A collision detection device, method and system for AEB testing

Abstract

This application discloses a collision detection device, method, and system for AEB testing, relating to the field of AEB testing technology. The device includes: a pressure sensor group, a resistance-to-voltage conversion module, and a controller connected in sequence; the pressure sensor group is positioned in the area where the test vehicle may collide with a target; the pressure sensor group is used to acquire pressure signals from the start of braking to the point of stopping; the test period is the time from the start of braking to the stop of the test vehicle; the pressure signal is a resistance signal; the resistance-to-voltage conversion module is used to convert the pressure signal to a voltage signal; the conversion process converts the pressure signal from a resistance signal to a voltage signal; the controller is used to perform collision detection based on the converted pressure signal. By setting up the pressure sensor group and controller, this application can improve the efficiency and accuracy of collision detection during AEB testing.

Description

Technical Field

[0001] This application relates to the field of AEB testing technology, and in particular to a collision detection device, method and system for AEB testing. Background Technology

[0002] With the development of electronic control technology, active safety technologies such as Automatic Emergency Braking (AEB) systems have gradually gained importance. To evaluate the performance of these technologies, it is necessary to combine them with new vehicle testing (C-NCAP) to test and evaluate active safety technologies. Among them, the Automatic Emergency Braking System for Pedestrians (AEB VRU_Ped) test is an important indicator in vehicle factory testing.

[0003] When testing the Automatic Emergency Braking System for Pedestrians (AEB VRU_Ped), the collision location is specified as follows: (e.g., ...) Figure 1 A virtual rectangle is defined around the PTA (pedestrian target object) based on its dimensions, with point H having a height of (923±20) mm. A collision is considered to have occurred when the virtual outline of the VUT (test vehicle) comes into contact with the virtual frame of the PTA. The pedestrian crossing scenario test in the pedestrian automatic emergency braking system test is as follows: Figure 2 As shown, during the cross-traffic scenario test, some test vehicles, after their AEB (Autonomous Emergency Braking) function activates, do not brake to a complete stop but instead decelerate to avoid a collision. Afterward, the test vehicle crosses the pedestrian's trajectory line, making it difficult to directly determine whether a collision has occurred; often, reviewing the video footage is necessary to confirm. This process negatively impacts both the efficiency and accuracy of the test. Summary of the Invention

[0004] The purpose of this application is to provide a collision detection device, method, and system for AEB testing, which can improve the efficiency and accuracy of collision detection during AEB testing.

[0005] To achieve the above objectives, this application provides the following solution:

[0006] A collision detection device for AEB testing includes: a pressure sensor group, a resistance-to-voltage conversion module, and a controller connected in sequence;

[0007] The pressure sensor array is positioned in the area where the test vehicle may collide with the target.

[0008] The pressure sensor group is used to acquire the pressure signal of the test vehicle during the test period; the test period is the time from the start of braking of the test vehicle to its stop; the pressure signal is a resistance signal.

[0009] The resistance-to-voltage conversion module is used to convert the pressure signal to obtain a converted pressure signal; the conversion process is to convert the pressure signal from a resistance signal to a voltage signal.

[0010] The controller is used to perform collision detection based on the converted pressure signal.

[0011] Optionally, the pressure sensor group includes at least one pressure sensor.

[0012] Optionally, the pressure sensor is a thin-film pressure sensor.

[0013] A collision detection method for AEB testing, the method being applied to a collision detection device for AEB testing, the method comprising:

[0014] Acquire pressure signals from the test vehicle during the test period; the test period is the time from the start of braking to the stop of the test vehicle; the pressure signal is a resistance signal.

[0015] The pressure signal is converted to obtain a converted pressure signal; the conversion process involves converting the pressure signal from a resistance signal to a voltage signal.

[0016] Collision detection is performed based on the converted pressure signal.

[0017] Optionally, collision detection based on the converted pressure signal includes:

[0018] A pressure-time curve is constructed with the test time period as the horizontal axis and the converted pressure signal as the vertical axis.

