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

Abstract

The application provides a vehicle pre-braking collision test method, an electronic device and a vehicle, and is applied to the technical field of vehicle collision test. The method comprises the following steps: acquiring deceleration data of multiple stages corresponding to a target deceleration; sequentially injecting the deceleration data of the multiple stages into a speed regulator, so that the speed regulator is subjected to stage deceleration based on the deceleration data to reach the target deceleration; wherein the deceleration data of the multiple stages are pre-determined before the vehicle is subjected to a pre-braking collision test, so that each stage is a variable deceleration stage. The application can control the speed regulator based on the deceleration data of the multiple stages, and then utilize the overshoot oscillation characteristics of the speed regulator, so that the difference between the actual deceleration of the speed regulator and the target deceleration is reduced, the stability of the actual deceleration of the speed regulator is improved, and the test precision of the pre-braking collision test is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle crash test, in particular to a vehicle pre-braking crash test method, an electronic device and a vehicle. BACKGROUND

[0002] In the process of vehicle pre-braking crash test, the vehicle is braked by a pre-braking test system. If the deceleration of the test system is directly set as the target value, the actual deceleration value will be greatly different from the target value, which will affect the accuracy of the pre-braking crash test. SUMMARY

[0003] Therefore, the present application aims to provide a vehicle pre-braking crash test method, an electronic device and a vehicle to solve the problem of large difference between the actual deceleration value and the target value in the process of pre-braking crash test.

[0004] To achieve the above purpose, the present application provides a vehicle pre-braking crash test method applied to a pre-braking crash test system, which brakes the vehicle through a speed regulator. The method comprises the following steps:

[0005] obtaining deceleration data of multiple stages corresponding to a target deceleration;

[0006] injecting the deceleration data of multiple stages into the speed regulator in sequence, so that the speed regulator gradually decelerates to the target deceleration based on the deceleration data;

[0007] wherein the deceleration data of multiple stages are pre-determined before the vehicle performs the pre-braking crash test, so that each stage is a variable deceleration stage.

[0008] Further, the deceleration data includes stage deceleration and stage duration, and the injection of the deceleration data of multiple stages into the speed regulator in sequence, so that the speed regulator gradually decelerates to the target deceleration based on the deceleration data, comprises:

[0009] injecting the stage deceleration of one stage in multiple stages into the speed regulator, and after running for the stage duration corresponding to the stage deceleration, injecting the stage deceleration of the next stage into the speed regulator and running for the stage duration corresponding to the stage deceleration, and repeating the above process until the stage deceleration of the last stage is injected into the speed regulator and runs for the stage duration corresponding to the stage deceleration;

[0010] wherein the stage deceleration of the last stage is the target deceleration.

[0011] Further, the pre-determination process of the deceleration data of multiple stages comprises:

[0012] performing an oscillation observation test on the governor based on the target deceleration to determine an oscillation duration and an oscillation threshold of the governor;

[0013] determining deceleration data of a first oscillation stage based on the oscillation duration and the oscillation threshold;

[0014] determining deceleration data of a plurality of sub-stages corresponding to a second oscillation stage based on the oscillation threshold and the deceleration data of the first oscillation stage;

[0015] determining the deceleration data of the first oscillation stage and the deceleration data of the plurality of sub-stages corresponding to the second oscillation stage as deceleration data of a plurality of stages;

[0016] wherein the oscillation threshold is determined based on a maximum actual deceleration within the oscillation duration and the target deceleration.

[0017] Further, the performing of the oscillation observation test on the governor based on the target deceleration to determine the oscillation duration and the oscillation threshold comprises:

[0018] injecting the target deceleration to the governor to perform deceleration, and monitoring an actual deceleration of the governor;

[0019] in response to determining that the actual deceleration of the governor is stable at the target deceleration after a first duration, determining the first duration as the oscillation duration;

[0020] determining a maximum actual deceleration of the governor within the first duration, and determining the oscillation threshold based on the maximum actual deceleration and the target deceleration.

[0021] Further, the determining of the deceleration data of the plurality of sub-stages corresponding to the second oscillation stage based on the oscillation threshold and the deceleration data of the first oscillation stage comprises:

[0022] randomly determining a stage number as an initial sub-stage number of the second oscillation stage from a preset stage number set, and determining initial deceleration data of each initial sub-stage of the second oscillation stage based on the initial sub-stage number, the oscillation threshold and the deceleration data of the first oscillation stage;

[0023] performing a verification loop based on the deceleration data of the first oscillation stage and the initial deceleration data of the plurality of initial sub-stages of the second oscillation stage: injecting the deceleration data of the first oscillation stage and the initial deceleration data of the plurality of initial sub-stages of the second oscillation stage to the governor in sequence, and monitoring an operation state of the governor during deceleration;

[0024] adjusting the initial sub-stage number according to the operation state, and re-determining initial deceleration data of each initial sub-stage according to the adjusted initial sub-stage number, to perform a check cycle based on the deceleration data of the first oscillation stage and the initial deceleration data of the initial sub-stages of the second oscillation stage, until an operation state obtained in a check cycle is different from an operation state obtained in a previous check cycle.

[0025] Further, the operation state includes a normal state and an abnormal state, and the determining of the deceleration data of the sub-stages of the second oscillation stage based on the deceleration data of the first oscillation stage and the oscillation threshold value further includes:

[0026] in response to determining that the operation state obtained in the check cycle is the normal state and the operation state obtained in the previous check cycle is the abnormal state, determining the initial deceleration data of the sub-stages of the second oscillation stage in the check cycle as the deceleration data of the sub-stages of the second oscillation stage;

[0027] in response to determining that the operation state obtained in the check cycle is the abnormal state and the operation state obtained in the previous check cycle is the normal state, determining the initial deceleration data of the sub-stages of the second oscillation stage in the previous check cycle as the deceleration data of the sub-stages of the second oscillation stage.

[0028] Further, the adjusting of the initial sub-stage number according to the operation state includes:

[0029] in response to determining that the operation state obtained in the check cycle is the normal state and the operation state obtained in the previous check cycle is the normal state, adjusting the initial sub-stage number to a larger value adjacent to the initial sub-stage number in the stage number set;

[0030] in response to determining that the operation state obtained in the check cycle is the abnormal state and the operation state obtained in the previous check cycle is the abnormal state, adjusting the initial sub-stage number to a smaller value adjacent to the initial sub-stage number in the stage number set.

[0031] Further, the determining of the initial deceleration data of each initial sub-stage of the second oscillation stage based on the initial sub-stage number, the oscillation threshold value and the deceleration data of the first oscillation stage includes:

[0032] determining an initial stage duration of each initial sub-stage based on the initial sub-stage number and the stage duration of the first oscillation stage;

[0033] determining a stage threshold value of each initial sub-stage based on the initial sub-stage number and the oscillation threshold value;

[0034] An initial phase deceleration of each initial sub-phase is determined in turn based on the phase threshold and the phase deceleration data of the first oscillation phase.

[0035] Based on the same inventive concept, the present disclosure further provides an electronic device comprising a memory, a processor, and a computer program stored on the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0036] Based on the same inventive concept, the present disclosure further provides a vehicle comprising an electronic device as described above.

