Automobile intelligent driving emergency braking test method, device, equipment, medium and product

Abstract

The invention discloses an automobile intelligent driving emergency braking test method, device and equipment, a medium and a product, and relates to the technical field of automobile intelligent driving test. The method is executed by a testing host of the automobile intelligent driving emergency braking testing system, and the automobile intelligent driving emergency braking testing system further comprises a road surface simulation conveying belt and a to-be-tested automobile located on the road surface simulation conveying belt. The to-be-tested vehicle is provided with a trip computer, and an emergency braking module, a wheel speed sensing module and a plurality of vehicle exterior environment sensing modules which are respectively in communication connection with the trip computer, and through the control of the test host on the road surface simulation conveyor belt and the data interaction with the trip computer, the to-be-tested vehicle can always run at a high speed in situ; in addition, the intelligent driving emergency braking test system can also truly simulate that a plurality of external environment sensing modules of the to-be-tested vehicle collect external real scene time sequence data to complete the intelligent driving emergency braking test, so that the test site requirement can be greatly reduced, the test efficiency can be improved, the test cost can be reduced, and practical application and popularization are facilitated.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobile intelligent driving testing, and specifically relates to an automobile intelligent driving emergency braking test method, device, equipment, medium and product. Background Art

[0002] With the continuous growth of car ownership, road safety issues caused by the automobile society are becoming increasingly serious. Emergency braking refers to the driver's quick and correct use of the brakes to stop the car in the shortest possible distance when encountering an emergency while driving.

[0003] Intelligent driving, referred to as "smart driving", essentially involves cognitive engineering of attention attraction and attention distraction, and mainly includes three aspects: network navigation, autonomous driving and manual intervention. The prerequisite for intelligent driving is that the selected vehicle meets the dynamic requirements of driving, the sensors on the vehicle can obtain relevant visual and auditory signals and information, and control the corresponding follow-up system through cognitive computing. As one of the active safety functions of automotive intelligent driving technology, the autonomous emergency braking system (AEB) can automatically brake in an emergency to avoid a collision or reduce the severity of a collision. During the development of the AEB system, a large amount of testing is required, especially testing of some dangerous scenarios.

[0004] Currently, the traditional testing method for intelligent emergency braking systems in vehicles involves creating dummies or dummy vehicles to simulate various emergency scenarios to test AEB system braking performance indicators, such as braking response time, braking distance, and braking accuracy. However, this traditional testing method has obvious problems such as requiring a large testing area, low efficiency, and high cost. Summary of the Invention

[0005] The purpose of the present invention is to provide a method, device, computer equipment, computer-readable storage medium and computer program product for testing automobile intelligent driving emergency braking, so as to solve the problems of existing automobile intelligent driving emergency braking testing schemes, such as large required test sites, low efficiency and high cost.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, a method for testing an intelligent driving emergency brake of an automobile is provided, which is performed by a test host of an intelligent driving emergency brake test system. The intelligent driving emergency brake test system also includes a road simulation conveyor belt and a vehicle to be tested located on the road simulation conveyor belt. The vehicle to be tested is equipped with an on-board computer and an emergency braking module, a wheel speed sensing module, and multiple external environment sensing modules that are respectively communicatively connected to the on-board computer. The test host is respectively communicatively connected to the on-board computer and the road simulation conveyor belt.

[0008] The automobile intelligent driving emergency braking test method includes:

[0009] The vehicle's speed is calculated in real time based on the wheel speed collected by the wheel speed sensing module and the conveying speed of the simulated conveyor belt on the road surface is controlled to be the same as the speed in the opposite direction.

[0010] After the driving speed of the vehicle to be tested reaches the target speed, selecting a set of exterior live scene time series data having a road condition matching the road surface simulation conveyor belt from a plurality of pre-collected exterior live scene time series data for reproducing different weather conditions, lighting conditions, road conditions, and traffic conditions, wherein the exterior live scene time series data includes a plurality of exterior environment perception time series data corresponding one-to-one to the plurality of exterior environment perception modules;

[0011] Transmitting the time series data of a certain external real-time scene to the vehicle computer in a time sequence to replace the output data of the plurality of external environment perception modules, and controlling the transient change value of the data transmission progress to be positively correlated with the driving speed of the vehicle to be tested in real time;

[0012] Receive braking data from the bicycle computer and used to drive the emergency brake module, wherein the braking data includes a braking start timestamp, a braking stop timestamp and braking object marking information;

[0013] The braking performance index of the vehicle to be tested is obtained by analyzing the time series data of the actual scene outside the vehicle, the braking data and the driving speed of the vehicle to be tested between the braking start timestamp and the braking stop timestamp.