[0019] The first time point is defined as the moment when the relative longitudinal distance between the test vehicle and the target is zero.

[0020] Obtain the detection results of abrupt change points in the pressure-time curve;

[0021] Based on the mutation point detection results, the collision detection results of the test vehicle at the first time point are determined.

[0022] Optionally, based on the mutation point detection results, the collision detection results of the test vehicle at the first time point are determined, including:

[0023] When the mutation point detection result indicates the existence of a mutation point, the x-coordinate of the mutation point is obtained as the second time point;

[0024] When the first time point and the second time point are the same, it is determined that the test vehicle collides with the target object when the relative longitudinal distance between the test vehicle and the target object is zero.

[0025] If the first time point and the second time point are not the same, then it is determined that when the relative longitudinal distance between the test vehicle and the target is zero, the test vehicle and the target have not collided.

[0026] Optionally, after obtaining the x-coordinate of the mutation point as the second time point, it also includes:

[0027] If the mutation point detection result is that there is no mutation point, it is determined that when the relative longitudinal distance between the test vehicle and the target is zero, the test vehicle and the target did not collide.

[0028] A collision detection system for AEB testing includes:

[0029] The pressure signal acquisition module is used to acquire the pressure signal of the test vehicle during the test period; the test period is the time from the start of braking of the test vehicle to the stop; the pressure signal is a resistance signal.

[0030] The signal conversion module is used to convert the pressure signal to obtain a converted pressure signal; the conversion process is to convert the pressure signal from a resistance signal to a voltage signal.

[0031] The collision detection module is used to perform collision detection based on the converted and processed pressure signal.

[0032] Optionally, the collision detection module includes:

[0033] The pressure-time curve construction unit is used to construct a pressure-time curve with the test time period as the horizontal axis and the converted pressure signal as the vertical axis.

[0034] The first time point acquisition unit is used to acquire the time when the relative longitudinal distance between the test vehicle and the target is zero as the first time point;

[0035] The mutation point detection result acquisition unit is used to acquire the mutation point detection result of the pressure-time curve;

[0036] The collision detection result determination unit is used to determine the collision detection result of the test vehicle at the first time point based on the mutation point detection result.

[0037] Optionally, the collision detection result determination unit includes:

[0038] The first collision detection result determination subunit is used to determine that when the mutation point detection result is that there is no mutation point, the test vehicle and the target object have not collided when the relative longitudinal distance between the test vehicle and the target object is zero.

[0039] The second time point determination subunit is used to obtain the x-coordinate of the mutation point as the second time point when the mutation point detection result indicates that a mutation point exists.

[0040] The second collision detection result determination subunit is used to determine that when the relative longitudinal distance between the test vehicle and the target is zero, the test vehicle collides with the target when the first time point and the second time point are the same.

[0041] The third collision detection result determination subunit is used to determine that when the relative longitudinal distance between the test vehicle and the target is zero, the test vehicle and the target have not collided.

[0042] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0043] This application provides a collision detection device, method, and system for AEB testing. By placing a thin-film pressure sensor at the collision location of the test vehicle, and then using a resistance-to-voltage conversion module to convert the pressure signal from the acquisition channel into a voltage signal, the data is transmitted to a data acquisition device. The system determines whether a collision has occurred by judging whether the pressure changes significantly when the relative longitudinal distance between the test vehicle and the target object is zero. This improves the efficiency and accuracy of collision detection during AEB testing. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of an automatic emergency braking system test in the prior art;

[0046] Figure 2 This is a schematic diagram of a scene-crossing test in existing technology;

[0047] Figure 3 This is a schematic diagram of the collision detection device used for AEB testing in Embodiment 1 of this application;

[0048] Figure 4 This is a flowchart of a collision detection method for AEB testing according to Embodiment 2 of this application;

[0049] Figure 5 This is a schematic diagram of the test vehicle and the target object in Embodiment 2 of this application when the relative longitudinal distance is zero;

[0050] Figure 6 This is a schematic diagram of the pressure-time curve in Embodiment 2 of this application. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] The purpose of this application is to provide a collision detection device, method, and system for AEB testing, which can improve the efficiency and accuracy of collision detection during AEB testing.

