring that the target speed value and target brake pressure value selected during the braking test are reasonably and evenly distributed in the vehicle's executable speed range and executable brake pressure range, thereby making the braking data obtained from the test more comprehensive and reliable.

[0048] In an exemplary embodiment, the vehicle is connected to a remote controller, which includes a first lever and a second lever. The above-mentioned determining a target speed value of this test among multiple sampled speed values ​​and determining a target brake pressure value of this test among multiple sampled brake pressure values ​​include: determining a first number of times the first lever is moved, and selecting a target speed value among multiple sampled speed values ​​according to the first number; determining a second number of times the second lever is moved, and selecting a target brake pressure value among multiple sampled brake pressure values ​​according to the second number.

[0049] The remote controller connected to the vehicle may be an aircraft model remote controller, and the aircraft model remote controller may be connected to the vehicle for communication. The remote controller may be provided with a plurality of levers, including a first lever and a second lever, the first lever being a speed selection lever for selecting a target speed value, and the second lever being a brake pressure selection lever for selecting a target brake pressure value.

[0050] The vehicle may include a remote control signal receiving module and a remote control signal conversion module, wherein the remote control signal receiving module is used to receive the remote control signal, and the remote control signal conversion module is used to convert the remote control signal into a CAN signal. The remote control signal may be a pulse position modulation (PPM) signal. That is, the remote control signal conversion module is used to convert the PPM signal into a CAN signal.

[0051] Exemplarily, the tester may toggle the first lever based on the target speed value to be selected. After the remote controller detects the first number of times the first lever is toggled, it may generate a first remote controller signal based on the first number and send the first remote controller signal to the vehicle, so that the remote controller signal receiving module in the vehicle may receive the first remote controller signal and then send the first remote controller signal to the remote controller signal conversion module. Thus, the remote controller signal conversion module may convert the first remote controller signal into a first CAN signal and send the first CAN signal to the vehicle operation control module (VPMS) in the vehicle. The VPMS may determine the first number of times the first lever is toggled based on the received first CAN signal. Then, the VPMS may select a target speed value from a plurality of sampling speed values ​​based on the determined first number. Among them, the VPMS may store a first correspondence between the first number and the sampling speed value, and different first numbers correspond to different sampling speed values. Thus, the VPMS may obtain the sampling speed value corresponding to the first number based on the first correspondence and the first number determined based on the first CAN signal, and then use the obtained sampling speed value corresponding to the first number as the target speed value of this test.

[0052] Exemplarily, the tester may toggle the second lever based on the target brake pressure value to be selected. After the remote controller detects the second number of times the second lever is toggled, it may generate a second remote controller signal based on the second number and send the second remote controller signal to the vehicle, so that the remote controller signal receiving module in the vehicle may receive the second remote controller signal and then send the second remote controller signal to the remote controller signal conversion module. Thus, the remote controller signal conversion module may convert the second remote controller signal into a second CAN signal and send the second CAN signal to the VPMS in the vehicle. The VPMS may determine the second number of times the second lever is toggled based on the received second CAN signal. Then, the VPMS may select a target brake pressure value from a plurality of sampled brake pressure values ​​based on the determined second number. Among them, the VPMS may store a second correspondence between the second number and the sampled brake pressure value, and different second numbers correspond to different sampled brake pressure values. Thus, the VPMS may obtain the sampled brake pressure value corresponding to the second number based on the second correspondence and the second number determined based on the second CAN signal, and then use the obtained sampled brake pressure value corresponding to the second number as the target brake pressure value for this test.

[0053] In this embodiment, the tester can easily and conveniently select the target speed value and target brake pressure value of this test by toggling the first lever and the second lever on the remote control, without having to operate the laptop to set the target speed value and target brake pressure value of this test, thereby making the brake test process simpler and more convenient, and thus shortening the test cycle to a certain extent. At the same time, if the tester finds that the vehicle is about to encounter danger during the actual test process, the remote control can also be used to intervene in the test process to avoid the danger. For example, the vehicle steering can be controlled by the remote control to avoid the danger.

[0054] In an exemplary embodiment, the above-mentioned multiple sampled speed values ​​have their own first serial numbers respectively, and the first serial numbers of the multiple sampled speed values ​​are different from each other, and the above-mentioned multiple sampled brake pressure values ​​have their own second serial numbers respectively, and the second serial numbers of the multiple sampled brake pressure values ​​are different from each other. The above-mentioned selection of the target speed value from the multiple sampled speed values ​​according to the first number includes: determining the first serial number corresponding to the first number; and taking the sampled speed value with the first serial number corresponding to the first number among the multiple sampled speed values ​​as the target speed value. The above-mentioned selection of the target brake pressure value from the multiple sampled brake pressure values ​​according to the second number includes: determining the second serial number corresponding to the second number; and taking the sampled brake pressure value with the second serial number corresponding to the second number among the multiple sampled brake pressure values ​​as the target brake pressure value.