[0014] Based on the above invention content, a new solution is provided for performing intelligent driving emergency braking test on a vehicle to be tested based on pre-collected time series data of actual scenes outside the vehicle, which is executed by a test host of a vehicle intelligent driving emergency braking test system. The vehicle intelligent driving emergency braking test system also includes a road simulation conveyor belt and a vehicle to be tested located on the road simulation conveyor belt. The vehicle to be tested is equipped with a driving computer and an emergency braking module, a wheel speed sensing module and multiple vehicle external environment sensing modules that are respectively communicated with the driving computer. By controlling the road simulation conveyor belt and interacting with the driving computer through the test host, not only can the vehicle to be tested always travel at high speed in the same place, but it can also truly simulate the multiple vehicle external environment sensing modules of the vehicle to be tested to collect time series data of actual scenes outside the vehicle to complete the intelligent driving emergency braking test. This can greatly reduce the demand for test sites, improve test efficiency and reduce test costs, and facilitate practical application and promotion.

[0015] In one possible design, the multiple external environment perception modules include a vehicle-mounted millimeter-wave radar, a vehicle-mounted lidar, a vehicle-mounted camera and / or a vehicle-mounted ultrasonic radar.

[0016] In a possible design, controlling the conveying speed of the road surface simulation conveyor belt to be the same as the driving speed in real time includes:

[0017] The driving speed is used as the target transmission speed.

[0018] A PID control algorithm is used in real time to make the conveying speed of the control road surface simulation conveyor belt reach the target conveying speed.

[0019] In one possible design, transmitting the certain set of time-series data of the external real-time scene to the vehicle driving computer in a time sequence to replace the output data of the plurality of external environment perception modules includes:

[0020] Obtaining a working status table of an external environment perception module of the vehicle to be tested, wherein the working status table of the external environment perception module is used to indicate whether each external environment perception module among the multiple external environment perception modules is working;

[0021] For each external vehicle environment perception module indicating that the corresponding module is not working in the external vehicle environment perception module working status table, removing the corresponding external vehicle environment perception time series data from the certain external vehicle real-time scene time series data;

[0022] The certain portion of the out-of-vehicle real-scene time series data that has been eliminated is transmitted to the on-board computer in a time sequence to replace the output data of the multiple out-of-vehicle environment perception modules.

[0023] In a possible design, the transient change value controlling the data transmission progress is positively correlated with the speed of the vehicle under test in real time, including:

[0024] Calculate in real time the ratio λ of the driving speed of the vehicle to be tested to the vehicle speed at the time of collection of the currently transmitted data in the certain set of off-vehicle live scene time series data;

[0025] According to the ratio λ, the transient change value V of the data transmission progress is controlled in real time dts =λ×V das , where V das It represents the transient change value of the data collection progress of the time series data of the real-time scene outside the vehicle at the collection time corresponding to the vehicle speed during the collection.

[0026] In one possible design, when the automobile intelligent driving emergency braking test system further includes an infrared rangefinder fixedly arranged in front of or behind the vehicle to be tested and communicatively connected to the test host, the method further includes:

[0027] Acquire distance time series data collected by the infrared rangefinder from the vehicle to be tested between the braking start timestamp and the braking stop timestamp;

[0028] The braking distance in the braking performance index is corrected according to the distance time series data.

[0029] In a second aspect, a vehicle intelligent driving emergency braking test device is provided, which is suitable for being arranged in a test host of a vehicle intelligent driving emergency braking test system, wherein the vehicle intelligent driving emergency braking test system also includes a road simulation conveyor belt and a vehicle to be tested located on the road simulation conveyor belt, the vehicle to be tested is equipped with a driving computer and an emergency braking module, a wheel speed sensing module, and multiple vehicle external environment sensing modules that are respectively communicatively connected to the driving computer, and the test host is respectively communicatively connected to the driving computer and the road simulation conveyor belt;

[0030] The automobile intelligent driving emergency braking test device includes a speed control unit, a data selection unit, a data transceiver unit and an index analysis unit which are sequentially communicatively connected;

[0031] The speed control unit is used to calculate the driving speed of the vehicle to be tested in real time based on the wheel speed collected by the wheel speed sensing module from the bicycle computer, and control the conveying speed of the road simulation conveyor belt to be the same as the driving speed in real time and in the opposite direction;

[0032] The data selection unit is configured to select, after the driving speed of the vehicle to be tested reaches a target speed, a set of external live scene time series data having a road condition that matches the road surface simulation conveyor belt from a plurality of pre-collected external live scene time series data for reproducing different weather conditions, lighting conditions, road conditions, and traffic conditions, wherein the external live scene time series data includes a plurality of external environment perception time series data corresponding one-to-one to the plurality of external environment perception modules;

[0033] The data transceiver unit is used to transmit the time series data of the real-time scene outside the vehicle to the driving computer in a time sequence to replace the output data of the multiple vehicle external environment perception modules, and control the transient change value of the data transmission progress to be positively correlated with the driving speed of the vehicle to be tested in real time;

[0034] The data transceiver unit is further used to receive braking data from the bicycle computer and used to drive the emergency brake module, wherein the braking data includes a braking start timestamp, a braking stop timestamp and braking object marking information;

[0035] The index analysis unit is used to analyze and obtain the braking performance index of the vehicle to be tested based on the certain off-vehicle real-time scene time series data, braking data and the driving speed of the vehicle to be tested between the braking start timestamp and the braking stop timestamp.