[0037] As can be seen from the above, the present application provides a vehicle pre-braking crash test method, an electronic device, and a vehicle, wherein the method obtains deceleration data of multiple phases corresponding to a target deceleration, and injects the deceleration data of the multiple phases into a speed regulator in turn, so that the speed regulator can gradually decelerate based on the deceleration data, thereby achieving the target deceleration, and the difference between the actual deceleration and the target deceleration gradually decreases in the multiple phases, which is beneficial to improving the accuracy of the pre-braking crash test. The method can control the speed regulator based on the deceleration data of the multiple phases, and then utilize the overshoot oscillation characteristics of the speed regulator to reduce the difference between the actual deceleration and the target deceleration, and the actual deceleration is different in the multiple phases, which are all variable deceleration phases, so that the actual deceleration of the speed regulator smoothly transitions to the target deceleration, improving the stability of the actual deceleration of the speed regulator, which is beneficial to improving the test accuracy of the pre-braking crash test and the practicality of the method. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present application or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or related art descriptions. Obviously, the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0039] Figure 1 A test phase schematic diagram of a pre-braking crash test system in the related art;

[0040] Figure 2 A speed regulator speed oscillation principle schematic diagram in the related art;

[0041] Figure 3 A flowchart schematic diagram of a vehicle pre-braking crash test method according to an embodiment of the present application;

[0042] Figure 4 A schematic diagram of a vehicle pre-braking crash test device according to an embodiment of the present application;

[0043] Figure 5 Fig. 1 is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to specific embodiments and drawings.

[0045] It should be noted that, unless otherwise defined, technical terms or scientific terms used in the embodiments of the present application should be understood as their common meanings to those skilled in the art. The terms "first", "second", and similar terms used in the embodiments of the present application do not denote any order, quantity, or importance, but are only used to distinguish different components. The terms "include", "contain", and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar terms do not mean physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "upper", "lower", "left", "right", and the like only represent relative positional relationships, which can change accordingly when the absolute positions of the described objects change.

[0046] With the improvement of vehicle safety performance, more and more vehicles are equipped with AEB (full name: Autonomous Emergency Breaking, automatic emergency braking), which can avoid the occurrence of collision accidents or reduce the severity of collision accidents through the intervention of the brake.

[0047] When a vehicle equipped with AEB function collides, the vehicle will have a pre-braking process, which may have some impact on the safety of the vehicle, such as dummy posture forward leaning, and abnormal operation of the vehicle restraint system after the dummy is out of position. Therefore, the collision test for AEB function, i.e. vehicle pre-braking collision test, is more and more required, and the accuracy of the vehicle pre-braking collision test is also required more and more.

[0048] In the related art, before the vehicle pre-braking collision test, the test vehicle needs to be set up: the test vehicle is placed on the collision track, and two trolleys (traction trolley and braking trolley) on the traction steel wire rope in the track are used to connect and fix the test vehicle, and then the vehicle pre-braking collision test is performed, Figure 1 Fig. 2 is a schematic diagram of a test stage of a pre-braking collision test system, wherein ① represents a traction trolley, and ② represents a braking trolley. For example, Figure 1As shown, the vehicle pre-braking crash test includes 5 stages, stage 1, start the traction trolley of the traction system, pull the test vehicle to the corresponding speed, and drive for a period of time, during which the brake trolley follows; stage 2, when the test vehicle reaches the braking position, the brake trolley of the traction system is set to decelerate at a certain deceleration to simulate the driver's braking action, during which the traction trolley follows; stage 3, when the test vehicle reaches the unhooking position, the traction trolley is unhooked from the test vehicle; stage 4, after the test vehicle is reduced to the corresponding speed under the braking action of the brake trolley, it hits the crash wall; stage 5, the test vehicle is unhooked from the brake trolley.

[0049] It should be noted that the traction and braking actions of the traction trolley and the brake trolley are realized under the driving action of the motor, and the speed, deceleration and acceleration of the motor are realized through the speed regulator. Therefore, in the pre-braking test process, the pre-braking of the test vehicle by the pre-braking crash test system is realized through the speed regulator.

[0050] According to the speed regulator speed regulation oscillation principle as shown in Figure 2 , the speed regulator will have an overshoot phenomenon (for example, the given deceleration is 0.8g, i.e. 0.8x10m / s 2 , the actual deceleration of the speed regulator will reach 1.1g, and after oscillation it will finally stabilize at 0.8g, the difference between the actual deceleration and the given deceleration reaches 0.3g, and the error of the deceleration in the running process of the speed regulator is large, which cannot meet the requirements of the pre-braking crash test), and with the increase of time, the deceleration is 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 precision of the pre-braking crash test.

[0051] Based on this, the present application proposes a vehicle pre-braking crash test control method, electronic equipment and vehicle, which adjusts in multiple stages to improve the deceleration precision of the vehicle in the pre-braking crash test process, and further improves the pre-braking crash test precision.

[0052] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0053] In some embodiments, a vehicle pre-braking crash test method, as shown in Figure 3 , applied to a pre-braking crash test system, which pre-brakes the vehicle through a speed regulator, the method is applied to the controller of the speed regulator to control the deceleration adjustment of the speed regulator through the controller, and the method comprises:

[0054] Step S101, obtaining deceleration data of multiple stages corresponding to a target deceleration;

[0055] Specifically, the target deceleration is a stable deceleration that the speed governor can achieve, that is, a deceleration that the test vehicle corresponding to the pre-braking crash test system is expected to achieve during the pre-braking process. The multiple-stage deceleration data is deceleration data injected into the speed governor multiple times, and each stage corresponds to one injection.

[0056] The setting of the multiple-stage deceleration data can overcome the overshoot and oscillation of the speed governor at the initial stage of speed regulation, reduce the difference between the actual deceleration of the speed governor at the initial stage of speed regulation and the target deceleration, and thus improve the pre-braking crash test precision.

[0057] It should be noted that the multiple-stage deceleration data each includes a stage duration and a stage deceleration, that is, the deceleration value given to the speed governor is the stage deceleration, the duration of the stage deceleration is the stage duration corresponding thereto, and the multiple-stage deceleration data includes multiple deceleration data, each deceleration data corresponds to a stage, and each stage has a sequence order, so the multiple-stage deceleration data is also a sequence including multiple deceleration data.

[0058] For example, the multiple-stage deceleration data includes 3-stage deceleration data, the deceleration data has 3, and the 3 deceleration data has a specific sequence order, for example, the sequence order is: first deceleration data, second deceleration data, and third deceleration data, which indicates the injection order of the speed governor.

[0059] In step S102, the multiple-stage deceleration data is sequentially injected into the speed governor, so that the speed governor performs stage deceleration based on the deceleration data to reach the target deceleration.

[0060] The multiple-stage deceleration data is predetermined before the vehicle performs the pre-braking crash test, so that each stage is a variable deceleration stage.

[0061] Specifically, the multiple-stage deceleration data is sequentially injected into the speed governor in order, so that the speed governor can gradually decelerate according to the multiple stages, and overcome the problem of excessive difference between the actual deceleration and the target deceleration caused by overshoot of the speed governor, so that the actual deceleration of the speed governor quickly reaches the target deceleration and is stable at the target deceleration, thereby improving the pre-braking crash test precision.

[0062] It should be noted that the deceleration value injected into the speed governor in each stage is specific, but the speed governor is in an overshoot oscillation stage within the time corresponding to each stage, so the actual deceleration of the speed governor is indefinite, and thus each stage is a variable deceleration stage. For example, the deceleration injected into the speed governor in a stage is 0.7g, and the actual deceleration of the speed governor oscillates between 0.6g and 0.8g, that is, the actual deceleration of the speed governor is variable, and the stage is a variable deceleration stage.

