Apparatus and method for testing automated vehicles

Abstract

A method for testing a camera-based autonomous or semi-autonomous vehicle control system is provided. [Solution] A method for testing a camera-based autonomous or semi-autonomous vehicle control system includes automatically controlling an electronic simulator configured to generate signals indicating dynamic virtual lane markers based on speed information from a speed schedule or a feedback signal from a laboratory instrument while the vehicle control system operates with at least one control input from at least one camera during a first laboratory test of the vehicle control system; and displaying the virtual lane markers on a transparent or translucent screen or monitor within the field of view of the at least one camera and in screen or monitor coordinates reflecting the relative position of the at least one camera and the screen or monitor.

Description

[Technical Field]

[0001] Cross-reference of related applications This application claims the interests of U.S. Provisional Patent Application No. 63 / 143,653, filed on 29 January 2021, which is incorporated herein by reference in its entirety.

[0002] Technical field This disclosure relates to the measurement and analysis of automobile exhaust emissions, the measurement of automobile energy efficiency, and the control of automobiles with autonomous features. Specifically, this disclosure relates to predicting real-world exhaust emissions from automobiles with internal combustion engines (ICE) (including hybrid electric vehicles (HEVs)) and real-world energy efficiency and automatic braking response of any type of automobile with autonomous braking features (including battery electric vehicles (BEVs)) based on laboratory tests. [Background technology]

[0003] background Modern vehicles equipped with ICE (Internal Combustion Engine) can reliably operate under virtually any combination of environmental conditions, road gradients, and driving conditions found on the ground. Such vehicles are common worldwide and operate regularly and reliably in environments ranging from dry desert conditions to high-humidity tropical rainforests, in temperatures well below 0°C to above 40°C, and in conditions ranging from slow, staggering city traffic to high-speed driving on the German Autobahn.

[0004] Many countries that host a large number of automobiles have exhaust emission standards (i.e., "exhaust pipe" standards that automobile manufacturers must comply with). However, experience has shown that testing vehicles in a wide range of real-world environments, roads, and driving conditions known to affect vehicle emissions and fuel economy in the real world is difficult and expensive. Furthermore, it is well known that the energy efficiency of HEVs and the range of BEVs on a single charge decrease at low ambient temperatures.

[0005] Laboratory-based exhaust pipe emission tests have historically been conducted under limited ambient conditions, vehicle speed patterns, and operating conditions. With the dramatic increase in vehicle numbers worldwide in recent years, and the increasing computerization of vehicles, governments and automakers now need a better understanding of vehicle emissions across a wide range of operating conditions to ensure that National Ambient Air Quality (NAAQ) standards remain met within the current air "attainment area" and ultimately within the current "non-attainment area." Vehicle manufacturers also need to be able to evaluate the effects of potential changes to vehicle emission control and powertrain calibration across a wide range of ambient and operating conditions.

[0006] New vehicle exhaust emission regulations are partly driven by NAAQ (National Air Average Amount) levels for specific criterion pollutants known to directly or indirectly affect human health, and for controlling greenhouse gas emissions. NAAQ levels vary widely worldwide, depending on both mobile and stationary sources of pollution. Population density, weather conditions, vehicle emission performance, age and composition of the local in-use vehicle fleet, stationary sources of air pollution, and geographical features are all factors influencing NAAQ. For example, air quality in Southern California can be particularly poor due to its high population density, coupled with well-known atmospheric temperature inversions resulting from its geographical features and atmospheric conditions.

[0007] Automobiles and trucks with internal combustion engines (ICEs) contribute to overall pollution from "moving sources" (most notably from "exhaust pipe emissions"). Battery electric vehicles (BEVs) contribute to "stationary sources" of pollution (i.e., emissions from power plants). Exhaust pipe emissions and energy efficiency of any particular vehicle operating in the real world depend on many factors, including various environmental conditions, road gradients, driver behavior, traffic conditions, and the effects of vehicle emission control related to these factors.

[0008] Since BEVs draw energy from the power grid, their increasing production volume could make them a significant source of overall pollution from "stationary pollutants" in the future. Therefore, understanding the energy efficiency of BEVs in real-world operation is equally important.

[0009] The promulgation of new emission standards to control baseline pollution and greenhouse gas emissions from vehicles with ICE has traditionally been linked to laboratory-based test regimes and related methodologies because laboratory-based testing can be highly repeatable, and mass-based real-world (i.e., road) testing was not possible until recently (i.e., since the commercialization of Portable Emissions Measurement Systems (PEMS)).

[0010] While laboratory testing methods are known to be highly accurate and repeatable for measuring emissions under actual test conditions, real-world driving can expose vehicles to a wide range of conditions that traditional laboratory testing protocols would not. There are many reasons for this, including the difficulty of simulating the full range of real-world temperature and atmospheric pressure conditions in a laboratory, and the influence of real-world driver behavior under actual traffic conditions.

[0011] To further exacerbate the historical problems associated with employing laboratory testing methods versus real-world vehicle operation, the availability and popularity of vehicles with autonomous features are rapidly growing. Vehicles with autonomous or automatic longitudinal speed and acceleration control are now commonly available on the market and may soon represent the majority. These vehicles can maintain a set point vehicle speed when there are no preceding vehicles (i.e., no vehicles in front of or very close to the target vehicle), and can change their speed to maintain a safe vehicle distance when approaching a slower vehicle from behind or when a vehicle changes lanes and enters the target vehicle's path.

[0012] It is currently not possible to conduct "blind tests" of these vehicles in a laboratory environment to measure emissions or fuel economy while they autonomously interact with other vehicles (blind tests require that no modifications to the vehicle in question are permitted and that no knowledge of the technical details of the vehicle's control system is required). However, it is highly likely that autonomous characteristics will affect emissions and energy efficiency in most vehicles (especially if the vehicle's powertrain employs different calibrations compared to those that would be used for similar real-world driving under conventional driver control).

[0013] While the depth of technical knowledge possessed by vehicle and autonomous system developers may allow for the isolation and simulation of the impact of other opposing vehicles in real-world traffic on automated vehicle control systems to gain some confidence in the operation of autonomous systems in the real world, this type of testing does not demonstrate that the finished vehicle system will behave in the same way in the real world. Testing the finished vehicle system would provide the highest level of reliability, ensuring that laboratory results accurately and appropriately reflect real-world performance, and would be appropriate and suitable for regulators who do not have regular access to detailed technical information on specific types and models of vehicles. While it is possible that a vehicle's emission and fuel economy characteristics may degrade with the adoption of automated longitudinal control, fuel economy and emission performance may also improve with the adoption of automated longitudinal control. However, to achieve these goals, well-controlled laboratory-based test equipment and associated methods are required to maximize test accuracy for both vehicle manufacturers and regulators.

[0014] Traditional laboratory tests for emissions and energy efficiency compliance typically involve measuring the emissions or energy efficiency of a vehicle operating on a dynamometer or roll based on one or more vehicle speed schedules. Various vehicle speed schedules are intended to represent different types of real-world vehicle operation. For example, the Environmental Protection Agency (EPA) employs various speed schedules to represent urban operation, highway operation, and more aggressive vehicle operation. In all cases, vehicles are operated on schedules as close as possible to the corresponding speed schedule. However, newer vehicle models are adopting autonomous, dynamic longitudinal speed control as an increasingly common convenience feature. Because these features are sufficiently advantageous in automatically maintaining safe vehicle distances under any operating conditions ranging from staggered urban traffic to highway operation, and because the cost of the technology is rapidly decreasing, autonomous speed control features are likely to be found and used on most vehicles in the future. And autonomous speed control features are likely to remain one of the key technologies for future fully autonomous vehicles.

[0015] However, as the availability and use of autonomous vehicle speed control continue to grow, it is still unknown how to test such vehicles in a laboratory setting (particularly within traditional test regimes based on the behavior of the subject vehicle on a specific vehicle speed schedule using a dynamometer or roll). It is also unknown how the use of standard vehicle speed schedules will be interpreted in the future when vehicles control their own speed for most of the time. For example, a speed schedule could simply be interpreted as the speed to which the subject vehicle is compelled to follow in response to the speed of a preceding vehicle traveling at the “traffic speed” in each case, or it could be interpreted as the “traffic speed” itself (the traffic into which the subject vehicle is embedded and must follow). [Overview of the Initiative] [Means for solving the problem]

[0016] overview Herein, some embodiments may relate to conducting laboratory tests of autonomous vehicles or vehicles. These vehicles have autonomous longitudinal speed or acceleration control to obtain accurate and repeatable exhaust mass emission measurements and energy efficiency measurements for any longitudinally controlled vehicle model ICE vehicle on any route and over any set of ambient conditions where applicable, as well as automatic braking actions and actions representing real-world energy efficiency and exhaust emissions for any vehicle type measurement results. These embodiments provide apparatus and methods for enabling accurate determination of emission and energy efficiency effects and automatic or emergency braking actions of autonomous longitudinally controlled vehicle functions. Furthermore, emission, energy efficiency and safety system performance can be calibrated, evaluated, and improved by simulating or replicating real-world traffic events in a controlled environment.

