Vehicle pre-braking collision test method, electronic equipment and vehicle

Abstract

The invention provides a vehicle pre-braking collision test method, electronic equipment and a vehicle, which are applied to the technical field of vehicle collision testing, and the method comprises the following steps: obtaining deceleration data of a plurality of stages corresponding to a target deceleration; the deceleration data of the multiple stages are sequentially injected into the speed regulator, so that the speed regulator conducts stage deceleration based on the deceleration data till the target deceleration is achieved; wherein the deceleration data of the multiple stages are pre-determined before the vehicle is subjected to the pre-braking collision test, so that each stage is a variable deceleration stage. According to the invention, the speed regulator can be controlled based on the deceleration data of multiple stages, the overshoot oscillation characteristic of the speed regulator is utilized, the difference between the actual deceleration and the target deceleration of the speed regulator is reduced, the stability of the actual deceleration of the speed regulator is improved, and the test precision of a pre-braking collision test is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle collision testing technology, and in particular to a vehicle pre-braking collision test method, electronic equipment, and vehicle. Background Technology

[0002] When conducting vehicle pre-braking collision tests, the vehicle is braked by a pre-braking test system. During the test, directly setting the deceleration of the test system as the target value will result in a large difference between the actual deceleration value and the target value, affecting the accuracy of the pre-braking collision test. Summary of the Invention

[0003] In view of this, the purpose of this application is to propose a vehicle pre-braking collision test method, electronic equipment and vehicle to solve the problem of large difference between the actual deceleration value and the target value during the pre-braking collision test.

[0004] To achieve the above objectives, this application provides a vehicle pre-braking collision test method, applied to a pre-braking collision test system, which pre-braks the vehicle via a speed governor. The method includes: Acquire deceleration data for multiple stages corresponding to the target deceleration; The deceleration data of multiple stages is sequentially injected into the speed regulator so that the speed regulator performs staged deceleration based on the deceleration data until the target deceleration is achieved; The deceleration data for the multiple stages are predetermined before the vehicle undergoes a pre-braking collision test to ensure that each stage is a variable deceleration stage.

[0005] Furthermore, the deceleration data includes stage deceleration and stage duration. The step of sequentially injecting the deceleration data from multiple stages into the speed regulator, so that the speed regulator gradually decelerates based on the deceleration data to reach the target deceleration, includes: The deceleration of one stage in a series of stages is injected into the speed controller. After running for the duration corresponding to the deceleration of that stage, the deceleration of the next stage is injected into the speed controller, and the duration corresponding to the deceleration of that stage is run. This process is repeated until the deceleration of the last stage is injected into the speed controller, and the duration corresponding to the deceleration of that stage is run. The deceleration in the final stage is the target deceleration.

[0006] Furthermore, the pre-determination process for the deceleration data at the multiple stages includes: Based on the target deceleration, an oscillation observation test is conducted on the speed governor to determine the oscillation duration and oscillation threshold of the speed governor. The deceleration data for the first oscillation phase is determined based on the oscillation duration and oscillation threshold. Based on the oscillation threshold and the deceleration data of the first oscillation stage, the deceleration data of several sub-stages corresponding to the second oscillation stage are determined; The deceleration data of the first oscillation stage and the deceleration data of several sub-stages corresponding to the second oscillation stage are determined as deceleration data of multiple stages. The oscillation threshold is determined based on the maximum actual deceleration within the oscillation duration and the target deceleration.

[0007] Furthermore, the step of conducting an oscillation observation test on the speed governor based on the target deceleration to determine the oscillation duration and oscillation threshold of the speed governor includes: The target deceleration is injected into the speed regulator to reduce speed, and the actual deceleration of the speed regulator is monitored. In response to determining that the actual deceleration of the speed regulator stabilizes at the target deceleration after a first duration, the first duration is determined to be the oscillation duration; The maximum actual deceleration of the speed regulator within the first time period is determined, and the oscillation threshold is determined based on the maximum actual deceleration and the target deceleration.

[0008] Furthermore, determining the deceleration data for several sub-stages corresponding to the second oscillation stage based on the oscillation threshold and the deceleration data of the first oscillation stage includes: A number of stages is randomly determined from a preset set of stages as the initial number of sub-stages for the second oscillation stage, and the initial deceleration data for each initial sub-stage of the second oscillation stage is determined based on the initial number of sub-stages, the oscillation threshold, and the deceleration data of the first oscillation stage. A verification loop is executed based on the deceleration data of the first oscillation phase and the initial deceleration data of several initial sub-phases of the second oscillation phase: the deceleration data of the first oscillation phase and the initial deceleration data of several initial sub-phases of the second oscillation phase are sequentially injected into the speed regulator, and the operating status of the speed regulator during deceleration is monitored. The number of initial sub-stages is adjusted according to the operating state, and the initial deceleration data of each initial sub-stage is re-determined according to the adjusted number of initial sub-stages. A verification loop is then executed based on the deceleration data of the first oscillation stage and the initial deceleration data of several initial sub-stages of the re-determined second oscillation stage, until the operating state obtained in one verification loop is different from the operating state obtained in the previous verification loop.

[0009] Furthermore, the operating state includes a normal state and an abnormal state, and the step of determining the deceleration data of several sub-stages corresponding to the second oscillation stage based on the deceleration data of the first oscillation stage and the oscillation threshold further includes: In response to determining that the running state obtained by the current verification cycle is a normal state and the running state obtained by the previous verification cycle is an abnormal state, the initial deceleration data of several sub-stages of the second oscillation stage in the current verification cycle is determined as the deceleration data of several sub-stages corresponding to the second oscillation stage. In response to determining that the running state obtained by the current verification cycle is an abnormal state and the running state obtained by the previous verification cycle is a normal state, the initial deceleration data of several sub-stages of the second oscillation stage in the previous verification cycle are determined as the deceleration data of several sub-stages corresponding to the second oscillation stage.

[0010] Furthermore, adjusting the number of initial sub-stages based on the operating state includes: In response to determining that the running state obtained by the current verification cycle is a normal state, and the running state obtained by the previous verification cycle is a normal state, the initial number of sub-stages is adjusted to the larger value adjacent to it in the set of stage numbers. In response to determining that the running state obtained by the current verification cycle is an abnormal state, and the running state obtained by the previous verification cycle is also an abnormal state, the initial number of sub-stages is adjusted to the smaller value adjacent to it in the set of stage numbers.

[0011] Furthermore, determining the initial deceleration data for each initial sub-stage of the second oscillation stage based on the number of initial sub-stages, the oscillation threshold, and the deceleration data of the first oscillation stage includes: The initial stage duration of each initial sub-stage is determined based on the number of initial sub-stages and the stage duration of the deceleration data in the first oscillation stage. The stage threshold for each initial sub-stage is determined based on the number of initial sub-stages and the oscillation threshold. The initial stage deceleration of each initial sub-stage is determined sequentially based on the stage threshold and the stage deceleration data of the first oscillation stage.