[0063] In addition, the deceleration data of the plurality of stages is predetermined, and does not need to be determined in the test process, thereby reducing the calculation amount and overcoming the oscillation error of the speed regulator, and being beneficial to improving the accuracy of the pre-braking collision test.

[0064] In the embodiment, the deceleration data of the plurality of stages corresponding to the target deceleration is obtained, and the deceleration data of the plurality of stages is sequentially injected into the speed regulator, so that the speed regulator can gradually decelerate based on the deceleration data, and then the target deceleration can be reached, and the difference between the actual deceleration and the target deceleration in the plurality of stages is gradually reduced, which is beneficial to improving the accuracy of the pre-braking collision test. The method can control the speed regulator based on the deceleration data of the plurality of stages, and then utilize the overshoot oscillation characteristics of the speed regulator to reduce the difference between the actual deceleration and the target deceleration, and the actual deceleration in the plurality of stages is different, which is a variable deceleration stage, so that the actual deceleration of the speed regulator smoothly transitions to the target deceleration, improves the stability of the actual deceleration of the speed regulator, and is beneficial to improving the test accuracy of the pre-braking collision test and the practicality of the method.

[0065] In some embodiments, the deceleration data includes stage deceleration and stage duration, and step S102: sequentially injecting the deceleration data of the plurality of stages into the speed regulator to make the speed regulator gradually decelerate to the target deceleration based on the deceleration data, includes:

[0066] Step S201: injecting the stage deceleration of one stage in the plurality of stages into the speed regulator, and after running for the stage duration corresponding to the stage deceleration, injecting the stage deceleration of the next stage into the speed regulator, and running for the stage duration corresponding to the stage deceleration, and repeating the above process until the stage deceleration of the last stage is injected into the speed regulator and runs for the stage duration corresponding to the stage deceleration.

[0067] The stage deceleration of the last stage is the target deceleration.

[0068] Specifically, the deceleration data of the plurality of stages has a sequence, and the deceleration data of the plurality of stages is sequentially injected into the speed regulator according to the sequence of the deceleration data of the plurality of stages. The stage deceleration of one stage is injected to make the speed regulator oscillate based on the stage deceleration. After the speed regulator receives the duration of the stage deceleration, the stage deceleration of the next stage is injected to make the speed regulator oscillate based on the stage deceleration. After the speed regulator receives the duration of the stage deceleration, the above process is repeatedly executed until the deceleration data of the plurality of stages is completed, that is, the stage deceleration of the last stage is injected into the speed regulator and runs for the stage duration corresponding to the stage deceleration.

[0069] For example, the target deceleration is 0.8g, the multiple-stage deceleration data includes three-stage deceleration data, the stage deceleration of the first stage is 0.6g, the stage deceleration of the second stage is 0.7g, and the stage deceleration of the third stage is 0.8g, that is, the governor will oscillate with overshoot based on the stage deceleration of each stage during the operation of each stage, therefore, 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 of the stage, so as to gradually reduce the difference between the actual deceleration and the target deceleration, but the stage deceleration of the last stage is the same as the target deceleration, which can enable the governor to operate based on the stable deceleration of the last stage after receiving the stage deceleration of the last stage, that is, operate according to the target deceleration, so that the actual deceleration of the governor is stabilized near the target deceleration, thereby facilitating the improvement of the test accuracy of the pre-braking crash test system.

[0070] It should be noted that in the above example, after the stage deceleration 0.6g of the first stage is injected into the governor, the governor will oscillate with deceleration, the deceleration will be adjusted from 0 to 0.8g, and after a corresponding oscillation time, the stage deceleration 0.7g of the second stage will be injected, the governor will adjust the deceleration to 0.9g, realize corresponding oscillation, and after a corresponding oscillation time, the stage deceleration 0.8g of the third stage will be injected, and the governor will oscillate to 0.9g and then return to adjust to be stably maintained at 0.8g. During the process, the actual deceleration of the governor is in the range of 0.8g±0.1g, that is, the test accuracy of the pre-braking crash test is greatly improved through multiple-stage adjustment.

[0071] In this embodiment, the multiple-stage deceleration data is injected into the governor in sequence according to the order, so that the governor can oscillate and adjust based on the corresponding stage deceleration multiple times, and continue for a stage time corresponding to the stage deceleration. By using the oscillation overshoot principle of the governor in the initial stage of adjustment, the difference between the actual deceleration and the target deceleration in each stage is reduced, which is beneficial to improving the stability of the deceleration of the governor, and further beneficial to improving the test accuracy of the pre-braking crash test system.

[0072] In some embodiments, the predetermination process of the multiple-stage deceleration data includes:

[0073] In step S301, the governor is subjected to an oscillation observation test based on the target deceleration, so as to determine the oscillation time and the oscillation threshold of the governor; wherein the oscillation threshold is determined based on the maximum actual deceleration in the oscillation time and the target deceleration.

[0074] Specifically, the oscillation observation test is used to determine the oscillation duration and the oscillation threshold of the governor, and the test deceleration of the oscillation observation test is the target deceleration, that is, the target deceleration is injected into the governor to determine the oscillation duration and the oscillation threshold of the governor under the target deceleration.

[0075] Since the actual deceleration expected to be reached in the pre-braking collision test is the target deceleration, using the target deceleration as the test deceleration of the oscillation observation test during the process of predetermining the deceleration data of multiple stages can make the obtained oscillation duration and oscillation threshold closer to the corresponding values in the pre-braking collision test, thereby facilitating the improvement of the accuracy of the method.

[0076] It should be noted that after the governor receives the target deceleration, the governor adjusts the deceleration, and during this process, there is a difference between the actual deceleration of the governor and the target deceleration, so this process is the oscillation process of the governor, the duration of this process is the oscillation duration, and the maximum actual deceleration of the governor during this process minus the target deceleration is the oscillation threshold, so the oscillation threshold is the maximum value of the oscillation during the oscillation process.

[0077] For example, the target deceleration is 0.8g, the maximum actual deceleration during the oscillation process is 1.1g, and the oscillation threshold is 1.1g-0.8g=0.3g.

[0078] In addition, the target deceleration based on the error can also be determined according to the target deceleration and the acceptable error, and the oscillation threshold can be determined according to the target deceleration based on the error and the maximum actual deceleration.

[0079] For example, the target deceleration is 0.8g, the acceptable error is ±0.1g, the maximum actual deceleration during the oscillation process is 1.1g, the target deceleration based on the error is 0.8±0.1g, the maximum value of the target deceleration based on the error is 0.9g, and the oscillation threshold is 1.1g-0.9g=0.2g.

[0080] In step S302, the deceleration data of the first oscillation stage is determined based on the oscillation duration and the oscillation threshold.

[0081] Specifically, the oscillation duration is used as the stage duration of the first oscillation stage, and the stage deceleration of the first oscillation stage is calculated according to the oscillation threshold and the target deceleration. The stage deceleration is used to use the oscillation threshold to make the actual deceleration of the governor reach the target deceleration, so the stage deceleration of the first oscillation stage = target deceleration-oscillation threshold.