[0053] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] Example 1

[0055] like Figure 3 As shown, this embodiment provides a collision detection device for AEB testing, including: a pressure sensor group, a resistance-to-voltage conversion module, and a controller connected in sequence; the pressure sensor group is disposed in the area where the test vehicle may collide with the target; the pressure sensor group is used to acquire the pressure signal of the test vehicle during a test period; the test period is the time from the start of braking to the stop of the test vehicle; the pressure signal is a resistance signal; the resistance-to-voltage conversion module is used to convert the pressure signal to obtain a converted pressure signal; the conversion process converts the pressure signal from a resistance signal to a voltage signal; the controller is used to perform collision detection based on the converted pressure signal. The pressure sensor group includes at least one pressure sensor. The pressure sensor is a thin-film pressure sensor.

[0056] This embodiment uses a thin-film pressure sensor, a resistance-to-voltage conversion module, a relevant data acquisition module, and other necessary equipment to perform AEB testing. The thin-film pressure sensor is installed at the collision location of the test vehicle, and then the signal is converted by the resistance-to-voltage module and transmitted to the relevant data acquisition module. Then, the data is analyzed to determine whether a collision has occurred. The data is analyzed by whether there is a significant change in pressure when the vehicle travels to the collision point (i.e., when the longitudinal distance between the test vehicle and the target is zero). If there is a significant change in pressure, it is considered that a collision has occurred; otherwise, no collision has occurred.

[0057] Example 2

[0058] like Figure 4This embodiment provides a collision detection method for AEB testing. The method is applied to a collision detection device for AEB testing as described in Embodiment 1, and the method includes:

[0059] Step 101: Acquire the pressure signal of the test vehicle during the test period. The test period is the time from the start of braking to the stop of the test vehicle. The pressure signal is a resistance signal.

[0060] Step 102: Convert the pressure signal to obtain a converted pressure signal. The conversion process involves converting the pressure signal from a resistance signal to a voltage signal.

[0061] Step 103: Perform collision detection based on the converted pressure signal.

[0062] Step 103 includes:

[0063] Step 103-1: Construct a pressure-time curve with the test time period as the x-axis and the converted pressure signal as the y-axis, as shown below. Figure 6 .

[0064] Step 103-2: The first time point is when the relative longitudinal distance between the test vehicle and the target is zero.

[0065] Step 103-3: Obtain the results of abrupt change point detection of the pressure-time curve.

[0066] Step 103-4: Based on the mutation point detection results, determine the collision detection results of the test vehicle at the first time point.

[0067] Step 103-4 includes:

[0068] Step 103-4-1: When the mutation point detection result indicates the existence of a mutation point, obtain the x-coordinate of the mutation point as the second time point.

[0069] Step 103-4-2: If the first time point and the second time point are the same, then it is determined that the test vehicle collides with the target object when the relative longitudinal distance between the test vehicle and the target object is zero. If the mutation point detection result is that there is no mutation point, then... Figure 5 As shown.

[0070] Step 103-4-3: If the first time point and the second time point are not the same, then it is determined that when the relative longitudinal distance between the test vehicle and the target is zero, the test vehicle and the target have not collided.

[0071] Step 103-4-4: If the mutation point detection result is that there is no mutation point, then it is determined that when the relative longitudinal distance between the test vehicle and the target is zero, the test vehicle and the target did not collide.

[0072] This embodiment considers that if the vehicle collides with the PTA during its journey, the collision point will inevitably be subjected to pressure. Therefore, a pressure sensor is used for real-time measurement. A significant change in pressure at the point of impact indicates a collision between the test vehicle and the PTA; otherwise, no collision has occurred. Furthermore, considering that using a conventional pressure sensor would alter the front-end dimensions of the vehicle, hindering the test, a thin-film pressure sensor is used, and the data is transmitted to a data acquisition terminal for real-time reading. After the test, since the time axis of pressure acquisition coincides with the time axis of vehicle travel distance, a significant abrupt change in pressure value at the point where the relative longitudinal distance between the vehicle and the PTA is zero can be used to determine whether a collision has occurred. If the pressure value changes significantly, a collision is considered to have occurred, and the speed at the point where the relative longitudinal distance is zero is then read; otherwise, the test can be considered a collision avoidance test.

