Test methods, devices, equipment, media and products for emergency braking of intelligent driving vehicles

Abstract

This invention discloses a method, apparatus, equipment, medium, and product for testing emergency braking of intelligent driving vehicles, relating to the field of intelligent driving testing technology. The method is executed by a test host of an intelligent driving emergency braking test system. The system also includes a simulated road surface conveyor belt and a vehicle under test located on the conveyor belt. The vehicle under test 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 communicatively connected to the on-board computer. Through the control of the simulated road surface conveyor belt and data interaction with the on-board computer by the test host, the vehicle under test can not only maintain a stationary high-speed trajectory but also realistically simulate the collection of real-time data from multiple external environment sensing modules, completing the intelligent driving emergency braking test. This significantly reduces the requirements for testing sites, improves testing efficiency, and reduces testing costs, facilitating practical application and promotion.

Description

Technical Field

[0001] This invention belongs to the field of automotive intelligent driving test technology, specifically relating to an automotive intelligent driving emergency braking test method, device, equipment, medium and product. Background Technology

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

[0003] Intelligent driving, or "Smart Driving" for short, essentially involves cognitive engineering of attention attraction and distraction, primarily comprising three stages: network navigation, autonomous driving, and human intervention. The prerequisites for intelligent driving are that the selected vehicle meets the dynamic requirements of driving, the onboard sensors can acquire relevant visual and auditory signals and information, and the corresponding servo systems are controlled through cognitive computing. As one of the active safety functions of intelligent driving technology, the Automatic Emergency Braking (AEB) system can automatically brake in emergency situations to avoid or mitigate a collision. The development of AEB systems requires extensive testing, especially in hazardous scenarios.

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

[0005] The purpose of this invention is to provide a method, device, computer equipment, computer-readable storage medium, and computer program product for testing emergency braking of intelligent driving vehicles, in order to solve the problems of large testing sites, low efficiency, and high cost of existing emergency braking testing solutions for intelligent driving vehicles.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] Firstly, a test method for emergency braking of intelligent driving vehicles is provided, which is executed by the test host of an intelligent driving emergency braking test system. The intelligent driving emergency braking test system also includes a road surface simulation conveyor belt and a vehicle under test located on the road surface simulation conveyor belt. The vehicle under test 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 connected to the on-board computer. The test host is respectively connected to the on-board computer and the road surface simulation conveyor belt.

[0008] The vehicle 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 bicycle computer and wheel speed sensing module, and the conveyor speed of the simulated conveyor belt on the road surface is controlled to be the same as the vehicle's speed but opposite in direction.

[0010] After the vehicle under test reaches the target speed, a set of real-time data of the external environment is selected from multiple sets of real-time data of the external environment that are collected in advance and used to reproduce different weather conditions, lighting conditions, road conditions and traffic conditions. The set of real-time data of the external environment includes multiple sets of real-time data of the external environment that correspond one-to-one with the multiple external environment perception modules.

[0011] According to the time sequence, a certain piece of real-time data of the external scene is transmitted to the vehicle computer to replace the output data of the multiple external environment perception modules, and the transient change value of the data transmission progress is controlled to be positively correlated with the driving speed of the vehicle under test in real time.

[0012] The system receives braking data from the bicycle computer and uses it to drive the emergency braking module. The braking data includes a braking start timestamp, a braking stop timestamp, and braking object labeling information.

[0013] Based on the time-series data of a certain real-world external scene, braking data, and the speed of the vehicle under test between the braking start time stamp and the braking stop time stamp, the braking performance index of the vehicle under test is obtained by analysis.

[0014] Based on the above-mentioned invention, a new scheme for conducting intelligent driving emergency braking tests on vehicles under test based on pre-collected real-time data of external conditions is provided. This scheme is executed by the test host of an intelligent driving emergency braking test system. The system also includes a simulated road conveyor belt and the vehicle under test located on the simulated road conveyor belt. The vehicle under test 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 communicatively connected to the on-board computer. By controlling the simulated road conveyor belt and interacting with the on-board computer through the test host, the vehicle under test can not only maintain a stationary high-speed driving position but also realistically simulate the collection of real-time data of external conditions by the multiple external environment sensing modules of the vehicle under test, thus completing the intelligent driving emergency braking test. This significantly reduces the requirements for test sites, improves test efficiency, and reduces test costs, facilitating practical application and promotion.

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

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

[0017] The magnitude of this travel speed is taken as the target transmission speed.