[0012] Based on the same inventive concept, this disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method described above when executing the computer program.

[0013] Based on the same inventive concept, this disclosure also provides a vehicle including an electronic device as described above.

[0014] As can be seen from the above, the vehicle pre-braking collision test method, electronic device, and vehicle provided in this application involve acquiring deceleration data at multiple stages corresponding to a target deceleration, and sequentially injecting this data into a speed controller. This allows the speed controller to gradually decelerate based on the deceleration data, thereby achieving the target deceleration. Furthermore, the difference between the actual deceleration and the target deceleration gradually decreases during these multiple stages, which is beneficial for improving the accuracy of the pre-braking collision test. This method can control the speed controller based on deceleration data at multiple stages, and utilizes the overshoot oscillation characteristics of the speed controller to reduce the difference between the actual deceleration and the target deceleration. Moreover, the actual deceleration is different within each of these multiple stages, all being variable deceleration stages, allowing the actual deceleration of the speed controller to smoothly transition to the target deceleration, improving the stability of the actual deceleration of the speed controller, which is beneficial for improving the test accuracy of the pre-braking collision test and enhancing the practicality of the method. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the test phase of a pre-braking collision test system in related technologies; Figure 2 This is a schematic diagram illustrating the speed regulation and oscillation principle of a speed controller in related technologies. Figure 3 This is a schematic flowchart of a vehicle pre-braking collision test method according to an embodiment of this application; Figure 4 This is a schematic diagram of a vehicle pre-braking collision test device according to an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0018] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0019] With the improvement of vehicle safety performance, more and more vehicles are being equipped with AEB (Autonomous Emergency Braking). AEB can prevent collisions or reduce the severity of collisions by intervening with the brakes.

[0020] When a vehicle equipped with AEB (Autonomous Emergency Braking) is involved in a collision, it will undergo a pre-braking process. This process may have a certain impact on the overall safety of the vehicle, such as the dummy tilting forward and the vehicle restraint system malfunctioning after the dummy leaves the vehicle. Therefore, collision tests for AEB, namely vehicle pre-braking collision tests, are becoming increasingly common, and the accuracy requirements for vehicle pre-braking collision tests are also becoming higher.

[0021] In related technologies, before a vehicle pre-braking collision test, the test vehicle must first be set up: the test vehicle is placed on a collision track, and two trolleys (a traction trolley and a braking trolley) on a traction steel cable within the track are used to connect and secure the test vehicle before conducting the vehicle pre-braking collision test. Figure 1 This is a schematic diagram of the test phase of a pre-braking collision test system, where ① represents the traction trolley and ② represents the braking trolley. Figure 1 As shown, the vehicle pre-braking collision test includes five stages: Stage 1: The traction trolley of the traction system is activated, pulling the test vehicle to the corresponding speed and maintaining a steady speed for a period of time, during which the braking trolley moves accordingly; Stage 2: When the test vehicle reaches the braking position, the braking trolley of the traction system is set to decelerate at a certain speed to simulate the driver's braking action, during which the traction trolley moves accordingly; Stage 3: When the test vehicle reaches the uncoupling position, the traction trolley and the test vehicle are uncoupled; Stage 4: After the test vehicle is reduced to the corresponding speed under the braking action of the braking trolley, it impacts the collision wall; Stage 5: The test vehicle and the braking trolley are uncoupled.

[0022] It should be noted that the traction and braking effects of the traction trolley and the braking trolley are both achieved by the motor. The speed, deceleration and acceleration of the motor are achieved by the speed governor. Therefore, during the pre-braking test, the pre-braking of the test vehicle by the pre-braking collision test system is achieved by the speed governor.

[0023] According to such Figure 2 The speed governor shown exhibits a speed regulation oscillation principle. Under a given deceleration, the speed governor will experience overshoot (for example, a given deceleration of 0.8g, i.e., 0.8 × 10⁻⁶ m / s²). 2 The actual deceleration of the speed governor will reach 1.1g, and after oscillation, it will eventually stabilize at 0.8g. The difference between the actual deceleration and the given deceleration will reach 0.3g, while the acceptable error for vehicle pre-braking collision test is ±0.1g. This means that there is a problem of large deceleration error during the operation of the speed governor, which cannot meet the requirements of the pre-braking collision test. As time increases, the deceleration will be adjusted to a stable state. This overshoot phenomenon will cause a large difference between the deceleration of the test vehicle and the given deceleration (i.e., the target deceleration), affecting the accuracy of the pre-braking collision test.

[0024] Based on this, this application proposes a vehicle pre-braking collision test control method, electronic equipment, and vehicle, which improves the deceleration accuracy of the vehicle during the pre-braking collision test through multi-stage adjustment, thereby improving the accuracy of the pre-braking collision test.

[0025] The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0026] In some embodiments, a vehicle pre-braking collision test method, referenced Figure 3 This method is applied to a pre-braking collision test system, which pre-braks the vehicle via a speed governor. The method is applied to the speed governor's controller to control the deceleration adjustment of the speed governor. The method includes: Step S101: Obtain deceleration data for multiple stages corresponding to the target deceleration; Specifically, the target deceleration is the stable deceleration that the governor is expected to achieve, which is the deceleration that the test vehicle corresponding to the pre-braking collision test system is expected to achieve during the pre-braking process. The deceleration data for multiple stages are the deceleration data injected into the governor multiple times, with each stage corresponding to one injection.

[0027] Setting deceleration data in multiple stages can overcome oscillations such as overshoot in the initial stage of speed regulation, reduce the difference between the actual deceleration and the target deceleration in the initial stage of speed regulation, and thus help improve the accuracy of pre-braking collision tests.

[0028] It should be noted that the deceleration data for multiple stages includes both the stage duration and the stage deceleration. That is, the deceleration value given to the speed controller is the stage deceleration, and the duration of the stage deceleration is the corresponding stage duration. Furthermore, the deceleration data for multiple stages includes multiple deceleration data, each deceleration data corresponds to one stage, and each stage has its own sequence. Therefore, the deceleration data for multiple stages is also a sequence of multiple deceleration data.

[0029] For example, if the deceleration data in multiple stages includes deceleration data in three stages, then there are three deceleration data, and these three deceleration data have a specific sequential order, such as: first deceleration data, second deceleration data, and third deceleration data. This sequence indicates the order in which the data is injected into the speed regulator.

[0030] Step S102: The deceleration data of multiple stages is injected into the speed controller in sequence, so that the speed controller can decelerate in stages based on the deceleration data until the target deceleration is achieved. The deceleration data for multiple stages are predetermined before the vehicle undergoes a pre-braking collision test, so that each stage is a variable deceleration stage.

