Test specimen testing system, test specimen testing method, and test specimen testing program

Abstract

The present invention is a test specimen test system (100) capable of reducing the test man-hour of a vehicle having an automatic driving system or an advanced driving assistance system and shortening the development cycle thereof, and testing a test specimen (W), which is a vehicle having an ADAS or AD or a part thereof, the test specimen test system (100) being provided with: a dynamometer (2) for simulating the travel of the test specimen (W); a surrounding environment input device (3) for inputting a surrounding environment to the specimen (W); and an automatic driving robot (4) that performs a brake operation, an accelerator operation, or a steering wheel operation on the test piece (W), and that performs an automatic driving operation on the basis of an input from the ambient environment input device (3). An active driving state in which the specimen (W) is actively driven by the ADAS or AD and a passive driving state in which the specimen (W) is passively driven by a brake operation, an accelerator operation, or a steering wheel operation are linked.

Description

Technical Field

[0001] The invention relates to a test system for a specimen, a test method for a specimen and a test procedure for a specimen. Background Art

[0002] Conventionally, when developing an advanced driver assistance system such as adaptive cruise control (ACC) or an automated driving system (hereinafter also referred to as AD / ADAS) using a dynamometer, the following operations (1) to (5) are performed by humans. (1) A load is applied to the vehicle using a dynamometer based on a predetermined load calculation. (2) The driver operates the vehicle (engine start, gear shifting, acceleration, etc.) until AD / ADAS can be enabled. (3) Utilize vehicle functions such as adaptive cruise control based on AD / ADAS. (4) Disable the vehicle’s AD / ADAS-based adaptive cruise control and other functions. (5) The vehicle is stopped by the driver's operation.

[0003] In addition, as shown in Patent Document 1, a vehicle inspection device for inspecting a vehicle equipped with a driving assistance system is considered. The vehicle inspection device includes a free loader for driving inspection and a diagnostic device, the diagnostic device outputs an analog signal pre-made based on an image signal output from a stereo camera, and confirms the operation of the driving assistance system. When the vehicle is loaded on the free loader, an analog signal is input to a self-diagnosis circuit of an image processing unit to activate the driving assistance system to confirm the operation. Prior art literature Patent Literature

[0004] Patent Document 1: Japanese Patent Publication No. 2002-257688 Summary of the invention Problems to be solved by the invention

[0005] In recent years, as the demand for vehicles with AD / ADAS has increased, the number of tests used to develop such vehicles has increased, and the test man-hours required for development have increased. On the other hand, due to the shortage of manpower caused by the declining birthrate and aging population, it is difficult to ensure the test man-hours required for development. Therefore, although the automation of vehicle testing has been considered, in vehicle testing using existing dynamometers, there is no system for switching between driver-based operations and AD / ADAS-based operations, making it difficult to achieve automation of vehicle testing.

[0006] Therefore, the present invention has been made in view of the above-mentioned problems, and a main object of the present invention is to reduce the testing man-hours of a vehicle having an automated driving system or an advanced driver assistance system and shorten the development period thereof. Means for solving problems

[0007] That is, the test piece testing system of the present invention tests a test piece that is a vehicle or a part thereof having an automatic driving system or an advanced driving assistance system, wherein the automatic driving system is hereinafter referred to as AD, and the advanced driving assistance system is hereinafter referred to as ADAS, and the test piece testing system is characterized in that it comprises: a dynamometer for applying a load to the test piece; and an automatic driving robot for performing braking operation, throttle operation or steering wheel operation on the test piece, and through the automatic driving robot, an active driving state in which the test piece actively drives through AD or ADAS and a passive driving state in which the test piece passively drives through braking operation, throttle operation or steering wheel operation are linked.

[0008] According to such a test piece testing system, the active driving state in which the test piece actively drives through AD or ADAS and the passive driving state in which the test piece passively drives through braking operation, accelerator operation or steering wheel operation are linked together through the automatic driving robot, and there is no need for people to take charge of the passive driving state of the test piece. Therefore, the test man-hours of vehicles with AD or ADAS can be reduced, and for example, nighttime automatic driving can be used in the test, thereby shortening its development cycle.

[0009] In order to test the functions of AD or ADAS, the test piece test system also has a control unit for controlling the autonomous driving robot, and the control unit controls the dynamometer and the autonomous driving robot to link the active driving state and the passive driving state. In addition, the control unit includes: a load control device for controlling the dynamometer; a robot control device for controlling the autonomous driving robot; and a host control device for inputting various signals to these control devices to control the dynamometer and the autonomous driving robot.