[0017] Specifically, some embodiments relate to devices for simulating other vehicle traffic by the presence of a simulated vehicle "leading" the test vehicle in terms of varying distance, speed, and acceleration rate. This allows for the simulation of another vehicle entering (i.e., a "cut-in" operation) or exiting (i.e., a "cut-out" operation) the test vehicle's route, while the vehicle operates under realistic simulated vehicle load conditions in conjunction with a dynamometer or roll assembly, atmospheric conditions are replicated or simulated, and emissions are collected using standard emission measurement systems and methods.

[0018] The device for simulating other vehicles can perform both open-loop position control and closed-loop feedback control based on speed parameters from the target test vehicle or associated dynamometer or roll assembly. The open-loop control mode allows for the simulation of a vehicle preceding the test vehicle according to a predetermined follow-distance schedule, while the closed-loop operation allows for the simulation of a vehicle following a desired speed schedule or forcing the target vehicle itself to follow a desired speed schedule. Both operating modes also support the simulation of traffic scenarios for testing automatic or autonomous braking systems.

[0019] One device physically simulates a movable vehicle target that can be detected by all types of electronic sensors used within a vehicle longitudinal speed control system that includes an optical monocular and binocular camera, a laser-based distance sensing system (e.g., a network of sensors composed of various types of sensors including a LiDAR system, a RADAR-based distance sensing system, and linked via "sensor fusion"), and other sensors. This first device is important for testing any longitudinal control system.

[0020] A second device electronically simulates a virtual target vehicle that can be detected by one or more types of electronic sensors used in a vehicle longitudinal speed control system that includes an optical monocular and binocular camera, a laser-based distance sensing system (e.g., a network of sensors composed of various types of sensors including a LiDAR system, a RADAR-based distance sensing system, and linked via "sensor fusion"), or by a combination of two or more types of electronic sensors. This second device is important for testing any longitudinal control subsystem that includes either single sensor technology or any combination of sensor technologies.

[0021] A test method is disclosed where a simulation vehicle represents general variable traffic conditions that cause a perturbed test vehicle to follow a desired speed schedule (e.g., a regulated speed cycle).

[0022] Another method is disclosed where a simulation vehicle represents general traffic conditions defined by a desired absolute speed schedule or a real-world speed schedule (e.g., a regulated speed cycle), thereby causing a target vehicle to respond and control itself as if it were participating in traffic flowing at the speed of the speed schedule.

[0023] In another method, the following distance (i.e., the distance between the simulation vehicle and the target vehicle) is defined by the respective predetermined schedule. The schedule can be based on a prior real-world test where the following distance was measured and recorded, or on any other schedule for that matter.

[0024] In yet another method, automatic or emergency braking response scenarios are generated using a predetermined follow-distance schedule. Other methods for testing the target vehicle's automatic or emergency braking response to preceding vehicle "cut-in" and "cut-out" operations or scenarios are then used in conjunction with a dual target simulator.

[0025] During testing according to any of the methods described above, vehicle type-dependent emissions, energy efficiency, fuel economy, and automated braking response can be measured.

[0026] For example, an autonomous vehicle testing method may include operating a simulated vehicle device to cause the vehicle's speed to conform to a desired or real-world vehicle speed schedule by engaging with simulated traffic that "flows" at a desired or real-world vehicle speed schedule, or alternatively, causing the vehicle's speed to be controlled according to its embedded algorithms and calibrations. Corresponding real-world emission data, energy efficiency data, or data corresponding to the performance of safety systems (e.g., automatic emergency braking) may be captured and used to improve the performance of the relevant vehicle systems and to determine the impact of the autonomous system on emissions and energy efficiency compared to conventional control of the same vehicle.

[0027] The vehicle test laboratory comprises a novel system for physically and electronically replicating the presence of one or more vehicles in a desirable proximity to the test vehicle based on recorded proximity of real vehicles during pre-real-world operation; or for simulating the presence of one or more vehicles in a desirable proximity to the test vehicle based on a desired traffic scenario.

[0028] The test laboratory also includes, in addition to a traditional chassis dynamometer or roll dynamometer, or alternatively, separate axle dynamometers for each vehicle's drive wheels, as well as mass emission sampling equipment (where applicable) for testing the ICE vehicle, and a supplementary set of test equipment for exposing the test vehicle to the set of environmental conditions (e.g., ambient temperature, pressure, and humidity) while it is being tested.

[0029] Prior to laboratory testing, test vehicles may be driven on any route in the real world under any desired environmental and traffic conditions. For example, high-traffic arterial roads within NAAQ "non-standard areas" may be of particular interest to researchers and regulators. Cold-weather fuel efficiency may be of particular interest to manufacturers of vehicle models that will be used more extensively by customers in colder climates.

[0030] During real-world driving, a PEMS may be optionally installed on an ICE-equipped vehicle to measure and record mass emissions in grams per mile or grams per brake horsepower hour, depending on the vehicle's regulated emissions approval requirements. In addition to optional emissions data, ambient weather conditions and other test parameters required to characterize vehicle operation (including vehicle speed, accelerator pedal or throttle position, and brake pedal position or state (i.e., on / off) throughout the entire test period) are also recorded. For manual transmission vehicles, gear selection and clutch pedal position must also be recorded. Regarding methods for replicating follow distance, the follow distance behind the preceding vehicle is also measured and recorded using either a camera, radar, LiDAR, or other relevant system.

[0031] After real-world testing over the entire desired route, or after deploying or determining the simulated desired cycle, the vehicle is brought to a specially equipped indoor or outdoor laboratory and placed on or connected to a dynamometer or roll. Mass ejection sampling equipment in the laboratory (in the case of an ICE vehicle) measures the mass ejection, and a supplementary set of test equipment is employed to provide the desired environmental conditions during vehicle operation (i.e., environmental conditions that may be the same as or different from those actually encountered during real-world testing).

[0032] The real-world tracking distance recorded during real-world testing, or any desired simulated real-world tracking distance, will be uploaded to either a physical or electronic simulated vehicle device as needed.

[0033] Alternatively, the test apparatus either simulates the presence of other vehicles "appearing" in relation to the subject vehicle, which will be subject to a desired vehicle speed schedule (e.g., a regulated speed cycle), or forces the subject vehicle itself to follow the desired vehicle speed schedule (e.g., a prescribed speed cycle). It is not known at this point whether the regulated speed cycle will be interpreted as future "traffic speeds" or "the speed of the test vehicle." Some of the proposed technologies provide a means for determining the impact of employing an autonomous longitudinal speed control system, by interpreting the test results using the disclosed apparatus as being compared with the test results of the same vehicle under conventional speed control.

[0034] A set of real-world test conditions, including the distance behind the preceding vehicle and environmental conditions, are either reproduced by referencing prior real-world driving or simulated as desired in a laboratory environment. Mass emissions or energy efficiency and other automatic longitudinal control performance parameters, depending on the powertrain type, are noted and recorded. Subsequent tests may be used to calibrate or improve emissions, efficiency, or other performance measures of the vehicle or longitudinal control system.

[0035] If either PEMS emission data or energy consumption is optionally collected for the method, including real-world operation, the PEMS data can be directly compared with laboratory emission or energy consumption data collected during laboratory testing under the same conditions, ensuring that they are equivalent within acceptable limits. This optional "verification" process serves to document a high degree of confidence that both laboratory and real-world measurement results are correct and reproducible. [Brief explanation of the drawing]

[0036] Brief explanation of the drawing [Figure 1A] This invention provides a physical apparatus for replicating or simulating the presence, movement, appearance, or disappearance of a vehicle or vehicle traffic dynamically preceding an actual autonomously controlled vehicle on a vehicle test stand, while autonomous vehicle discharge, energy efficiency, fuel economy, or automatic braking activity is measured or observed. [Figure 1B] Figure 1A illustrates a "cut-in" traffic operation that can be simulated using the device shown. [Figure 1C] Figure 1A illustrates a "cutout" traffic operation that can be simulated using the device shown. [Figure 2] This invention provides an electronic device for replicating or simulating the presence, movement, appearance, or disappearance of a vehicle or vehicle traffic dynamically preceding an actual autonomously controlled vehicle on a two-wheeled vehicle test stand, while autonomous vehicle discharge, energy efficiency, fuel economy, or automatic braking activity is measured or observed. [Figure 3A] This invention provides a physical apparatus for replicating or simulating the presence, movement, appearance, or disappearance of a vehicle or vehicle traffic dynamically preceding an actual autonomously controlled vehicle on a two-wheeled vehicle test stand, while autonomous vehicle discharge, energy efficiency, fuel economy, or automatic braking activity is measured or observed. [Figure 3B] This document describes a method for simulating the effective wheel speed sensor signal to the wire harness input of the non-rotating wheel hub of a vehicle with anti-lock brakes or autonomous control while the vehicle is operating on a two-wheeled vehicle test stand. [Figure 4] The image shows a top view of a device for replicating or simulating the presence, appearance, or disappearance of a vehicle or traffic dynamically preceding an actual autonomously controlled vehicle using a wheel hub dynamometer test stand, while autonomous vehicle ejection, energy efficiency, fuel economy, or automatic braking activity is measured or observed. [Figure 5] This paper describes a method for simulating vehicle driving under autonomous or automatic longitudinal speed control in a laboratory setting. [Figure 6] This paper describes a method for simulating vehicle driving under autonomous or automatic longitudinal speed control in a laboratory setting. [Figure 7] This paper describes a method for simulating vehicle driving under autonomous or automatic longitudinal speed control in a laboratory setting. [Figure 8] This shows equipment for testing camera-based autonomous or semi-autonomous vehicles or systems in a laboratory setting. [Figure 9] This document describes a method for testing a laboratory camera-based autonomous or semi-autonomous vehicle or system that employs dynamic objects or targets visible to a camera via a screen or monitor, where coordinated and dynamically displayed virtual lane markers are simultaneously visible to the camera. [Figure 10] This document describes a general method for testing a laboratory camera-based autonomous or semi-autonomous vehicle or system that employs dynamic objects or targets visible to a camera via a screen or monitor, where synchronized and dynamically displayed virtual lane markers are simultaneously visible to a camera and the camera, and where dynamic objects or targets surround the autonomous vehicle or system. [Modes for carrying out the invention]