[0031] Specifically, the deceleration data from multiple stages is injected into the speed controller in sequence, enabling the speed controller to gradually decelerate according to these multiple stages. This overcomes the problem of excessive difference between the actual deceleration and the target deceleration caused by the speed controller's overshoot, allowing the actual deceleration of the speed controller to quickly reach the target deceleration and stabilize at the target deceleration, thereby improving the accuracy of the pre-braking collision test.

[0032] It should be noted that while the deceleration value injected into the speed controller in each stage is specific, the speed controller is in an overshoot oscillation phase within the corresponding duration of each stage. Therefore, the actual deceleration of the speed controller is variable, making each stage a variable deceleration phase. For example, if the deceleration injected into the speed controller in one stage is 0.7g, then the actual deceleration of the speed controller will oscillate between 0.6g and 0.8g, meaning the actual deceleration of the speed controller is variable, and this stage is a variable deceleration phase.

[0033] In addition, the deceleration data for multiple stages are predetermined and do not need to be determined during the test, reducing the amount of calculation and overcoming the oscillation error of the speed governor, which helps to improve the accuracy of the pre-braking collision test.

[0034] In this embodiment, by acquiring deceleration data at multiple stages corresponding to the target deceleration and sequentially injecting this data into the speed controller, the speed controller can gradually decelerate based on the data to achieve the target deceleration. Furthermore, the difference between the actual deceleration and the target deceleration gradually decreases during these multiple stages, which helps improve the accuracy of the pre-braking collision test. This method can control the speed controller based on deceleration data at multiple stages, and by utilizing the overshoot oscillation characteristics of the speed controller, the difference between the actual deceleration and the target deceleration is reduced. Moreover, the actual deceleration is different within each of these multiple stages, all being variable deceleration stages, allowing the actual deceleration of the speed controller to smoothly transition to the target deceleration, improving the stability of the actual deceleration of the speed controller, which is beneficial for improving the test accuracy of the pre-braking collision test and enhancing the practicality of the method.

[0035] In some embodiments, the deceleration data includes stage deceleration and stage duration. Step S102: The deceleration data of multiple stages are sequentially injected into the speed governor so that the speed governor gradually decelerates based on the deceleration data until the target deceleration is reached, including: Step S201: Inject the deceleration of one stage of multiple stages into the speed controller, and after running to the stage duration corresponding to the deceleration of that stage, inject the deceleration of the next stage into the speed controller and run to the stage duration corresponding to the deceleration of that stage. Repeat the above process until the deceleration of the last stage is injected into the speed controller and the stage duration corresponding to the deceleration of that stage is run. The final stage deceleration is the target deceleration.

[0036] Specifically, the deceleration data for multiple stages are injected into the speed controller in a sequential order. The deceleration rate of one stage is injected to allow the speed controller to oscillate based on that deceleration rate. After the speed controller receives the deceleration rate for the duration of that stage, the deceleration rate of the next stage is injected to allow the speed controller to oscillate based on that deceleration rate. This process is repeated until all deceleration data for multiple stages has been injected, i.e., the final stage deceleration rate is injected into the speed controller, and the speed controller operates for the duration corresponding to that deceleration rate.

[0037] For example, the target deceleration is 0.8g, and the deceleration data for multiple stages includes deceleration data for three stages: the first stage deceleration is 0.6g, the second stage deceleration is 0.7g, and the third stage deceleration is 0.8g. That is, during the operation of each stage, the speed controller will overshoot and oscillate based on the stage deceleration of that stage. Therefore, except for the last stage, the stage deceleration of each stage is less than the target deceleration (but gradually approaches the target deceleration). The actual deceleration of each stage will be greater than the stage deceleration to gradually reduce the difference between the actual deceleration and the target deceleration. However, the stage deceleration of the last stage is the same as the target deceleration, which allows the speed controller to use the stage deceleration of the last stage as a stable deceleration after receiving it, that is, to operate according to the target deceleration. This makes the actual deceleration of the speed controller stable near the target deceleration, which is conducive to improving the test accuracy of the pre-braking collision test system.

[0038] Regarding the above example, it should be noted that after injecting the first-stage deceleration of 0.6g into the speed controller, the speed controller will exhibit deceleration oscillation. The deceleration is then adjusted from 0 to 0.8g, and after a corresponding oscillation period, the second-stage deceleration of 0.7g is injected. The speed controller adjusts the deceleration to 0.9g, achieving the corresponding oscillation. After another corresponding oscillation period, the third-stage deceleration of 0.8g is injected. The speed controller's deceleration oscillates to 0.9g and then stabilizes at 0.8g. During this process, the actual deceleration of the speed controller remains within the range of 0.8g ± 0.1g. This multi-stage adjustment significantly improves the test accuracy of the pre-braking collision test.

[0039] In this embodiment, the deceleration data of multiple stages are injected into the speed controller in sequence, so that the speed controller can oscillate and adjust the speed multiple times based on the corresponding stage deceleration and continue for the stage duration corresponding to the deceleration stage. By utilizing the oscillation overshoot principle of the speed controller in the early stage of speed adjustment, the difference between the actual deceleration and the target deceleration of the speed controller in each stage is reduced, which is beneficial to improving the deceleration stability of the speed controller and thus improving the test accuracy of the pre-braking collision test system.

[0040] In some embodiments, the process of pre-determining deceleration data for multiple stages includes: Step S301: Conduct an oscillation observation test on the speed governor based on the target deceleration to determine the oscillation duration and oscillation threshold of the speed governor; wherein, the oscillation threshold is determined based on the maximum actual deceleration and the target deceleration within the oscillation duration.

[0041] Specifically, the oscillation observation test is used to determine the oscillation duration and oscillation threshold of the speed governor. The test deceleration of the oscillation observation test is the target deceleration, that is, the target deceleration is injected into the speed governor to determine the oscillation duration and oscillation threshold of the speed governor under the target deceleration.

[0042] Since the actual deceleration expected to be achieved during the pre-braking collision test is the target deceleration, using the target deceleration as the test deceleration for this oscillation observation test during the process of pre-determining deceleration data for multiple stages can make the obtained oscillation duration and oscillation threshold closer to the corresponding values ​​during the pre-braking collision test, thereby improving the accuracy of the method.

[0043] It should be noted that after receiving the target deceleration, the speed controller adjusts the deceleration. During this process, there is a difference between the actual deceleration of the speed controller and the target deceleration. Therefore, this process is the oscillation process of the speed controller. The duration of this process is the oscillation duration. The difference between the maximum actual deceleration of the speed controller and the target deceleration during this process is the oscillation threshold. Therefore, the oscillation threshold is the maximum oscillation value during this oscillation process.

[0044] For example, if the target deceleration is 0.8g and the maximum actual deceleration during the oscillation process is 1.1g, then the oscillation threshold is 1.1g - 0.8g = 0.3g.

[0045] In addition, an error-based target deceleration can be determined based on the target deceleration and the acceptable error, and an oscillation threshold can be determined based on the error-based target deceleration and the maximum actual deceleration.