[0010] In addition, in order to test the functions of AD or ADAS, it can be considered that the test piece testing system of the present invention is also equipped with a surrounding environment input device for inputting a simulation signal simulating the surrounding environment into the test piece, and the control unit controls the autonomous driving robot according to the input from the surrounding environment input device, so that the active driving state and the passive driving state are linked.

[0011] Furthermore, it is also conceivable that the control unit controls the dynamometer, and the control unit controls the autonomous driving robot and the dynamometer so that the active driving state and the passive driving state are linked.

[0012] As a specific implementation for automatically transferring from passive driving based on an autonomous driving robot to active driving based on AD or ADAS, it is preferred that an actuator be provided for starting or ending the active driving of the test piece based on AD or ADAS, and at the timing of starting the active driving of the test piece based on AD or ADAS, at least one of the braking operation, throttle operation and steering wheel operation of the test piece be stopped, or an operation button related to ADAS be operated.

[0013] As a specific implementation for automatically transferring from active driving based on AD or ADAS to passive driving based on an autonomous driving robot, it is preferred that the autonomous driving robot, upon terminating the active driving based on AD or ADAS of the test piece, restarts at least one of the braking operation, throttle operation and steering wheel operation of the test piece, or operates an operation button related to ADAS.

[0014] When the adaptive cruise control of AD or ADAS is enabled, it is necessary to set the ADAS state, target vehicle speed or inter-vehicle distance. In addition, the ADAS state includes at least one of the states of ADAS off, standby and setting. Therefore, in order to check the adaptive cruise control of AD or ADAS by the test piece test system of the present invention, it is preferred that the vehicle test system of the present invention also has a camera for photographing the dashboard or head-up display of the test piece and an analysis device for reading and analyzing the image captured by the camera, the actuator has a setting function for the adaptive cruise control of the test piece, and the autonomous driving robot sets at least one of the target vehicle speed of the test piece and the inter-vehicle distance relative to the vehicle in front through the actuator based on the reading and analysis results of the image captured by the camera.

[0015] Here, the active driving state and the passive driving state are switched, or the passive driving state is continued, etc., based on the read analysis result of the analyzing device.

[0016] (1) Example of transition from passive driving state to active driving state If the vehicle detects, based on the speed display on the instrument panel, that the vehicle has entered an area where adaptive cruise control (ACC) can be turned on (for example, a vehicle speed of 30 km / h, etc.), the autonomous driving robot presses the ADAS setting button and switches to ADAS driving.

[0017] (2) Example of transition from active driving state to passive driving state If a deviation from the adaptive cruise control (ACC) operating area (e.g., a vehicle speed slower than a prescribed speed or a vehicle speed faster than a prescribed speed) is detected based on the vehicle speed display of the instrument, the autonomous driving robot starts active driving based on pedal operation.

[0018] (3) Continuation of passive driving based on ADAS In passive driving, if the vehicle ahead stops, the vehicle stops automatically. As a result, a brake pressing indication is displayed on the instrument panel. If the indication is recognized, the autonomous driving robot presses the brake (ADAS continues). After that, if the vehicle ahead starts, a restart button pressing indication is displayed on the instrument panel. If the indication is recognized, the autonomous driving robot operates the button on the steering wheel and the vehicle starts.

[0019] The operation buttons of AD or ADAS are mostly set on the steering device. If the manipulator is extended from the robot body of the automatic driving robot set on the driver's seat as in the past, the operation button cannot be pressed when the steering device is turned. In order to properly solve this problem, the action actuator is preferably fixed to the steering device of the test piece.

[0020] Furthermore, in active driving based on AD or ADAS, hand grip (a state of holding the steering device) is sometimes required depending on conditions. In this case, it is preferred to provide a hand grip simulation portion that simulates hand grip on a fixed component that fixes the action actuator to the steering device. In the case where the sensor for detecting hand grip is a torque sensor, the hand grip simulation portion is configured by providing a counterweight on the fixed component. Furthermore, in the case where the sensor for detecting hand grip is an electrostatic capacitance sensor, it is configured by providing a capacitor on the steering device contact surface of the fixed component. In addition, in the case where the steering wheel rotates automatically due to an offset in the configuration of the action actuator or the counterweight provided on the steering wheel, an additional counterweight may be provided on the opposite side to achieve balance.

