Vehicle testing system, method, control device, storage medium and program product

Abstract

The application relates to the field of assisted driving, in particular to a vehicle testing system and method, a control device, a storage medium and a program product. The vehicle testing system comprises a control device, a magnetic suspension track, a magnetic suspension mobile base and an obstacle, wherein: the magnetic suspension track is located below a road on which a test vehicle travels and is connected to the control device through a signal line. The magnetic suspension mobile base is located above the magnetic suspension track, and the obstacle is placed on the magnetic suspension mobile base. The control device is used for sending a movement control signal to the magnetic suspension track through the signal line, wherein the movement control signal is used for instructing the magnetic suspension mobile base to move to a target position at a preset speed. The control device controls the magnetic suspension track to drive the magnetic suspension mobile base, so that the magnetic suspension mobile base can move while carrying the obstacle in a preset test scene, thereby testing the vehicle, without the need for manual arrangement of a complex test scene, and the efficiency of vehicle testing is improved.

Description

Technical Field

[0001] This application relates to the field of driver assistance technology, and in particular to a vehicle testing system, method, control device, storage medium, and program product. Background Technology

[0002] Intelligent connected vehicles refer to a new type of automobile that integrates key technologies such as environmental perception, intelligent decision-making, and collaborative control. By equipping themselves with advanced onboard sensors, controllers, and actuators, and combining them with modern communication and network technologies, they achieve intelligent information interaction between vehicles, between vehicles and roads, between vehicles and people, and between vehicles and the cloud. With the rapid development of artificial intelligence, communication technology, and automotive electronics technology, intelligent connected vehicles have become an important direction for the transformation and upgrading of the automotive industry. Their core functions include automatic emergency braking (AEB), adaptive cruise control (ACC), lane centering control (LCC), automatic parking assist (APS), and vehicle-to-everything (V2X) communication.

[0003] Therefore, in the development and application of functions such as AEB, ACC, LCC, APS, and V2X in current intelligent connected vehicles, systematic, comprehensive, and standardized testing methods are needed to verify the overall performance of these functions in terms of safety and reliability.

[0004] However, testing the aforementioned functions typically requires a target platform, and then target objects (such as dummies or dummy vehicles) are fixed to the target platform to control their movement and simulate the test scenario. However, this testing process is time-consuming, cumbersome, and inefficient. Summary of the Invention

[0005] This application provides a vehicle testing system, method, control device, storage medium, and program product.

[0006] In a first aspect, embodiments of this application provide a vehicle testing system, including: a control device, a magnetic levitation track, a magnetic levitation mobile base, and obstacles, wherein: the magnetic levitation track is located below the road on which the test vehicle travels and is connected to the control device via a signal line. The magnetic levitation mobile base is located above the magnetic levitation track, and the obstacles are placed on the magnetic levitation mobile base. The control device is used to send movement control signals to the magnetic levitation track via the signal line, wherein the movement control signals are used to instruct the magnetic levitation mobile base to move to a target position at a preset speed.

[0007] In this system, there is no need to manually set up a test site or debug a mobile platform to move obstacles when testing test vehicles. Test personnel can control the magnetic levitation base to move at a preset speed through control equipment, thereby improving the efficiency of vehicle testing. Furthermore, the control equipment and the magnetic levitation track are electrically connected via signal lines, which reduces the signal delay between the control equipment and the magnetic levitation track, and improves the accuracy of the control equipment in controlling the movement of the magnetic levitation mobile base through the magnetic levitation track.

[0008] In one possible implementation of the first aspect above, the control device is further configured to, upon receiving a test command, acquire control parameters of the test scenario corresponding to the test command, and send a corresponding motion control signal to the magnetic levitation track based on the control parameters.

[0009] In this implementation, when testing the vehicle, the tester can select the test scenario through the control device. After receiving the test command for the corresponding test scenario, the control device can obtain the control parameters for that test scenario. These control parameters can be parameters for controlling the magnetic levitation mobile base to move to a preset position and to move at a preset speed. Thus, the tester does not need to pre-adjust the movement speed of the magnetic levitation mobile base in the corresponding test scenario, thereby improving testing efficiency.

[0010] In one possible implementation of the first aspect described above, the control device is further configured to control the magnetically levitated mobile base to move away from the test vehicle in the event that a collision between the test vehicle and the magnetically levitated mobile base is predicted.

[0011] In this implementation, during the testing of the test vehicle based on the magnetic levitation mobile base, the control equipment can also predict the collision between the test vehicle and the magnetic levitation mobile base. If the control equipment predicts a collision between the test vehicle and the magnetic levitation mobile base, it can control the magnetic levitation mobile base to move away from the test vehicle. In this way, damage to the magnetic levitation mobile base can be avoided, thereby reducing testing costs.