[0046] For example, if the target deceleration is 0.8g, the acceptable error is ±0.1g, and the maximum actual deceleration during the oscillation process is 1.1g, then the target deceleration based on the error is 0.8±0.1g, the maximum target deceleration based on the error is 0.9g, and the oscillation threshold is 1.1g-0.9g=0.2g.

[0047] Step S302: Determine the deceleration data for the first oscillation phase based on the oscillation duration and oscillation threshold.

[0048] Specifically, the oscillation duration is used as the duration of the first oscillation stage. The stage deceleration of the first oscillation stage is calculated based on the oscillation threshold and the target deceleration. The stage deceleration is used to utilize the oscillation threshold so that the actual deceleration of the speed controller can reach the target deceleration. Therefore, the stage deceleration of the first oscillation stage = target deceleration - oscillation threshold.

[0049] For example, if the oscillation threshold is 0.2g and the target deceleration is 0.8g, then the deceleration of the first oscillation stage is 0.8g - 0.2g = 0.6g.

[0050] Step S303: Determine the deceleration data of several sub-stages corresponding to the second oscillation stage based on the oscillation threshold and the deceleration data of the first oscillation stage.

[0051] Specifically, the second oscillation phase includes several sub-phases. The total duration of the second oscillation phase is the same as the duration of the first oscillation phase (i.e., the oscillation duration). Therefore, the duration of each sub-phase is related to the number of sub-phases, and the deceleration of each sub-phase is related to the deceleration of the previous phase and the phase threshold. The phase threshold is related to the oscillation threshold and the number of sub-phases.

[0052] For example, if the oscillation threshold is 0.2g and the number of sub-stages is 2, then the stage threshold is 0.2g / 2 = 0.1g; the stage duration of the first oscillation stage is 400ms, then the stage duration of each sub-stage is 400ms / 2 = 200ms; the second oscillation stage includes 2 sub-stages, the stage deceleration of the first sub-stage = the stage deceleration of the first oscillation stage + the stage threshold = 0.6g + 0.1g = 0.7g, and the stage deceleration of the second sub-stage = the stage deceleration of the first sub-stage + the stage threshold = 0.7g + 0.1g = 0.8g.

[0053] Step S304: Deceleration data of the first oscillation stage and deceleration data of several sub-stages corresponding to the second oscillation stage are determined as deceleration data of multiple stages. Specifically, after determining the deceleration data of several sub-stages in the second oscillation phase, the deceleration data of the first oscillation phase and several sub-stages are determined as deceleration data for multiple phases. The first oscillation phase has the highest priority, and the several sub-stages are located after the first oscillation phase in order of their sequence.

[0054] In this embodiment, an oscillation observation test based on the target deceleration is conducted on the speed governor to determine the oscillation duration and oscillation threshold of the speed governor under the target deceleration. Based on the oscillation duration and oscillation threshold, the deceleration data of the first oscillation stage is determined. On this basis, the number of sub-stages and the deceleration data of the sub-stages of the second oscillation stage are determined, thereby obtaining deceleration data for multiple stages. This achieves the pre-determination of deceleration data for multiple stages. The deceleration data for multiple stages can utilize the oscillation process of the speed governor to reduce the difference between the actual deceleration of the speed governor and the target deceleration, thereby improving the accuracy of vehicle pre-braking collision tests.

[0055] In some embodiments, step S301: conducting an oscillation observation test on the speed governor based on the target deceleration to determine the oscillation duration and oscillation threshold of the speed governor, including: Step S401: Inject the target deceleration into the speed controller to reduce speed, and monitor the actual deceleration of the speed controller. Specifically, the target deceleration is injected into the speed controller, that is, the speed controller is controlled to decelerate according to the target deceleration. During the deceleration process, the actual deceleration of the speed controller will stabilize to the target deceleration after corresponding oscillations. Therefore, by monitoring the actual deceleration of the speed controller, the oscillation duration and oscillation threshold of the speed controller can be obtained.

[0056] It should be noted that the actual deceleration of the test vehicle can be measured using instruments such as the fifth wheel caliper and deceleration meter. Since the test vehicle is connected to the pre-braking collision test system, and the pre-braking collision test system achieves deceleration through the speed governor, the actual deceleration of the test vehicle is the actual deceleration of the speed governor.

[0057] In step S402, in response to determining that the actual deceleration of the speed controller stabilizes at the target deceleration after the first duration, the first duration is determined to be the oscillation duration.

[0058] Specifically, the actual deceleration of the speed controller is monitored, that is, the actual deceleration of the speed controller is acquired in real time, and the changes of the actual deceleration are observed. If it is determined that the actual deceleration is the target deceleration after the first time period and stabilizes at the target deceleration, the first time period is determined as the oscillation period. The speed controller needs to go through the first time period to stabilize at the target deceleration. The process corresponding to this time period is the oscillation process of the speed controller.

[0059] Step S403: Determine the maximum actual deceleration of the speed controller within the first time period, and determine the oscillation threshold based on the maximum actual deceleration and the target deceleration.

[0060] Specifically, the maximum actual deceleration of the speed controller during oscillation is the maximum actual deceleration, and the difference between the maximum actual deceleration and the target deceleration is the oscillation threshold.

[0061] For example, if the target deceleration is 0.8g and the maximum actual deceleration during the oscillation process is 1.1g, then the oscillation threshold is 1.1g - 0.8g = 0.3g.

[0062] It should be noted that the maximum actual deceleration is the maximum actual deceleration of the speed governor from the oscillation process to the steady process.

[0063] In this embodiment, by injecting a target deceleration into the speed controller, the speed controller decelerates according to the target deceleration. During the process, the actual deceleration of the speed controller is monitored to determine the deceleration oscillation duration and oscillation threshold during the deceleration process. This allows for the determination of deceleration data at multiple stages. By utilizing the oscillation duration and oscillation threshold of the speed controller, the difference between the actual deceleration and the target deceleration of the speed controller is reduced, thereby improving the accuracy of the pre-braking collision test.

[0064] In some embodiments, step S303: determining deceleration data for several sub-stages corresponding to the second oscillation stage based on the oscillation threshold and the deceleration data of the first oscillation stage, including: Step S501: Randomly determine a number of stages from a preset set of stage numbers as the initial number of sub-stages for the second oscillation stage, and determine the initial deceleration data for each initial sub-stage of the second oscillation stage based on the initial number of sub-stages, the oscillation threshold, and the deceleration data of the first oscillation stage.

[0065] Specifically, the preset stage number set includes multiple integers sorted by size, and this stage number set can be {1, 2, 3...}. A stage number is randomly selected from this stage number set as the initial sub-stage number. For example, if the initial sub-stage number is 2, then the initial sub-stage number is 2. The second oscillation stage includes 2 initial sub-stages, meaning that the second oscillation stage requires injecting initial deceleration data into the speed controller twice.