[0021] In the case where the specimen test system cannot perform normal driving due to power outage or power loss, in order to stop the active driving based on AD or ADAS, the autonomous driving robot preferably has a stop actuator, and the stop actuator cancels the active driving based on AD or ADAS of the specimen by depressing the brake pedal of the specimen or pressing the cancel button of the AD or ADAS function.

[0022] In addition, the test piece testing method of the present invention tests a test piece that is a vehicle or a part thereof having an automatic driving system or an advanced driving assistance system, wherein the automatic driving system is hereinafter referred to as AD, and the advanced driving assistance system is hereinafter referred to as ADAS, and the test piece testing method is characterized in that a dynamometer for applying a load to the test piece and an automatic driving robot for performing braking operations, throttle operations or steering wheel operations on the test piece are used, and through the automatic driving robot, an active driving state in which the test piece actively drives through AD or ADAS and a passive driving state in which the test piece passively drives through braking operations, throttle operations or steering wheel operations are linked.

[0023] Furthermore, the test piece test procedure of the present invention is used for a test piece test system for testing a test piece which is a vehicle or a part thereof having an automatic driving system or an advanced driving assistance system, wherein the automatic driving system is hereinafter referred to as AD, and the advanced driving assistance system is hereinafter referred to as ADAS, and the test piece test procedure is characterized in that the test piece test system comprises: a dynamometer for applying a load to the test piece; and an automatic driving robot for performing braking operation, throttle operation or steering wheel operation of the test piece, and the test piece test procedure enables a computer to perform the following functions: controlling the automatic driving robot to link an active driving state in which the test piece actively drives through AD or ADAS and a passive driving state in which the test piece passively drives through braking operation, throttle operation or steering wheel operation. Effects of the Invention

[0024] According to the present invention thus constituted, it is possible to reduce the number of man-hours required for testing a vehicle having an automated driving system or an advanced driver assistance system, and shorten the development period thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram showing a specimen testing system according to one embodiment of the present invention. Figure 2 Schematic diagram showing a gradient curve with respect to the travel distance in the same embodiment. Figure 3 This is a schematic diagram of the steering device (steering wheel) according to the same embodiment as viewed from the front. Figure 4 It is a schematic diagram showing the structure of the grip simulation unit according to the same embodiment. Figure 5 It is a schematic diagram showing the stopping actuator of the same embodiment. Figure 6 It is a figure which shows the procedure of the test piece test method of the same embodiment. DETAILED DESCRIPTION

[0026] <One embodiment of the present invention> Hereinafter, an embodiment of the test system for a specimen of the present invention will be described with reference to the accompanying drawings. In addition, for easy understanding, any of the following figures are schematically depicted in an appropriately omitted or exaggerated manner. The same reference numerals are marked on the same components and the description is appropriately omitted.

[0027] The specimen testing system 100 of the present embodiment tests a specimen W which is a vehicle (hereinafter referred to as AD / ADAS vehicle) having an automated driving system (hereinafter referred to as AD) or an advanced driving assistance system (hereinafter referred to as ADAS) or a part thereof.

[0028] Specifically, if Figure 1 As shown, the specimen testing system 100 includes: a dynamometer 2 for simulating the running of the specimen W; an ambient environment input device 3 for inputting the ambient environment to the specimen W; and an automatic driving robot 4 for performing braking, accelerator or steering operations on the specimen W.

[0029] The dynamometer 2 of this embodiment is a so-called chassis dynamometer, and includes: a front wheel side roller 21 on which the front wheel of the test piece is mounted; a rear wheel side roller 22 on which the rear wheel of the test piece is mounted; load devices 23 and 24 connected to the front wheel side roller 21 and the rear wheel side roller 22, respectively; and a load control device 25 for controlling the load devices 23 and 24. In addition, the front wheel side roller 21 and the rear wheel side roller 22 of the dynamometer 2 rotate in accordance with the travel of the test piece W.

[0030] The load control device 25 controls the load devices 23 and 24 so that the test piece W can travel in a predetermined driving mode (vehicle speed mode). In order to reproduce the load generated by the road slope, the load control device 25 of this embodiment controls the load devices 23 and 24 in the predetermined driving mode. Figure 2 As shown in FIG. 1 , in the road load simulation (RLS) control of the dynamometer, the gradient control for the travel distance is performed. The gradient control for the travel distance is performed using a gradient curve that associates the load corresponding to the gradient with the travel distance of the test piece W.