[0012] In one possible implementation of the first aspect described above, the device further includes a collision detection device mounted on the magnetic levitation mobile base. The collision detection device is used to send a collision signal to the control device upon detecting a collision between the test vehicle and the magnetic levitation mobile base. The control device is also used to control the magnetic levitation mobile base to move away from the test vehicle upon receiving the collision signal.

[0013] In this implementation, during the testing of the test vehicle based on the magnetic levitation mobile platform, the collision detection device on the platform can predict the collision between the test vehicle and the platform. If the collision detection device predicts a collision, it can send a collision signal to the control equipment. Upon receiving the collision signal, the control equipment can control the magnetic levitation mobile platform to move away from the test vehicle. This avoids damage to the magnetic levitation mobile platform and reduces testing costs.

[0014] In one possible implementation of the first aspect described above, the signal line is a cable.

[0015] Secondly, this application provides a vehicle testing method using a vehicle testing system. The vehicle testing system includes a control device, a magnetic levitation track, a magnetic levitation mobile base, and obstacles. The magnetic levitation track is located below the road on which the test vehicle travels and is connected to the control device via a signal line. The magnetic levitation mobile base is located above the magnetic levitation track, and the obstacles are placed on the magnetic levitation mobile base. The method includes: the control device receiving a test command and acquiring control parameters for the target test scenario corresponding to the test command; the control device sending a corresponding movement control signal to the magnetic levitation track based on the control parameters, wherein the movement control signal instructs the magnetic levitation mobile base to move to the target position at a preset speed.

[0016] This method eliminates the need for manually setting up test sites and debugging mobile platforms to move obstacles when testing test vehicles. Test personnel can control the magnetic levitation base to move at a preset speed via control equipment, thus improving testing efficiency. Furthermore, the control equipment and the magnetic levitation track are electrically connected via signal lines, reducing signal delay between the two and improving the accuracy of the control equipment in controlling the movement of the magnetic levitation mobile base.

[0017] In one possible implementation of the second aspect above, the control device stores control parameters for multiple test scenarios; obtaining the control parameters of the target test scenario corresponding to the test instruction includes: the control device determining the target test scenario from multiple test scenarios based on the test instruction, and obtaining the control parameters corresponding to the target test scenario.

[0018] In this implementation, when testing the vehicle, the tester can select the test scenario through the control device. After receiving the test command for the corresponding test scenario, the control device can obtain the control parameters for that test scenario. These control parameters can be parameters for controlling the magnetic levitation mobile base to move to a preset position and to move at a preset speed. Thus, the tester does not need to pre-adjust the movement speed of the magnetic levitation mobile base in the corresponding test scenario, thereby improving testing efficiency.

[0019] In one possible implementation of the second aspect above, the method further includes: the control device, based on the relative speed, relative acceleration and relative position of the test vehicle and the magnetic levitation mobile base, predicts a collision between the test vehicle and the magnetic levitation mobile base, and controls the magnetic levitation mobile base to move away from the test vehicle.

[0020] In this implementation, during the testing of the test vehicle based on the magnetic levitation mobile base, the control equipment can also predict the collision between the test vehicle and the magnetic levitation mobile base. If the control equipment predicts a collision between the test vehicle and the magnetic levitation mobile base, it can control the magnetic levitation mobile base to move away from the test vehicle. In this way, damage to the magnetic levitation mobile base can be avoided, thereby reducing testing costs.

[0021] In one possible implementation of the second aspect described above, the vehicle testing system further includes a collision detection device mounted on a magnetically levitated mobile base. The method further includes the collision detection device, based on the relative velocity, relative acceleration, and relative position of the test vehicle and the magnetically levitated mobile base, predicting a collision between the test vehicle and the magnetically levitated mobile base, and then sending a collision signal to a control device. Upon receiving the collision signal, the control device controls the magnetically levitated mobile base to move away from the test vehicle.

[0022] In this implementation, during the testing of the test vehicle based on the magnetic levitation mobile platform, the collision detection device on the platform can predict the collision between the test vehicle and the platform. If the collision detection device predicts a collision, it can send a collision signal to the control equipment. Upon receiving the collision signal, the control equipment can control the magnetic levitation mobile platform to move away from the test vehicle. This avoids damage to the magnetic levitation mobile platform and reduces testing costs.

[0023] Thirdly, this application provides a control device, comprising: a memory for storing instructions; and at least one processor for executing the instructions to cause the device to implement the methods provided in the second aspect and any possible implementation of the second aspect. The beneficial effects achievable by the third aspect can be referred to the beneficial effects of the methods provided in any embodiment of the second aspect, and will not be repeated here.

[0024] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed by a device, cause a computer to implement the methods provided in the second aspect and any possible implementation of the second aspect. The beneficial effects achievable in this fourth aspect can be found in the beneficial effects of the methods provided in any embodiment of the second aspect, and will not be repeated here.