[0037] Detailed explanation Various embodiments of the present disclosure are described herein. However, the disclosed embodiments are merely examples, and several other embodiments may take various and alternative forms that are not expressly shown or described. The drawings are not necessarily to scale; that is, some features may be exaggerated or minimized to show details of particular parts. Accordingly, the specific structural and functional details disclosed herein should not be construed as limitations, but merely as a representative basis for teaching those skilled in the art to employ the invention in various ways. As those skilled in the art will understand, various features shown and described with reference to any one of the accompanying drawings may be combined with features shown in one or more other drawings to produce several embodiments that are not expressly shown or described. The combinations of features shown provide a representative embodiment for a typical application. However, various combinations and modifications of features consistent with the teachings of the present disclosure may be desirable for a particular application or embodiment.

[0038] Here, the inventors replicate and simulate real-world driving conditions related to traffic flow, weather, vehicle road load, acceleration, and road gradient, all of which affect the operation and control of a vehicle that characterizes an autonomous or automatic longitudinal speed control system. These replicated driving conditions are necessary to precisely measure emissions and energy efficiency, to replicate automatic braking activities in a laboratory environment, and for such measurements and activities to represent real-world operation.

[0039] It is well known to those skilled in the art that driving style affects the energy efficiency of all types of automotive powertrains and the emissions levels of powertrains employing internal combustion engines (ICE). Accelerator pedal motion, braking activity, and powertrain calibration all affect the efficiency and emissions of a vehicle. However, autonomous longitudinal speed control features on a vehicle (e.g., Adaptive Cruise Control (ACC)) may replace the driver's standard accelerator pedal input and braking activity and may rely on different sets of powertrain calibrations while the vehicle is operating autonomously.

[0040] For conventional non-autonomous vehicles, laboratory emissions testing is typically performed by either a human or robotic driver who controls the vehicle over a desired speed schedule or the entire cycle while emissions are being collected, and fuel economy is determined from the emissions. Electrical measurements provide a similar function for electric vehicles. However, since there are currently no acceptable devices (or test methods) for measuring emissions and fuel economy or energy efficiency of autonomous vehicles (e.g., those with ACC), emissions and energy efficiency can be compared to the requirements or corresponding values ​​of the same vehicle operated conventionally by a human or robotic driver, for the purpose of understanding the impact of autonomous operation on emissions and energy efficiency.

[0041] Exemplary device Various exemplary devices for measuring the emissions and fuel economy of vehicles having internal combustion engines, or the energy efficiency or automatic braking response of any vehicle having autonomous control of vehicle acceleration, deceleration, and braking, are described below.

[0042] At least one controllable and automated dummy or target is positioned either physically or substantially dynamically relative to the target vehicle while the vehicle is operating in conjunction with the dynamometer or roll motion of the at least one autonomous longitudinal velocity control feature, so that vehicle velocity control and braking are influenced by the changing relative position and velocity of the target. The relative position, velocity and acceleration of one or more target objects may be controlled in an open-loop or closed-loop manner according to a setpoint schedule, based on feedback from the dynamometer or roll, the test vehicle, or other installed measurement systems such as an aftermarket autonomous vehicle camera system.

[0043] The vehicle target possesses visual, radar, and LiDAR appearance features that make it indistinguishable from a real vehicle by the detection system of a real autonomous vehicle located behind it. The target's position and motion are controlled by a trolley system that travels along an overhead track to either a commanded position or commanded speed relative to the target vehicle. Alternatively, the position and motion of the virtual target are achieved by using a radar or LiDAR receiver / launcher system that receives radar or LiDAR signals from the target vehicle and then emits a radar "return" signal corresponding to the desired virtual position or motion relative to the target vehicle.

[0044] For vehicle research and development purposes, virtual target methods may be desirable due to their simplicity and testing efficiency. However, for regulatory compliance purposes regarding emissions and energy efficiency, it is often desirable to conduct "blind tests" where prior technical information about the vehicle being tested is unknown, as well as tests of the finished vehicle, without simulating any "false" control signals. In the latter case, actual target methods may be more desirable.

[0045] Figure 1A shows a Vehicle Longitudinal Speed ​​Control Testing Apparatus (VLSCTA) 2 used to physically simulate the presence of an interacting vehicle at a variable follow distance 4, 4' ahead of a target vehicle 6 in a vehicle test laboratory. The VLSCTA 2 can be made to appear or disappear in front of the target vehicle 6 and can simulate one or more preceding vehicles moving relative to the target vehicle 6 with a variable opening or closing speed and a variable follow distance 4, 4'.

[0046] Movable target bodies 8, 8', each having functional brake lights 10, 10', simulate the presence of other vehicles by providing LiDAR appearance imaging features such as the exterior, radar cross-section, and rear surface of a real vehicle. This causes the target vehicle 6 to interact with the simulated vehicle (i.e., the movable target bodies 8, 8') as if it were operating in the real world with a real vehicle having the same relative position and motion as the simulated vehicle.

[0047] The target bodies 8, 8' are suspended by position and speed-controlled trolley assemblies (connected trolley assembly 22 and unconnected trolley assembly 22') mounted on a fixed track or rail 30. The motion of the target bodies 8, 8' is dynamically controlled in a desired manner, depending on the selected operating mode, by the motors and controllers (not shown) of the system. The suspension from above is advantageous in avoiding the introduction of floor-mounted objects that may be sensed and could alter the movement of the target vehicle 6.

[0048] Target objects 8, 8' are physical structures made of any material that provide a representative physical appearance or radar trace to appropriate sensors on the test vehicle 6 (e.g., individual optical cameras, optical camera systems, binocular cameras, radar transmitters / receivers, etc.). Functional taillights 10, 10' thus simulate the application of the brakes of the preceding vehicle to a following vehicle, which then senses the braking of the other vehicle.

[0049] Targets 8 and 8' are secured to the coupled trolley assembly 22 and the uncoupled trolley assembly 22', respectively, by rigid rod hangers 13 and 13'. The coupled target 8 is also secured to the forward position of the coupled trolley assembly 22 by a rigid push / pull rod 11, and the uncoupled target 8' is secured to the forward position of the uncoupled trolley assembly 22' by a rigid rod 11'. The rear trolley assembly 28 and the trolley assembly 28' are directly connected to independent drive mechanisms for controlling their speed, position, or acceleration and, consequently, the speed, position, or acceleration of the targets 8 and 8' relative to the target vehicle 6.

[0050] The front trolley assembly 42 is also linked to the rear trolley assembly 28 by a linear actuator 46, thereby fixing the linear motion of the front trolley assembly 42 along the track or rail 30 relative to the rear trolley assembly 28, or to the driven trolley assembly 28. The linear actuator 46 is extended or retracted by a separate control signal to increase or decrease the distance between the rear trolley assembly 28 and the front trolley assembly 42.

[0051] The state of the simulated vehicle is defined by at least one set of parameters, including, but not limited to, a deployed state (in the case of target 8 only), i.e., deployed in front of the target vehicle 6 or raised on the roadway (and outside the virtual path of the target vehicle 6's motion); a follow distance 4, 4' indicating the distance between the front of the target vehicle 6 and the rear of the simulated vehicle targets 8, 8'; and the relative speed or "closed speed" between the target vehicle 6 and the simulated vehicle targets 8, 8'.

[0052] The coupled trolley assembly 22 and the uncoupled trolley assembly 22' are controlled, either manually or programmatically, to place the coupled target 8 and the uncoupled target 8' into any desired position in a manner synchronized with the operation of the dynamometer assembly 12 or roll (not shown). When the actuator 46 is extended, the front trolley assembly 28 is moved along the track or rail 30 toward the rear trolley assembly 28, thereby pulling the push / pull rod 11 and rapidly rotating the target 8 and the rigid rod hanger 13 together around the suspension axle 48, thereby rapidly removing the target 8 from being perceived by the target vehicle 6 as an obstacle affecting the speed or control of the target vehicle 6. In this way, the target 8, in conjunction with the functions and controls of the driven rear trolley assembly 28 and the driven front trolley assembly 42, enables the simulation of the presence or sudden appearance of a vehicle or obstacle in front of the target vehicle 6 or between the target vehicle 6 and the second simulated target. The sudden appearance can also be considered a "step change" in the deployment state of target 8 to simulate "cut-in" and "cut-out" traffic operations.