[0031] exist Figure 2 For example, the distance from 100m to 200m is a downhill slope, and the load control device 25 controls the load devices 23 and 24 to become a negative slope load corresponding to the downhill slope. In addition, the distance from 200m to 300m is an uphill slope, and the load control device 25 controls the load devices 23 and 24 to become a positive slope load corresponding to the uphill slope. In addition, in the case of flat land (slope zero), the load control device 25 controls the load devices 23 and 24 so that the slope load is zero.

[0032] In addition, the dynamometer 2 is not limited to a chassis dynamometer, and may be a hub dynamometer, a flat dynamometer, or the like connected to the axle of the test piece W. In addition, in the case of a hub dynamometer, for example, a structure connected to the axle using a free wheel or a universal joint is considered. In addition, the dynamometer 2 may be a structure connected only to the drive wheel of the test piece W.

[0033] The surrounding environment input device 3 inputs the surrounding environment of the test piece W during simulated driving to the test piece W. Specifically, the surrounding environment input device 3 considers a structure that inputs a simulated signal of the surrounding environment of the test piece W during simulated driving to various sensors (radar, LiDAR, ultrasonic sensor, camera or GNSS, etc.) mounted on the test piece W.

[0034] In this case, the surrounding environment input device 3 includes a radar simulator that inputs an analog signal for radar to a radar, a LiDAR simulator that inputs an analog signal for LiDAR to a LiDAR, an ultrasonic sensor simulator that inputs an analog signal for an ultrasonic sensor to an ultrasonic sensor, a camera simulator that inputs an analog signal for a camera to a camera, or a GNSS simulator that inputs an analog signal for GNSS to a GNSS, etc. In addition, the surrounding environment input device 3 may also be a physical structure that is arranged around various sensors and simulates the surrounding environment.

[0035] Furthermore, the surrounding environment input device 3 may be configured to input a simulated signal simulating the surrounding environment of the test piece W during simulated driving into the ECU of the AD / ADAS vehicle.

[0036] The automatic driving robot 4 includes: an operating actuator 41 for operating the brake pedal, accelerator pedal or steering wheel of the test piece W; and a robot control device 42 for controlling the operating actuator 41. The robot control device 42 operates the operating actuator 41 so that the test piece W can travel according to the command value based on the command of the upper control device 5, or can travel in a predetermined travel mode (vehicle speed mode).

[0037] And, if Figure 1 As shown, the dynamometer 2, the surrounding environment input device 3, and the autonomous driving robot 4 are controlled by the upper control device 5. Specifically, the upper control device 5 inputs various signals to the load control device 25 of the dynamometer 2, the surrounding environment input device 3, and the robot control device 42 of the autonomous driving robot 4, and controls the dynamometer 2, the surrounding environment input device 3, and the autonomous driving robot 4. In addition, in the case of a structure in which the surrounding environment input device 3 inputs an analog signal to the ECU of the AD / ADAS vehicle, the surrounding environment input device 3 may be assembled to the upper control device 5.

[0038] In addition, the test piece testing system 100 of the present embodiment links the active driving state in which the test piece W actively drives through AD / ADAS and the passive driving state in which the test piece W passively drives through braking operation, accelerator operation or steering wheel operation through the automatic driving robot 4 based on the input from the surrounding environment input device 3.

[0039] Specifically, if Figure 1 as well as Figure 3 As shown, the automatic driving robot 4 has an action actuator 43 that starts or ends the active driving of the specimen W based on AD or ADAS. The action actuator 43 operates the button group B (see FIG. 1 ) provided on the front surface of the steering wheel of the steering device W1 of the specimen W. Figure 3 ) contains a start button, which at least operates the start of active driving. The operation of the start button is performed by controlling the action actuator 43 by the robot control device 42.

[0040] The actuating actuator 43 is fixed to the steering device W1 (specifically, a steering wheel) of the test piece W. Specifically, the actuating actuator 43 is fixed to the steering device W1 via a fixing member 6 .