[0036] In a third aspect, the present invention provides a computer device comprising a memory, a processor and a transceiver that are communicatively connected in sequence, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the automobile intelligent driving emergency braking test method as described in the first aspect or any possible design of the first aspect.

[0037] In a fourth aspect, the present invention provides a computer-readable storage medium having instructions stored thereon. When the instructions are run on a computer, the automobile intelligent driving emergency braking test method as described in the first aspect or any possible design of the first aspect is executed.

[0038] In a fifth aspect, the present invention provides a computer program product, comprising a computer program or instructions, which, when executed by a computer, implements the automobile intelligent driving emergency braking test method as described in the first aspect or any possible design of the first aspect.

[0039] Beneficial effects of the above scheme:

[0040] (1) The present invention creatively provides a new solution for performing intelligent driving emergency braking tests on a vehicle to be tested based on pre-collected time series data of real-life scenes outside the vehicle, which is executed by a test host of an automobile intelligent driving emergency braking test system. The automobile intelligent driving emergency braking test system also includes a road simulation conveyor belt and a vehicle to be tested located on the road simulation conveyor belt. The vehicle to be tested is equipped with an on-board computer and an emergency braking module, a wheel speed sensing module and multiple on-board environment sensing modules that are respectively communicated with the on-board computer. By controlling the road simulation conveyor belt and interacting with the on-board computer through the test host, not only can the vehicle to be tested always travel at high speed in the same place, but it can also truly simulate the multiple on-board environment sensing modules of the vehicle to be tested to collect time series data of real-life scenes outside the vehicle, and complete the intelligent driving emergency braking test. This can greatly reduce the demand for test sites, improve test efficiency and reduce test costs, and facilitate practical application and promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 A flow chart of the automobile intelligent driving emergency braking test method provided in an embodiment of the present application.

[0043] Figure 2This is a schematic diagram of the structure of the automobile intelligent driving emergency braking test system provided in an embodiment of the present application.

[0044] Figure 3 This is a schematic diagram of the structure of the automobile intelligent driving emergency braking test device provided in an embodiment of the present application.

[0045] Figure 4 A schematic diagram of the structure of a computer device provided in an embodiment of the present application.

[0046] In the above drawings: 1-test host; 2-road simulation conveyor belt; 3-infrared rangefinder; 100-vehicle to be tested. DETAILED DESCRIPTION

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be briefly introduced below in conjunction with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0048] It should be understood that although the terms first, second, etc. may be used herein to describe various objects, these objects should not be limited by these terms. These terms are merely used to distinguish one object from another. For example, a first object can be referred to as a second object, and similarly, a second object can be referred to as a first object without departing from the scope of the exemplary embodiments of the present invention.

[0049] It should be understood that the term "and / or" that may appear in this document is merely a description of the association relationship between associated objects, indicating that there may be three relationships. For example, A and / or B can indicate three situations: A exists alone, B exists alone, or A and B exist at the same time. For another example, A, B and / or C can indicate the existence of any one of A, B and C or any combination of them. The term " / and" that may appear in this document describes another type of association object relationship, indicating that there may be two relationships. For example, A / and B can indicate two situations: A exists alone or A and B exist at the same time. In addition, the character " / " that may appear in this document generally indicates that the previous and next associated objects are in an "or" relationship.

[0050] Example:

[0051] like Figures 1-2 As shown, the automobile intelligent driving emergency braking test method provided in the first aspect of this embodiment can be, but is not limited to, executed by a test host 1 having certain computing resources and an automobile intelligent driving emergency braking test system, wherein, Figure 2 As shown, the automobile intelligent driving emergency braking test system also includes but is not limited to a road simulation conveyor belt 2 and a test vehicle 100 located on the road simulation conveyor belt 2. The test vehicle 100 is configured with but not limited to a driving computer and an emergency braking module, a wheel speed sensing module and multiple vehicle external environment sensing modules that are respectively communicatively connected to the driving computer. The test host 1 is respectively communicatively connected to the driving computer and the road simulation conveyor belt 2. The road simulation conveyor belt 2 is used to simulate the test road conditions and ensures that the test vehicle 100 always travels at high speed in the same place by moving in opposite directions with the test vehicle 100, thereby greatly reducing the test site requirements. Specifically, the road simulation conveyor belt 2 can, for example, adopt a crawler conveyor belt to simulate the test road conditions. The on-board computer, the emergency braking module, the wheel speed sensing module and the multiple external vehicle environment sensing modules are conventional configurations of the vehicle under test 100 with intelligent driving function, wherein the wheel speed sensing module is used to collect the wheel speed of the vehicle under test 100 in real time and transmit the collected results to the on-board computer in real time; the external vehicle environment sensing module is used to collect environmental perception data outside the vehicle under test 100 (such as video data or radar scanning data in front of the vehicle, on both sides of the vehicle body and behind the vehicle, etc.) in real time, and also transmit the collected results to the on-board computer in real time; specifically, the multiple external vehicle environment sensing modules include but are not limited to vehicle-mounted millimeter-wave radar, vehicle-mounted laser radar, vehicle-mounted camera and / or vehicle-mounted ultrasonic radar, etc.; the on-board computer is used to drive and control the emergency braking module according to all the environmental perception data, etc., and conventionally realize the automatic emergency braking function of the vehicle under test 100 (that is, the multiple external vehicle environment sensing modules, the on-board computer and the emergency braking module constitute an automatic emergency braking system arranged on the vehicle under test 100). In addition, the test host 1 can be connected to the on-board computer via wireless communication (such as WiFi communication), or can be connected to the on-board computer via wired communication based on a longer cable, and the test host 1 can specifically be connected to the controlled end of the road simulation conveyor belt 2 via wired communication.

[0052] like Figure 1 As shown, the automobile intelligent driving emergency braking test method includes but is not limited to the following steps S1 to S5.

[0053] S1. Calculate the driving speed of the vehicle to be tested in real time based on the wheel speed from the driving computer and collected by the wheel speed sensing module, and control the conveying speed of the road simulation conveyor belt to be the same as the driving speed in real time and in the opposite direction.

[0054] In the step S1, it is necessary to first start the vehicle to be tested 100 and the road simulation conveyor belt 2 in a conventional manner through the driving computer. This embodiment does not take into account the slippage between the wheels of the vehicle to be tested 100 and the road simulation conveyor belt 2, so the driving speed of the vehicle to be tested can be directly calculated in real time based on the wheel speed (i.e., wheel speed) and the size of the wheel. The aforementioned control of the transmission speed of the road simulation conveyor belt to be the same as the driving speed in real time and in the opposite direction means: controlling the transmission speed and direction of the road simulation conveyor belt 2 in real time, so that the transmission speed is consistent with the driving speed in real time, and the transmission direction is opposite to the direction of the driving speed in real time, thereby ensuring that the vehicle to be tested 100 always travels at high speed in place, thereby greatly reducing the test site requirements. Preferably, controlling the transmission speed of the road simulation conveyor belt to be the same as the driving speed in real time includes but is not limited to the following steps S11 to S12.

[0055] S11. The magnitude of the traveling speed is set as the target transmission speed magnitude.

[0056] S12. Using a PID control algorithm in real time to make the conveying speed of the controlled road surface simulated conveyor belt reach the target conveying speed.

[0057] In step S12, the PID control algorithm is a closed-loop feedback control algorithm that combines three links: proportional (P), integral (I) and differential (D). It is widely used in industrial automation, temperature control, motor speed regulation and other fields. It adjusts the system output in real time to eliminate errors and maintain stability. Therefore, it can be applied in this embodiment to make the transmission speed of the control road surface simulation conveyor belt 2 follow the driving speed of the vehicle 100 to be tested in real time.

[0058] S2. After the driving speed of the vehicle to be tested reaches the target speed, a certain set of outside vehicle live scene time series data whose road conditions match the road simulation conveyor belt is selected from multiple sets of outside vehicle live scene time series data collected in advance and used to reproduce different weather conditions, lighting conditions, road conditions and traffic conditions, wherein the outside vehicle live scene time series data includes but is not limited to multiple outside vehicle environment perception time series data corresponding one-to-one to the multiple outside vehicle environment perception modules.