[0053] Figure 1B not only illustrates a “cut-in” operation (for example, to simulate a lane change into the path of vehicle 6's movement), but also the removal or disappearance of vehicle 8 or the removal or disappearance of an obstacle in front of the target vehicle 6 (for example, as shown in Figure 1C, which simulates a lane change from the path of vehicle 6's movement), causing a “step change” in the magnitude of the distance the target vehicle 6 follows behind the preceding vehicle. This function can also be used to simulate a preceding vehicle in the same lane when the target vehicle is exiting a road or highway.

[0054] Referring back to Figure 1A, the control of target bodies 8, 8' is coordinated with the simulated operation of the target vehicle 6 in conjunction with a dynamometer assembly 12 or roll (not shown) that simulates real-world vehicle load conditions in a conventional manner. Target bodies 8, 8' are moved by control cables (not shown) connected to a motor drive unit (not shown) behind the driver's cover 14. The rear movable rail stop 16 and the front movable rail stop 18 engage with trolley stops 20, 20' which act as a fail-safe mechanism to prevent the coupled trolley assembly 22 and the uncoupled trolley assembly 22' from exceeding their design travel limits.

[0055] During laboratory testing employing the dynamometer assembly 12, an exhaust gas, particulate matter, and particulate count analysis system (not shown), where applicable, may be used to measure emissions from the vehicle exhaust pipe 24 by drawing a sample through a sampling hose 26 connected to a constant volume sampling (CVS) system (not shown), and the energy efficiency, drivability, and braking response of a vehicle with autonomous longitudinal speed or braking control may be studied or evaluated.

[0056] With respect to vehicles employing arbitrarily selected longitudinal velocity control, the impact of the autonomous control mode on emission and energy efficiency can be determined by using this device to compare the emission and efficiency results of tests conducted with vehicles operating in autonomous mode with the results of tests conducted with vehicles operating in conventional mode (i.e., tests controlled by a human or robotic driver or by direct electronic operation of the vehicle control throughout the entire test cycle).

[0057] The coupled trolley assembly 22 and the uncoupled trolley assembly 22' move along the trolley track 30 on the rollers 32, 44, 32' in response to control signals from a programmable controller 34 (which may optionally be integrated into the test cell automation system) (for commanding their position and speed toward or away from the dynamometer or roll assembly 12). The controller 34 input is optionally selected to be either an open-loop input coupled with the dynamometer assembly 12 or roll movement, or a closed-loop input derived from calculations based on vehicle speed signals from the dynamometer controller 36 or roll assembly, or from the vehicle 6 itself communicating electronically via the dynamometer or roll communication cable 38 or a separate electronic connection (not shown).

[0058] Direct open-loop dynamic signal input to controller 34 causes the movable target bodies 8, 8' to move according to a desired dynamic tracking distance 4, 4' schedule between the target vehicle 6 and target bodies 8, 8' on the dynamometer assembly 12 or roll, thereby simulating the presence of one or more vehicles to the autonomous system sensors of the target vehicle 6, and causing the autonomous or automatic control system of the target vehicle 6 to react according to its internal algorithms and calibrations.

[0059] In one operating mode, the controller 34 is programmed to dynamically change the following distance 4 between the linked target 8 and the target vehicle 6 or the following distance 4' between the unlinked target 8' and the target vehicle 6 in order to follow a predetermined following distance schedule in order to cause the vehicle to perform active speed or automatic braking control in a manner that replicates active speed and braking control actions while following a preceding vehicle according to the same distance schedule during a pre-road test or a road test conducted using the same vehicle type.

[0060] The tracking distance measuring device 40 is optionally installed on the target vehicle 6 prior to road tests in which the tracking distance is measured for subsequent replication or simulation in the laboratory but is not obtainable from the vehicle itself, or if it is desirable for any reason not to monitor sensor-related data from the vehicle. The device may be an aftermarket autonomous vehicle control monocular or binocular camera system, or a radar-based, LiDAR-based, or laser-based system, if used. The same tracking distance measuring device 40 may be subsequently used in the laboratory to provide a feedback system to provide the dynamic position of a simulated physical vehicle.

[0061] In the second operating mode, the controller 34 is programmed to dynamically change the tracking distance 4 between the linked target 8 and the target vehicle 6, or the tracking distance 4' between the unlinked target 8' and the target vehicle 6, in order to make the target vehicle 6 speed conform to a desired vehicle speed schedule (e.g., a regulatory test cycle such as the EPA's Urban Dynamometer Driving Cycle (UDDS) or Highway Fuel Economy Test (HWFET) cycle). The closed-loop operation of the controller 34, using speed parameters from the dynamometer controller 36 or the roll assembly or from the target vehicle 6 as feedback, ensures that the target vehicle 6 closely follows the desired speed schedule.

[0062] Absolute velocity v a represents the simulated real-world vehicle speed of the linked target 8 or the unlinked target 8', and v d If v represents the speed of the target vehicle 6 on the dynamometer assembly 12 or roll assembly (i.e., the speed sensed by the target vehicle 6 itself or by the dynamometer controller 36 or roll assembly), then v a teeth v a =v d +v r It can be defined by, where v r v is the relative velocity between the target object and the target vehicle 6. ais interpreted as the absolute simulated speed of the target object in the real-world reference system. This is the similar real-world speed of another vehicle simulated by the movement of the target object in the real-world reference system, and if the real vehicle were at the same following distance 4 and traveling at a speed equal to v a it would cause the target vehicle 6 to react in the same way that the target vehicle would react to the real vehicle in the real world.

[0063] In a third operating mode, the controller 34 is programmed to dynamically change the following distance 4 between the target object 8 and the vehicle 6 in order to cause the absolute speed of the target object 8 (i.e., the speed representing the real-world road speed) to follow a desired absolute speed schedule (e.g., a regulatory test cycle such as the EPA's UDDS or Highway Fuel Economy Test (HFET)). By operating the target object 8 in this way, the target vehicle 6 is made to operate as if it were operating in real traffic conditions where the "speed of traffic" rather than the vehicle's own speed follows the desired or regulatory test cycle speed. The target vehicle 6 itself does not follow the desired speed cycle but operates as an autonomous vehicle embedded within the traffic represented by the desired cycle. Thus, the emissions and energy efficiency measured during this type of operation represent the measurements that would be obtained in the real world in real traffic flowing at the speed of the desired cycle.

[0064] The front trolley assembly 42 also moves along the trolley track 30 on the front trolley roller 44 and is variably connected to the rear trolley assembly 28 by the actuator 46. While the rear trolley assembly 28 and the front trolley assembly 42 normally move together along the track 30, optional extension of the actuator 46 rapidly rotates the target body 8 forward around the suspension axis 48, thereby causing the target body 8 to suddenly disappear from the simulated forward motion of the target vehicle 6. Retraction of the actuator 46 rapidly rotates the target body 8 backward around the suspension axis 48, thereby causing the target body 8 to suddenly appear as an interference with the forward motion of the target vehicle 6. In this way, intentional extension and retraction of the actuator 46 via the controller 34 signal causes the target body 8 to suddenly appear or disappear (to simulate the sudden appearance or disappearance of a preceding vehicle) as desired. As described above, this function is also effective in simulating lane changes from or to other simulated road lanes (not shown) by using target 8.

[0065] It may be desirable to house the VLSCTA2 assembly in a separate room adjacent to the dynamometer or roll test cell room to isolate the motion of the target objects 8, 8' from laboratory personnel. Alternatively, it may be desirable to house the VLSCTA2 outside the room but visible to the target vehicle 6 sensors located in the indoor test laboratory. A window 50 constructed of special glass that is transparent to light, radar signals and LiDAR signals is optionally placed between the VLSCTA2 and the dynamometer assembly 12, 60 (Figure 3A) or roll assembly for this purpose. This additional feature may be used for any of the test modes described herein.

[0066] The test laboratory may be contained within a weather-controlled room (not shown) where atmospheric conditions of pressure, temperature, and humidity can be individually controlled. Such a laboratory allows for the replication or simulation of atmospheric conditions, or a simulation of such specific atmospheric conditions, to reflect pre-existing real-world operating conditions that are replicated or simulated in the laboratory, for the greatest accuracy of test results and between tests intended to be identical except for the controlled variables.

[0067] Alternatively, a more cost-effective embodiment for replicating and simulating dynamic atmospheric conditions employs a recently commercially available “environmental conditions simulator” 52. This embodiment provides a less capital-intensive means for dynamically changing the ambient conditions experienced by the subject vehicle 6 powertrain during testing and for replicating and simulating desired atmospheric conditions, while allowing the use or continuous use of a standard emission test laboratory. In this case, ambient atmospheric pressure, temperature, and humidity conditions are generated by the environmental conditions simulator 52 and applied only to the powertrain and necessary vehicle sensors by connecting the environmental conditions simulator 52 to the subject vehicle 6 engine intake system (not shown) via an intake hose 56 and to the vehicle's exhaust pipe 24 via an exhaust gas hose 54. The environmental conditions simulator 52 controls the intake pressure, exhaust back pressure, and intake humidity to either fixed and selected values ​​or programmatically controlled dynamic values ​​as desired, or to simulate conditions recorded during real-world testing appropriately synchronized with the subject vehicle 6 speed and load on the dynamometer assembly 12.