[0082] For example, the oscillation threshold is 0.2g, the target deceleration is 0.8g, and the stage deceleration of the first oscillation stage = 0.8g-0.2g=0.6g.

[0083] At step S303, the deceleration data of the second oscillation stage corresponding to a plurality of sub-stages is determined based on the oscillation threshold and the deceleration data of the first oscillation stage.

[0084] Specifically, the second oscillation stage includes a plurality of sub-stages, and the total duration of the second oscillation stage corresponds to the duration of the first oscillation stage (i.e., the oscillation duration). Therefore, the duration of each sub-stage is related to the number of sub-stages, and the stage deceleration of each sub-stage is related to the stage deceleration of the previous stage and the stage threshold, and the stage threshold is related to the oscillation threshold and the number of sub-stages.

[0085] For example, the oscillation threshold is 0.2g, the number of sub-stages is 2, and the stage threshold is 0.2g / 2=0.1g. The duration of the first oscillation stage is 400ms, so the duration of each sub-stage is 400ms / 2=200ms. The second oscillation stage includes two sub-stages, the stage deceleration of the first sub-stage is 0.6g+0.1g=0.7g, and the stage deceleration of the second sub-stage is 0.7g+0.1g=0.8g.

[0086] At step S304, the deceleration data of the first oscillation stage and the deceleration data of the second oscillation stage corresponding to a plurality of sub-stages are determined as the deceleration data of a plurality of stages.

[0087] Specifically, after determining the deceleration data of the plurality of sub-stages of the second oscillation stage, the deceleration data of the first oscillation stage and the plurality of sub-stages are determined as the deceleration data of a plurality of stages. The priority of the first oscillation stage is the highest, and the plurality of sub-stages are arranged after the first oscillation stage in order.

[0088] In this embodiment, the target deceleration-based oscillation observation test is performed on the speed regulator to determine the oscillation duration and the oscillation threshold of the speed regulator at the target deceleration, and the deceleration data of the first oscillation stage is determined based on the oscillation duration and the oscillation threshold. On this basis, the number of sub-stages of the second oscillation stage and the deceleration data of the sub-stages are determined, and then the deceleration data of a plurality of stages is obtained, so as to realize the predetermination of the deceleration data of a plurality of stages. The deceleration data of a plurality of stages can utilize the oscillation process of the speed regulator, so as to reduce the difference between the actual deceleration of the speed regulator and the target deceleration, and further improve the precision of the vehicle pre-braking crash test.

[0089] In some embodiments, step S301: performing an oscillation observation test on the speed regulator based on the target deceleration to determine the oscillation duration and the oscillation threshold of the speed regulator, comprises:

[0090] At step S401, the target deceleration is injected into the speed regulator for deceleration, and the actual deceleration of the speed regulator is monitored.

[0091] Specifically, the target deceleration is injected into the governor, that is, the governor is controlled to decelerate according to the target deceleration, so that the governor decelerates based on the target deceleration. During the process in which the governor decelerates based on the target deceleration, the actual deceleration of the governor will stabilize to the target deceleration after corresponding oscillation. Therefore, monitoring the actual deceleration of the governor can obtain the oscillation duration and the oscillation threshold of the governor.

[0092] It should be noted that the actual deceleration of the test vehicle can be measured by a fifth wheel instrument, a deceleration instrument, etc. Since the test vehicle is connected with the pre-braking crash test system, the pre-braking crash test system realizes the deceleration effect through the governor. Therefore, the actual deceleration of the test vehicle is the actual deceleration of the governor.

[0093] Step S402, in response to determining that the actual deceleration of the governor stabilizes at the target deceleration after the first duration, it is determined that the first duration is the oscillation duration.

[0094] Specifically, the actual deceleration of the governor is monitored, that is, the actual deceleration of the governor is obtained in real time, and the change of the actual deceleration is observed. If it is determined that the actual deceleration is the target deceleration after the first duration and stabilizes at the target deceleration, it is determined that the first duration is the oscillation duration. The governor needs to pass the first duration to stabilize at the target deceleration. The duration corresponds to the oscillation process of the governor.

[0095] Step S403, determining the maximum actual deceleration of the governor within the first duration, and determining the oscillation threshold based on the maximum actual deceleration and the target deceleration.

[0096] Specifically, the maximum value of the actual deceleration of the governor in the oscillation process is the maximum actual deceleration. The difference between the maximum actual deceleration and the target deceleration is the oscillation threshold.

[0097] For example, the target deceleration is 0.8g, the maximum actual deceleration in the oscillation process is 1.1g, and the oscillation threshold is 1.1g-0.8g=0.3g.

[0098] It should be noted that the maximum actual deceleration is the maximum actual deceleration of the governor from the oscillation process to the stable process.

[0099] In this embodiment, the target deceleration is injected into the governor to make the governor decelerate according to the target deceleration. The actual deceleration of the governor is monitored to determine the deceleration oscillation duration and the oscillation threshold in the process of deceleration of the governor, so as to determine the deceleration data of multiple stages. The oscillation duration and the oscillation threshold of the governor are used to reduce the difference between the actual deceleration of the governor and the target deceleration, thereby improving the pre-braking crash test precision.

[0100] In some embodiments, the step S303 of determining the deceleration data of the second oscillation stage corresponding to a plurality of sub-stages based on the oscillation threshold and the deceleration data of the first oscillation stage comprises:

[0101] The step S501 of randomly determining a stage number in a preset stage number set as an initial sub-stage number of the second oscillation stage, and determining initial deceleration data of each initial sub-stage of the second oscillation stage based on the initial sub-stage number, the oscillation threshold and the deceleration data of the first oscillation stage.

[0102] Specifically, the preset stage number set includes a plurality of integers sorted by size, and the stage number set can be {1, 2, 3, …}. For example, the initial sub-stage number is 2, and the second oscillation stage includes 2 initial sub-stages, i.e., the second oscillation stage injects two initial deceleration data to the governor.

[0103] According to the initial sub-stage number and the oscillation threshold, the stage threshold of each initial sub-stage is determined, according to the initial sub-stage number and the oscillation duration (i.e., the stage duration of the first oscillation stage), the stage duration of each initial sub-stage is determined, according to the stage deceleration of the first oscillation stage and the stage threshold, the stage deceleration of the first initial sub-stage is determined, according to the stage deceleration of the first initial sub-stage and the stage threshold, the stage deceleration of the second initial sub-stage is determined, and the stage deceleration of each initial sub-stage is obtained in turn. The stage duration of each initial sub-stage is the same, and thus the initial deceleration data of each initial sub-stage is obtained.

[0104] For example, the oscillation threshold is 0.2g, the number of sub-stages is 2, and the stage threshold is 0.2g / 2=0.1g; the stage duration of the first oscillation stage is 400ms, and 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 is 0.6g+0.1g=0.7g, and the stage deceleration of the second sub-stage is 0.7g+0.1g=0.8g.

[0105] The step S502 of performing a verification loop based on the deceleration data of the first oscillation stage and the initial deceleration data of the plurality of initial sub-stages of the second oscillation stage: injecting the deceleration data of the first oscillation stage and the initial deceleration data of the plurality of initial sub-stages of the second oscillation stage into the governor in turn, and monitoring the running state of the governor during deceleration.