[0025] Fifthly, this application provides a computer program product that stores instructions that, when executed on a device, cause the device to implement the methods provided in the second aspect and any possible implementation of the second aspect. The beneficial effects achievable in the fourth aspect can be referred to the beneficial effects of the methods provided in any embodiment of the second aspect, and will not be repeated here. Attached Figure Description

[0026] Figure 1A A schematic diagram of a test in a slow-moving car-to-car (front) scenario is shown;

[0027] Figure 1B A schematic diagram of a vehicle-to-vehicle (front) braking scenario test is shown;

[0028] Figure 1C A schematic diagram of a vehicle-to-vehicle (front) braking scenario test is shown;

[0029] Figure 1D A schematic diagram of a test in a vulnerable road user scenario is shown;

[0030] Figure 2 According to some embodiments of this application, a vehicle testing system is shown;

[0031] Figure 3 A cross-sectional view of the magnetic levitation track 200 is shown. Figure 2 (AA section in the middle).

[0032] Figure 4 According to some embodiments of this application, a schematic diagram of testing a test vehicle is shown;

[0033] Figure 5 According to some embodiments of this application, a flowchart of a vehicle testing method is shown;

[0034] Figure 6 A schematic diagram of a control device is shown according to some embodiments of this application. Detailed Implementation

[0035] The illustrative embodiments of this application include, but are not limited to, vehicle testing systems, methods, control devices, storage media, and program products.

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0037] As shown in the background section, currently, in the process of testing related functions of vehicles, a lot of time needs to be spent setting up test scenarios, which is a cumbersome process and results in low testing efficiency.

[0038] The following describes a process for testing the AEB braking capability of a vehicle.

[0039] Understandably, before a vehicle can be launched on the market, it needs to undergo standardized and publicly transparent independent testing to enforce and verify its ability to actively avoid collisions, thereby saving lives, reducing injuries and fatalities, and guiding the entire automotive industry towards healthy competition and innovation in safety technology. Therefore, vehicles must undergo testing by the China New Car Assessment Programme (C-NCAP) and the European New Car Assessment Programme (Euro NCAP) before entering the market.

[0040] As an example, Figures 1A to 1D A schematic diagram is shown for testing the braking ability of a vehicle.

[0041] Figure 1A This diagram illustrates a test of a slow-moving car-to-car (front) scenario.

[0042] Reference Figure 1A The Car-to-Car Rear Moving (CCRm) scenario refers to a test vehicle 01 approaching a target vehicle 02 traveling at a low speed (v2) in the same lane ahead at a relatively high speed (v1). This scenario tests the system's ability to calculate the relative speed of a moving target and assess collision risk. Understandably, to ensure testing accuracy and reduce costs, the target vehicle 02 can be a dummy car. The target vehicle 02 is fixed to the target platform M1, and by setting the speed of the target platform M1, it propels the target vehicle 02 at a speed of v2, thus testing the test vehicle 01.

[0043] Figure 1B A schematic diagram of a vehicle-to-vehicle (front) braking scenario test is shown.

[0044] Reference Figure 1BThe Car-to-Car Rear Braking (CCRb) scenario refers to a situation where a target vehicle 02 traveling in the same direction ahead suddenly brakes with an acceleration of a0. The test vehicle 01, traveling at a speed of v3, needs to respond promptly to avoid a rear-end collision. This differs from CCRm (slow driving) in that the target vehicle 02 actively and urgently decelerates from a similar speed (i.e., approximately v3), making the warning and braking requirements for the test vehicle 01's AEB system more dynamic and urgent. Similarly, in this test scenario, the braking acceleration of the target platform M1 can be set to a0 to drive the target vehicle 02 to test the test vehicle 01.

[0045] Figure 1C A schematic diagram of a vehicle-to-vehicle (front) braking scenario test is shown.

[0046] Reference Figure 1C The Car-to-Car Front Turn Across Path (CCFTAP) scenario refers to a situation where test vehicle 01, traveling straight through an intersection, collides with target vehicle 02, which is turning left or right perpendicularly across test vehicle 01's path. This is a very dangerous and common type of accident at urban intersections, demanding extremely high reaction speeds from the AEB (Autonomous Emergency Braking) system. Understandably, in this test scenario, target platform M1 can support target vehicle 02 turning right or crossing test vehicle 01 to test test vehicle 01.

[0047] Figure 1D A schematic diagram of a test in a vulnerable road user scenario is shown.

[0048] Reference Figure 1D Vulnerable Road User (VRU) scenarios refer to scenarios in which road users are more vulnerable to injury in traffic environments, mainly including pedestrians and cyclists (bicycles, electric bicycles, etc.).