[0068] The apparatus in Figure 1A may also be used in conjunction with a test method for testing the response of the target vehicle 6 safety system to a preceding vehicle "cut-in" operation shown in Figure 1B and a "cut-out" operation shown in Figure 1C. To simulate a cut-in operation, the target vehicle is controlled by the presence of a preceding vehicle as described above. For example, an unattached target 8' is controlled in one of the aforementioned ways while the attached target 8 is controlled in an undeployed state. At an appropriate time to simulate a cut-in operation, the target 8 is rapidly deployed between the target vehicle 6 and the unattached target 8, and at this time, the vehicle 6 response is noted or measured. This may result in determining the effectiveness of emergency braking or measuring the response of any other vehicle 6 parameters to the "cut-in" operation.

[0069] As shown in Figure 1C, to simulate a "cutout" operation, the target vehicle 6 is controlled by the simulated presence of a preceding vehicle (represented by the linked target 8) positioned between the target vehicle 6 and the unlinked target 8'. At the appropriate time to simulate the cutout operation, the linked target 8 is rapidly withdrawn or de-deployed, thereby making the unlinked target the "new" preceding vehicle. At this time, the vehicle 6 response is noted or measured. This can be used to measure the response of any vehicle 6 parameter to the "cutout" operation.

[0070] Figure 2 shows an electronic Vehicle Longitudinal Speed ​​Control Testing Apparatus (eVLSCTA) 63 used to simulate a virtual presence traveling at a variable speed relative to the target vehicle 6 in a vehicle test laboratory, thereby representing a variable tracking distance from the target vehicle. The eVLSCTA 63 can electronically make the simulated vehicle appear or disappear in front of the target vehicle 6 and simulate a preceding vehicle moving at a variable opening or closing speed and a variable tracking distance relative to the target vehicle 6. The eVLSCTA63 consists of an integrated test rack for simulating the presence of one or more other vehicles by providing a display screen 61, one or more electronic radar receivers / transmitters 55 (if equipped) for receiving signals from the radar transmitter / receiver of the target vehicle 6 and broadcasting signals corresponding to the desired simulated relative position and relative speed of the simulated vehicle relative to the target vehicle 6; one or more LiDAR receivers / transmitters 57 (if equipped) for receiving signals from the LiDAR transmitter / receiver of the target vehicle 6 and transmitting one or more signals corresponding to the desired simulated relative position of the simulated vehicle relative to the target vehicle 6.

[0071] By controlling the position and speed of the simulated target vehicle based on the speed feedback signal from the target vehicle 6 dynamometer controller 36 or the roll assembly, the target vehicle 6 speed control compels the electronic simulated vehicle to respond in a manner similar to the target vehicle 6's response to the motion of a physical target 8, as described in detail above, as if the target vehicle 6 were operating in the real world with a real vehicle having the same relative position and motion as the simulated vehicle.

[0072] Figure 3A shows a test setup for testing an autonomous vehicle using a two-wheel chassis dynamometer assembly 60 that provides only two rotating drive wheels. In modern vehicles with anti-lock brakes and autonomous speed control, non-rotating wheels are typically used so that malfunctions are detected by the vehicle's own diagnostic system. Under such conditions, it is not possible to test the vehicle as described above.

[0073] To perform testing on the two-wheel dynamometer assembly 60, the diagnostic system of the subject vehicle 6 must receive effective speed sensor inputs from the speed sensors of each wheel (including the non-rotating wheel 62 (only one shown)). To do this, an additional wheel hub 64 (only one shown), containing integrated wheel speed sensors tailored to a specific subject vehicle 6 type and model, is centrally mounted outside the drive wheel 68 (only one shown) on the two-wheel dynamometer assembly 60. One way to achieve this is to bolt the additional wheel hub 64 to the drive wheel 68 hub stud or lug nut so that the additional wheel hub 64 rotates at the same speed as the drive wheel 68. Specifically, since some vehicle hubs sense reverse rotation, it may be advantageous to mount the non-rotating left-side hub outside the rotating right-side wheel (and vice versa). The additional wheel hub 64 is prevented from free rotation (due to internal bearing friction) by an anti-rotation strap 70 (only one side shown).

[0074] Prior to the test, the original wheel hub speed sensors of the vehicle 6, which are integrated into the non-rotating wheel hubs while operating on the two-wheel dynamometer assembly 60, are disconnected from the vehicle 6 wire harness input (not shown). The integrated speed sensors (not shown) of the additional hub 64 are connected in a cross pattern to the wire harness input by the extension wire harness 66 because some of the wheel hub sensors also sense reverse motion (i.e., the right drive wheel external mounting hub is connected to the vehicle 6 wire harness in the position of the left non-drive wheel hub) (and vice versa). The additional drive wheel hub 64 needs to be rotated 180 degrees relative to the non-drive wheel hubs mounted outside the drive wheels 68, so even if they are not connected in a cross pattern, they will appear to be rotating in the opposite direction to what is desired.

[0075] Figure 3B shows a close-up of the additional wheel hub 64 attached to the drive wheel 68 of the vehicle 6, as described above.

[0076] Figure 4 is a top view showing how the Vehicle Longitudinal Speed ​​Control Test (VLSCTA) 2 is used to physically simulate the presence of a vehicle interacting at a variable follow distance 4 from a target vehicle 6 in a vehicle test laboratory employing drive axle dynamometers. Instead of the chassis dynamometer assembly 12 or the two-wheel dynamometer assembly 60, individual drive axle electric dynamometers 102, 104, 106, and 108 are used to provide realistic real-world loads to the vehicle 6 in a normal manner.

[0077] To simplify the setup and efficiency of the test, special drive wheels 70, 72, 74, and 76, having integrated axle bearings and lock hubs 78, 80, 82, and 84, are mounted on the test vehicle 6 in place of standard wheels. Dynamometers 102, 104, 106, and 108 are movable. Dynamometers 102, 104, 106, and 108 are conveniently mounted on a bed plate (not shown) and can perform the same function as chassis dynamometers 12 and 60.

[0078] Special wheels 70, 72, 74, and 76, having integrated axle bearings and locking hubs 78, 80, 82, and 84, allow the drive axles 86, 88, 90, and 92 to rotate freely within the integrated axle bearings, that is, to allow selective disconnection from the wheels (i.e., "coasting") when "unlocked" during testing. However, axles 86, 88, 90, and 92 engage with dynamometer input shafts 94, 96, 98, and 100 when the dynamometer is installed. Once the special wheels 70, 72, 74, and 76 are set to the "locked" position, the drive axles 86, 88, 90, and 92 connect to the special wheels 70, 72, 74, and 76 in the usual manner, so that the vehicle can be driven and moved to the desired position for testing. Except for this alternative means of applying real-world loads to the vehicle, testing with this device is carried out in the same way as testing with the other dynamometer devices described above.

[0079] In some examples, a vehicle longitudinal speed control test apparatus includes a first movable target separated from the vehicle that performs active speed control while being loaded by a dynamometer assembly. The vehicle longitudinal speed control test apparatus also includes a controller programmed to change the distance between the first movable target and the vehicle by: (i) causing the vehicle's speed parameters to conform to a desired vehicle speed schedule based on speed parameter feedback from the dynamometer assembly or the vehicle; (ii) causing the sum of the speed of the first movable target and the speed parameter feedback to conform to a desired absolute speed schedule; or (iii) increasing the distance between the first movable target and the vehicle according to a desired distance schedule. The apparatus may further include a second movable target separated from the vehicle, and the controller may further be programmed to change the deployment state of the first movable target to cause a step change in the distance between the nearest movable target of the first and second movable targets and the vehicle. The device is further programmed to change the distance between the second movable target and the vehicle so that the above total follows a desired absolute speed schedule while the first movable target is not deployed. The device may further include an atmospheric simulation chamber surrounding a dynamometer assembly, or an atmospheric simulation system configured to supply conditioned air to the vehicle's powertrain or exhaust system. The dynamometer assembly may be a chassis dynamometer configured to supply rotational force to one or more of the vehicle's rotating wheels, and the device may further include a hub assembly including wheel speed sensors mounted on the outer rotating wheels of the vehicle and electrically connected to the vehicle's non-rotating wheel speed sensor inputs. The device may further include a surface that is transparent to light, photodetection signals and photometric signals, or radar signals, and is positioned between the movable target and the vehicle.