[0106] Specifically, the verification cycle is to inject the deceleration data of the first oscillation stage and the initial deceleration data of the corresponding initial sub-stage of the second oscillation stage into the governor in turn, and to observe the running state of the governor during the first oscillation stage and the second oscillation stage, so as to determine the feasibility of the initial deceleration data of the initial sub-stage through the running state. Exemplarily, the running state of the governor includes two states of normal state and abnormal state.

[0107] It should be noted that the number of initial sub-stages is the initial sub-stage quantity.

[0108] Step S503, adjusting the initial sub-stage quantity according to the running state, and re-determining the initial deceleration data of each initial sub-stage according to the adjusted initial sub-stage quantity, so as to execute the verification cycle based on the deceleration data of the first oscillation stage and the initial deceleration data of the initial sub-stage of the second oscillation stage, until the running state obtained by a verification cycle is different from the running state obtained by the last verification cycle.

[0109] Specifically, after obtaining the running state, the initial sub-stage quantity is adjusted according to the running state, and the initial deceleration data of the new initial sub-stage is determined according to the adjusted initial sub-stage quantity, so as to re-execute the verification cycle to obtain the running state corresponding to the verification cycle, and compare the running state obtained by the verification cycle with the running state obtained by the last verification cycle. When the running states are the same, the initial sub-stage quantity needs to be adjusted continuously, and when the running states are different, the initial deceleration data corresponding to the initial sub-stage quantity is determined according to the type of the different running state as the pre-determined sub-stage quantity and deceleration data of the second oscillation stage.

[0110] It should be noted that the larger the sub-stage quantity is, the more accurate the adjustment will be (the stage deceleration of each sub-stage will gradually approach the target deceleration), but the larger the sub-stage quantity is, that is, the more times the governor is adjusted in the oscillation time, the greater the probability of abnormality of the governor will be, that is, a balance needs to be found between the adjustment accuracy and the running state of the governor. Specifically, when the running state obtained by executing the verification cycle is the abnormal state, and the initial sub-stage quantity needs to be adjusted, the initial sub-stage quantity is adjusted to be close to and less than the initial sub-stage quantity corresponding to the verification cycle; when the running state obtained by executing the verification cycle is the normal state, and the initial sub-stage quantity needs to be adjusted, the initial sub-stage quantity is adjusted to be close to and greater than the initial sub-stage quantity corresponding to the verification cycle.

[0111] For example, the randomly determined initial number of sub-stages is 4, and the deceleration data of each initial sub-stage is obtained based on the initial number of sub-stages, and a check cycle is performed based on the deceleration data of the first oscillation stage and the deceleration data of each initial sub-stage, and the obtained running state is abnormal, which indicates that the initial number of sub-stages is too high, and the initial number of sub-stages is reduced to 3, and the deceleration data of each initial sub-stage is obtained based on the initial number of sub-stages, and a check cycle is performed based on the deceleration data of the first oscillation stage and the deceleration data of each initial sub-stage, and the obtained running state is normal, which is different from the previous running state, and it is determined that the initial number of sub-stages is 3, which can enable the speed regulator to operate normally, and the number of sub-stages of the second oscillation stage is determined to be 3, and the three initial deceleration data corresponding to the initial number of sub-stages of 3 are the deceleration data of the three sub-stages of the second oscillation stage.

[0112] In the embodiment, a number of stages is randomly determined in a preset number of stages as an initial number of sub-stages of the second oscillation stage, and initial deceleration data corresponding to each initial sub-stage is determined based on the initial number of sub-stages, and a check cycle is performed based on the initial deceleration data and the deceleration data of the first oscillation stage to obtain a running state, and the initial number of sub-stages of the second oscillation stage is adjusted according to the running state, and the initial deceleration data is determined again based on the adjusted initial number of sub-stages, and the check cycle is performed again to obtain a running state, and when the running state is the same as the previous running state, the initial number of sub-stages is continuously adjusted, and when the running state is different from the previous running state, an initial number of sub-stages is determined as the number of sub-stages of the second oscillation stage, and the deceleration data of each sub-stage is determined, and the deceleration data of each sub-stage and the deceleration data of the first oscillation stage are used as the deceleration data of the plurality of stages to be determined. The setting of the check cycle can enable the number of sub-stages to be the maximum value within the capacity range of the speed regulator, and thus the speed of the speed regulator can be adjusted for the maximum number of times in the second oscillation stage, so that the actual deceleration of the second oscillation stage can reach the stable target deceleration, which is beneficial to improve the test precision of the pre-braking collision test.

[0113] In some embodiments, the running state includes a normal state and an abnormal state, and step S303: determining the deceleration data of a plurality of sub-stages corresponding to the second oscillation stage based on the deceleration data of the first oscillation stage and the oscillation threshold, further includes:

[0114] Step S601, in response to determining that the running state obtained by the check cycle is a normal state and the running state obtained by the previous check cycle is an abnormal state, the initial deceleration data of the plurality of sub-stages of the second oscillation stage in the check cycle is determined as the deceleration data of the plurality of sub-stages corresponding to the second oscillation stage;

[0115] Specifically, the governor involves multiple adjustments of the deceleration of the governor in the process of executing the check cycle, the number of adjustments of the deceleration is related to the running performance of the governor, when the number of adjustments exceeds the running performance range of the governor, the governor will appear running abnormity, therefore, when the governor does not appear abnormal condition (for example: noise vibration, overheat protection leading to interruption of the check cycle, smoking, etc.) in the process of executing the check cycle, it is determined that the running state obtained by the check cycle is normal state, when the governor appears abnormal condition in the process of executing the check cycle, it is determined that the running state obtained by the check cycle is abnormal state.

[0116] More specifically, when it is determined that the running state obtained by the check cycle is normal state and the running state obtained by the last check cycle is abnormal state, it is determined that the running state obtained by the check cycle is different from the running state obtained by the last check cycle, and the initial deceleration data of the initial sub-stage corresponding to the second oscillation stage in the check cycle is determined as the deceleration data of the sub-stage corresponding to the second oscillation stage.

[0117] For example, the running state obtained by the check cycle is normal state, the number of initial sub-stages corresponding to the check cycle is 3, the running state obtained by the last check cycle is abnormal state, and the number of initial sub-stages corresponding to the last check cycle is 4, then it is determined that the number of sub-stages of the second oscillation stage is 3, and the three deceleration data when the number of initial sub-stages is 3 is determined as the deceleration data of the three sub-stages of the second oscillation stage.

[0118] Step S602, in response to determining that the running state obtained by the check cycle is abnormal state and the running state obtained by the last check cycle is normal state, the initial deceleration of the sub-stage of the second oscillation stage in the last check cycle is determined as the deceleration data of the sub-stage corresponding to the second oscillation stage.

[0119] Specifically, when it is determined that the running state obtained by the check cycle is abnormal state and the running state obtained by the last check cycle is normal state, it is determined that the running state obtained by the check cycle is different from the running state obtained by the last check cycle, and the initial deceleration data of the initial sub-stage corresponding to the second oscillation stage in the last check cycle is determined as the deceleration data of the sub-stage corresponding to the second oscillation stage.

[0120] For example, the running state obtained by the check cycle is abnormal state, the number of initial sub-stages corresponding to the check cycle is 4, the running state obtained by the last check cycle is normal state, and the number of initial sub-stages corresponding to the last check cycle is 3, then it is determined that the number of sub-stages of the second oscillation stage is 3, and the three deceleration data when the number of initial sub-stages is 3 is determined as the deceleration data of the three sub-stages of the second oscillation stage.