[0055] Among them, the first serial numbers of the multiple sampled speed values ​​can be increased in order from small to large according to the order of the sampled speed values. For example, the multiple sampled speed values ​​are {V1, V2, V3, ... Vn} from small to large, and the first serial numbers of the multiple sampled speed values ​​can be {1, 2, 3, ... n}. The second serial numbers of the multiple sampled brake pressure values ​​can be increased in order from small to large according to the order of the sampled brake pressure values. For example, the multiple sampled brake pressure values ​​are {P1, P2, P3, ... Pm} from small to large, and the second serial numbers of the multiple sampled brake pressure values ​​can be {1, 2, 3, ... m}.

[0056] For example, a first correspondence between sampled speed values ​​and first serial numbers may be stored in the VPMS in the form of Table 1. A second correspondence between sampled brake pressure values ​​and second serial numbers may be stored in the form of Table 2 in the VPMS.

[0057] Table 1

[0058]

[0059] Table 2

[0060]

[0061] Assuming that the first number of times the first lever is moved is 2, the first serial number corresponding to the first serial number 2 can be 2. Combining the above Table 1, it can be determined that the sampling speed value with the first serial number 2 is V2, and V2 can be used as the target speed value of this test. Among them, the first serial number and its corresponding first serial number can be the same in size. However, in a specific implementation, the first serial number and the first serial number can also be different in size, but there is a certain corresponding relationship, so that a first serial number can be uniquely determined by a first serial number.

[0062] Assuming that the second number of times the second lever is moved is 3, the second serial number corresponding to the second number 3 can be 3. Combining the above Table 2, it can be determined that the sampled brake pressure value with the second serial number 3 is P3, and P3 can be used as the target brake pressure value of this test. Among them, the second number and the corresponding second serial number can be the same in size. However, in a specific implementation, the second number and the second serial number can also be different in size, but there is a certain corresponding relationship, so that a second serial number can be uniquely determined by a second number.

[0063] In a specific implementation, VPMS can send the determined target speed value for this test to the vehicle control unit (VCU). After receiving the target speed value, VCU can control the actual driving speed of the vehicle to reach the target speed value as soon as possible. For example, VCU can issue a speed value instruction carrying a speed value V0 to control the actual driving speed of the vehicle to reach the target speed value as soon as possible. Among them, the speed value V0 can be greater than the target speed value. Alternatively, a remote control signal forwarding module can be provided in VPMS, through which the first CAN signal converted by the remote control signal conversion module can be forwarded to VCU, and VCU can determine the target speed value for this test based on the received first CAN signal.

[0064] In step 102 , the actual driving speed value of the vehicle may be acquired through a speed sensor in the vehicle.

[0065] In step 103, when the VPMS determines that the actual driving speed value is equal to the target speed value, it can further determine whether the vehicle meets the preset safety brake test conditions. The safety brake test conditions can be set according to actual needs to ensure that subsequent tests can be performed in a safe test environment.

[0066] In an exemplary embodiment, the above-mentioned determination of whether the vehicle meets the preset safety braking test conditions includes: obtaining actual operating parameters of the vehicle and / or road parameters of the road on which the vehicle is traveling; and determining whether the vehicle meets the preset safety braking test conditions based on the actual operating parameters and / or the road parameters.

[0067] The actual operation parameters may include vehicle operation parameters for measuring vehicle operation safety, and the road parameters may include road parameters for measuring road safety. For example, the road parameters may include road flatness, whether there are obstacles on the road, and the size information of the obstacles. Correspondingly, the safe braking test conditions may include: safe braking test conditions based on vehicle operation safety settings and / or safe braking test conditions based on road safety settings, so as to improve the safety of the braking test from the two aspects of vehicle operation safety and road safety. The safe braking test conditions based on road safety settings may include, for example: the road flatness is greater than the preset flatness, there are no obstacles on the road, or the size of the obstacles on the road is less than the preset size. The preset flatness and preset size may be set according to actual needs, and this embodiment does not specifically limit this.