[0066] The stage threshold of each initial sub-stage is determined based on the number of initial sub-stages and the oscillation threshold. The stage duration of each initial sub-stage is determined based on the number of initial sub-stages and the oscillation duration (i.e., the stage duration of the first oscillation stage). The stage deceleration of the first initial sub-stage is determined based on the stage deceleration of the first oscillation stage and the stage threshold. The stage deceleration of the second initial sub-stage is determined based on the stage deceleration of the first initial sub-stage and the stage threshold. This process is repeated to obtain the stage deceleration of each initial sub-stage. The stage duration of each initial sub-stage is the same. Thus, the initial deceleration data of each initial sub-stage is obtained.

[0067] For example, if the oscillation threshold is 0.2g and the number of sub-stages is 2, then the stage threshold is 0.2g / 2 = 0.1g; the stage duration of the first oscillation stage is 400ms, then the stage duration of each sub-stage is 400ms / 2 = 200ms; the second oscillation stage includes 2 sub-stages, the stage deceleration of the first sub-stage = the stage deceleration of the first oscillation stage + the stage threshold = 0.6g + 0.1g = 0.7g, and the stage deceleration of the second sub-stage = the stage deceleration of the first sub-stage + the stage threshold = 0.7g + 0.1g = 0.8g.

[0068] Step S502: Perform a verification loop based on the deceleration data of the first oscillation stage and the initial deceleration data of several initial sub-stages of the second oscillation stage: sequentially inject the deceleration data of the first oscillation stage and the initial deceleration data of several initial sub-stages of the second oscillation stage into the speed governor, and monitor the operating status of the speed governor during deceleration.

[0069] Specifically, the verification cycle involves sequentially injecting the deceleration data from the first oscillation phase and the initial deceleration data from several initial sub-phases corresponding to the second oscillation phase into the speed governor, and observing the operating status of the speed governor during the first and second oscillation phases to determine the feasibility of the initial deceleration data for those initial sub-phases. For example, the operating status of the speed governor includes both normal and abnormal states.

[0070] It should be noted that the number of initial sub-phases is the same as the number of initial sub-phases.

[0071] Step S503: Adjust the number of initial sub-stages according to the running state, and redetermine the initial deceleration data of each initial sub-stage according to the adjusted number of initial sub-stages. Perform a verification loop based on the deceleration data of the first oscillation stage and the initial deceleration data of several initial sub-stages of the redetermined second oscillation stage until the running state obtained by the verification loop is different from the running state obtained by the previous verification loop.

[0072] Specifically, after obtaining the operating status, the number of initial sub-stages is adjusted according to the operating status, and the initial deceleration data of the new initial sub-stages is determined based on the adjusted number of initial sub-stages. The verification loop is then re-executed to obtain the operating status corresponding to the verification loop. The operating status obtained in this verification loop is compared with the operating status obtained in the previous verification loop. When the operating status is the same, the number of initial sub-stages needs to be adjusted again. When the operating status is different, the initial deceleration data corresponding to the number of initial sub-stages is determined according to the type of the different operating status, which is the predetermined number of sub-stages and deceleration data of the second oscillation stage.

[0073] It should be noted that a larger number of sub-stages allows for more precise adjustments (the deceleration of each sub-stage gradually approaches the target deceleration). However, a larger number of sub-stages, meaning multiple deceleration adjustments to the speed controller within the oscillation duration, also increases the probability of speed controller malfunctions. Therefore, a balance needs to be found between adjustment precision and the speed controller's operating state. Specifically, when the operating state obtained from executing the verification loop is abnormal and an adjustment to the initial sub-stage number is required, the initial sub-stage number is adjusted to be closer to but less than the initial sub-stage number corresponding to that verification loop. When the operating state obtained from executing the verification loop is normal and an adjustment to the initial sub-stage number is required, the initial sub-stage number is adjusted to be closer to but less than or greater than the initial sub-stage number corresponding to that verification loop.

[0074] For example, the number of initial sub-stages is randomly determined to be 4, and the deceleration data of each initial sub-stage is obtained based on this number. A verification loop is performed based on this and the deceleration data of the first oscillation stage. If the obtained operating state is abnormal, it means that determining the number of initial sub-stages to be 4 is too high. Then the number of initial sub-stages is reduced to 3, and the deceleration data of each initial sub-stage is obtained based on this number. A verification loop is performed based on this and the deceleration data of the first oscillation stage. If the obtained operating state is normal, and this operating state is different from the previous operating state, it is determined that the number of initial sub-stages to be 3 can make the speed controller operate normally. Therefore, the number of sub-stages of the second oscillation stage is determined to be 3, and the 3 initial deceleration data corresponding to the initial number of sub-stages of 3 are the deceleration data of the 3 sub-stages of the second oscillation stage.

[0075] In this embodiment, a number of stages is randomly selected from a preset set of stages as the initial number of sub-stages for the second oscillation stage. Initial deceleration data corresponding to each initial sub-stage is determined based on this initial number of sub-stages. A verification loop is performed based on this initial deceleration data and the deceleration data of the first oscillation stage to obtain the operating state. The initial number of sub-stages for the second oscillation stage is adjusted according to the operating state, and the initial deceleration data is determined again based on the adjusted initial number of sub-stages. The verification loop is then repeated to obtain the operating state. When the operating state is the same as the previous operating state, the initial number of sub-stages is adjusted again. When the operating state is different from the previous operating state, an initial number of sub-stages is determined as the number of sub-stages for the second oscillation stage, and the deceleration data for each sub-stage is determined. This deceleration data, together with the deceleration data of the first oscillation stage, serves as the predetermined deceleration data for multiple stages. The setting of the verification loop ensures that the number of sub-stages is the maximum value within the governor's capability range, thereby enabling the governor to perform the maximum number of speed adjustments during the second oscillation stage. This ensures that the actual deceleration during the second oscillation stage reaches a stable target deceleration, which is beneficial for improving the test accuracy of the pre-braking collision test.

[0076] In some embodiments, the operating state includes a normal state and an abnormal state. Step S303: Determining the deceleration data of several sub-stages corresponding to the second oscillation stage based on the deceleration data of the first oscillation stage and the oscillation threshold, further includes: Step S601: In response to determining that the running state obtained by the verification cycle is a normal state and the running state obtained by the previous verification cycle is an abnormal state, the initial deceleration data of several sub-stages of the second oscillation stage in the verification cycle is determined as the deceleration data of several sub-stages corresponding to the second oscillation stage. Specifically, during the execution of this verification cycle, the speed controller involves multiple adjustments to its deceleration. The number of deceleration adjustments is related to the speed controller's operating performance. When the number of adjustments exceeds the speed controller's operating performance range, the speed controller will experience an operational abnormality. Therefore, when no abnormalities occur during the execution of this verification cycle (e.g., noise vibration, overheating protection causing verification cycle interruption, smoke, etc.), the operating state obtained from this verification cycle is determined to be normal. When an abnormality occurs during the execution of this verification cycle, the operating state obtained from this verification cycle is determined to be abnormal.