[0121] In the embodiment, when the operation state obtained in the check cycle is different from the operation state obtained in the last check cycle, the initial sub-stage number corresponding to the check cycle or the initial sub-stage number corresponding to the last check cycle is determined as the sub-stage number of the second oscillation stage according to the specific operation state obtained in the check cycle and the specific operation state obtained in the last check cycle, and a plurality of deceleration data corresponding to the sub-stage number is determined as the plurality of deceleration data of the second oscillation stage, so that the deceleration data of the second oscillation stage can meet the capability of the governor, and normal operation of the governor is ensured.

[0122] In some embodiments, in step S503, adjusting the initial sub-stage number according to the operation state comprises:

[0123] In step S701, in response to determining that the operation state obtained in the check cycle is the normal state and the operation state obtained in the last check cycle is the normal state, the initial sub-stage number is adjusted to a larger value adjacent to the initial sub-stage number corresponding to the check cycle in the stage number set.

[0124] Specifically, when it is determined that the operation state obtained in the check cycle is the normal state and the operation state obtained in the last check cycle is the normal state, the initial sub-stage number needs to be adjusted, and the adjustment process is: adjusting the initial sub-stage number to a stage number adjacent to the initial sub-stage number corresponding to the check cycle in the stage number set and greater than the initial sub-stage number corresponding to the check cycle.

[0125] It should be noted that when the operation state obtained in the check cycle is determined to be the normal state for the first time, there is no last check cycle, and the initial sub-stage number is still adjusted to a larger value adjacent to the initial sub-stage number corresponding to the check cycle in the stage number set.

[0126] For example, the operation state obtained after performing the first check cycle is the normal state, the initial sub-stage number corresponding to the check cycle is 2, and the stage number set is {1, 2, 3, 4, …}. Then, the initial sub-stage number is adjusted to 3, and three deceleration data corresponding to the initial sub-stage number are determined based on the initial sub-stage number, so as to perform the next check cycle together with the deceleration data of the first oscillation stage.

[0127] In step S702, in response to determining that the operation state obtained in the check cycle is the abnormal state and the operation state obtained in the last check cycle is the abnormal state, the initial sub-stage number is adjusted to a smaller value adjacent to the initial sub-stage number corresponding to the check cycle in the stage number set.

[0128] Specifically, when the running state obtained by the check cycle is determined to be the abnormal state, and the running state obtained by the last check cycle is the abnormal state, the initial sub-stage number needs to be adjusted, and the adjustment process is: adjusting the initial sub-stage number to the stage number adjacent to the initial sub-stage number corresponding to the check cycle in the stage number set and smaller than the initial sub-stage number corresponding to the check cycle.

[0129] It should be noted that when the running state obtained by the first check cycle is determined to be the abnormal state, there is no last check cycle, and the initial sub-stage number is still adjusted according to the adjustment mode of adjusting the initial sub-stage number to the smaller value adjacent to the initial sub-stage number in the stage number set.

[0130] For example, the running state obtained after the first check cycle is the abnormal state, the initial sub-stage number corresponding to the check cycle is 4, and the stage number set is {1, 2, 3, 4…}. Then, the initial sub-stage number is adjusted to 3, and three deceleration data corresponding to the initial sub-stage number are determined based on the initial sub-stage number to perform the next check cycle together with the deceleration data of the first oscillation stage.

[0131] In this embodiment, when the running states obtained by the check cycle and the last check cycle are the same, different adjustment modes of the initial sub-stage number are determined according to the specific conditions of the running state. When the running states obtained by the check cycle and the last check cycle are both normal states, the initial sub-stage number is adjusted to the larger value adjacent to the initial sub-stage number in the stage number set, so as to determine the maximum value of the initial sub-stage number that can be received by the governor. When the running states obtained by the check cycle and the last check cycle are both abnormal states, the initial sub-stage number is adjusted to the smaller value adjacent to the initial sub-stage number in the stage number set, so as to avoid the abnormality of the governor in actual operation, fully utilize the speed regulation capacity of the governor, improve the test precision, and avoid the abnormality of the governor in operation to ensure the normal operation of the pre-braking impact test.

[0132] In some embodiments, in step S501, the initial deceleration data of each initial sub-stage of the second oscillation stage is determined based on the initial sub-stage number, the oscillation threshold and the deceleration data of the first oscillation stage, including:

[0133] In step S801, the initial stage duration of each initial sub-stage is determined based on the initial sub-stage number and the stage duration of the deceleration data of the first oscillation stage.

[0134] Specifically, the stage duration of the first oscillation stage is taken as the stage duration of the second oscillation stage. The second oscillation stage includes multiple sub-stages, and therefore, the initial stage duration of each initial sub-stage of the second oscillation stage can be calculated according to the stage duration and the initial sub-stage number.

[0135] For example, the stage duration of the first oscillation stage is 400 ms, and the initial number of sub-stages is 2, so the initial stage duration of each initial sub-stage is 400 / 2 = 200 ms.

[0136] In step S802, the stage threshold of each initial sub-stage is determined based on the initial number of sub-stages and the oscillation threshold.

[0137] Specifically, the oscillation threshold is the maximum difference of the injected deceleration in the stage duration of the second oscillation stage, and the stage threshold of each initial sub-stage is determined based on the initial number of sub-stages and the oscillation threshold, i.e., the maximum change value of each initial sub-stage.

[0138] For example, the initial number of sub-stages is 2, and the oscillation threshold is 2 m / s 2 , so the stage threshold is 2 / 2 = 1 m / s 2 .

[0139] In step S803, the initial stage deceleration of each initial sub-stage is determined in turn based on the stage threshold and the stage deceleration of the deceleration data of the first oscillation stage.

[0140] Specifically, the initial stage deceleration of the first initial sub-stage of the second oscillation stage is the stage deceleration of the first oscillation stage + the stage threshold, the initial stage deceleration of the second initial sub-stage of the second oscillation stage is the initial stage deceleration of the first initial sub-stage + the stage threshold, and so on, to obtain the initial stage deceleration of each initial sub-stage.

[0141] For example, the stage threshold is 1 m / s 2 , the stage deceleration of the first oscillation stage is 6 m / s 2 , and the initial number of sub-stages is 2, so the initial stage deceleration of the first initial sub-stage is 6 + 1 = 7 m / s 2 , and the initial stage deceleration of the second initial sub-stage is 7 + 1 = 8 m / s 2 .

[0142] In this embodiment, the initial stage deceleration of each initial sub-stage is calculated based on the stage deceleration of the previous stage and the stage threshold, the stage threshold is related to the initial number of sub-stages and the oscillation threshold, and the initial stage duration of each initial sub-stage is related to the stage duration of the second oscillation stage and the initial number of sub-stages, so that the deceleration data of each initial sub-stage of the second oscillation stage is determined to perform a verification cycle.

[0143] It should be noted that the method of the embodiments of the present application can be executed by a single device, for example, a computer or a server, etc. The method of the embodiments can also be applied to a distributed scenario, and be completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only execute one or more steps in the method of the embodiments of the present application, and the multiple devices can interact with each other to complete the method.

[0144] It should be noted that some embodiments of the present application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than that described above and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0145] Based on the same inventive concept, the present application also provides a vehicle pre-braking crash test device corresponding to the method of any of the above embodiments.