[0041] Here, if Figure 4 As shown in FIG. 1 , a hand grip simulation unit 7 for simulating the hand grip of the steering wheel of the steering device W1 (the state in which the driver grips the steering wheel) is provided on the fixed component 6. In the case where the sensor for detecting hand grip is a torque sensor, as shown in FIG. Figure 4 As shown in (a), as the hand-grip simulation unit 7, for example, it is considered that a weight block 71 is provided on the fixing member 6. In addition, in the case where the sensor for detecting hand-grip is an electrostatic capacitance sensor, as shown in Figure 4 As shown in (b) of FIG. 6 , for example, it is conceivable that a capacitor 72 is provided on the steering device contact surface of the fixed member 6 .

[0042] Furthermore, the autonomous driving robot 4 stops at least one of the braking operation, accelerator operation, or steering wheel operation by the operating actuator 41 at the timing of starting active driving based on AD / ADAS. As a result, the test piece W enters an active driving state. The stopping of at least one of the braking operation, accelerator operation, or steering wheel operation is performed by controlling the operating actuator 41 by the robot control device 42.

[0043] In addition, the autonomous driving robot 4 restarts at least one of the braking operation, accelerator operation, or steering wheel operation of the test piece W at the timing of ending the active driving based on AD / ADAS or ending the active driving due to other events (events that end the active driving). As a result, the test piece W enters a passive driving state. The restart of at least one of the braking operation, accelerator operation, or steering wheel operation is performed by controlling the operating actuator 41 by the robot control device 42.

[0044] Here, a specific example for testing the adaptive cruise control function of the test piece W will be described. In this case, if Figure 1 As shown, the test piece test system 100 may also include a camera 8 for photographing the instrument panel of the test piece W, and an analysis device 9 for reading and analyzing the image photographed by the camera 8. In addition, the image photographed by the camera 8 (which may be either a still image or a dynamic image) is sent to the analysis device 9. The read analysis result of the analysis device 9 is sent to the upper control device 5, and according to the content, the upper control device 5 operates the motion actuator 43 to start active driving.

[0045] In addition, the motion actuator 43 of the autonomous driving robot 4 has a function of setting the adaptive cruise control of the test piece W. The motion actuator 43 is, for example, operated by operating a setting button for the adaptive cruise control (included in the button group B (see Figure 3 ), the adaptive cruise control is set. Specifically, the autonomous driving robot 4 sets at least one of the target vehicle speed of the test piece W and the inter-vehicle distance relative to the vehicle in front through the action actuator 43 based on the reading and analysis results of the image captured by the camera 8. The setting is performed in the following manner: the upper control device 5 sends a setting signal to the robot control device 42 based on the reading and analysis results of the image captured by the camera 8 to become a specified setting value, and the robot control device 42 that receives the setting signal controls the action actuator 43.

[0046] Furthermore, the specimen testing system 100 of the present embodiment may also have an emergency stop function for stopping active driving based on AD / ADAS when power is lost due to a power outage or the like. Figure 1 as well as Figure 5 As shown, the autonomous driving robot 4 includes a stopping actuator 44 that cancels the active driving of the test piece W by AD / ADAS by depressing the brake pedal of the test piece W.

[0047] The stop actuator 44 is configured so that the brake pedal is depressed when no power is supplied, for example, in normal times, Figure 5As shown in (a), the plunger 44a is in a state of being separated from the brake pedal by motor drive, etc., and when the power supply is lost such as power failure, as shown in Figure 5 As shown in (b), the motor drive is released, the plunger 44a extends through the elastic body 44b, etc., and the brake pedal is stepped on. As a result, the active driving based on AD / ADAS is canceled. After that, the test piece W stops. The stop actuator 44 is provided separately from the actuator 41 for brake operation, but the stop actuator 44 and the actuator 41 for brake operation can also be shared. In addition, the stop actuator 44 can also be a structure that presses a prescribed button to cancel the AD / ADAS function. In addition, the stop actuator 44 can also be a structure using a cylinder.

[0048] <Test Method for Specimen> Next, refer to Figure 6 A test method for a specimen using the test system 100 of the present embodiment will be described.

[0049] (1) Test sequence condition setting First, a test piece W is placed on the chassis dynamometer 2. In addition, a test sequence is set using the upper control device 5. The test sequence setting includes setting of the vehicle speed mode of the test piece W, setting of the road surface information including the road surface slope, setting of the position of the front vehicle, setting of the vehicle speed mode of the front vehicle, or setting of various parameters of AD / ADAS in the test piece W. In addition, the various parameters include parameters related to the control adapted during development, or parameters selected by the driver according to preference such as setting the vehicle speed or setting the inter-vehicle distance.