[0077] More specifically, when it is determined that the running state obtained by the verification cycle is a normal state and the running state obtained by the previous verification cycle is an abnormal state, it is determined that the running state obtained by the verification cycle is different from the running state obtained by the previous verification cycle, and the initial deceleration data of the initial sub-stage corresponding to the second oscillation stage in the verification cycle is determined as the deceleration data of several sub-stages corresponding to the second oscillation stage.

[0078] For example, if the running state obtained by the verification loop is normal and the number of initial sub-stages corresponding to the verification loop is 3, and the running state obtained by the previous verification loop is abnormal and the number of initial sub-stages corresponding to the previous verification loop is 4, then the number of sub-stages of the second oscillation stage is determined to be 3, and the 3 deceleration data when the number of initial sub-stages is 3 are determined as the deceleration data of the 3 sub-stages of the second oscillation stage.

[0079] In step S602, in response to determining that the running state obtained by the verification cycle is an abnormal state and the running state obtained by the previous verification cycle is a normal state, the initial deceleration of several sub-stages of the second oscillation stage in the previous verification cycle is determined as the deceleration data of several sub-stages corresponding to the second oscillation stage.

[0080] Specifically, when it is determined that the running state obtained by the current verification cycle is an abnormal state, and the running state obtained by the previous verification cycle is a normal state, it is determined that the running state obtained by the current verification cycle is different from the running state obtained by the previous verification cycle, and the initial deceleration data of the initial sub-stage corresponding to the second oscillation stage in the previous verification cycle is determined as the deceleration data of several sub-stages corresponding to the second oscillation stage.

[0081] For example, if the running state obtained by the verification loop is an abnormal state and the number of initial sub-stages corresponding to the verification loop is 4, and the running state obtained by the previous verification loop is a normal state and the number of initial sub-stages corresponding to the previous verification loop is 3, then the number of sub-stages of the second oscillation stage is determined to be 3, and the 3 deceleration data when the number of initial sub-stages is 3 are determined as the deceleration data of the 3 sub-stages of the second oscillation stage.

[0082] In this embodiment, when the operating state obtained in the current verification cycle is different from the operating state obtained in the previous verification cycle, the number of initial sub-stages corresponding to the current verification cycle or the number of initial sub-stages corresponding to the previous verification cycle is determined as the number of sub-stages in the second oscillation stage based on the specific operating state obtained in the current verification cycle and the specific operating state obtained in the previous verification cycle. Several deceleration data points corresponding to the number of sub-stages are then determined as several deceleration data points in the second oscillation stage. This completes the pre-determination of the deceleration data in the second oscillation stage, ensuring that the deceleration data in the second oscillation stage meets the capability of the speed controller and guarantees that the speed controller can operate normally.

[0083] In some embodiments, step S503: adjusting the number of initial sub-stages according to the running state includes: Step S701: In response to determining that the running state obtained by the current verification cycle is a normal state and the running state obtained by the previous verification cycle is a normal state, the initial number of sub-stages is adjusted to the larger value adjacent to it in the set of stage numbers. Specifically, when it is determined that the running state obtained by the current verification cycle is a normal state, and the running state obtained by the previous verification cycle is also a normal state, it is necessary to continue to adjust the number of initial sub-stages. The adjustment process is as follows: adjust the number of initial sub-stages to the number of stages in the stage number set that are adjacent to the number of initial sub-stages corresponding to the current verification cycle and are greater than the number of initial sub-stages corresponding to the current verification cycle.

[0084] It should be noted that when the running state obtained by the first verification cycle is determined to be normal, there is no previous verification cycle. At this time, the initial sub-stage number is still adjusted according to the adjustment method of adjusting the initial sub-stage number to the larger value adjacent to it in the stage number set.

[0085] For example, if the running state obtained after executing the first verification cycle is a normal state, and the initial number of sub-stages corresponding to the verification cycle is 2, and the number of stages is {1, 2, 3, 4...}, then the initial number of sub-stages is adjusted to 3, and based on the initial number of sub-stages, 3 deceleration data corresponding to it are determined, so as to perform the next verification cycle together with the deceleration data of the first oscillation stage.

[0086] In step S702, in response to determining that the running state obtained by the current verification cycle is an abnormal state and the running state obtained by the previous verification cycle is an abnormal state, the initial number of sub-stages is adjusted to the smaller value adjacent to it in the set of stage numbers.

[0087] Specifically, when it is determined that the running state obtained by the current verification cycle is an abnormal state, and the running state obtained by the previous verification cycle is also an abnormal state, it is necessary to continue to adjust the number of initial sub-stages. The adjustment process is as follows: adjust the number of initial sub-stages to the number of stages in the stage number set that are adjacent to the number of initial sub-stages corresponding to the current verification cycle and are less than the number of initial sub-stages corresponding to the current verification cycle.

[0088] It should be noted that when the running state obtained by the first verification cycle is determined to be an abnormal state, there is no previous verification cycle. At this time, the initial sub-stage number is still adjusted according to the adjustment method of adjusting the initial sub-stage number to the smaller value adjacent to it in the stage number set.

[0089] For example, if the running state obtained after executing the first verification cycle is an abnormal state, and the initial number of sub-stages corresponding to the verification cycle is 4, and the number of stages is {1, 2, 3, 4...}, then the initial number of sub-stages is adjusted to 3, and 3 deceleration data corresponding to it are determined based on the initial number of sub-stages, so as to perform the next verification cycle together with the deceleration data of the first oscillation stage.

[0090] In this embodiment, when the operating state obtained in the current verification cycle is the same as that in the previous verification cycle, different initial sub-stage number adjustment methods are determined according to the specific circumstances of the operating state. When the operating state obtained in the current verification cycle and the previous verification cycle are both normal, the initial sub-stage number is adjusted to the larger value adjacent to it in the stage number set to determine the maximum value that the speed controller can receive. When the operating state obtained in the current verification cycle and the previous verification cycle are both abnormal, the initial sub-stage number is adjusted to the smaller value adjacent to it in the stage number set to avoid abnormalities in the actual operation of the speed controller, fully utilize the speed controller's speed regulation capability, improve test accuracy, and also avoid abnormalities in the speed controller during operation, ensuring the normal operation of the pre-braking collision test.

[0091] In some embodiments, step S501, determining the initial deceleration data for each initial sub-stage of the second oscillation stage based on the number of initial sub-stages, the oscillation threshold, and the deceleration data of the first oscillation stage, includes: Step S801: Determine the initial stage duration of each initial sub-stage based on the number of initial sub-stages and the stage duration of the deceleration data in the first oscillation stage.

[0092] Specifically, the duration of the first oscillation phase is taken as the duration of the second oscillation phase. The second oscillation phase includes multiple sub-phases. Therefore, the initial duration of each initial sub-phase of the second oscillation phase can be calculated based on the duration of the first oscillation phase and the number of initial sub-phases.