[0018] The PID control algorithm is used in real time to make the conveyor speed of the simulated conveyor belt on the controlled road surface reach the target conveyor speed.

[0019] In one possible design, a set of real-time data of the external environment scene is transmitted to the vehicle computer in a time sequence to replace the output data of the multiple external environment perception modules, including:

[0020] Obtain the working status table of the external environment perception module of the vehicle under test, wherein the working status table of the external environment perception module is used to indicate whether each external environment perception module among the plurality of external environment perception modules is working.

[0021] For each external environment perception module that indicates that the corresponding module is not working in the working status table of the external environment perception module, the corresponding external environment perception time series data is removed from the certain set of external real-time scene time series data.

[0022] According to the time sequence, the time-series data of a certain vehicle exterior scene after the rejection process is transmitted to the vehicle computer to replace the output data of the multiple vehicle exterior environment perception modules.

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

[0024] The ratio λ of the vehicle speed under test to the vehicle speed at the time of data collection in the current transmission data of a certain vehicle exterior scene time series is calculated in real time.

[0025] Based on 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 This represents the transient change in the data acquisition progress of a certain piece of real-time data of an external vehicle scene at the acquisition time corresponding to the vehicle speed at the time of acquisition.

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

[0027] Acquire distance time-series data of the vehicle under test collected by the infrared rangefinder between the braking start time stamp and the braking stop time stamp;

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

[0029] Secondly, a vehicle intelligent driving emergency braking test device is provided, which is suitable for being arranged in the test host of the vehicle intelligent driving emergency braking test system. The vehicle intelligent driving emergency braking test system also includes a road surface simulation conveyor belt and a vehicle under test located on the road surface simulation conveyor belt. The vehicle under test 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 connected to the on-board computer. The test host is respectively connected to the on-board computer and the road surface simulation conveyor belt.

[0030] The intelligent driving emergency braking test device for automobiles includes a speed control unit, a data selection unit, a data transceiver unit, and an index analysis unit that are connected in sequence via communication.

[0031] The speed control unit is used to calculate the speed of the vehicle under test in real time based on the wheel speed collected by the wheel speed sensing module from the bicycle computer, and to control the conveyor speed of the road surface simulated conveyor belt to be the same as the speed and opposite in direction in real time.

[0032] The data selection unit is used to select a set of real-time data of the vehicle exterior scene that matches the road surface simulated conveyor belt from multiple sets of real-time data of the vehicle exterior scene that are pre-collected and used to reproduce different weather conditions, lighting conditions, road conditions and traffic conditions after the vehicle under test reaches the target speed. The real-time data of the vehicle exterior scene includes multiple sets of real-time data of the vehicle exterior environment perception that correspond one-to-one with the multiple sets of real-time data of the vehicle exterior environment perception modules.

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

[0034] The data transceiver unit is also used to receive braking data from the bicycle computer and used to drive the emergency braking module. The braking data includes a braking start timestamp, a braking stop timestamp, and braking object labeling information.

[0035] The index analysis unit is used to analyze and obtain the braking performance index of the vehicle under test based on the time-series data of a certain external real-world scenario, braking data, and the speed of the vehicle under test between the braking start time stamp and the braking stop time stamp.

[0036] Thirdly, the present invention provides a computer device comprising a memory, a processor, and a transceiver connected in sequence for 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 vehicle intelligent driving emergency braking test method as described in the first aspect or any possible design in the first aspect.

[0037] Fourthly, the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, perform the vehicle intelligent driving emergency braking test method as described in the first aspect or any possible design in the first aspect.

[0038] Fifthly, the present invention provides a computer program product, including a computer program or instructions, wherein the computer program or instructions, when executed by a computer, implement the vehicle intelligent driving emergency braking test method as described in the first aspect or any possible design in the first aspect.

[0039] The beneficial effects of the above scheme are:

[0040] (1) This invention creatively provides a new scheme for intelligent driving emergency braking test of vehicle under test based on pre-collected real-time data of external scene. The test is performed by the test host of the intelligent driving emergency braking test system. The intelligent driving emergency braking test system also includes a road simulated conveyor belt and the vehicle under test located on the road simulated conveyor belt. The vehicle under test is equipped with a vehicle computer and an emergency braking module, a wheel speed sensing module and multiple external environment sensing modules that are respectively connected to the vehicle computer. By controlling the road simulated conveyor belt and interacting with the vehicle computer through the test host, the vehicle under test can not only keep driving at high speed in place, but also realistically simulate the multiple external environment sensing modules of the vehicle under test to collect real-time data of external scene, and complete the intelligent driving emergency braking test. This can greatly reduce the test site requirements, improve test efficiency and reduce test costs, and facilitate practical application and promotion. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a flowchart illustrating the emergency braking test method for intelligent driving of a vehicle provided in an embodiment of this application.