[0049] For example, refer to Figure 1D In the test scenario, while vehicle 01 was in motion, a pedestrian 03 crossed the road. This is understandable, as VRU scenarios include adult / child pedestrians crossing, pedestrians entering the lane from the roadside (sometimes with obstructions) to cross, two-wheeled vehicles crossing or traveling in the same direction, tests for bicycles or electric bicycles, and AEB (Automatic Emergency Braking) for pedestrians behind while reversing. In this test scenario, the target platform M2 was required to carry pedestrian 03 (a dummy) across the lane.

[0050] In other words, current testing of a vehicle's braking ability requires at least the above-mentioned... Figures 1A to 1DThe process involves setting up a test environment, such as arranging the test track, controlling the target platform to move to a preset position, and adjusting / presetting the target platform's movement speed / acceleration, before testing the vehicle. It's understandable that different test scenarios require readjusting the target platform. Therefore, the vehicle testing process is cumbersome and inefficient.

[0051] To address the aforementioned problems, this application provides a vehicle testing system, comprising: a control device, a magnetic levitation track, a magnetic levitation mobile base, and obstacles. The magnetic levitation track is located below the road on which the test vehicle travels and is connected to the control device via a signal line. The magnetic levitation mobile base is located above the magnetic levitation track, and the obstacles are placed on the magnetic levitation mobile base. The control device sends movement control signals to the magnetic levitation track via the signal line, wherein the movement control signals instruct the magnetic levitation mobile base to move to a target position at a preset speed.

[0052] With the above solution, there is no need to manually set up a test site or debug the mobile platform that carries the obstacle during vehicle testing. Test personnel can select the appropriate test scenario through control equipment. After receiving the selected test scenario, the control equipment can move the magnetic levitation mobile base carrying the obstacle to the target position at a preset speed via signal lines. This eliminates the need for test personnel to set up a test site, thus improving the efficiency of vehicle testing.

[0053] In some embodiments of this application, the control device is wired to the magnetic levitation mobile base via a signal line, which improves the communication quality between the control device and the magnetic levitation mobile base, enabling the control device to accurately control the movement of the magnetic levitation mobile base in real time. Furthermore, wired communication reduces latency and improves the control effect of the control device on the magnetic levitation mobile base, thereby enhancing the accuracy of vehicle testing in the vehicle testing system.

[0054] The vehicle testing system in the embodiments of this application is described below.

[0055] For example, Figure 2 According to some embodiments of this application, a vehicle testing system is illustrated. (Refer to...) Figure 2The vehicle testing system 001 includes: a control device 100, a magnetic levitation track 200, a magnetic levitation mobile base 300, and obstacles 400. The magnetic levitation track 200 is located below the road 600 through which the test vehicle 01 travels and is connected to the control device 100 via a signal line 500. The magnetic levitation mobile base 300 is located above the magnetic levitation track 200, and the obstacles 400 are placed on the magnetic levitation mobile base 300. The control device 100 sends movement control signals to the magnetic levitation track 200 via the signal line 500, wherein the movement control signals instruct the magnetic levitation mobile base 300 to move to a target position at a preset speed.

[0056] The maglev track 200 covers all scenarios, including straight roads, curves, ramps, intersections, T-junctions, pedestrian crossings, non-motorized vehicle crossings, automatic parking areas, and ramp merging areas, forming a comprehensive track system. In some cases, the maglev track 200 can integrate levitation drive coils, guide coils, position detection coils, and signal transmission lines to provide fixed track support and wired signal transmission channels for obstacles. This improves the accuracy of the control equipment in controlling the movement of obstacles and reduces control delay.

[0057] The signal line 500 connecting the magnetic levitation track 200 and the control device 100 can be a cable or other wire used for transmitting power and signals. The signal line 500 can be pre-buried underground along with the magnetic levitation track 200, without affecting vehicle testing. It is understood that in numerous testing scenarios, wireless communication stability is poor. In complex electromagnetic environments, multi-target synchronous motion, and high-speed motion scenarios, signal delays, packet loss, and interruptions are prone to occur, leading to trajectory deviation, test failure, or even equipment collision damage. Therefore, in the embodiments of this application, the control device 100 can communicate with the magnetic levitation track 200 via the signal line 500, which can improve the accuracy of signal transmission and thus improve testing accuracy.

[0058] The magnetic levitation mobile base 300 achieves levitation, guidance, drive, and braking through electromagnetic induction, eliminating mechanical friction, slippage, and noise. The top of the magnetic levitation mobile base 300 features a standardized quick-change interface, allowing for the rapid mounting of various test obstacles 400, including adult dummies, child dummies, virtual vehicles, and soft-surface dummy vehicles, adapting to multiple testing scenarios. Each magnetic levitation mobile base 300 can independently control its speed, acceleration, start time, and stop position, supporting synchronous, asynchronous, cross, and opposing movement among multiple bases.

[0059] Next, we define the direction of the road 600 used by the test vehicle 01. The X direction can be the length direction of the road 600, the Y direction can be the width direction of the road 600, and the Z direction can be the direction perpendicular to the road 600.