[0059] In step S2, the target speed may be pre-set based on the requirements of the vehicle intelligent driving emergency braking test task. The off-vehicle real-time scene time series data may be pre-collected in real time by other vehicles (preferably other vehicles of the same model as the vehicle to be tested 100) equipped with, but not limited to, the multiple off-vehicle environment perception modules while driving on an actual road at a low speed (e.g., less than 5 km / h to ensure driving safety), and stored in a local database; specifically, the multiple off-vehicle environment perception time series data include, but are not limited to, millimeter-wave radar time series data, lidar time series data, video image time series data, and / or ultrasonic radar time series data. In addition, the weather conditions include but are not limited to sunny days, rainy days, snowy days and foggy days, the lighting conditions include but are not limited to daytime, evening, night, direct light and backlight, the road conditions include but are not limited to flat roads, bumpy roads, damaged roads, slippery roads, snowy roads and icy roads, and the traffic conditions include but are not limited to children peeking out, pedestrians crossing the road and vehicles suddenly changing lanes (due to low speed driving, driving safety can be guaranteed under these traffic conditions).

[0060] S3. Transmit the time series data of a certain external real-time scene to the on-board computer in a time sequence to replace the output data of the multiple external environment perception modules, and control the transient change value of the data transmission progress to be positively correlated with the driving speed of the vehicle to be tested in real time.

[0061] In step S3, the timing refers to the time sequence. Considering the need to perform a vehicle intelligent driving emergency braking test to obtain corresponding braking performance indicators and enrich test data when assuming that some of the external environment perception modules of the test vehicle 100 fail or the test vehicle 100 is not equipped with some of the external environment perception modules (i.e., the test vehicle 100 is a low-end model), preferably, the certain external real-time scene timing data is transmitted to the driving computer in a time sequence to replace the output data of the multiple external environment perception modules, including but not limited to the following steps S301 to S303.

[0062] S301. Obtain a working status table of an external environment perception module of the vehicle to be tested, wherein the working status table is used to indicate whether each external environment perception module among the multiple external environment perception modules is working.

[0063] In step S301, for example, when the multiple external environment perception modules include an onboard millimeter-wave radar, an onboard laser radar, an onboard camera, and an onboard ultrasonic radar, the external environment perception module operating status table may indicate that the onboard millimeter-wave radar is working, the onboard laser radar is working, the onboard camera is working, and the onboard ultrasonic radar is not working (i.e., assuming that the onboard ultrasonic radar of the test vehicle 100 is faulty, or that the test vehicle 100 is a low-end model and is not equipped with an onboard ultrasonic radar). In addition, the external environment perception module operating status table can be specified by the tester or automatically assembled.

[0064] S302. For each external vehicle environment perception module indicated in the external vehicle environment perception module working status table as being not working, remove the corresponding external vehicle environment perception time series data from the certain external vehicle real-time scene time series data.

[0065] In the step S302, based on the example in the above step S301, the ultrasonic radar time series data can be removed from the time series data of the real-time scene outside the vehicle.

[0066] S303. Transmit the eliminated time series data of the outside vehicle real scene to the on-board computer in a time series to replace the output data of the multiple outside vehicle environment perception modules.

[0067] In step S3, the purpose of the aforementioned transient change value of the control data transmission progress being positively correlated with the driving speed of the vehicle under test in real time is to truly simulate that the time series data of a certain external real-time scene is collected by the multiple external environment perception modules of the vehicle under test 100, that is, if the driving speed of the vehicle under test is large, the data transmission progress is accelerated (similar to fast playback when playing a video), otherwise the data transmission progress is slowed down (similar to slow playback when playing a video), consistent with the actual data collection situation. Specifically, the transient change value of the control data transmission progress is positively correlated with the driving speed of the vehicle under test in real time, including but not limited to the following steps S311 to S312.

[0068] S311. Calculate in real time the ratio λ of the driving speed of the vehicle to be tested to the vehicle speed at the time of collection of the currently transmitted data in the certain set of off-vehicle live scene time series data.

[0069] In step S311, the currently transmitted data reflects the current data transmission progress. If the current data transmission progress is 20%, then the currently transmitted data is the data at 20% of the time series data of the live scene outside the vehicle. Furthermore, if the data is collected at 10:01:29, then it is necessary to calculate in real time the ratio λ of the driving speed of the vehicle under test to the speed of the data collection vehicle (i.e., other vehicles equipped with but not limited to the multiple vehicle environment perception modules) at 10:01:29. In addition, since the live scene time series data of the vehicle outside the vehicle is collected at a low speed, the ratio λ is generally greater than 1.

[0070] S312. According to the ratio λ, real-time control of the transient change value V of the data transmission progress dts =λ×V das , where V das It represents the transient change value of the data collection progress of the time series data of the real-time scene outside the vehicle at the collection time corresponding to the vehicle speed during the collection.

[0071] In step S312, based on the example of step S311, the collection time is 10:01:29, and the data collection progress of a certain set of off-vehicle real-time scene time series data at the collection time corresponding to the vehicle speed during the collection is also 20%.

[0072] S4. Receive braking data from the vehicle computer for driving the emergency braking module, wherein the braking data includes but is not limited to a braking start timestamp, a braking stop timestamp, and braking object marking information.