[0043] Figure 2This is a schematic diagram of the structure of the vehicle intelligent driving emergency braking test system provided in the embodiments of this application.

[0044] Figure 3 This is a schematic diagram of the structure of the vehicle intelligent driving emergency braking test device provided in the embodiments of this application.

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

[0046] In the above attached diagram: 1-Test host; 2-Road simulation conveyor belt; 3-Infrared rangefinder; 100-Vehicle under test. Detailed Implementation

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying 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 effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

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

[0049] It should be understood that the term "and / or" that may appear in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, or A and B exist simultaneously. Another example is A, B and / or C, which can mean that any one of A, B, and C or any combination thereof exists. The term " / and" that may appear in this document describes another relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone or A and B exist simultaneously. In addition, the character " / " that may appear in this document generally indicates that the related objects before and after it are in an "or" relationship.

[0050] Example:

[0051] like Figures 1-2 As shown, the vehicle intelligent driving emergency braking test method provided in the first aspect of this embodiment can be executed, but is not limited to, by a test host 1 with certain computing resources and a vehicle intelligent driving emergency braking test system, wherein, as Figure 2 As shown, the intelligent driving emergency braking test system for automobiles also includes, but is not limited to, a road surface simulation conveyor belt 2 and a test vehicle 100 located on the road surface simulation conveyor belt 2. The test vehicle 100 is equipped with, but is not limited to, an on-board computer and an emergency braking module, a wheel speed sensing module, and multiple external environment sensing modules that are respectively connected to the on-board computer. The test host 1 is respectively connected to the on-board computer and the road surface simulation conveyor belt 2. The road surface simulation conveyor belt 2 is used to simulate the road surface conditions for testing, and ensures that the test vehicle 100 is always moving at high speed in place by moving in the opposite direction to the test vehicle 100, thereby greatly reducing the requirements for the test site; specifically, the road surface simulation conveyor belt 2 can be, for example, a tracked conveyor belt to simulate the road surface conditions for testing. The on-board computer, the emergency braking module, the wheel speed sensing module, and the multiple external environment sensing modules are standard configurations of the test vehicle 100 with intelligent driving capabilities. The wheel speed sensing module collects the wheel speed of the test vehicle 100 in real time and transmits the results to the on-board computer. The external environment sensing modules collect environmental perception data (e.g., video data or radar scan data from the front, sides, and rear of the vehicle) located outside the test vehicle 100 in real time and also transmit the results to the on-board computer. Specifically, the multiple external environment sensing modules include, but are not limited to, vehicle-mounted millimeter-wave radar, vehicle-mounted lidar, vehicle-mounted cameras, and / or vehicle-mounted ultrasonic radar. The on-board computer controls the emergency braking module based on all the environmental perception data, conventionally implementing the automatic emergency braking function of the test vehicle 100 (i.e., the multiple external environment sensing modules, the on-board computer, and the emergency braking module constitute an automatic emergency braking system deployed on the test vehicle 100). In addition, the test host 1 can communicate with the vehicle computer via wireless communication (e.g., WiFi communication) or via wired communication using a longer cable. Specifically, the test host 1 can be wired to the controlled end of the road surface simulation conveyor belt 2.

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

[0053] S1. The driving speed of the vehicle under test is calculated in real time based on the wheel speed collected by the wheel speed sensing module from the vehicle computer, and the conveying speed of the simulated road conveyor belt is controlled to be the same as the driving speed in magnitude but opposite in direction in real time.

[0054] In step S1, the vehicle under test 100 and the road surface simulation conveyor belt 2 need to be started normally via the vehicle computer. This embodiment does not consider the possibility of wheel slippage between the vehicle under test 100 and the road surface simulation conveyor belt 2. Therefore, the vehicle's speed can be directly calculated in real-time based on the wheel speed (i.e., wheel rotation speed) and the wheel size. The aforementioned control of the road surface simulation conveyor belt's transmission speed to be the same as and opposite to the driving speed in real-time means: controlling the magnitude and direction of the transmission speed of the road surface simulation conveyor belt 2 in real-time, ensuring that the transmission speed is consistent with the driving speed and that the transmission direction is opposite to the driving speed, thereby ensuring that the vehicle under test 100 always travels at high speed in place, thus significantly reducing the requirements for the testing site. Preferably, controlling the transmission speed of the road surface simulation conveyor belt to be the same as the driving speed in real-time includes, but is not limited to, the following steps S11-S12.