[0060] Reference Figure 2 , the maglev track 200 can be located below the road. Therefore, the maglev track 200 will not affect the passage of the test vehicle 01. For example, Figure 3 shows a cross-sectional view of the maglev track 200 ( Figure 2 cross-section A-A in Figure 3 . A groove 610 for laying the maglev track 200 can be opened on the road 600. The maglev track 200 includes a track body 210 and a track magnet 220. For example, the cross-section of the track body 210 of the maglev track 200 is generally in a "T" shape as a whole. That is to say, the cross-section of the track body 210 includes a "-" shaped part and a "|" shaped part. The upper surface of the track body 210 along the Z direction can be flush with the road 600 to facilitate the passage of the test vehicle 01 on the road 600. The surface of the "-" shaped part of the track body 210 facing the bottom surface of the groove 610 is provided with a track magnet 220. The track magnet 220 can be electrically connected to the control device 100 through a signal line 500 so that the control device can control the magnetic force of the track magnet 220 and the magnetic change of the track magnet 220. It can be understood that in some other embodiments, the maglev track 20 can also be of other structures, and the embodiments of the present application do not limit the specific structure of the maglev track 200.

[0061] The maglev moving base 300 includes a base body 310 and a base 320 that matches the maglev track 200. Referring to Figure 3 , the cross-section of the base 320 includes a groove 321. The "-" shaped part of the track body 210 and the track magnet 220 are located in the groove 321. A base magnet 330 is also arranged on the base 320. The base magnet 330 is opposite to the track magnet 220 along the Z direction, and the base magnet 330 can prevent the groove 321 of the track base 320 from separating from the track body 210. Furthermore, the control device 100 can control the magnetic pole of the end of the track magnet 220 opposite to the base magnet 330 along the Z direction to be opposite to the magnetic pole of the base magnet 330, so as to adsorb the base magnet 330, and then make the bottom wall of the groove 321 of the base 320 separate from the track body 210, so that the base 320 is in a suspended state, and further make the maglev moving base 300 in a suspended state. After that, the control device 100 controls the track magnet 220 corresponding to the head of the maglev moving base 300 in the advancing direction on the maglev track 200 to generate magnetism, and the track magnet 220 at the tail of the maglev moving base 300 in the advancing direction to cancel magnetism, so as to control the movement of the maglev moving base 300.

[0062] In some embodiments of this application, the control device 100 is further configured to, upon receiving a test command, acquire control parameters of the test scenario corresponding to the test command, and send a corresponding movement control signal to the magnetic levitation track 200 based on the control parameters. For example, the control device 100 may pre-select and store control parameters corresponding to various test scenarios, such as control parameters for scenarios like AEB, ACC, LCC, APS, V2X, and CCRm. The control parameters include movement signals corresponding to each test scenario. The movement control signals may include the initial position, the final position, and the speed of the obstacle 400 during movement in the corresponding test scenario. For example, taking the CCRm scenario test of the test vehicle 01 as an example, the process of the control device 100 controlling the movement of the magnetic levitation mobile base 300 is described.

[0063] As an example, Figure 4 According to some embodiments of this application, a schematic diagram of testing a test vehicle is shown. (Refer to...) Figure 4 The control device 100 detects the instruction from the tester to select the CCRm test scenario and determines the corresponding control signal as the control parameters for testing in the CCRm scenario. These control parameters include the movement control signal for the magnetic levitation mobile base 300 in the CCRm test scenario, which controls the magnetic levitation mobile base 300 to travel at a speed of v2. The control device 100 then controls the magnetism of the magnetic levitation track 200 to move the magnetic levitation mobile base 300, carrying the obstacle 400, to a preset position in the CCRm scenario. The obstacle 400 can be a dummy vehicle. After the test vehicle 01 enters the CCRm test scenario, the control device 100 can control the magnetic levitation mobile base 300 to travel at a speed of v2 via the magnetic levitation track 200, thus beginning the CCRm test on the test vehicle 01. It is understood that the above testing process does not require the tester to pre-arrange the CCRm test scenario, nor does it require the tester to move the obstacle and the mobile base to the corresponding positions in the CCRm scenario, nor does it require the tester to adjust the speed of the mobile base. Furthermore, after a single test, the magnetic levitation mobile base 300, under the control of the control device 100, returns to its initial position along the magnetic levitation track 200 without manual intervention. The control device 100 can then directly load the next test scenario, entering continuous cyclic testing. After all tests are completed, the control device 100 automatically stores and analyzes the test data, outputting a standardized test report. This improves the efficiency of testing the test vehicle 01.