[0068] When the actual operating parameters satisfy the safety braking test conditions set based on vehicle operating safety and / or the road parameters satisfy the safety braking test conditions set based on road safety, it can be determined that the vehicle satisfies the preset safety braking test conditions.

[0069] In an exemplary embodiment, the actual operating parameters of the vehicle include the actual wheel angle of the vehicle. When the actual wheel angle is too large, the vehicle may easily roll over. Therefore, the actual wheel angle may be the vehicle operating parameter used to measure the safety of vehicle operation. The road parameters include the actual slope angle of the road on which the vehicle is traveling. When the actual slope angle is too large, the road surface is more uneven and the road safety is lower. When a vehicle is traveling on a road with low safety, the safety of the vehicle itself will be affected to a certain extent. Therefore, the actual slope angle of the road may be the road parameter used to measure road safety.

[0070] The above-mentioned determining whether the vehicle meets the preset safety braking test conditions based on actual operating parameters and / or road parameters includes: when the actual wheel angle is less than a preset wheel angle threshold and / or the actual slope angle is less than a preset slope angle threshold, determining that the vehicle meets the preset safety braking test conditions.

[0071] The wheel angle threshold can be set according to actual needs, aiming to ensure that the vehicle has a smaller actual wheel angle during the test. The slope angle threshold can also be set according to actual needs, aiming to ensure that the vehicle can travel on a relatively straight road during the test.

[0072] In this embodiment, when the actual wheel angle is less than the preset wheel angle threshold and / or the actual slope angle is less than the preset slope angle threshold, it is determined that the vehicle meets the preset safety brake test conditions, which can ensure that the vehicle has a smaller actual wheel angle during the test, and will not roll over due to excessive wheel angle or excessive brake pressure, thereby ensuring stable and safe vehicle operation. In addition, it can ensure that the vehicle can travel on a relatively straight road during the test. While ensuring the safety of the test, performing the brake test on a straight road is also conducive to improving the accuracy and reliability of the brake data obtained from the test.

[0073] In an exemplary embodiment, the actual slope angle of the road is determined by: obtaining an acceleration value a collected by an acceleration sensor provided in the vehicle sensor . According to the actual driving speed of the vehicle, calculate the actual running acceleration value a of the vehicle r ; Among them, a r It is calculated according to the acceleration calculation formula, that is, the ratio of the speed change to the time taken for this change is a r Then, according to the acceleration value a collected by the acceleration sensor sensor and the actual running acceleration value a r , calculate the actual slope angle θ of the road. For example, the calculation formula for the actual slope angle θ can be as follows:

[0074] θ=sin -1 (a r -a sensor )

[0075] In an exemplary embodiment, when the actual driving speed value v r = target speed value v t When the actual wheel angle β r < wheel angle threshold β thres and / or road slope angle θ<slope angle threshold θ thres , it can be determined that the vehicle meets the preset safety braking test conditions.

[0076] In step 104, when the vehicle meets the preset safety braking test conditions, the vehicle is controlled to enter a braking state under the action of the target braking pressure value, and the braking data of the vehicle in the braking state is obtained.

[0077] Exemplarily, an implementation method for controlling a vehicle to enter a braking state under the action of a target braking pressure value may include: VPMS sends a target braking pressure value Pt instruction to the VCU, and VPMS limits the speed value sent to the VCU to 0, so that after receiving the Pt instruction, the VCU begins to control the vehicle to enter a braking state under the action of the target braking pressure value Pt until the vehicle decelerates to a stop.

[0078] After the vehicle enters the braking state, the vehicle's braking data can be collected and saved. Among them, the braking data can be understood as: the operating parameter data after the vehicle enters the braking state. For example, it can be achieved through a data recorder connected to the vehicle fault diagnostic system (OnBoard Diagnostic, OBD) and the vehicle CAN network. In the specific implementation, chassis brake engineers can analyze the braking deceleration value during the vehicle braking process through the braking data collected by the data recorder. Through the braking test, the corresponding relationship map between the brake pressure value and the brake deceleration at each sampling speed value can be obtained, which is helpful for the development of the longitudinal control module of the autonomous driving system.

[0079] After the vehicle braking test of the currently selected target speed value and target brake pressure value of this test is completed, the vehicle operation parameters, i.e., the braking data, in this test are saved. Then, the braking test of the next target speed value and target brake pressure value is started until the braking test of all sampled speed values ​​and sampled brake pressure values ​​is completed.