[0055] S11. Use the magnitude of this driving speed as the target transmission speed.

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

[0057] In step S12, the PID control algorithm is a closed-loop feedback control algorithm that combines proportional (P), integral (I), and derivative (D) components. It is widely used in industrial automation, temperature control, and motor speed regulation. By adjusting the system output in real time, it eliminates errors and maintains stability. Therefore, it can be applied in this embodiment to make the conveying speed of the simulated road surface conveyor belt 2 follow the driving speed of the vehicle under test 100 in real time.

[0058] S2. After the vehicle under test reaches the target speed, select a set of time-series data of the actual external scene from multiple sets of pre-collected time-series data of different weather conditions, lighting conditions, road conditions and traffic conditions, which matches the road conditions of the simulated conveyor belt. The actual external scene time-series data includes, but is not limited to, multiple sets of time-series data of external environment perception that correspond one-to-one with the multiple external environment perception modules.

[0059] In step S2, the target speed can be preset based on the requirements of the vehicle intelligent driving emergency braking test task. The real-time data of the external environment can be routinely collected in real time by other vehicles (preferably other vehicles of the same model as the vehicle under test 100) equipped with, but not limited to, the multiple external environment perception modules, when driving on actual roads at low speeds (e.g., at speeds below 5 km / h to ensure driving safety), and stored in a local database; specifically, the multiple external 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, etc. 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, nighttime, front lighting, and backlighting; the road conditions include, but are not limited to, flat roads, pothole roads, damaged roads, slippery roads, snow-covered roads, and icy roads; and the traffic conditions include, but are not limited to, children suddenly appearing on the road, pedestrians crossing the road, and vehicles suddenly changing lanes (since the driving speed is low, driving safety can be guaranteed under these traffic conditions).

[0060] S3. Transmit a set of real-time data of the vehicle's external environment to the vehicle 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 under test in real time.

[0061] In step S3, the timing refers to the chronological order. Considering the necessity of conducting emergency braking tests to obtain corresponding braking performance indicators and enrich the test data even when some external environment perception modules of the vehicle under test 100 malfunction or the vehicle under test 100 is not equipped with certain external environment perception modules (i.e., the vehicle under test 100 is a low-end model), preferably, a certain set of external environment scenario timing data is transmitted to the vehicle computer in chronological order 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 the working status table of the external environment perception module of the vehicle under test, wherein the working status table of the external environment perception module is used to indicate whether each external environment perception module among the plurality of external environment perception modules is working.

[0063] In step S301, for example, when the plurality of vehicle external environment perception modules include vehicle-mounted millimeter-wave radar, vehicle-mounted lidar, vehicle-mounted camera, and vehicle-mounted ultrasonic radar, the vehicle external environment perception module operating status table can indicate that the vehicle-mounted millimeter-wave radar is working, the vehicle-mounted lidar is working, the vehicle-mounted camera is working, and the vehicle-mounted ultrasonic radar is not working (i.e., assuming that the vehicle-mounted ultrasonic radar of the test vehicle 100 is malfunctioning, or that the test vehicle 100 is a low-end model and does not have a vehicle-mounted ultrasonic radar). Furthermore, the vehicle external environment perception module operating status table can be specified by the tester or automatically generated.

[0064] S302. For each external environment perception module that indicates that the corresponding module is not working in the working status table of the external environment perception module, remove the corresponding external environment perception time series data from the certain set of external real-time scene time series data.

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

[0066] S303. The time-series data of the real-time scene outside the vehicle, after being processed by rejection, is transmitted to the vehicle computer in accordance with the time sequence to replace the output data of the multiple external environment perception modules.

[0067] In step S3, the purpose of the aforementioned real-time positive correlation between the transient change value of the control data transmission progress and the speed of the vehicle under test is to realistically simulate that the time-series data of a certain external scene is collected by the multiple external environment perception modules of the vehicle under test 100. That is, if the speed of the vehicle under test is large, the data transmission progress is accelerated (similar to fast playback in video playback), and vice versa (similar to slow playback in video playback), which is consistent with the actual data collection situation. Specifically, the real-time positive correlation between the transient change value of the control data transmission progress and the speed of the vehicle under test includes, but is not limited to, the following steps S311 to S312.