[0146] Reference Figure 4 , the vehicle pre-braking crash test device comprises:

[0147] The acquisition module 100 is configured to acquire deceleration data of multiple stages corresponding to the target deceleration;

[0148] The control module 200 is configured to sequentially inject the deceleration data of the multiple stages into the governor, so that the governor performs stage deceleration based on the deceleration data to reach the target deceleration;

[0149] The deceleration data of the multiple stages is predetermined before the vehicle performs the pre-braking crash test, so that each stage is a variable deceleration stage.

[0150] Further, the control module 200 is further configured to inject the stage deceleration of one stage of the multiple stages into the governor, and after running for the stage duration corresponding to the stage deceleration, inject the stage deceleration of the next stage into the governor, and run for the stage duration corresponding to the stage deceleration, and the above process is repeated until the stage deceleration of the last stage is injected into the governor and runs for the stage duration corresponding to the stage deceleration.

[0151] The stage deceleration of the last stage is the target deceleration.

[0152] Further, the vehicle pre-braking crash test device further comprises a predetermination module, which is configured to perform an oscillation observation test on the governor based on the target deceleration to determine the oscillation duration and the oscillation threshold of the governor.

[0153] determining deceleration data of a first oscillation stage based on the oscillation duration and the oscillation threshold;

[0154] determining deceleration data of a plurality of stages based on the deceleration data of the first oscillation stage and the deceleration data of the plurality of initial sub-stages of the second oscillation stage.

[0155] determining deceleration data of a plurality of stages based on the deceleration data of the first oscillation stage and the deceleration data of the plurality of initial sub-stages of the second oscillation stage.

[0156] wherein the oscillation threshold is determined based on a maximum actual deceleration within the oscillation duration and the target deceleration.

[0157] Further, the predetermination module is further configured to inject the target deceleration to the governor for deceleration, and monitor an actual deceleration of the governor.

[0158] in response to determining that the actual deceleration of the governor is stable at the target deceleration after the first duration, determining that the first duration is the oscillation duration.

[0159] determining a maximum actual deceleration of the governor within the first duration, and determining the oscillation threshold based on the maximum actual deceleration and the target deceleration.

[0160] Further, the predetermination module is further configured to randomly determine a stage number as an initial sub-stage number of the second oscillation stage in a preset stage number set, and determine initial deceleration data of each initial sub-stage of the second oscillation stage based on the initial sub-stage number, the oscillation threshold and the deceleration data of the first oscillation stage.

[0161] performing a verification loop based on the deceleration data of the first oscillation stage and the initial deceleration data of the plurality of initial sub-stages of the second oscillation stage: injecting the deceleration data of the first oscillation stage and the initial deceleration data of the plurality of initial sub-stages of the second oscillation stage to the governor in turn, and monitoring a running state of the governor during deceleration.

[0162] adjusting the initial sub-stage number according to the running state, and redetermining the initial deceleration data of each initial sub-stage according to the adjusted initial sub-stage number, to perform the verification loop based on the deceleration data of the first oscillation stage and the redetermined initial deceleration data of the plurality of initial sub-stages of the second oscillation stage, until a running state obtained in a verification loop is different from a running state obtained in a previous verification loop.

[0163] Further, the predetermination module is further configured to, in response to determining that the running state obtained in the verification loop is a normal state and the running state obtained in the previous verification loop is an abnormal state, determine the initial deceleration data of the plurality of sub-stages of the second oscillation stage in the verification loop as the deceleration data of the plurality of sub-stages corresponding to the second oscillation stage.

[0164] In response to determining that the running state obtained by the current check cycle is the abnormal state and the running state obtained by the previous check cycle is the normal state, the initial deceleration data of the second oscillation stage in the previous check cycle is determined as the deceleration data of the second oscillation stage corresponding to the plurality of sub-stages.

[0165] Further, the predetermination module is further configured to, in response to determining that the running state obtained by the current check cycle is the normal state and the running state obtained by the previous check cycle is the normal state, adjust the initial sub-stage number to a larger value adjacent to the initial sub-stage number in the stage number set;

[0166] In response to determining that the running state obtained by the current check cycle is the abnormal state and the running state obtained by the previous check cycle is the abnormal state, the initial sub-stage number is adjusted to a smaller value adjacent to the initial sub-stage number in the stage number set.

[0167] Further, the predetermination module is further configured to determine the initial stage duration of each initial sub-stage based on the initial sub-stage number and the stage duration of the deceleration data of the first oscillation stage.

[0168] The stage threshold of each initial sub-stage is determined based on the initial sub-stage number and the oscillation threshold.

[0169] The initial stage deceleration of each initial sub-stage is determined in sequence based on the stage threshold and the stage deceleration of the deceleration data of the first oscillation stage.

[0170] For the convenience of description, the above device is described in various modules based on functions. Of course, in the implementation of the present application, the functions of each module can be implemented in one or more software and / or hardware.

[0171] The device of the above embodiment is used to implement the vehicle pre-braking crash test method of any one of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described here.

[0172] Based on the same inventive concept, corresponding to any of the above embodiment methods, the present application also provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the vehicle pre-braking crash test method of any one of the above embodiments.

[0173] Figure 5A more specific electronic device hardware structure schematic diagram provided by the embodiment is shown. The device can include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 for internal communication.

[0174] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is configured to execute related programs to implement the technical solutions provided by the embodiments of the present specification.

[0175] The memory 1020 can be implemented by a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the related program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0176] The input / output interface 1030 is configured to connect an input / output module to realize information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0177] The communication interface 1040 is configured to connect a communication module (not shown in the figure) to realize the communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or through a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0178] The bus 1050 includes a channel to transmit information between various components (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040) of the device.

[0179] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, but in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only contain components necessary to implement the embodiments of the present application, and does not necessarily contain all the components shown in the figure.

[0180] The electronic device of the above embodiment is used to implement the vehicle pre-braking crash test method of any one of the preceding embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0181] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present application also provides a non-transitory computer readable storage medium storing computer instructions for causing a computer to execute the vehicle pre-braking crash test method of any one of the above embodiments.

[0182] The computer readable medium of the present embodiment includes permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The 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, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0183] The computer instructions stored in the storage medium of the above embodiment are used to cause a computer to execute the vehicle pre-braking crash test method of any one of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0184] Based on the same concept, corresponding to the method of any of the above embodiments, the present application also provides a computer program product comprising computer program instructions, which, when executed on a computer, cause the computer to execute the method of any one of the above embodiments, have the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0185] It can be understood that, before using the technical solutions of various embodiments in the present disclosure, the user will be informed of the type, use range, use scenario, etc. of the personal information involved in a proper manner, and the authorization of the user will be obtained.

[0186] For example, in response to receiving the active request of the user, the user is sent prompt information to explicitly prompt the user that the operation requested to be performed will require obtaining and using the personal information of the user. Thus, the user can voluntarily choose whether to provide the personal information to the software or hardware such as an electronic device, an application program, a server or a storage medium, etc. performing the operation of the technical solutions of the present disclosure according to the prompt information.

[0187] As an optional but non-limiting implementation manner, in response to accepting the active request of the user, the manner of sending the prompt information to the user may, for example, be a pop-up window manner, and the prompt information may, for example, be presented in the form of text in the pop-up window. In addition, the pop-up window may also carry selection controls for the user to select “agree” or “disagree” to provide the personal information to the electronic device.