[0050] (2) Test execution (2-1) Initial condition sequence During the test, the host control device 5 inputs a target vehicle speed signal to the robot control device 42 of the automatic driving robot 4. The robot control device 42 controls the actuator 41 for accelerator operation to accelerate the test piece W to the target vehicle speed (passive driving state).

[0051] (2-2) AD / ADAS action sequence After the test piece W is accelerated to the target speed, the upper control device 5 inputs the AD / ADAS action signal to the robot control device 42 of the automatic driving robot 4, and the robot control device 42 controls the action actuator 43 to operate the AD / ADAS action button of the test piece W. Thus, the AD / ADAS of the test piece W is actuated. Then, the upper control device 5 determines the target speed of the test piece W and the set value of the inter-vehicle distance relative to the front vehicle based on the reading and analysis results of the captured image of the camera 8, and inputs the signal to the robot control device 42. For example, the robot control device 42 controls the action actuator 43 to operate the setting button of the adaptive cruise control to set the adaptive cruise control. Thus, the test piece W travels on the chassis dynamometer 2 through the adaptive cruise control (active driving state). In addition, at the same time or after starting the AD / ADAS action sequence, a simulated signal simulating the surrounding environment such as information representing the front vehicle (such as the speed of the front vehicle) is input to the test piece W through the surrounding environment input device 3.

[0052] (2-3) Slope or speed sequence of the vehicle ahead In the present embodiment, when the test piece W is traveling by adaptive cruise control, a load based on the road surface gradient is applied to the test piece W. The load based on the road surface gradient is input by load devices 23 and 24. Here, the road surface gradient may be a step gradient in which the gradient changes in steps, or a transition gradient in which the gradient changes continuously.

[0053] (2-4) Ending sequence After the above-mentioned slope sequence is completed, the upper control device 5 inputs an AD / ADAS stop signal to the robot control device 42 of the automatic driving robot 4, and the robot control device 5 controls the action actuator 43 to operate the stop button of the adaptive cruise control of the test piece W. As a result, the adaptive cruise control of the test piece W is stopped. Next, the robot control device 5 controls the actuator 43 to stop the AD / ADAS of the test piece W. If the AD / ADAS of the test piece W stops, the robot control device 42 controls the actuator 41 for brake operation, etc. to stop the test piece W.

[0054] (3) Data management Various data obtained by the above-mentioned "(2) Test Execution" are collected and analyzed in the host control device 5. This makes it possible to examine the appropriateness of parameters related to the control of AD / ADAS in the test piece W or to propose optimal parameters.

[0055] <Effects of the present embodiment> According to the test piece test system 100 of the present embodiment configured in this way, the active driving state in which the test piece W is actively driven by AD / ADAS and the passive driving state in which the test piece W is passively driven by brake operation, accelerator operation or steering wheel operation are linked by the automatic driving robot 4, thereby eliminating the need for humans to bear the passive driving state of the test piece W. As a result, the test man-hours of the vehicle with AD / ADAS can be reduced, and, for example, nighttime automatic driving of the test can be applied, thereby shortening the development period.

[0056] <Other Implementation Methods> For example, in the above embodiment, an example of testing the adaptive cruise control function is shown, but other AD / ADAS functions (such as lane keeping, emergency avoidance, automatic braking, etc.) can also be tested. In this case, according to the test of various functions of AD / ADAS, the surrounding environment input device 3 inputs the simulation signal for testing various functions to the test piece W.

[0057] In addition, the load based on the dynamometer is obtained by an external simulation device, and the vehicle speed corresponding to the vehicle model and the external environment (road, etc.) is calculated. The calculated vehicle speed can also be used as the target vehicle speed to control the chassis dynamometer 2. In this case, the chassis dynamometer 2 performs speed control to achieve the calculated target vehicle speed.

[0058] Furthermore, various modifications and combinations of the embodiments are possible as long as they do not depart from the spirit of the present invention. Industrial Applicability

[0059] According to the present invention, it is possible to reduce the testing man-hours of a vehicle having an automated driving system or an advanced driver assistance system, and shorten the development period thereof. Description of reference numerals:

[0060] 100: test system for test piece; W: test piece; 2: dynamometer; 3: ambient environment input device; 4: autonomous driving robot; 41: operating actuator; 42: robot control device; 43: moving actuator; 44: stopping actuator; 5: upper control device.