[0064] In some embodiments of this application, the control device 100 is further configured to control the magnetic levitation mobile base 300 to move away from the test vehicle 01 if a collision between the test vehicle 01 and the magnetic levitation mobile base 300 is predicted. For example, the magnetic levitation mobile base 300 may be configured with sensors for detecting the speed and acceleration of the test vehicle 01. These sensors may be cameras, lidar, or millimeter-wave radar, etc. Once the sensors on the magnetic levitation mobile base 300 detect the speed and acceleration of the test vehicle 01, they can upload this information to the control device 100 via wired or wireless means. The control device 100 can then predict whether the test vehicle 01 will collide with the magnetic levitation mobile base 300 based on information such as the relative speed, relative position, and relative acceleration between the test vehicle 01 and the magnetic levitation mobile base 300. Furthermore, if the control device 100 predicts that the test vehicle 01 will collide with the magnetic levitation mobile base 300, it can control the magnetic levitation mobile base 300 to move away from the test vehicle 01, so as to avoid the test vehicle 01 colliding with the magnetic levitation mobile base 300, thereby protecting the magnetic levitation mobile base 300 and the test vehicle 01 from damage, and saving test costs.

[0065] In some embodiments of this application, the vehicle testing system 001 further includes a collision detection device mounted on the magnetic levitation mobile base 300. The collision detection device is used to send a collision signal to the control device 100 when a collision is detected between the test vehicle 01 and the magnetic levitation mobile base 300. The control device 100 is also used to control the magnetic levitation mobile base 300 to move away from the test vehicle 01 upon receiving the collision signal. In other words, the collision detection device, mounted on the magnetic levitation mobile base 300, can predict the collision between the test vehicle 01 and the magnetic levitation mobile base 300. When the collision detection device predicts a collision between the test vehicle 01 and the magnetic levitation mobile base 300, it can send a collision signal to the control device 100 via wired or wireless means. The collision signal may include parameters such as the direction of movement, speed, and acceleration of the test vehicle 01. Alternatively, the collision signal may include parameters such as the direction of movement and speed of movement of the magnetic levitation mobile base 300. Furthermore, after receiving a collision signal, the control device 100 can control the magnetic levitation mobile base 300 to move away from the test vehicle 01, so as to avoid a collision between the test vehicle 01 and the magnetic levitation mobile base 300. It is understood that, in the embodiments of this application, after the control device 100 receives a collision signal or predicts a collision between the test vehicle 01 and the magnetic levitation mobile base 300, it can issue a warning signal indicating that the test of the test vehicle 01 has failed and the test can be terminated.

[0066] Based on the aforementioned vehicle testing system 001, this application also proposes a vehicle testing method. As an example, Figure 5According to some embodiments of this application, a flowchart of a vehicle testing method is shown.

[0067] like Figure 5 As shown, the method includes:

[0068] S501, the control device receives the test command and obtains the control parameters of the target test scenario corresponding to the test command.

[0069] In some embodiments of this application, the control device stores control parameters for multiple test scenarios. For example, the test scenarios include AEB, ACC, LCC, APS, V2X, CCRm, etc. Test instructions can be instructions from developers to select a test scenario from multiple test scenarios. Based on the test instructions, the control device can determine a target test scenario from the multiple test scenarios and obtain the control parameters corresponding to the target test scenario. For example, refer to the above... Figure 4 In this embodiment, the target test scenario can be a CCRm scenario, and the control parameters can be the parameters corresponding to the CCRm scenario.

[0070] S502, the control device sends a corresponding movement control signal to the magnetic levitation track based on the control parameters. The movement control signal is used to instruct the magnetic levitation mobile base to move to the target position at a preset speed.

[0071] In some embodiments of this application, after the control device obtains the control parameters, it can send a movement control signal to the magnetic levitation track based on the control parameters. The movement control signal can be, for example, a signal that controls the magnetic levitation mobile base to move at a preset speed via the magnetic levitation track. Obstacles can be installed on the magnetic levitation mobile base; these obstacles can be dummy vehicles, dummy people, etc. The magnetic levitation mobile base can then travel based on the speed provided in the movement control signal to conduct vehicle testing. Exemplarily, the specific process of vehicle testing can be referred to the above. Figure 4 The testing process described in the embodiments is not repeated here.

[0072] In some embodiments of this application, the vehicle testing method further includes: a control device, based on the relative velocity, relative acceleration, and relative position of the test vehicle and the magnetically levitated mobile base, predicting a collision between the test vehicle and the magnetically levitated mobile base, controlling the magnetically levitated mobile base to move away from the test vehicle. Alternatively, the vehicle testing system further includes a collision detection device, which, based on the relative velocity, relative acceleration, and relative position of the test vehicle and the magnetically levitated mobile base, predicts a collision between the test vehicle and the magnetically levitated mobile base, sends a collision signal to the control device, and the control device, upon receiving the collision signal, controls the magnetically levitated mobile base to move away from the test vehicle. This avoids a collision between the test vehicle and the magnetically levitated mobile base, thereby reducing test losses. The process by which the control device or the collision detection device predicts a collision between the test vehicle and the magnetically levitated mobile base can be referred to the above. Figure 4 The embodiments described herein will not be elaborated upon here.