[0188] It can be understood that the above notification and user authorization obtaining process is only illustrative, and does not limit the implementation manners of the present disclosure, and other manners meeting the relevant laws and regulations can also be applied to the implementation manners of the present disclosure.

[0189] Those skilled in the art should understand that the above discussion of any embodiment is only exemplary and is not intended to imply that the scope of the present application is limited to these examples; under the idea of the present application, the above embodiments or technical features in different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the embodiments of the present application as described above, which are not provided in details for the sake of brevity.

[0190] In addition, in order to simplify the description and discussion, and so as not to make the embodiments of the present application difficult to understand, the known power / ground connections of integrated circuit (IC) chips and other components can or can not be shown in the provided drawings. In addition, the devices can be shown in the form of block diagrams in order to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (i.e. these details should be fully within the understanding of those skilled in the art). Where specific details (e.g. circuits) are set forth in order to describe the exemplary embodiments of the present application, it will be apparent to those skilled in the art that the embodiments of the present application can be implemented without these specific details or with variations on these specific details. Therefore, these descriptions should be considered as illustrative rather than limiting.

[0191] While the present application has been described in connection with certain embodiments thereof, many modifications, substitutions, changes, and of forms will be apparent to those of ordinary skill in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) can use the embodiments discussed.

[0192] Embodiments of the present application are intended to embrace all such alterations, modifications, and variations that fall within the scope of the broadest possible interpretation of the appended claims. Accordingly, any and all such alterations, modifications, equivalents, improvements and the like are intended to be encompassed by the present application.

Claims

1. A method of testing a vehicle pre-braking collision, characterized by, The method is applied to a pre-braking crash test system, and the system pre-brakes a vehicle through a speed regulator. Obtain deceleration data of multiple stages corresponding to a target deceleration; Inject the deceleration data of the multiple stages into the speed regulator in sequence, so that the speed regulator decelerates based on the deceleration data to reach the target deceleration; The deceleration data of the multiple stages is pre-determined before the vehicle performs the pre-braking crash test, so that each stage is a variable deceleration stage; The pre-determination process of the deceleration data of the multiple stages includes: Perform an oscillation observation test on the speed regulator based on the target deceleration to determine an oscillation duration and an oscillation threshold of the speed regulator; Determine the deceleration data of a first oscillation stage based on the oscillation duration and the oscillation threshold; Determine the deceleration data of a plurality of sub-stages corresponding to a second oscillation stage based on the oscillation threshold and the deceleration data of the first oscillation stage; Determine the deceleration data of the multiple stages as the deceleration data of the first oscillation stage and the deceleration data of the plurality of sub-stages corresponding to the second oscillation stage; The oscillation threshold is determined based on the maximum actual deceleration within the oscillation duration and the target deceleration.

2. The method of claim 1, wherein, The deceleration data includes stage deceleration and stage duration, and the injection of the deceleration data of the multiple stages into the speed regulator in sequence so that the speed regulator gradually decelerates based on the deceleration data to reach the target deceleration includes: Inject the stage deceleration of a stage in the multiple stages into the speed regulator, and after running for the stage duration corresponding to the stage deceleration, inject the stage deceleration of the next stage into the speed regulator, and run for the stage duration corresponding to the stage deceleration, and repeat the above process until the stage deceleration of the last stage is injected into the speed regulator and runs for the stage duration corresponding to the stage deceleration; The stage deceleration of the last stage is the target deceleration.

3. The method of claim 1, wherein, The oscillation observation test on the speed regulator based on the target deceleration to determine the oscillation duration and the oscillation threshold of the speed regulator includes: Inject the target deceleration into the speed regulator to decelerate and monitor the actual deceleration of the speed regulator; In response to determining that the actual deceleration of the speed regulator is stable at the target deceleration after a first duration, the first duration is determined as the oscillation duration; Determine the maximum actual deceleration of the speed regulator within the first duration, and determine the oscillation threshold based on the maximum actual deceleration and the target deceleration.

4. The method of claim 1, wherein, The determination of the deceleration data of a plurality of sub-stages corresponding to a second oscillation stage based on the oscillation threshold and the deceleration data of the first oscillation stage includes: Randomly determine a stage number as an initial sub-stage number of the second oscillation stage in a preset stage number set, and determine initial deceleration data of each initial sub-stage of the second oscillation stage based on the initial sub-stage number, the oscillation threshold and the deceleration data of the first oscillation stage; performing a verification cycle based on the deceleration data of the first oscillation stage and initial deceleration data of a plurality of initial sub-stages of the second oscillation stage: sequentially injecting the deceleration data of the first oscillation stage and the initial deceleration data of the plurality of initial sub-stages of the second oscillation stage into the governor, and monitoring an operating state of the governor during deceleration; adjusting the number of initial sub-stages according to the operating state, and re-determining initial deceleration data of each initial sub-stage according to the adjusted number of initial sub-stages, so as to perform a verification cycle based on the deceleration data of the first oscillation stage and the re-determined initial deceleration data of the plurality of initial sub-stages of the second oscillation stage, until an operating state obtained in a verification cycle is different from an operating state obtained in a previous verification cycle.

5. The method of claim 4, wherein, the operating state comprises a normal state and an abnormal state, and the determining the deceleration data of the plurality of sub-stages corresponding to the second oscillation stage based on the deceleration data of the first oscillation stage and the oscillation threshold value further comprises: in response to determining that the operating state obtained in the verification cycle is the normal state and the operating state obtained in the previous verification cycle is the abnormal state, determining the initial deceleration data of the plurality of sub-stages of the second oscillation stage in the verification cycle as the deceleration data of the plurality of sub-stages corresponding to the second oscillation stage; in response to determining that the operating state obtained in the verification cycle is the abnormal state and the operating state obtained in the previous verification cycle is the normal state, determining the initial deceleration data of the plurality of sub-stages of the second oscillation stage in the previous verification cycle as the deceleration data of the plurality of sub-stages corresponding to the second oscillation stage.

6. The method of claim 4, wherein, the adjusting the number of initial sub-stages according to the operating state comprises: in response to determining that the operating state obtained in the verification cycle is the normal state and the operating state obtained in the previous verification cycle is the normal state, adjusting the number of initial sub-stages to a larger value adjacent to the number of initial sub-stages in the set of numbers of stages; in response to determining that the operating state obtained in the verification cycle is the abnormal state and the operating state obtained in the previous verification cycle is the abnormal state, adjusting the number of initial sub-stages to a smaller value adjacent to the number of initial sub-stages in the set of numbers of stages.

7. The method of claim 4, wherein, the determining the initial deceleration data of each initial sub-stage of the second oscillation stage based on the number of initial sub-stages, the oscillation threshold value and the deceleration data of the first oscillation stage comprises: determining an initial stage duration of each initial sub-stage based on the number of initial sub-stages and a stage duration of the deceleration data of the first oscillation stage; determining a stage threshold value of each initial sub-stage based on the number of initial sub-stages and the oscillation threshold value; sequentially determining an initial stage deceleration of each initial sub-stage according to the stage threshold value and a stage deceleration of the deceleration data of the first oscillation stage.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, the processor implements the method in any one of claims 1 to 7 when executing the program.

9. A vehicle characterized by comprising: an electronic device comprising the processor in claim 8. an electronic device comprising the processor in claim 8.

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