[0068] S311. Calculate in real time the ratio λ between the speed of the vehicle under test and the speed of the vehicle at the time of data collection in the current transmission data of a certain vehicle exterior scene time series.

[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 the 20% mark of a certain time-series data set of the vehicle's external environment scenario. Furthermore, if the data was collected at 10:01:29, then the ratio λ between the speed of the vehicle under test and the speed of the data collection vehicle (i.e., other vehicles equipped with, but not limited to, the multiple external environment perception modules) at that time needs to be calculated in real time. Moreover, since the certain time-series data set of the vehicle's external environment scenario is collected at low speed, the ratio λ is generally greater than 1.

[0070] S312. Based on the ratio λ, control the transient change value V of the data transmission progress in real time. dts =λ×V das , where V das This represents the transient change in the data acquisition progress of a certain piece of real-time data of an external vehicle scene at the acquisition time corresponding to the vehicle speed at the time of acquisition.

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

[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, braking start timestamp, braking stop timestamp, and braking object labeling information.

[0073] In step S4, the braking data can be routinely recorded by the vehicle computer when making braking decisions based on a set of real-time data of the external scene. Furthermore, the braking object labeling information includes, but is not limited to, labeled objects that trigger braking events (e.g., children suddenly appearing out of the way, pedestrians crossing the road, or vehicles suddenly changing lanes) and the time of appearance of such labeled objects.

[0074] S5. Based on the time-series data of the actual external scene, the braking data, and the speed of the vehicle under test between the braking start time stamp and the braking stop time stamp, the braking performance index of the vehicle under test is obtained by analysis.

[0075] In step S5, the braking performance indicators include, but are not limited to, braking response time, braking distance, and braking accuracy. These can be obtained through conventional analysis based on the time-series data of a certain external real-world scenario, the braking data, and the speed of the vehicle under test between the braking start time and the braking stop time. For example, the braking response time can be calculated based on the appearance time of the labeled object and the braking start time, and the braking distance can be obtained by integrating the speed of the vehicle under test between the braking start time and the braking stop time. Furthermore, considering that the conveying speed of the simulated road surface conveyor belt 2 follows the speed of the vehicle under test 100, there is a certain delay. Therefore, the vehicle under test 100 is not relatively stationary on the simulated road surface conveyor belt 2 during braking, but will move forward to some extent, which will cause errors in the braking distance. To eliminate this error, preferably, as follows... Figure 2 As shown, the vehicle intelligent driving emergency braking test system also includes an infrared rangefinder 3 fixedly arranged in front of or behind the test vehicle 100 and communicatively connected to the test host 1. The method also includes, but is not limited to: first acquiring distance time-series data collected by the infrared rangefinder 3 on the test vehicle 100 between the braking start time stamp and the braking stop time stamp; and then correcting the braking distance in the braking performance index according to the distance time-series data (for example, by conventional addition / subtraction).

[0076] Therefore, based on the vehicle intelligent driving emergency braking test method described in steps S1 to S5 above, a new scheme is provided for conducting intelligent driving emergency braking tests on the vehicle under test based on pre-collected real-time data of the external environment. This scheme is executed by the test host of the vehicle intelligent driving emergency braking test system, which also includes a road surface simulation conveyor belt and the vehicle under test located on the road surface simulation conveyor belt. The vehicle under test 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 connected to the on-board computer. By controlling the road surface simulation conveyor belt and interacting with the on-board computer through the test host, the vehicle under test can not only keep moving at high speed in place, but also realistically simulate the multiple external environment sensing modules of the vehicle under test to collect real-time data of the external environment to complete the intelligent driving emergency braking test. This can significantly reduce the requirements for test sites, improve test efficiency, and reduce test costs, making it easier for practical application and promotion.

[0077] like Figure 3As shown, the second aspect of this embodiment provides a virtual device for implementing the vehicle intelligent driving emergency braking test method described in the first aspect. It is suitable for being arranged in the test host of the vehicle intelligent driving emergency braking test system. The vehicle intelligent driving emergency braking test system also includes a road surface simulation conveyor belt and a vehicle under test located on the road surface simulation conveyor belt. The vehicle under test 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 connected to the on-board computer. The test host is respectively connected to the on-board computer and the road surface simulation conveyor belt.