Claims

1. A test piece testing system for testing a test piece as a vehicle or a part thereof having an automatic driving system or an advanced driving assistance system, wherein: The autonomous driving system is referred to as AD hereinafter, and the advanced driving assistance system is referred to as ADAS hereinafter. The test piece test system comprises: A dynamometer for applying a load to the test piece; and The automatic driving robot performs the braking operation, throttle operation or steering wheel operation of the test piece. Through the automatic driving robot, the active driving state in which the test piece actively drives through AD or ADAS and the passive driving state in which the test piece passively drives through brake operation, accelerator operation or steering wheel operation are linked.

2. The test piece testing system according to claim 1, wherein: The test piece testing system further comprises a control unit for controlling the automatic driving robot. The control unit controls the automatic driving robot so that the active driving state and the passive driving state are linked.

3. The test piece testing system according to claim 2, wherein: The test piece testing system further comprises an ambient environment input device for inputting a simulation signal simulating the ambient environment to the test piece. The control unit controls the autonomous driving robot based on the input from the surrounding environment input device so that the active driving state and the passive driving state are linked.

4. The test piece testing system according to claim 2 or 3, wherein: The control unit controls the dynamometer. The control unit controls the automatic driving robot and the dynamometer so that the active driving state and the passive driving state are linked.

5. The test piece testing system according to any one of claims 1 to 4, wherein: The autonomous driving robot has an actuator for starting or ending the active driving of the test piece based on AD or ADAS. The autonomous driving robot stops at least one of the braking operation, the accelerator operation, and the steering wheel operation of the test piece at the timing of starting the active driving of the test piece based on AD or ADAS.

6. The test piece testing system according to claim 5, wherein: The autonomous driving robot restarts at least one of the braking operation, the accelerator operation, and the steering wheel operation of the test piece at the timing when the active driving of the test piece based on AD or ADAS is ended.

7. The test piece testing system according to claim 5 or 6, wherein: The test system for the test piece further comprises a camera for photographing a dashboard or a head-up display of the test piece and an analysis device for reading and analyzing the image photographed by the camera. The actuating actuator has a setting function for the adaptive cruise control of the test piece, The autonomous driving robot sets at least one of a target vehicle speed of the test piece and an inter-vehicle distance to a preceding vehicle through the motion actuator based on a result of reading and analyzing the image captured by the camera.

8. The test piece testing system according to any one of claims 5 to 7, wherein: The actuating actuator is fixed to the steering device of the test piece.

9. The test piece testing system according to claim 8, wherein: A grip simulation portion simulating hand grip is provided on a fixing member that fixes the motion actuator to the steering device.

10. The test piece testing system according to any one of claims 1 to 9, wherein: The autonomous driving robot has a stop actuator, which cancels the active driving of the test piece based on AD or ADAS by stepping on the brake pedal of the test piece or pressing a cancel button of the AD or ADAS function.

11. A test method for testing a test piece, wherein a test piece is tested on a vehicle or a part thereof having an automatic driving system or an advanced driving assistance system, wherein: The autonomous driving system is referred to as AD hereinafter, and the advanced driving assistance system is referred to as ADAS hereinafter. A dynamometer for applying a load to the test piece and an automatic driving robot for performing a braking operation, an accelerator operation or a steering wheel operation of the test piece are used. Through the automatic driving robot, the active driving state in which the test piece actively drives through AD or ADAS and the passive driving state in which the test piece passively drives through brake operation, accelerator operation or steering wheel operation are linked.

12. A test procedure for a test piece, for use in a test piece test system for testing a test piece which is a vehicle or a part thereof having an automatic driving system or an advanced driving assistance system, wherein: The autonomous driving system is referred to as AD hereinafter, and the advanced driving assistance system is referred to as ADAS hereinafter. The test piece test system comprises: A dynamometer for applying a load to the test piece; and The automatic driving robot performs the braking operation, throttle operation or steering wheel operation of the test piece. The test program for the test piece enables the computer to perform the following functions: control the automatic driving robot to link the active driving state in which the test piece actively drives through AD or ADAS and the passive driving state in which the test piece passively drives through braking operation, accelerator operation or steering wheel operation.

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