[0073] In step S4, the braking data can be routinely recorded by the onboard computer when making a braking decision based on the real-time off-vehicle scene data. Furthermore, the braking object annotation information includes, but is not limited to, the object that triggered the braking event (e.g., a child peeking out, a pedestrian crossing the road, or a vehicle suddenly changing lanes) and the time of appearance of the object.

[0074] S5. Analyze and obtain the braking performance index of the vehicle to be tested based on the certain off-vehicle real-time scene time series data, the braking data, and the driving speed of the vehicle to be tested between the braking start timestamp and the braking stop timestamp.

[0075] In step S5, the braking performance indicators include but are not limited to braking response time, braking distance and braking accuracy, etc., which can be obtained by conventional analysis based on the time series data of the actual off-vehicle scene, the braking data and the driving speed of the vehicle to be tested between the braking start timestamp and the braking stop timestamp; for example, the braking response time can be calculated based on the appearance time of the marked object and the braking start timestamp, and the driving speed of the vehicle to be tested can be integrated and calculated between the braking start timestamp and the braking stop timestamp to obtain the braking distance, etc. In addition, considering that the conveying speed of the road simulation conveyor belt 2 follows the driving speed of the vehicle to be tested 100, there is a certain delay, so the vehicle to be tested 100 is not relatively stationary on the road simulation conveyor belt 2 during the braking process, but will move forward to a certain extent, which will cause an error in the braking distance; in order to eliminate this error, it is preferred that, Figure 2 As shown, the automobile intelligent driving emergency braking test system also includes an infrared rangefinder 3 fixedly arranged in front of or behind the vehicle to be tested 100 and communicatively connected to the test host 1, and the method also includes but is not limited to: first obtaining the distance time series data collected by the infrared rangefinder 3 of the vehicle to be tested 100 between the braking start timestamp and the braking stop timestamp; then correcting the braking distance in the braking performance index according to the distance time series data (for example, by a conventional addition / subtraction method).

[0076] Therefore, based on the automobile intelligent driving emergency braking test method described in the aforementioned steps S1 to S5, a new solution is provided for performing intelligent driving emergency braking tests on the vehicle to be tested based on pre-collected time series data of actual scenes outside the vehicle, which is executed by the test host of the automobile intelligent driving emergency braking test system. The automobile intelligent driving emergency braking test system also includes a road simulation conveyor belt and a vehicle to be tested located on the road simulation conveyor belt. The vehicle to be tested is equipped with a driving computer and an emergency braking module, a wheel speed sensing module and multiple external vehicle environment sensing modules that are respectively communicated with the driving computer. The control of the road simulation conveyor belt by the test host and the data interaction with the driving computer can not only make the vehicle to be tested always travel at high speed in the same place, but also can realistically simulate the multiple external vehicle environment sensing modules of the vehicle to be tested to collect time series data of actual scenes outside the vehicle to complete the intelligent driving emergency braking test. This can greatly reduce the demand for test sites, improve test efficiency and reduce test costs, and facilitate practical application and promotion.

[0077] like Figure 3As shown, the second aspect of this embodiment provides a virtual device for implementing the automobile intelligent driving emergency braking test method described in the first aspect, which is suitable for being arranged in a test host of an automobile intelligent driving emergency braking test system, wherein the automobile intelligent driving emergency braking test system also includes a road simulation conveyor belt and a vehicle to be tested located on the road simulation conveyor belt, the vehicle to be tested is equipped with a driving computer and an emergency braking module, a wheel speed sensing module and a plurality of vehicle external environment sensing modules that are respectively communicated with the driving computer, and the test host is respectively communicated with the driving computer and the road simulation conveyor belt;

[0078] The automobile intelligent driving emergency braking test device includes a speed control unit, a data selection unit, a data transceiver unit and an index analysis unit which are sequentially communicatively connected;

[0079] The speed control unit is used to calculate the driving speed of the vehicle to be tested in real time based on the wheel speed collected by the wheel speed sensing module from the bicycle computer, and control the conveying speed of the road simulation conveyor belt to be the same as the driving speed in real time and in the opposite direction;

[0080] The data selection unit is configured to select, after the driving speed of the vehicle to be tested reaches a target speed, a set of external live scene time series data having a road condition that matches the road surface simulation conveyor belt from a plurality of pre-collected external live scene time series data for reproducing different weather conditions, lighting conditions, road conditions, and traffic conditions, wherein the external live scene time series data includes a plurality of external environment perception time series data corresponding one-to-one to the plurality of external environment perception modules;

[0081] The data transceiver unit is used to transmit the time series data of the real-time scene outside the vehicle to the driving computer in a time sequence to replace the output data of the multiple vehicle external environment perception modules, and control the transient change value of the data transmission progress to be positively correlated with the driving speed of the vehicle to be tested in real time;

[0082] The data transceiver unit is further used to receive braking data from the bicycle computer and used to drive the emergency brake module, wherein the braking data includes a braking start timestamp, a braking stop timestamp and braking object marking information;

[0083] The index analysis unit is used to analyze and obtain the braking performance index of the vehicle to be tested based on the certain off-vehicle real-time scene time series data, braking data and the driving speed of the vehicle to be tested between the braking start timestamp and the braking stop timestamp.