[0080] In an exemplary embodiment, after the above step 104, the test method further includes: reselecting a target speed value from a plurality of sampled speed values ​​by a first lever, and reselecting a target brake pressure value from a plurality of sampled brake pressure values ​​by a second lever; using the reselected target speed value and the reselected target brake pressure value as the target speed value and the target brake pressure value of this test, until all of the plurality of sampled speed values ​​and the plurality of sampled brake pressure values ​​have been selected. Then, based on the reselected target speed value and the target brake pressure value of this test, continue to execute steps 102 to 104 to obtain the braking data obtained by the test under the action of each different target speed value and target brake pressure value.

[0081] Exemplarily, the target speed value can be reselected from multiple sampled speed values ​​by changing the first number of times the first lever is toggled. For example, in the first test, the first number of times the first lever is toggled is 1, and the selected target speed value is V1 with a sequence number of 1 in the above Table 1. In the second test, the first number of times the first lever is toggled is changed to 2, and the selected target speed value is V2 with a sequence number of 2 in the above Table 1. In the nth test, the first number of times the first lever is toggled is changed to n, and the selected target speed value is Vn with a sequence number of n in the above Table 1, until multiple sampled speed values ​​in Table 1 have been selected.

[0082] For example, the target brake pressure value can be reselected from the multiple sampled brake pressure values ​​by changing the second number of times the second lever is toggled. For example, in the first test, the second number of times the second lever is toggled is 1, and the selected target brake pressure value is P1 with a sequence number of 1 in the above Table 2. In the second test, the second number of times the second lever is toggled is changed to 2, and the selected target speed value is P2 with a sequence number of 2 in the above Table 2, until all the multiple sampled brake pressure values ​​in Table 2 have been selected.

[0083] In this embodiment, after obtaining a set of braking data corresponding to a target speed value and a target braking pressure value in each test, the tester can directly reselect a set of new target speed value and target braking pressure value through the first lever and the second lever to conduct a new round of braking test. Instead of requiring the tester to reset a new target speed value and target braking pressure value by operating a computer after each test, the method of resetting the target speed value and target braking pressure value through the first lever and the second lever on the remote controller in this embodiment is simpler, thus facilitating shortening the test cycle and thus facilitating rapid iteration of project development work.

[0084] In an exemplary embodiment, a braking test is performed on a logistics vehicle with an autonomous driving function. The network topology diagram of the testing method can be found in Figure 2 , including: vehicle control unit (VCU), vehicle fault diagnosis system (OBD), vehicle operation control module (VPMS), remote signal converter (RSCM), chassis brake system (EBS). The connection and communication between VCU, OBD, EBS and VPMS can be realized through the vehicle CAN network, and the vehicle brake test can be completed without the participation of the autonomous driving system in controlling the vehicle operation.

[0085] The vehicle controller involved in the test method in this embodiment may include: VCU, OBD, EBS, VPMS and RSCM. Among them, VCU integrates the vehicle control system. RSCM integrates a remote control signal receiving module and a remote control signal conversion module, and the remote control signal conversion module can be specifically a PPM signal to CAN signal module. The remote control signal receiving module can be used to receive the remote control signal, and the remote control signal conversion module is used to convert the PPM signal into a CAN signal and send the CAN signal to the VPMS.

[0086] The VPMS integrates a braking test module, a vehicle status information receiving module and a remote control signal forwarding module. The braking test module is used to select the target speed value and target braking pressure value of this test based on the received CAN signal. The remote control signal forwarding module is used to forward the above CAN signal to the VCU, so that the VCU determines the target speed value based on the CAN signal, and then issues a speed instruction value V0 greater than the target speed value to control the actual driving speed value of the vehicle to reach the target speed value as soon as possible. The vehicle status information receiving module is used to obtain the actual driving speed value of the vehicle. The braking test module is also used to determine whether the vehicle meets the preset safety braking test conditions when it is determined that the actual driving speed value is equal to the target speed value. When the vehicle meets the preset safety braking test conditions, the target braking pressure value Pt instruction is issued to the VCU, and the speed value instruction issued by the VPMS to the VCU is limited to 0, so that the vehicle enters the braking state until the vehicle decelerates to a stop. When the vehicle braking deceleration test of the currently selected target speed value and target braking pressure value is completed, the vehicle status data during the vehicle braking degree test is recorded by connecting the data recorder to the OBD interface.

[0087] The test method in this embodiment can be applied to a brake test system, which may include: a remote controller, RSCM and VPMS, which is connected and communicated with various controllers such as VCU and EBS through the vehicle CAN1 channel. VCU is used to execute various vehicle control instructions and feed back the collected vehicle status information to VPMS. Among them, the vehicle status information may include the above-mentioned actual driving speed value, actual wheel angle, acceleration value collected by the acceleration sensor, etc. The data recorder is connected to the OBD interface to record the vehicle braking data during the vehicle braking deceleration test.