[0078] The intelligent driving emergency braking test device for automobiles includes a speed control unit, a data selection unit, a data transceiver unit, and an index analysis unit that are connected in sequence via communication.

[0079] The speed control unit is used to calculate the speed of the vehicle under test in real time based on the wheel speed collected by the wheel speed sensing module from the bicycle computer, and to control the conveyor speed of the road surface simulated conveyor belt to be the same as the speed and opposite in direction in real time.

[0080] The data selection unit is used to select a set of real-time data of the vehicle exterior scene that matches the road surface simulated conveyor belt from multiple sets of real-time data of the vehicle exterior scene that are pre-collected and used to reproduce different weather conditions, lighting conditions, road conditions and traffic conditions after the vehicle under test reaches the target speed. The real-time data of the vehicle exterior scene includes multiple sets of real-time data of the vehicle exterior environment perception that correspond one-to-one with the multiple sets of real-time data of the vehicle exterior environment perception modules.

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

[0082] The data transceiver unit is also used to receive braking data from the bicycle computer and used to drive the emergency braking module. The braking data includes a braking start timestamp, a braking stop timestamp, and braking object labeling information.

[0083] The index analysis unit is used to analyze and obtain the braking performance index of the vehicle under test based on the time-series data of a certain external real-world scenario, braking data, and the speed of the vehicle under test between the braking start time stamp and the braking stop time stamp.

[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 vehicle 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 vehicle intelligent driving emergency braking test method as described in the first aspect. The device includes a memory, a processor, and a transceiver connected in sequence. The memory stores a computer program, the transceiver sends and receives messages, and the processor reads the computer program and executes the vehicle intelligent driving emergency braking test method as described in the first aspect. Specifically, the memory may include, but is not limited to, random-access memory (RAM), read-only memory (ROM), flash memory, first-in-first-out (FIFO) memory, and / or first-in-last-out (FILO) memory, etc.; the processor may include, but is not limited to, a microprocessor of the STM32F105 series. Furthermore, 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 equipment provided in the third aspect of this embodiment can be found in the vehicle intelligent driving emergency braking test method described in the first aspect, and will not be repeated here.

[0087] This fourth aspect of the embodiment provides a computer-readable storage medium storing instructions comprising the vehicle intelligent driving emergency braking test method as described in the first aspect. Specifically, the computer-readable storage medium stores instructions that, when executed on a computer, perform the vehicle intelligent driving emergency braking test method as described in the first aspect. The computer-readable storage medium refers to a data storage medium, which may include, but is not limited to, floppy disks, optical disks, hard disks, flash memory, USB flash drives, and / or Memory Sticks. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[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 found in the vehicle intelligent driving emergency braking test method described in the first aspect, and will not be repeated here.

[0089] This fifth aspect of the embodiment provides a computer program product, including a computer program or instructions, which, when executed by a computer, implement the vehicle intelligent driving emergency braking test method as 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 merely 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 should be included within the scope of protection of the present invention.

Claims

1. A method for testing emergency braking of an intelligent driving vehicle, characterized in that, The test is performed by the test host of the intelligent driving emergency braking test system for automobiles. The intelligent driving emergency braking test system for automobiles also includes a road surface simulation conveyor belt and a vehicle under test located on the road surface simulation conveyor belt. The vehicle under test 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 connected to the on-board computer. The test host is respectively connected to the on-board computer and the road surface simulation conveyor belt. The vehicle intelligent driving emergency braking test method includes: The vehicle's speed is calculated in real time based on the wheel speed collected by the bicycle computer and wheel speed sensing module, and the conveyor speed of the simulated conveyor belt on the road surface is controlled to be the same as the vehicle's speed but opposite in direction. After the vehicle under test reaches the target speed, a set of real-time data of the external environment is selected from multiple sets of real-time data of the external environment that are collected in advance and used to reproduce different weather conditions, lighting conditions, road conditions and traffic conditions. The set of real-time data of the external environment includes multiple sets of real-time data of the external environment that correspond one-to-one with the multiple external environment perception modules. The process of transmitting a set of real-time data of the external environment scene to the vehicle's computer in sequence to replace the output data of the multiple external environment perception modules includes: acquiring a working status table of the external environment perception modules of the vehicle under test, wherein the working status table indicates whether each external environment perception module among the multiple external environment perception modules is working; for each external environment perception module that is indicated as not working in the working status table, removing the corresponding external environment perception time-series data from the set of real-time data of the external environment scene; transmitting the removed set of real-time data of the external environment scene to the vehicle's computer in sequence to replace the output data of the multiple 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 under test in real time; The system receives braking data from the bicycle computer and uses it to drive the emergency braking module. The braking data includes a braking start timestamp, a braking stop timestamp, and braking object labeling information. Based on the time-series data of a certain real-world external scene, braking data, and the speed of the vehicle under test between the braking start time stamp and the braking stop time stamp, the braking performance index of the vehicle under test is obtained by analysis.