[0093] For example, if the duration of the first oscillation phase is 400ms and the number of initial sub-phases is 2, then the initial duration of each initial sub-phase is 400 / 2=200ms.

[0094] Step S802: Determine the stage threshold for each initial sub-stage based on the number of initial sub-stages and the oscillation threshold.

[0095] Specifically, the oscillation threshold is the maximum difference between the injection deceleration and the phase duration of the second oscillation phase. The phase threshold of each initial sub-phase is determined based on the number of initial sub-phases and the oscillation threshold, which is the maximum change value of each initial sub-phase.

[0096] For example, the initial number of sub-stages is 2, and the oscillation threshold is 2 m / s. 2 The stage threshold is then 2 / 2 = 1 m / s 2 .

[0097] Step S803: Determine the initial stage deceleration of each initial sub-stage sequentially based on the stage threshold and the stage deceleration of the deceleration data of the first oscillation stage.

[0098] Specifically, the initial deceleration of the first initial sub-stage of the second oscillation stage = the deceleration of the first oscillation stage + the stage threshold; the initial deceleration of the second initial sub-stage of the second oscillation stage = the initial deceleration of the first initial sub-stage + the stage threshold, and so on, to obtain the initial deceleration of each initial sub-stage.

[0099] For example, the stage threshold is 1 m / s 2 The deceleration during the first oscillation phase is 6 m / s². 2 If the initial number of sub-stages is 2, then the initial stage deceleration of the first sub-stage is 6 + 1 = 7 m / s². 2 The initial deceleration of the second initial sub-stage is 7 + 1 = 8 m / s². 2 .

[0100] In this embodiment, the initial deceleration of each initial sub-stage is calculated based on the deceleration of the previous stage and the stage threshold. The stage threshold is related to the number of initial sub-stages and the oscillation threshold. The initial stage duration of each initial sub-stage is related to the stage duration of the second oscillation stage and the number of initial sub-stages. Thus, the deceleration data of each initial sub-stage of the second oscillation stage is determined for verification looping.

[0101] It should be noted that the method in this embodiment can be executed by a single device, such as a computer or server. The method can also be applied in a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method in this embodiment, and the multiple devices will interact with each other to complete the method.

[0102] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0103] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides a vehicle pre-braking collision test device.

[0104] refer to Figure 4 A vehicle pre-braking collision test apparatus, comprising: The acquisition module 100 is configured to acquire deceleration data for multiple stages corresponding to the target deceleration; The control module 200 is configured to inject deceleration data of multiple stages into the speed governor in sequence, so that the speed governor can decelerate in stages based on the deceleration data until the target deceleration is achieved. The deceleration data for multiple stages are predetermined before the vehicle undergoes a pre-braking collision test, so that each stage is a variable deceleration stage.

[0105] Furthermore, the control module 200 is also configured to inject the stage deceleration of one of the multiple stages into the speed controller, and after running to the stage duration corresponding to the stage deceleration, inject the stage deceleration of the next stage into the speed controller, and run the stage duration corresponding to the stage deceleration, repeating the above process until the stage deceleration of the last stage is injected into the speed controller and the stage duration corresponding to the stage deceleration is run. The final stage deceleration is the target deceleration.

[0106] Furthermore, the vehicle pre-braking collision test device also includes a pre-determination module, which is configured to perform an oscillation observation test on the governor based on the target deceleration to determine the oscillation duration and oscillation threshold of the governor; The deceleration data for the first oscillation phase is determined based on the oscillation duration and oscillation threshold. Based on the oscillation threshold and the deceleration data of the first oscillation stage, the deceleration data of several sub-stages corresponding to the second oscillation stage are determined; The deceleration data of the first oscillation stage and the deceleration data of several sub-stages corresponding to the second oscillation stage are determined as deceleration data for multiple stages. The oscillation threshold is determined based on the maximum actual deceleration and the target deceleration within the oscillation duration.

[0107] Furthermore, the pre-determining module is also configured to inject a target deceleration into the speed controller for deceleration and monitor the actual deceleration of the speed controller. In response to the determination that the actual deceleration of the speed governor stabilizes at the target deceleration after the first duration, the first duration is determined to be the oscillation duration; Determine the maximum actual deceleration of the speed governor within the first time period, and determine the oscillation threshold based on the maximum actual deceleration and the target deceleration.

[0108] Furthermore, the pre-determining module is also configured to randomly determine a number of stages from a preset set of stage numbers as the initial number of sub-stages for the second oscillation stage, and to determine the initial deceleration data for each initial sub-stage of the second oscillation stage based on the initial number of sub-stages, the oscillation threshold, and the deceleration data of the first oscillation stage. A verification loop is executed based on the deceleration data of the first oscillation stage and the initial deceleration data of several initial sub-stages of the second oscillation stage: the deceleration data of the first oscillation stage and the initial deceleration data of several initial sub-stages of the second oscillation stage are sequentially injected into the speed governor, and the operating status of the speed governor during deceleration is monitored. The number of initial sub-stages is adjusted according to the operating status, and the initial deceleration data of each initial sub-stage is re-determined based on the adjusted number of initial sub-stages. A verification cycle is then executed based on the deceleration data of the first oscillation stage and the initial deceleration data of several initial sub-stages of the re-determined second oscillation stage, until the operating status obtained in one verification cycle is different from the operating status obtained in the previous verification cycle.

[0109] Furthermore, the pre-determination module is also configured to, in response to determining that the running state obtained by the verification cycle is a normal state and the running state obtained by the previous verification cycle is an abnormal state, determine the initial deceleration data of several sub-stages of the second oscillation stage in the verification cycle as the deceleration data of several sub-stages corresponding to the second oscillation stage. In response to determining that the running state obtained by the current verification cycle is an abnormal state and the running state obtained by the previous verification cycle is a normal state, the initial deceleration data of several sub-stages of the second oscillation stage in the previous verification cycle are determined as the deceleration data of several sub-stages corresponding to the second oscillation stage.

[0110] Furthermore, the pre-determination module is also configured to adjust the initial number of sub-stages to the larger value adjacent to the number of stages in the stage count set in response to determining that the running state obtained by the current verification cycle is a normal state and the running state obtained by the previous verification cycle is a normal state. In response to determining that the running state obtained by the current verification cycle is an abnormal state, and the running state obtained by the previous verification cycle is also an abnormal state, the initial number of sub-stages is adjusted to the smaller value adjacent to it in the set of stage numbers.

[0111] Furthermore, the pre-determining module is also configured to determine the initial stage duration of each initial sub-stage based on the number of initial sub-stages and the stage duration of the deceleration data in the first oscillation stage. The stage threshold for each initial sub-stage is determined based on the number of initial sub-stages and the oscillation threshold. The initial stage deceleration of each initial sub-stage is determined sequentially based on the stage threshold and the stage deceleration data of the first oscillation stage.