[0073] First, before testing, the collision area is determined based on the actual vehicle model and PTA dimensions. This information is then used to determine the placement of the thin-film pressure sensor. Figure 5 As shown.

[0074] Secondly, the thin-film pressure sensor is installed on Figure 5 The location is shown; the sensor collects a pressure signal, which is converted into a resistance signal by the sensor; then the resistance signal is transmitted to a resistance-to-voltage conversion module through a circuit, which converts the resistance signal into a voltage signal; the voltage signal is then transmitted to an RC controller through a circuit, where the pressure value is obtained by editing a formula on the controller's computer software. After the test is completed, the time-relative longitudinal distance and time-pressure data are viewed simultaneously, such as... Figure 6 As shown, the pressure changes significantly at a relative longitudinal distance of 0, therefore it can be assumed that a collision occurred in this test.

[0075] Example 3

[0076] In order to execute the method corresponding to Embodiment 2 above and achieve the corresponding functions and technical effects, a collision detection system for AEB testing is provided below, including:

[0077] The pressure signal acquisition module is used to acquire the pressure signal of the test vehicle during the test period. The test period is the time from the start of braking to the moment the test vehicle comes to a stop. The pressure signal is a resistance signal.

[0078] The signal conversion module is used to convert and process the pressure signal to obtain a converted pressure signal. The conversion process involves converting the pressure signal from a resistance signal to a voltage signal.

[0079] The collision detection module is used to perform collision detection based on the converted and processed pressure signal.

[0080] The collision detection module includes:

[0081] The pressure-time curve construction unit is used to construct a pressure-time curve with the test time period as the horizontal axis and the converted and processed pressure signal as the vertical axis.

[0082] The first time point acquisition unit is used to acquire the time when the relative longitudinal distance between the test vehicle and the target is zero as the first time point.

[0083] The mutation point detection result acquisition unit is used to acquire the mutation point detection results of the pressure-time curve.

[0084] The collision detection result determination unit is used to determine the collision detection result of the test vehicle at the first time point based on the abrupt change point detection result.

[0085] Specifically, the collision detection result determination unit includes:

[0086] The first collision detection result determination subunit is used to determine that when the mutation point detection result is that there is no mutation point, the test vehicle and the target object have not collided when the relative longitudinal distance between them is zero.

[0087] The second time point determination sub-unit is used to obtain the x-coordinate of the mutation point as the second time point when the mutation point detection result indicates that a mutation point exists.

[0088] The second collision detection result determination subunit is used to determine that when the relative longitudinal distance between the test vehicle and the target is zero at the same time point as the first time point and the second time point, the test vehicle collides with the target.

[0089] The third collision detection result determination subunit is used to determine that when the relative longitudinal distance between the test vehicle and the target is zero, the test vehicle and the target have not collided. This is because the first time point and the second time point are different.

[0090] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0091] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A collision detection device for AEB testing, characterized in that, include: A pressure sensor group, a resistance-to-voltage conversion module, and a controller are connected in sequence. The pressure sensor array is positioned in the area where the test vehicle may collide with the target. The pressure sensor group is used to acquire the pressure signal of the test vehicle during the test period; the test period is the time from the start of braking of the test vehicle to its stop; the pressure signal is a resistance signal. The resistance-to-voltage conversion module is used to convert the pressure signal to obtain a converted pressure signal; the conversion process is to convert the pressure signal from a resistance signal to a voltage signal. The controller is used to perform collision detection based on the converted pressure signal: constructing a pressure-time curve with the test time period as the horizontal axis and the converted pressure signal as the vertical axis; obtaining the time when the relative longitudinal distance between the test vehicle and the target is zero as the first time point; obtaining the change point detection result of the pressure-time curve; determining the collision detection result of the test vehicle at the first time point based on the change point detection result; the controller is also used to obtain the horizontal axis of the change point as the second time point when the change point detection result indicates the existence of a change point; when the first time point and the second time point are the same, it is determined that the test vehicle and the target collided when the relative longitudinal distance between the test vehicle and the target is zero; when the first time point and the second time point are different, it is determined that the test vehicle and the target did not collide when the relative longitudinal distance between the test vehicle and the target is zero.