[0080] In some examples, a vehicle longitudinal speed control test apparatus includes a first electronic virtual target simulator configured to work with a vehicle performing active speed control while being loaded by a dynamometer assembly. The vehicle longitudinal speed control test apparatus also includes a controller programmed to modify the output signals of the first electronic virtual target simulator to: (i) cause the vehicle's speed parameters to follow a desired vehicle speed schedule based on speed parameter feedback from the dynamometer assembly or the vehicle; (ii) cause the sum of the simulated speed and speed parameter feedback of a virtual movable target simulated by the first electronic target simulator to follow a desired absolute speed schedule; or (iii) increase the simulated distance between the virtual movable target and the vehicle according to a desired distance schedule. The apparatus may further include a second electronic virtual target simulator configured to work with the vehicle, and the controller may further be programmed to change the deployment state of the virtual movable target to cause step changes in the simulated distance. The apparatus may further include an atmospheric simulation chamber surrounding the dynamometer assembly, or an atmospheric simulation system configured to supply conditioned air to the vehicle's powertrain or exhaust system. A dynamometer assembly may be a chassis dynamometer configured to provide rotational force to one or more rotating wheels of a vehicle, and the device may further include a hub assembly which includes a wheel speed sensor mounted on the outer rotating wheel of the vehicle and electrically connected to the non-rotating wheel speed sensor input of the vehicle.

[0081] Estimative method Numerous exemplary test methods for precisely measuring the fuel economy and emissions of vehicles employing active control of longitudinal speed, acceleration, or follow distance while being configured to follow a specific vehicle speed cycle or operating within a simulated traffic flow represented by following a simulated vehicle with a controlled vehicle speed cycle are described below. Other test methods are for additionally determining the effects of longitudinal motion control calibration and algorithm changes by quantifying the effect of the longitudinal control system on the energy efficiency, fuel economy, or emissions of any vehicle type in a specified manner.

[0082] Additional test methods for measuring the performance of vehicle safety features employing longitudinal velocity, acceleration, or distance control will also be described. For example, testing the performance and effectiveness of emergency braking systems using simulated traffic scenarios.

[0083] Each of the exemplary laboratory test methods involves using a dynamometer to replicate or simulate all variable forces acting on the vehicle. These forces may be replicated forces acting on the same or similar vehicle during prior real-world operation, or simulated estimated forces that approximate forces that would act on the vehicle in the real world under similar test conditions, for example, based on vehicle speed and road gradient conditions. The total forces may be based on a combination of numerous factors, including but not limited to vehicle mass, acceleration rate, speed, road gradient, ambient atmospheric conditions, and the behavior of the autonomous control system resulting from reactions to nearby vehicles, or they may be based on the simulated forces.

[0084] Dynamometer tests typically employ a variable-speed fan placed in front of the subject vehicle 6 to simulate the road airflow under the subject vehicle 6 to simulate the road airflow that passes through the powertrain radiator for cooling and to simulate the cooling effect on after-treatment of emissions. Alternatively, a smaller variable-speed fan is sometimes used to provide cooling to the vehicle 6's radiator, along with optional "side cooling" for after-treatment. For laboratory tests, radiator cooling must be provided in an unconventional manner because the cooling fan placed in front of the subject vehicle 6 may interfere with one or more of the autonomous vehicle control sensors. One cooling option is to draw air from under the vehicle through the engine compartment with a hood in a closed position, thereby drawing air through the radiator. Another option is to use a smaller fan in front of the vehicle out of the line of sight of various sensors. However, this option requires some understanding of the vehicle's autonomous sensors. Both options can be used to cause cooling air to flow through the radiator of the vehicle 6 and may require the removal or modification of a portion of the underside cover panel of the vehicle, which has become common in recent years.

[0085] Each of the exemplary test methods involves a second element for replicating or simulating desired changing ambient environmental conditions, which are linked to the application of a simulated load on the vehicle. The desired conditions may be based on actual ambient conditions experienced during pre-road testing or on simulating any other such conditions. In the case of an ICE powertrain, this can be achieved by using an environmental chamber or by exposing only the powertrain and associated sensors to the desired conditions (e.g., by adjusting engine intake pressure, temperature, and humidity and providing appropriate exhaust flow back pressure) or by exposing the entire vehicle to the desired conditions. Apparatus for doing this is described above. Enclosing the associated sensors within the same environmental conditions may also be necessary, depending on the vehicle design.

[0086] Each of the exemplary test methods involves a third element: causing the vehicle under test to employ the same powertrain and safety mechanism calibrations that would be used in real-world operation under the same conditions defined by real or simulated vehicle load, real or simulated ambient environmental conditions, and real or simulated traffic conditions. Actual traffic conditions can be simulated by physical or electronic simulations of one or more vehicles in appropriate coordination with the position, speed, and acceleration of the vehicle under test 6.

[0087] The fourth element of each exemplary test method involves the measurement of emissions (in the case of ICE vehicles) and the measurement or determination of the energy efficiency or fuel economy of the powertrain or vehicle. In the case of ICE vehicles, exhaust gases and particulate emissions are collected and compared to relevant regulatory standards or other metrics for R&D purposes, and in the case of electric vehicles, energy consumption measurements are performed in the usual manner. For laboratory tests preceded by real-world road tests, PEMS emission measurements and vehicle speed may be recorded continuously. The PEMS data may then be used to validate subsequent laboratory tests in which road vehicle speed schedules, road gradients, and ambient conditions are simulated in the laboratory.

[0088] Figures 5–7 illustrate various exemplary test methods for measuring vehicle exhaust emissions and fuel economy, or for evaluating emergency braking performance, or other protective safety mechanisms of vehicles with autonomous longitudinal speed, distance, or acceleration control, or associated safety mechanisms, while vehicle load, ambient conditions, and associated traffic conditions are replicated or simulated. These methods require a proper simulation of the total road load using a dynamometer with road load control capabilities based on a vehicle-dependent road load coefficient and simulating the effects of vehicle mass and road gradient. By conducting tests according to these methods, the emissions and energy efficiency of vehicles with such autonomous longitudinal control can be compared to the same or similar vehicles under various sets of ambient weather and traffic conditions, or to the same or similar vehicles with various powertrains or autonomous control calibrations. In this way, these methods are useful for calibrating powertrains, autonomous vehicle sensors, and algorithms for performance and safety purposes, and for determining the impact of autonomous longitudinal control features on vehicle energy efficiency and emissions for regulatory purposes.

[0089] The exemplary test methods shown in Figures 5-7 are performed using a dynamometer configured for “road load control” mode (a general operating mode in which the dynamometer is programmed to provide a load that is at least partially based on a load that is a function of vehicle speed). This speed-dependent term is a function of other parameters (e.g., atmospheric conditions) themselves, while additional parameters are typically responsible for the road gradient or the replication or simulation of the gradient. Any dynamometer capable of performing this function (including chassis dynamometer 12, chassis dynamometer 60, and wheel hub dynamometers 102, 104, 106, 108) is suitable. Those skilled in the art will also understand that “this method may be applied to testing using an in-loop engine method with an engine dynamometer.”

[0090] Any of the exemplary test methods shown in Figures 5-7 may optionally employ an ambient atmospheric conditions simulator 52, or a full-vehicle "environmental test chamber" for precise testing when the desired meteorological conditions differ from the laboratory ambient conditions that happen to be available as alternatives.

[0091] The test methods shown in Figures 5-7 may optionally precede real-world road tests to obtain emission and / or energy efficiency data for later use in the validation of laboratory simulations under the same real-world environmental conditions, prior to subsequent tests under various environmental conditions, or prior to modifying the vehicle and / or calibration and retesting to determine the effects of the changes, or to obtain and record real-world speed schedules, ambient weather conditions, and real-world "follow distance" schedules to be used in subsequent laboratory simulations of real-world driving. Alternatively, real-world tests may be avoided if operation over a known speed or follow distance schedule is desired and laboratory validation is not required.

[0092] Referring to Figure 5, the first exemplary test method 110 relates to the testing of an autonomous vehicle that is made to operate according to a desired speed schedule (e.g., a regulated speed-based test cycle or a speed cycle obtained from prior real-world driving) as described above. In this case, the VLSCTA2 device is used to simulate external traffic conditions that cause the subject vehicle 6 to control its longitudinal speed according to the desired speed cycle. This method makes it possible to obtain emissions, fuel economy or energy efficiency measurements and automatic braking activities for the autonomous vehicle that represent real-world measurement results for any real-world route or desired vehicle speed schedule under dynamic ambient conditions. As described above, this is done either by replicating a predetermined real-world load and atmospheric conditions schedule or by simulating the desired real-world load and atmospheric conditions schedule.

[0093] Real-world or other vehicle speed schedules and associated road gradient schedules are selected by researchers for their own purposes. For example, the simulated route could be a heavy-traffic light passenger car commuter corridor during rush hour, or a long-distance route encompassing many subroutes, each of which is a high-capacity commuter corridor, or any other route of interest to either a regulator or a vehicle manufacturer, or the test route could be represented by existing speed and road gradient schedules.

[0094] When acquiring a real-world schedule, vehicle 6 is driven on a desired road route with autonomous speed control setpoints set as desired, and the resulting vehicle speed schedule, road gradient schedule, and ambient weather conditions schedule (including, but not limited to, atmospheric pressure, ambient temperature, and humidity) are recorded. An onboard "weather station" may be temporarily installed and used to provide continuous updates of ambient atmospheric conditions, from which atmospheric pressure, temperature, humidity, and air velocity measurement results are all recorded at an appropriate frequency (e.g., 1 Hz). Otherwise, alternative speed schedules and road gradient schedules are selected or generated depending on the goals of the test. The selected speed schedule is uploaded into the VLSCTA controller 34 or eVLSCTA controller, and appropriate dynamometer load parameters are input to the dynamometer control 36 in the usual manner.