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

3. The vehicle intelligent driving emergency braking test method according to claim 1, characterized in that, Controlling the conveyor speed of the simulated conveyor belt on the road surface to match the actual travel speed in real time includes: The magnitude of this travel speed is taken as the target transmission speed. The PID control algorithm is used in real time to make the conveyor speed of the simulated conveyor belt on the controlled road surface reach the target conveyor speed.

4. The vehicle intelligent driving emergency braking test method according to claim 1, characterized in that, The transient changes in the control data transmission progress are positively correlated in real time with the speed of the vehicle under test, including: The ratio of the vehicle's speed to the speed at the time of data acquisition in the current data transmission sequence of a certain real-time external scene is calculated in real time. ; According to the ratio Transient changes in the real-time control of data transmission progress ,in, This represents the transient change in the data acquisition progress of a certain piece of real-time data of an external vehicle scene at the acquisition time corresponding to the vehicle speed at the time of acquisition.

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

6. A vehicle intelligent driving emergency braking test device, characterized in that, The test host is suitable for deployment in the vehicle intelligent driving emergency braking test system. The vehicle intelligent driving emergency braking test system also includes a road surface simulation conveyor belt and a vehicle under test located on the road surface simulation conveyor belt. The vehicle under test 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 connected to the on-board computer. The test host is respectively connected to the on-board computer and the road surface simulation conveyor belt. The intelligent driving emergency braking test device for automobiles includes a speed control unit, a data selection unit, a data transceiver unit, and an index analysis unit that are connected in sequence. The speed control unit is used to calculate the speed of the vehicle under test in real time based on the wheel speed collected by the wheel speed sensing module from the bicycle computer, and to control the conveyor speed of the road surface simulated conveyor belt to be the same as the speed and opposite in direction in real time. The data selection unit is used to select a set of real-time data of the vehicle exterior scene that matches the road surface simulated conveyor belt from multiple sets of real-time data of the vehicle exterior scene that are pre-collected and used to reproduce different weather conditions, lighting conditions, road conditions and traffic conditions after the vehicle under test reaches the target speed. The real-time data of the vehicle exterior scene includes multiple sets of real-time data of the vehicle exterior environment perception that correspond one-to-one with the multiple sets of real-time data of the vehicle exterior environment perception modules. The data transceiver unit is used to transmit a set of real-time external scene data to the vehicle computer in a time sequence to replace the output data of the multiple external environment perception modules. Specifically, it includes: acquiring the working status table of the external environment perception modules of the vehicle under test, wherein the working status table of the external environment perception modules is used to indicate whether each external environment perception module among the multiple external environment perception modules is working; for each external environment perception module that is indicated as not working in the working status table of the external environment perception modules, removing the corresponding external environment perception time sequence data from the set of real-time external scene data; transmitting the removed set of real-time external scene data to the vehicle computer in a time sequence to replace the output data of the multiple 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 under test in real time; The data transceiver unit is also used to receive braking data from the bicycle computer and used to drive the emergency braking module. The braking data includes a braking start timestamp, a braking stop timestamp, and braking object labeling information. The index analysis unit is used to analyze and obtain the braking performance index of the vehicle under test based on the time-series data of a certain external real-world scenario, braking data, and the speed of the vehicle under test between the braking start time stamp and the braking stop time stamp.

7. A computer device, characterized in that, The device includes a memory, a processor, and a transceiver that are sequentially and communicatively connected. 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 vehicle intelligent driving emergency braking test method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that... The computer-readable storage medium stores instructions that, when executed on a computer, perform the vehicle intelligent driving emergency braking test method as described in any one of claims 1 to 5.

9. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or the instructions are executed by the computer, they implement the vehicle intelligent driving emergency braking test method as described in any one of claims 1 to 5.

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