2. The collision detection device for AEB testing according to claim 1, characterized in that, The pressure sensor group includes at least one pressure sensor.

3. The collision detection device for AEB testing according to claim 1, characterized in that, The pressure sensor is a thin-film pressure sensor.

4. A collision detection method for AEB testing, characterized in that, The method is applied to a collision detection device for AEB testing as described in any one of claims 1-3, the method comprising: Acquire pressure signals from the test vehicle during the test period; the test period is the time from the start of braking to the stop of the test vehicle; the pressure signal is a resistance signal. The pressure signal is converted to obtain a converted pressure signal; the conversion process involves converting the pressure signal from a resistance signal to a voltage signal. Collision detection is performed based on the converted and processed pressure signal; Collision detection based on the converted pressure signal includes: A pressure-time curve is constructed with the test time period as the horizontal axis and the converted pressure signal as the vertical axis. The first time point is defined as the moment when the relative longitudinal distance between the test vehicle and the target is zero. Obtain the detection results of abrupt change points in the pressure-time curve; Based on the mutation point detection results, the collision detection results of the test vehicle at the first time point are determined; Based on the mutation point detection results, the collision detection results of the test vehicle at the first time point are determined, including: When the mutation point detection result indicates the existence of a mutation point, the x-coordinate of the mutation point is obtained as the second time point; When the first time point and the second time point are the same, it is determined that the test vehicle collides with the target object when the relative longitudinal distance between the test vehicle and the target object is zero. If the first time point and the second time point are not the same, then it is determined that when the relative longitudinal distance between the test vehicle and the target is zero, the test vehicle and the target have not collided.

5. A collision detection method for AEB testing according to claim 4, characterized in that, After obtaining the x-coordinate of the mutation point as the second time point, the following is also included: If the mutation point detection result is that there is no mutation point, it is determined that when the relative longitudinal distance between the test vehicle and the target is zero, the test vehicle and the target did not collide.

6. A collision detection system for AEB testing, characterized in that, include: The pressure signal acquisition module is used to acquire the pressure signal of the test vehicle during the test period; the test period is the time from the start of braking of the test vehicle to its stop. The pressure signal is a resistance signal; The signal conversion module is used to convert the pressure signal to obtain a converted pressure signal; the conversion process is to convert the pressure signal from a resistance signal to a voltage signal. The collision detection module is used to perform collision detection based on the converted and processed pressure signal. The collision detection module includes: The pressure-time curve construction unit is used to construct a pressure-time curve with the test time period as the horizontal axis and the converted pressure signal as the vertical axis. The first time point acquisition unit is used to acquire the time when the relative longitudinal distance between the test vehicle and the target is zero as the first time point; The mutation point detection result acquisition unit is used to acquire the mutation point detection result of the pressure-time curve; The collision detection result determination unit is used to determine the collision detection result of the test vehicle at the first time point based on the mutation point detection result; The collision detection result determination unit includes: The first collision detection result determination subunit is used to determine that when the mutation point detection result is that there is no mutation point, the test vehicle and the target object have not collided when the relative longitudinal distance between the test vehicle and the target object is zero. The second time point determination subunit is used to obtain the x-coordinate of the mutation point as the second time point when the mutation point detection result indicates that a mutation point exists. The second collision detection result determination subunit is used to determine that when the relative longitudinal distance between the test vehicle and the target is zero, the test vehicle collides with the target when the first time point and the second time point are the same. The third collision detection result determination subunit is used to determine that when the relative longitudinal distance between the test vehicle and the target is zero, the test vehicle and the target have not collided.

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