[0084] The working process, working details and technical effects of the aforementioned device provided in the second aspect of this embodiment can be found in the automobile intelligent driving emergency braking test method described in the first aspect, and will not be repeated here.

[0085] like Figure 4As shown, the third aspect of this embodiment provides a computer device for executing the automobile intelligent driving emergency braking test method as described in the first aspect, including a memory, a processor and a transceiver that are sequentially connected in communication, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the automobile intelligent driving emergency braking test method as described in the first aspect. For example, the memory may include, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a flash memory (Flash Memory), a first-in-first-out memory (FIFO) and / or a first-in-last-out memory (FILO), etc.; the processor may be, but is not limited to, a microprocessor of the STM32F105 series. In addition, the computer device may also include, but is not limited to, a power module, a display screen and other necessary components.

[0086] The working process, working details and technical effects of the aforementioned computer device provided in the third aspect of this embodiment can be found in the automobile intelligent driving emergency braking test method described in the first aspect, and will not be repeated here.

[0087] A fourth aspect of this embodiment provides a computer-readable storage medium storing instructions including the method for testing the intelligent driving emergency braking of an automobile as described in the first aspect, that is, the computer-readable storage medium stores instructions, and when the instructions are executed on a computer, the method for testing the intelligent driving emergency braking of an automobile as described in the first aspect is executed. The computer-readable storage medium refers to a carrier for storing data, and may include, but is not limited to, computer-readable storage media such as a floppy disk, an optical disk, a hard disk, a flash memory, a USB flash drive, and / or a memory stick. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0088] The working process, working details and technical effects of the aforementioned computer-readable storage medium provided in the fourth aspect of this embodiment can be referred to the automobile intelligent driving emergency braking test method described in the first aspect, and will not be repeated here.

[0089] A fifth aspect of this embodiment provides a computer program product, including a computer program or instructions, which, when executed by a computer, implements the vehicle intelligent driving emergency braking test method described in the first aspect. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0090] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A method for testing emergency braking of an automobile, characterized in that: The test is performed by a test host of an intelligent driving emergency braking test system for an automobile, wherein the intelligent driving emergency braking test system also includes a road surface simulation conveyor belt and a vehicle to be tested located on the road surface simulation conveyor belt. The vehicle to be tested is equipped with an on-board computer and an emergency braking module, a wheel speed sensing module, and multiple vehicle external environment sensing modules that are respectively communicatively connected to the on-board computer. The test host is respectively communicatively connected to the on-board computer and the road surface simulation conveyor belt. The automobile intelligent driving emergency braking test method includes: The vehicle's speed is calculated in real time based on the wheel speed collected by the wheel speed sensing module and the conveying speed of the simulated conveyor belt on the road surface is controlled to be the same as the speed in the opposite direction. After the driving speed of the vehicle to be tested reaches the target speed, selecting a set of exterior live scene time series data having a road condition matching the road surface simulation conveyor belt from a plurality of pre-collected exterior live scene time series data for reproducing different weather conditions, lighting conditions, road conditions, and traffic conditions, wherein the exterior live scene time series data includes a plurality of exterior environment perception time series data corresponding one-to-one to the plurality of exterior environment perception modules; Transmitting the time series data of a certain external real-time scene to the vehicle computer in a time sequence to replace the output data of the plurality of external environment perception modules, and controlling the transient change value of the data transmission progress to be positively correlated with the driving speed of the vehicle to be tested in real time; Receive braking data from the bicycle computer and used to drive the emergency brake module, wherein the braking data includes a braking start timestamp, a braking stop timestamp and braking object marking information; The braking performance index of the vehicle to be tested is obtained by analyzing the time series data of the actual scene outside the vehicle, the braking data and the driving speed of the vehicle to be tested between the braking start timestamp and the braking stop timestamp.

2. The vehicle intelligent driving emergency braking test method according to claim 1, characterized in that: The multiple external environment perception modules include a vehicle-mounted millimeter-wave radar, a vehicle-mounted laser radar, a vehicle-mounted camera and / or a vehicle-mounted ultrasonic radar.