[0095] In operation 112, an optional road test may be performed to obtain a route, vehicle speed, gradient, and weather schedule. In operation 114, the speed may be selected from a road or other desired schedule. In operation 116, the vehicle is applied to the dynamometer. In operation 118, ACC control may be set if applicable. In operation 120, replication or simulation of ambient atmospheric conditions may be initiated. In operation 122, the simulated vehicle may be operated by closed-loop control to enable vehicle speed by using target vehicle speed feedback.

[0096] Referring to Figure 6, the second exemplary test method 124 is based on open-loop control of the "follow distance" 4. If the output of the autonomous sensors of the vehicle under test provides an accessible parameter indicating the follow distance, and if it can be recorded and interpreted, the follow distance can then be replicated by a laboratory VLSCTA2 or eVLSCTA device to replicate the road test. If the follow distance is not an accessible parameter, and it is desirable to replicate the test based on this parameter, a separate vehicle-to-vehicle follow distance measuring device can be temporarily installed. For example, an aftermarket autonomous vehicle monocular or binocular camera system, radar system or LiDAR-based system, or other electronic system with a continuous follow distance output can be used for this purpose.

[0097] With respect to the ICE target vehicle 6, a portable emissions measuring system (PEMS) may optionally be used to collect real-world exhaust pipe emissions and fuel economy data (by carbon balance technology) for road testing or other means, and a fuel flow meter (not shown) may optionally be used to obtain direct fuel consumption data for later comparison. With respect to the BEV vehicle 6, power consumption is optionally recorded throughout real-world driving by using commonly used electrical means (not shown) in the field.

[0098] Data logging from the vehicle's Controller Area Network (CAN) bus or On-Board Diagnostic (OBD) port (including vehicle speed and autonomous control data items) is one option for recording vehicle operating parameters. If for any reason it is desirable to avoid connecting to the CAN bus, other commercially available speed measurement means (e.g., GPS receiver or other means) may be employed.

[0099] In operation 126, an optional road test may be performed to obtain a route, vehicle speed, gradient, and weather schedule. In operation 128, a follow distance schedule may be selected from a road or other desired schedule. In operation 130, the vehicle is applied to the dynamometer. In operation 132, ACC control may be set if applicable. In operation 134, replication or simulation of ambient atmospheric conditions may be initiated. In operation 136, the simulated vehicle may be operated by open-loop control to set the follow distance.

[0100] With respect to either exemplary method 110 (Figure 5) or exemplary method 124, regardless of whether the vehicle has undergone prior road testing, the vehicle 6 or part thereof (e.g., engine or powertrain) to be tested is brought into the test laboratory and positioned on or connected to a dynamometer assembly according to the standard procedure for the appropriate type of dynamometer. For example, chassis dynamometer 12, chassis dynamometer 60, or drive shaft dynamometers 102, 104, 106, 108 are all sufficient. Other dynamometers may also be used.

[0101] The same autonomous speed control setting used during road testing (e.g., the vehicle speed setpoint of an adaptive cruise control system) is input to the vehicle 6 longitudinal speed control system, where appropriate. This vehicle speed setpoint may be the highest speed value of the selected speed cycle, or higher, if it is desirable to input only a single value for the entire test cycle. The speed setpoint may also be lower than the maximum value of the selected speed cycle, insofar as a driver or robot provides updated values ​​during the test that replicate or simulate the actions of a human driver on the road, allowing vehicle 6 to achieve the desired speed as time progresses. In any case, the setpoint should be the same as the real-world setpoint, if it is desirable to replicate real-world driving.

[0102] Prior to commencing testing, desired dynamic environmental conditions are selected or programmed into the environmental control system (i.e., into the control system of the relevant environmental chamber (not shown) or into the powertrain “environmental conditions simulator” 52). When laboratory environmental conditions differ significantly from desired environmental conditions (for example, when simulating real-world road driving under various weather conditions), it is always important to artificially maintain appropriate environmental conditions so that the powertrain operates in a suitable calibration space, thereby generating representative emissions and presenting representative energy efficiencies.

[0103] Once the test begins, the vehicle automatically controls its own speed according to the embedded algorithms, calibrations, and user-selected setpoints of its longitudinal speed control system.

[0104] With respect to the first exemplary test method 110 (Figure 5), closed-loop control of the speed of the subject vehicle 6 to a reference speed schedule (either a schedule recorded during a pre-real-world test of the subject vehicle 6 or another reference cycle (e.g., a regulated speed cycle)) can be achieved by dynamically changing the follow distance 4 in a continuous response to the difference between the subject vehicle 6 or dynamometer speed and the speed schedule (e.g., by employing a PID loop or other feedback control).

[0105] The tracking distance 4 or the rate of change of the tracking distance 4 is continuously changed by dynamically positioning the target body 8 or a virtual target in this closed-loop manner. The effect on the autonomous target vehicle 6 being tested is to cause the vehicle's longitudinal control system and safety system to respond to the motion of the target body 8 or the simulated motion and proximity of the virtual target (in the same way that it would respond to a real vehicle with the same relative motion and relative proximity) under the same environment, vehicle speed, and vehicle load conditions as during the laboratory test.

[0106] In the case of a physical target 8, a simulated lane change by a preceding vehicle (i.e., simulating a lane change from the same "virtual" lane to an adjacent lane as perceived by the vehicle 6) is achieved by rapidly extending the actuator 46, causing the support rod 10 to rotate around the suspension axle 48, thereby rapidly lifting the target 8 above the height of the test vehicle 6. This action allows the simulated vehicle or target 8 to be rapidly removed as an obstacle, or to be no longer recognized as a preceding vehicle by the longitudinal control system of the target vehicle 6.

[0107] The simulated vehicle can also be rapidly deployed as a preceding vehicle ahead of the target vehicle 6 by setting a tracking distance 4 via the trolley assembly 22 while the target object is held and extended over the target vehicle 6, and then rapidly deploying the target object 8 by rapidly retracting the actuator 46. In this way, the sudden appearance of the preceding vehicle can be simulated, causing the longitudinal control system (including the braking system) of the target vehicle 6 to react. Emissions, fuel economy, and / or safety characteristics are monitored throughout the process as required for the purpose of the test.

[0108] The test proceeds in this manner until the end of the selected speed schedule is reached. If the test is a validation test as described above, the emissions and energy efficiency results are checked for agreement with real-world test results. A good agreement should be obtained if the test is conducted properly. Modifications or calibration changes may be made to the subject vehicle 6, its emissions control system or its autonomous control system, and additional tests are performed under the same speed schedule, road gradient simulation and environmental conditions to optimize or calibrate the vehicle system for maximum efficiency, minimum emissions or driving quality. If the autonomous speed control system is disengaged depending on the subject vehicle 6 control selection, the test may be rerun by a human or robotic driver controlling the vehicle speed for the same speed schedule and under the same weather and load conditions. Differences in emissions and efficiency results indicate the influence of the autonomous speed control system on emissions and efficiency under those conditions and speed schedules.

[0109] Subsequent dynamometer tests may also be conducted to evaluate or demonstrate changes to emissions and / or energy efficiency of the same vehicle operating in the same manner but under different environmental or ambient conditions.

[0110] The second exemplary method 124 differs in its use of open-loop control of the follow distance by controlling the follow distance 4 according to a recorded follow distance schedule acquired during a pre-road test. This is one way to ensure that the speed of the subject vehicle 6 is controlled according to a real-world test speed schedule. Naturally, any other open-loop control of the follow distance can be used to study the behavior of the subject vehicle 6 in various traffic and automatic braking scenarios.

[0111] The third exemplary method 138 shown in Figure 7 relates to testing the emissions, energy efficiency, fuel economy, or automatic braking activities of an autonomous vehicle 6 while it operates under real-world traffic conditions, by constraining the vehicle 6 with simulated traffic flowing according to a desired speed schedule (e.g., a regulated speed-based test cycle). In this case, a simulated vehicle, generated either physically or electronically and optionally preceding the target vehicle, defines the traffic conditions and causes the target vehicle to cooperate with the simulated vehicle to control its longitudinal speed in order to maintain vehicle distance intervals according to the vehicle's embedded algorithms and calibrations. This method makes it possible to obtain test results that represent real-world measurement results under the same conditions. Simulation of preceding vehicles entering and exiting the area relative to the target vehicle can also be advantageously employed.

[0112] The desired traffic speed schedule is selected or generated by researchers for its own purpose to function as a traffic or simulated vehicle absolute speed schedule and loaded into the VLSCTA2 or eVLSCTA control system 34. For example, the desired traffic speed schedule may represent the speed of a high-traffic light passenger vehicle commuter corridor during rush hour, or it may be a long-term speed schedule encompassing several sub-schedules, each of which is a high-capacity commuter corridor, or it may be any other schedule of interest to either a regulator or a vehicle manufacturer.

[0113] The vehicle 6 having autonomous or automatic longitudinal speed control features to be tested is brought into the test laboratory and placed in or connected to a power unit. One or more time-dependent autonomous speed control settings are selected either prior to the test or as the test progresses and input into the control system of the vehicle 6 under test. For example, a single vehicle speed setpoint for an adaptive cruise control system may be set to the highest value in a traffic speed schedule, or may be changed as desired to simulate how an actual driver might change the setting in the real world.