[0088] Based on the particularity of the structure of the logistics vehicle with autonomous driving function, the development requirements of the braking module of the autonomous driving system and the limitations of the CANoe braking simulation test, the braking test system provided in this embodiment includes a remote control, RSCM and VPMS. The system can realize a pilot test of the vehicle's braking deceleration, and can effectively improve the safety of the braking test process, and ensure the accuracy and reliability of the braking data obtained from the test; at the same time, it can shorten the test cycle, which is conducive to the rapid iteration of project development work.

[0089] Figure 3 It is a structural schematic diagram of a vehicle braking test device provided in an embodiment of the present application.

[0090] For example, Figure 3 As shown, the device comprises:

[0091] A selection module 301 is used to select a target speed value and a target brake pressure value for this test;

[0092] The acquisition module 302 is used to acquire the actual driving speed value of the vehicle;

[0093] A determination module 303 is used to determine whether the vehicle meets a preset safety braking test condition when the actual driving speed value is equal to the target speed value;

[0094] The control module 304 is used to control the vehicle to enter a braking state under the action of the target braking pressure value when the vehicle meets the preset safety braking test condition, and obtain braking data of the vehicle in the braking state.

[0095] In one possible implementation, the determination module 303 is specifically used to obtain actual operating parameters of the vehicle and / or road parameters of the road on which the vehicle is traveling; and determine whether the vehicle meets preset safety braking test conditions based on the actual operating parameters and / or the road parameters.

[0096] In one possible implementation, the actual operating parameters of the vehicle include the actual wheel angle of the vehicle, and the road parameters include the actual slope angle of the road on which the vehicle is traveling; the determination module 303 is specifically used to determine that the vehicle meets the preset safety braking test conditions when the actual wheel angle is less than a preset wheel angle threshold and / or the actual slope angle is less than a preset slope angle threshold.

[0097] In one possible implementation, the selection module 301 is specifically used to: obtain multiple sampled speed values ​​by sampling according to a preset first step length within an executable speed range of the vehicle; obtain multiple sampled brake pressure values ​​by sampling according to a preset second step length within an executable brake pressure range of the vehicle; select the target speed value of the test from the multiple sampled speed values, and select the target brake pressure value of the test from the multiple sampled brake pressure values.

[0098] In a possible implementation, the vehicle is connected to a remote controller, the remote controller includes a first lever and a second lever, and the selection module 301 is specifically used to: determine a first number of times the first lever is moved, and select the target speed value from the multiple sampled speed values ​​according to the first number of times; determine a second number of times the second lever is moved, and select the target brake pressure value from the multiple sampled brake pressure values ​​according to the second number of times.

[0099] In one possible implementation, the multiple sampled speed values ​​each have their own first serial numbers and the first serial numbers of the multiple sampled speed values ​​are different, the multiple sampled brake pressure values ​​each have their own second serial numbers, and the second serial numbers of the multiple sampled brake pressure values ​​are different; the selection module 301 is specifically used to: determine the first serial number corresponding to the first number; use the sampled speed value with the first serial number corresponding to the first number among the multiple sampled speed values ​​as the target speed value; determine the second serial number corresponding to the second number; use the sampled brake pressure value with the second serial number corresponding to the second number among the multiple sampled brake pressure values ​​as the target brake pressure value.

[0100] In a possible implementation, after controlling the vehicle to enter a braking state under the action of the target brake pressure value and obtaining the braking data of the vehicle in the braking state, the selection module 301 is further used to: reselect a target speed value from the multiple sampled speed values ​​through the first lever, and reselect a target brake pressure value from the multiple sampled brake pressure values ​​through the second lever; and use the reselected target speed value and the reselected target brake pressure value as the target speed value and the target brake pressure value of the current test until all of the multiple sampled speed values ​​and the multiple sampled brake pressure values ​​have been selected.

[0101] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0102] For example, Figure 4 As shown, the vehicle includes: a memory 401 and a processor 402, wherein the memory 401 stores executable program codes, and the processor 402 is used to call and execute the executable program codes to perform a vehicle braking test method.

[0103] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0104] In the case of dividing each functional module according to each function, the vehicle may include: a selection module, an acquisition module, a determination module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0105] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle braking test method, and thus can achieve the same effect as the above-mentioned implementation method.