[0073] The modified control device in the above embodiments is described below. As an example, Figure 6 A schematic diagram of a control device is shown according to some embodiments of this application.

[0074] The control device 100 can be used to implement the vehicle testing methods in the foregoing embodiments.

[0075] like Figure 6 As shown, the control device 100 includes one or more processors 101, system memory 102, non-volatile memory (NVM) 103, communication interface 104, input / output device 105, and system control logic unit 106 for coupling the processor 101, system memory 102, NVM 103, communication interface 104, and input / output (I / O) device 105. Wherein:

[0076] Processor 101 may include one or more processing units, such as processing modules or circuits that include CPUs, GPUs, digital signal processors (DSPs), microprocessors (MCUs), artificial intelligence (AI) processors, field programmable gate arrays (FPGAs), neural network processing units (NPUs), etc., and may include one or more single-core or multi-core processors. In the embodiments of this application, the collision prediction process between the test vehicle and the magnetic levitation mobile base in the foregoing embodiments can be executed by the CPU.

[0077] System memory 102 is volatile memory, such as random-access memory (RAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc. System memory is used for temporary storage of data and / or instructions. For example, in some embodiments, system memory 102 can be used to store control parameters for the aforementioned test scenario.

[0078] The non-volatile memory 103 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. In some embodiments, the non-volatile memory 103 may include any suitable non-volatile memory and / or any suitable non-volatile storage device, such as a hard disk drive (HDD), compact disc (CD), digital versatile disc (DVD), solid-state drive (SSD), etc. In some embodiments, the non-volatile memory 103 may also be a removable storage medium, such as a secure digital (SD) memory card. In other embodiments, the non-volatile memory 103 may be used to store instructions for the vehicle testing methods provided in the foregoing embodiments.

[0079] Specifically, system memory 102 and non-volatile memory 103 may each include a temporary copy and a permanent copy of instruction 107. Instruction 107 may include, when executed by at least one of processors 101, causing control device 100 to implement the vehicle testing methods provided in the embodiments of this application.

[0080] The communication interface 104 may include a transceiver for providing a wired or wireless communication interface for the control device 100, thereby enabling communication with any other suitable device via one or more networks. In some embodiments, the communication interface 104 may be integrated into other components of the control device 100, for example, the communication interface 104 may be integrated into the processor 101. In some embodiments, the control device 100 may communicate with other devices via the communication interface 104. In some embodiments of this application, the communication interface 104 of the control device 100 communicates with the magnetic levitation track via signal lines and is electrically connected to ensure accurate signal transmission and low latency.

[0081] The input / output (I / O) device 105 may include input devices and output devices, and users can interact with the control device 100 through the input / output (I / O) device 105.

[0082] The system control logic unit 106 may include any suitable interface controller to control other modules of the device 100 to provide any suitable interface. For example, in some embodiments, the system control logic unit 106 may include one or more memory controllers to provide an interface to the system memory 102 and the non-volatile memory 103.

[0083] In some embodiments, at least one of the processors 101 may be packaged together with the logic of one or more controllers for the system control logic unit 106 to form a system in package (SiP). In other embodiments, at least one of the processors 101 may also be integrated on the same chip with the logic of one or more controllers for the system control logic unit 106 to form a system-on-chip (SoC).

[0084] Understandable. Figure 6 The structure of the control device 100 shown is merely an example. In other embodiments, the control device 100 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0085] It is understood that the control device 100 may include, but is not limited to, servers, laptops, desktop computers, etc., and this application embodiment does not limit it.

[0086] This application also provides a computer program product that, when executed on a device, enables the device to implement the methods provided in the foregoing embodiments.

[0087] This application also provides a readable storage medium storing instructions that, when executed by a computer, cause the computer to implement the methods provided in the foregoing embodiments.

[0088] Various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or combinations of these implementation methods. Embodiments of this application can be implemented as computer programs or program code executable on a programmable system, the programmable system including at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0089] Program code can be applied to input instructions to execute the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, the processing system includes any system having a processor such as, for example, a digital signal processor, a microcontroller, an application-specific integrated circuit, or a microprocessor.