[0112] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

[0113] The apparatus described above is used to implement the corresponding vehicle pre-braking collision test method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0114] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle pre-braking collision test method of any of the above embodiments.

[0115] Figure 5 This embodiment illustrates a more specific hardware structure of an electronic device. The device may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0116] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0117] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0118] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0119] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0120] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0121] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0122] The electronic devices described above are used to implement the corresponding vehicle pre-braking collision test methods in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0123] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides a non-transitory computer-readable storage medium that stores computer instructions for causing a computer to execute the vehicle pre-braking collision test method as described in any of the above embodiments.

[0124] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0125] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the vehicle pre-braking collision test method of any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0126] Based on the same concept, corresponding to any of the above embodiments, this application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, they cause the computer to perform the method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0127] It is understood that before using the technical solutions of the various embodiments in this disclosure, users will be informed of the type, scope of use, and usage scenarios of the personal information involved in an appropriate manner, and user authorization will be obtained.

[0128] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose, based on the prompt message, whether to provide personal information to the software or hardware such as electronic devices, applications, servers, or storage media performing the operations of this disclosed technical solution.

[0129] As an optional but not limited implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0130] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0131] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application is limited to these examples; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0132] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this application, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0133] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0134] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the claims of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A method for vehicle pre-braking collision testing, characterized in that, An application to a pre-braking collision test system, which pre-braks a vehicle via a speed governor, the method comprising: Acquire deceleration data for multiple stages corresponding to the target deceleration; The deceleration data of multiple stages is sequentially injected into the speed regulator so that the speed regulator performs staged deceleration based on the deceleration data until the target deceleration is achieved; The deceleration data for the multiple stages are predetermined before the vehicle undergoes a pre-braking collision test, so that each stage is a variable deceleration stage.

2. The method according to claim 1, characterized in that, The deceleration data includes stage deceleration and stage duration. The step of sequentially injecting the deceleration data from multiple stages into the speed regulator, so that the speed regulator gradually decelerates based on the deceleration data to reach the target deceleration, includes: The deceleration of one stage in a series of stages is injected into the speed controller. After running for the duration corresponding to the deceleration of that stage, the deceleration of the next stage is injected into the speed controller, and the duration corresponding to the deceleration of that stage is run. This process is repeated until the deceleration of the last stage is injected into the speed controller, and the duration corresponding to the deceleration of that stage is run. The deceleration in the final stage is the target deceleration.

3. The method according to claim 2, characterized in that, The process of pre-determining the deceleration data for the multiple stages includes: Based on the target deceleration, an oscillation observation test is conducted on the speed governor to determine the oscillation duration and oscillation threshold of the speed governor. The deceleration data for the first oscillation phase is determined based on the oscillation duration and oscillation threshold. Based on the oscillation threshold and the deceleration data of the first oscillation stage, the deceleration data of several sub-stages corresponding to the second oscillation stage are determined; The deceleration data of the first oscillation stage and the deceleration data of several sub-stages corresponding to the second oscillation stage are determined as deceleration data of multiple stages. The oscillation threshold is determined based on the maximum actual deceleration within the oscillation duration and the target deceleration.

4. The method according to claim 3, characterized in that, The oscillation observation test of the speed governor based on the target deceleration to determine the oscillation duration and oscillation threshold of the speed governor includes: The target deceleration is injected into the speed regulator to reduce speed, and the actual deceleration of the speed regulator is monitored. In response to determining that the actual deceleration of the speed regulator stabilizes at the target deceleration after a first duration, the first duration is determined to be the oscillation duration; The maximum actual deceleration of the speed regulator within the first time period is determined, and the oscillation threshold is determined based on the maximum actual deceleration and the target deceleration.

5. The method according to claim 3, characterized in that, The determination of deceleration data for several sub-stages corresponding to the second oscillation stage based on the oscillation threshold and the deceleration data of the first oscillation stage includes: A number of stages is randomly determined from a preset set of stages as the initial number of sub-stages for the second oscillation stage, and the initial deceleration data for each initial sub-stage of the second oscillation stage is determined based on the initial number of sub-stages, the oscillation threshold, and the deceleration data of the first oscillation stage. A verification loop is executed based on the deceleration data of the first oscillation phase and the initial deceleration data of several initial sub-phases of the second oscillation phase: the deceleration data of the first oscillation phase and the initial deceleration data of several initial sub-phases of the second oscillation phase are sequentially injected into the speed regulator, and the operating status of the speed regulator during deceleration is monitored. The number of initial sub-stages is adjusted according to the operating state, and the initial deceleration data of each initial sub-stage is re-determined according to the adjusted number of initial sub-stages. A verification loop is then executed based on the deceleration data of the first oscillation stage and the initial deceleration data of several initial sub-stages of the re-determined second oscillation stage, until the operating state obtained in one verification loop is different from the operating state obtained in the previous verification loop.

6. The method according to claim 5, characterized in that, The operating state includes a normal state and an abnormal state. The step of determining the deceleration data for several sub-stages corresponding to the second oscillation stage based on the deceleration data and oscillation threshold of the first oscillation stage further includes: In response to determining that the running state obtained by the current verification cycle is a normal state and the running state obtained by the previous verification cycle is an abnormal state, the initial deceleration data of several sub-stages of the second oscillation stage in the current verification cycle is determined as the deceleration data of several sub-stages corresponding to the second oscillation stage. In response to determining that the running state obtained by the current verification cycle is an abnormal state and the running state obtained by the previous verification cycle is a normal state, the initial deceleration data of several sub-stages of the second oscillation stage in the previous verification cycle are determined as the deceleration data of several sub-stages corresponding to the second oscillation stage.

7. The method according to claim 6, characterized in that, The adjustment of the initial number of sub-stages based on the operating status includes: In response to determining that the running state obtained by the current verification cycle is a normal state, and the running state obtained by the previous verification cycle is a normal state, the initial number of sub-stages is adjusted to the larger value adjacent to it in the set of stage numbers. In response to determining that the running state obtained by the current verification cycle is an abnormal state, and the running state obtained by the previous verification cycle is also an abnormal state, the initial number of sub-stages is adjusted to the smaller value adjacent to it in the set of stage numbers.

8. The method according to claim 5, characterized in that, The determination of initial deceleration data for each initial sub-stage of the second oscillation stage based on the number of initial sub-stages, the oscillation threshold, and the deceleration data of the first oscillation stage includes: The initial stage duration of each initial sub-stage is determined based on the number of initial sub-stages and the stage duration of the deceleration data in the first oscillation stage. The stage threshold for each initial sub-stage is determined based on the number of initial sub-stages and the oscillation threshold. The initial stage deceleration of each initial sub-stage is determined sequentially based on the stage threshold and the stage deceleration data of the first oscillation stage.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1 to 8.

10. A vehicle, characterized in that, Including an electronic device as described in claim 9.

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