[0106] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle to execute mutual program codes and data.

[0107] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits represented in combination with the contents disclosed in this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0108] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle braking test method in the above-mentioned embodiment.

[0109] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle braking test method in the above-mentioned embodiment.

[0110] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle braking test method in the above-mentioned embodiment.

[0111] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here.

[0112] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0113] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0114] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle braking test method, characterized in that: The method comprises: Select the target speed and brake pressure for this test; Get the actual driving speed of the vehicle; When the actual driving speed value is equal to the target speed value, determining whether the vehicle meets a preset safety braking test condition; When the vehicle meets the preset safety braking test condition, the vehicle is controlled to enter a braking state under the action of the target braking pressure value, and braking data of the vehicle in the braking state is obtained.

2. The method according to claim 1, characterized in that: The determining whether the vehicle meets a preset safety braking test condition includes: Acquiring actual operating parameters of the vehicle and / or road parameters of the road on which the vehicle is traveling; Determine whether the vehicle meets a preset safety braking test condition based on the actual operating parameter and / or the road parameter.

3. The method according to claim 2, characterized in that The actual operating parameters of the vehicle include the actual wheel turning angle of the vehicle, and the road parameters include the actual slope angle of the road on which the vehicle is traveling; The determining, based on the actual operating parameter and / or the road parameter, whether the vehicle satisfies a preset safety braking test condition includes: When the actual wheel turning angle is less than a preset wheel turning angle threshold and / or the actual slope angle is less than a preset slope angle threshold, it is determined that the vehicle meets a preset safety braking test condition.

4. The method according to claim 1, characterized in that: The target speed value and the target brake pressure value of the test are selected, including: Sampling in an executable speed range of the vehicle according to a preset first step length to obtain a plurality of sampled speed values; Sampling in an executable braking pressure range of the vehicle according to a preset second step length to obtain a plurality of sampled braking pressure values; The target speed value of the current test is selected from the multiple sampled speed values, and the target brake pressure value of the current test is selected from the multiple sampled brake pressure values.

5. The method according to claim 4, characterized in that The vehicle is connected to a remote controller, the remote controller comprising a first lever and a second lever, and determining a target speed value of the current test from the multiple sampled speed values ​​and determining a target brake pressure value of the current test from the multiple sampled brake pressure values ​​comprises: determining a first number of times the first lever is moved, and selecting the target speed value from the plurality of sampled speed values ​​according to the first number of times; A second number of times the second lever is moved is determined, and the target brake pressure value is selected from the plurality of sampled brake pressure values ​​according to the second number of times.

6. The method according to claim 5, characterized in that The plurality of sampled speed values ​​each have a first serial number, and the first serial numbers of the plurality of sampled speed values ​​are different from each other; the plurality of sampled brake pressure values ​​each have a second serial number, and the second serial numbers of the plurality of sampled brake pressure values ​​are different from each other; The selecting the target speed value from the plurality of sampled speed values ​​according to the first number of times comprises: Determine a first sequence number corresponding to the first number of times; Using a sampling speed value having a first sequence number corresponding to the first number of times among the plurality of sampling speed values ​​as the target speed value; The selecting the target brake pressure value from the plurality of sampled brake pressure values ​​according to the second number of times comprises: Determine a second serial number corresponding to the second number of times; The sampled brake pressure value having the second sequence number corresponding to the second number of times among the plurality of sampled brake pressure values ​​is used as the target brake pressure value.

7. The method according to claim 5 or 6, characterized in that: After controlling the vehicle to enter a braking state under the effect of the target braking pressure value and acquiring braking data of the vehicle in the braking state, the method further includes: reselecting a target speed value from the plurality of sampled speed values ​​by using the first lever, and reselecting a target brake pressure value from the plurality of sampled brake pressure values ​​by using the second lever; The reselected target speed value and the reselected target brake pressure value are used as the target speed value and the target brake pressure value of the current test until all of the multiple sampled speed values ​​and the multiple sampled brake pressure values ​​have been selected.

8. A vehicle braking test device, characterized in that: The device comprises: A selection module is used to select a target speed value and a target brake pressure value for this test; An acquisition module is used to obtain the actual driving speed value of the vehicle; A determination module, configured to determine whether the vehicle meets a preset safety braking test condition when the actual driving speed value is equal to the target speed value; The control module is used to control the vehicle to enter a braking state under the action of the target braking pressure value when the vehicle meets the preset safety braking test condition, and obtain braking data of the vehicle in the braking state.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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