[0090] The program code can be implemented using a high-level procedural language or an object-oriented programming language to communicate with the processing system. Assembly language or machine language can also be used when needed. In fact, the mechanisms described in this application are not limited to any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0091] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried on or stored thereon by one or more transient or non-transitory machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, the instructions may be distributed via a network or through other computer-readable media. Therefore, machine-readable media can include any mechanism for storing or transmitting information in a machine-readable (e.g., computer-readable) form, including but not limited to floppy disks, optical disks, CD-ROMs, compact disc-read-only memory (CD-ROMs), magneto-optical disks, read-only memory (ROM), random-access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic cards or optical cards, flash memory, or tangible machine-readable storage for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using the Internet in the form of electrical, optical, acoustic, or other forms of propagation signals. Therefore, machine-readable media includes any type of machine-readable medium suitable for storing or transmitting electronic instructions or information in a machine-readable (e.g., computer-readable) form. In the accompanying drawings, some structural or methodological features may be shown in a particular arrangement and / or order. However, it should be understood that such a particular arrangement and / or order may not be necessary. Instead, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative figures. Furthermore, the inclusion of structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0092] It should be noted that all units / modules mentioned in the device embodiments of this application are logical units / modules. Physically, a logical unit / module can be a physical unit / module, a part of a physical unit / module, or a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important factor; the combination of functions implemented by these logical units / modules is the key to solving the technical problems proposed in this application. Furthermore, to highlight the innovative aspects of this application, the above-described device embodiments of this application have not introduced units / modules that are not closely related to solving the technical problems proposed in this application. This does not mean that the above-described device embodiments do not contain other units / modules.

[0093] It should be noted that in the examples and description of this patent, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0094] Although this application has been illustrated and described with reference to certain preferred embodiments thereof, those skilled in the art will understand that various changes in form and detail may be made thereto without departing from the scope of this application.

Claims

1. A vehicle testing system, characterized in that, include: Control equipment, magnetic levitation track, magnetic levitation mobile base, and obstacles, including: The magnetic levitation track is located below the road on which the test vehicle travels and is connected to the control equipment via a signal line; The magnetically levitated mobile base is located above the magnetically levitated track, and the obstacle is placed on the magnetically levitated mobile base; The control device is used to send a movement control signal to the magnetic levitation track via the signal line, wherein the movement control signal is used to instruct the magnetic levitation mobile base to move to the target position at a preset speed.

2. The vehicle testing system according to claim 1, characterized in that, The control device is also used to obtain the control parameters of the test scenario corresponding to the test command after receiving the test command, and send the corresponding movement control signal to the magnetic levitation track based on the control parameters.

3. The vehicle testing system according to claim 1, characterized in that, The control device is also used to control the magnetically levitated mobile base to move away from the test vehicle if a collision between the test vehicle and the magnetically levitated mobile base is predicted.

4. The vehicle testing system according to claim 1, characterized in that, It also includes a collision detection device, which is mounted on the magnetic levitation mobile base. The collision detection device is used to send a collision signal to the control device when a collision is detected between the test vehicle and the magnetic levitation mobile base. The control device is also used to control the magnetically levitated mobile base to move away from the test vehicle upon receiving the collision signal.

5. The vehicle testing system according to claim 1, characterized in that, The signal line is a cable.

6. A vehicle testing method, characterized in that, An application vehicle testing system is described, comprising: control equipment, a magnetic levitation track, a magnetic levitation mobile base, and obstacles. The magnetic levitation track is located below the road in which the test vehicle travels and is connected to the control equipment via a signal line. The magnetic levitation mobile base is located above the magnetic levitation track, and the obstacle is placed on the magnetic levitation mobile base. The method includes: The control device receives a test command and obtains the control parameters of the target test scenario corresponding to the test command; The control device sends a corresponding movement control signal to the magnetic levitation track based on the control parameters, wherein the movement control signal is used to instruct the magnetic levitation mobile base to move to the target position at a preset speed.

7. The method according to claim 6, characterized in that, The control device stores control parameters for multiple test scenarios; The step of obtaining the control parameters of the target test scenario corresponding to the test instruction includes: Based on the test command, the control device determines the target test scenario from the plurality of test scenarios and obtains the control parameters corresponding to the target test scenario.

8. The method according to claim 6, characterized in that, The method further includes: the control device, based on the relative speed, relative acceleration and relative position of the test vehicle and the magnetic levitation mobile base, predicts the collision between the test vehicle and the magnetic levitation mobile base, and controls the magnetic levitation mobile base to move away from the test vehicle.

9. The method according to claim 6, characterized in that, The vehicle testing system also includes a collision detection device, which is mounted on the magnetic levitation mobile base. The method further includes the collision detection device sending a collision signal to the control device when it predicts a collision between the test vehicle and the magnetic levitation mobile base based on the relative speed, relative acceleration and relative position of the test vehicle and the magnetic levitation mobile base. Upon receiving the collision signal, the control device controls the magnetic levitation mobile base to move away from the test vehicle.

10. A control device, characterized in that, Includes memory for storing instructions; At least one processor is configured to execute the instructions to cause the control device to implement the method of any one of claims 6 to 9.

11. A computer-readable storage medium, characterized in that, The readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the method of any one of claims 6 to 9.

12. A computer program product, characterized in that, The computer program product stores instructions, which, when executed on the device, cause the device to perform the method of any one of claims 6 to 9.

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