3. The vehicle intelligent driving emergency braking test method according to claim 1, characterized in that: Controlling the conveying speed of the road simulation conveyor belt to be the same as the driving speed in real time includes: The driving speed is used as the target transmission speed. A PID control algorithm is used in real time to make the conveying speed of the control road surface simulation conveyor belt reach the target conveying speed.

4. The vehicle intelligent driving emergency braking test method according to claim 1, characterized in that: Transmitting the time series data of the live scene outside the vehicle to the driving computer in a time sequence to replace the output data of the multiple vehicle environment perception modules, including: Obtaining a working status table of an external environment perception module of the vehicle to be tested, wherein the working status table of the external environment perception module is used to indicate whether each external environment perception module among the multiple external environment perception modules is working; For each external vehicle environment perception module indicating that the corresponding module is not working in the external vehicle environment perception module working status table, removing the corresponding external vehicle environment perception time series data from the certain external vehicle real-time scene time series data; The certain portion of the out-of-vehicle real-scene time series data that has been eliminated is transmitted to the on-board computer in a time series to replace the output data of the multiple out-of-vehicle environment perception modules.

5. The vehicle intelligent driving emergency braking test method according to claim 1, characterized in that: The transient change value that controls the progress of data transmission is positively correlated with the speed of the vehicle under test in real time, including: Calculate in real time the ratio λ of the driving speed of the vehicle to be tested to the vehicle speed at the time of collection of the currently transmitted data in the certain set of off-vehicle live scene time series data; According to the ratio λ, the transient change value V of the data transmission progress is controlled in real time dts =λ×V das , where V das It represents the transient change value of the data collection progress of the time series data of the real-time scene outside the vehicle at the collection time corresponding to the vehicle speed during the collection.

6. The vehicle intelligent driving emergency braking test method according to claim 1, characterized in that: When the automobile intelligent driving emergency braking test system further includes an infrared rangefinder fixedly arranged in front of or behind the vehicle to be tested and communicatively connected to the test host, the method further includes: Acquire distance time series data collected by the infrared rangefinder from the vehicle to be tested between the braking start timestamp and the braking stop timestamp; The braking distance in the braking performance index is corrected according to the distance time series data.

7. A vehicle intelligent driving emergency braking test device, characterized in that: Suitable for being arranged in a test host of an automobile intelligent driving emergency braking test system, wherein the automobile intelligent driving emergency braking test system also includes a road simulation conveyor belt and a vehicle to be tested located on the road simulation conveyor belt, the vehicle to be tested is equipped with a driving computer and an emergency braking module, a wheel speed sensing module and multiple vehicle external environment sensing modules that are respectively communicated with the driving computer, and the test host is respectively communicated with the driving computer and the road simulation conveyor belt; The automobile intelligent driving emergency braking test device includes a speed control unit, a data selection unit, a data transceiver unit and an index analysis unit which are sequentially communicatively connected; The speed control unit is used to calculate the driving speed of the vehicle to be tested in real time based on the wheel speed collected by the wheel speed sensing module from the bicycle computer, and control the conveying speed of the road simulation conveyor belt to be the same as the driving speed in real time and in the opposite direction; The data selection unit is configured to select, after the driving speed of the vehicle to be tested reaches a target speed, a set of external live scene time series data having a road condition that matches the road surface simulation conveyor belt from a plurality of pre-collected external live scene time series data for reproducing different weather conditions, lighting conditions, road conditions, and traffic conditions, wherein the external live scene time series data includes a plurality of external environment perception time series data corresponding one-to-one to the plurality of external environment perception modules; The data transceiver unit is used to transmit the time series data of the real-time scene outside the vehicle to the driving computer in a time sequence to replace the output data of the multiple vehicle external environment perception modules, and control the transient change value of the data transmission progress to be positively correlated with the driving speed of the vehicle to be tested in real time; The data transceiver unit is further used to receive braking data from the bicycle computer and used to drive the emergency brake module, wherein the braking data includes a braking start timestamp, a braking stop timestamp and braking object marking information; The index analysis unit is used to analyze and obtain the braking performance index of the vehicle to be tested based on the certain off-vehicle real-time scene time series data, braking data and the driving speed of the vehicle to be tested between the braking start timestamp and the braking stop timestamp.

8. A computer device, characterized in that: It includes a memory, a processor and a transceiver that are communicatively connected in sequence, wherein the memory is used to store computer programs, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the automobile intelligent driving emergency braking test method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions. When the instructions are executed on the computer, the automobile intelligent driving emergency braking test method as described in any one of claims 1 to 6 is executed.

10. A computer program product comprising a computer program or instructions, characterized in that When executed by a computer, the computer program or the instruction implements the automobile intelligent driving emergency braking test method as described in any one of claims 1 to 6.

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