[0114] Prior to operating the powered vehicle, appropriate road load parameters for the test vehicle 6, appropriate road gradient parameters for the route, and dynamic environmental conditions are selected or programmed into the environmental control system (i.e., into the control system of the relevant environmental chamber or the powertrain "environmental conditions simulator" 52). If the laboratory environmental conditions differ significantly from the desired environmental conditions (for example, when simulating real-world road driving when controlling traffic under various weather conditions), maintaining appropriate environmental conditions is important to operate the powertrain in an appropriate calibration space, thereby generating representative emissions and presenting representative energy efficiencies.

[0115] Once the test begins, the vehicle speed is automatically controlled directly by the vehicle's longitudinal speed control system, according to its embedded algorithm and calibration, and based on sensor inputs relating to the position and motion of the target (either a physical target 6 or a virtual electronically generated target). The speed and direction of the target's motion are controlled by continuously comparing the current speed schedule value with speed signal feedback from the dynamometer or the vehicle. The dynamic relative speed setpoint (i.e., the speed of the target relative to the vehicle) is determined by the following equation: v r =v a -v d Here, v a represents the absolute real-world traffic speed, which is currently equal to the speed schedule value, and v dThis represents the speed of the vehicle operating with the dynamometer (either from the vehicle speed sensor feedback 6 or from the dynamometer speed signal feedback from the dynamometer control unit 36).

[0116] Closed-loop control of the target body 8 or virtual target velocity is performed by v r This is achieved by continuously changing the speed of the target body 8 or virtual target according to the continuously updated value of . Meanwhile, under the test conditions described above, this is made to respond to the motion and proximity of the vehicle 6 longitudinal control system and safety system to the motion and proximity of the target body 8 or simulated virtual target, in the same manner as in the real world where the same relative motion and the same relative proximity precede a real vehicle that is traveling at an absolute road speed schedule equal to the selected speed schedule, under the same environmental and traffic conditions.

[0117] The test proceeds in this manner until the end of the selected speed schedule is reached. When the test is conducted according to this method, the emissions and energy efficiency results will match those of a real-world test (where a real vehicle precedes the test vehicle and moves according to the same absolute vehicle speed schedule). Modifications may then be made to the test vehicle 6, its emissions control system, or its autonomous control system to optimize the vehicle system for maximum efficiency, performance, or minimum emissions (by subsequently retesting under the same traffic speed, gradient, and environmental conditions). If it is possible to deactivate the autonomous speed control system, the test will be conducted with the vehicle 6 speed at the same v d The speed schedule can be controlled by a human or robotic driver and rerun under the same weather and distance-based road gradient conditions. Differences in emissions and efficiency results indicate the influence of the autonomous speed control system on emissions and efficiency for the same speed schedule.

[0118] Alternatively, after disengaging the autonomous speed control system, the test will be conducted to set the vehicle speed to the speed of traffic or v aThe speed schedule can be re-executed by a human or robotic driver. In this case, the difference in emissions and efficiency results indicates the influence of the autonomous speed control system caused by the longitudinal speed control system when engaging with traffic at average traffic speeds rather than when moving continuously at traffic speeds.

[0119] In operation 140, an optional road test may be performed to obtain a route, vehicle speed, gradient, and weather schedule. In operation 142, the speed may be selected from a road or other desired schedule. In operation 144, the vehicle is applied to the dynamometer. In operation 146, ACC control may be set if applicable. In operation 148, replication or simulation of ambient atmospheric conditions may be initiated. In operation 150, the simulated vehicle may be operated by closed-loop control to enable the preceding vehicle speed by using target vehicle speed feedback.

[0120] An exemplary road lane marker generation and virtual display system test apparatus (conventionally called a Virtual Road Lane Marker System (VRLMS)) 310 for testing camera-based autonomous or semi-autonomous vehicles 6 or vehicle control systems is shown in Figure 8. The VRLMS 310 includes: (1) a real-world scenario selection database which itself contains optional road geometry and feature data (e.g., lane marking data) from which to be selected; alternatively, such data can be manually entered using a keyboard 312; (2) a processor for generating virtual lane marker data, outputting linked lane marker data and physical target controller data, and optionally receiving object or target position feedback data during closed-loop control; (3) a scenario verification display for visual inspection and verification of the selected test scenario; (4) a transparent or translucent screen of the lane marker display from a projector (not shown), or alternatively, a transparent or translucent monitor of the lane marker display (e.g., a transparent OLED video display) 210. The VRLMS310 can output coordinated control data for displaying virtual lane markers along with control data for controlling an object simulator (e.g., VLSCTA2), and can also receive optional feedback from the object simulator indicating the temporal position or motion of any simulated object (e.g., physical targets 8, 8', 218 which may be used when masking the virtual lane marker 220).

[0121] VRLMS310 includes: a data input channel for electronically receiving test configuration data and roadway design data from a test technician via a keyboard 312 or associated test system (not shown), simulated or real object velocity or position schedule data 314 associated with real-world traffic scenarios for optional open-loop object behavior, or feedback position data 316 from an electronic or physical object or target simulator (e.g., VLSCTA2), and simulated vehicle velocity data from associated test system (e.g., laboratory dynamometer, roll or the vehicle itself); a processor for generating virtual lane marker data based on at least the test configuration data and roadway design data; and a data output channel for electronically outputting at least one subset of virtual lane marker data 220 representing how real lane markers would appear from the positions of autonomous or semi-autonomous vehicle cameras when projected or displayed on a transparent or translucent display screen or monitor.

[0122] Prior to commencing laboratory testing of a vehicle autonomous control system (not shown separately) operating on control inputs from vehicle 6 or at least one camera 300, vehicle 6 or the autonomous control system is positioned on or near a laboratory apparatus located behind VLSCTA2 (described above) or other similar apparatus for simulating a physical target 8, 8', 218. For whole vehicle 6 testing, the laboratory apparatus would be a dynamometer 12 for applying a load to the vehicle, a roller assembly (not shown) enabling simulated vehicle motion, or similar. For vehicle autonomous control system testing in the absence of a complete vehicle, the laboratory apparatus could be a simple structure or fixture for mounting various autonomous system sensors (e.g., radar, LiDAR, and camera sensors at desired relative positions).

[0123] An electronic simulator (e.g., the VRLMS shown in Figure 8) is configured to generate a signal indicating a dynamic virtual lane marker 220 based on speed information from a speed or position schedule 314 or feedback signals from experimental equipment (e.g., a dynamometer 12, a roll, or other equipment), and to display the virtual lane marker 220 on a transparent or translucent screen or monitor 210 within the field of view of at least one camera 300 and in screen coordinates or monitor 210 coordinates that reflect the relative positions of at least one camera 300 and the screen or monitor 210. Furthermore, the generated signal indicates a modified virtual lane marker 220 by masking a portion of the virtual lane boundary marker 220 whenever the screen or monitor 210 position or coordinates of the virtual lane marker 220 match or contradict the screen or monitor 210 position or coordinates of a VLSCTA2 object or target or similar device. The positions of the objects or targets 8, 8', 218 are known from the velocity or position schedule 314 when operating in an open-loop manner, or optionally, continuously output from the VLSCTA2 and, where appropriate, input to the electronic simulator via an electronic input channel to act as feedback for masking the virtual lane markers 220. The velocity or position schedule 314, or feedback signals from the experimental equipment or dynamometer 12 or roll, allow this process to be carried out dynamically simultaneously with the detection of the objects or simulated objects or physical objects 8, 8', 218 by the camera 300 via a transparent or translucent monitor or screen 210 (i.e., providing dynamic or moving masked lane markers 220 for detection by at least one camera 300, but positioned behind the monitor or screen 210 and moving relative to the vehicle 6).

[0124] The laboratory apparatus may be a controllable dynamometer 12 that provides a load to either the vehicle powertrain or a set of wheel rolls (not shown), which either allows the vehicle's 6 wheels to rotate at a speed controlled by the vehicle itself during simulated driving. Alternatively, sensors, including an autonomous vehicle control system (e.g., radar, LiDAR, camera), may be mounted on a static structure or fixture (not shown) at a desired position for each sensor, for example, for the purpose of testing a new autonomous system prior to the availability of a finished vehicle in which the autonomous system is installed. A transparent or translucent monitor 210 is positioned between the camera 300 and the VLSCTA2 or a similar device as shown in Figure 9. The transparency of the screen or monitor 210 allows the camera 300 to view or detect all real objects (e.g., objects 8, 8', 218 located behind the screen or monitor 210) simultaneously with the projection of virtual lane markers 220 in the case of the screen or simultaneously with the display of virtual lane markers 220 in the case of the monitor. Furthermore, when the processor 360 (Figure 8) is supplied with object position data or target position data of an object behind the screen or monitor that it determines to coincide with the coordinates of the screen or monitor display 210 or the position of the virtual lane marker 220, the virtual lane marker 220 data is modified to mask the virtual lane marker 220 at those display or monitor 210 positions. In this way, an object (e.g., physical targets 8, 8', 218) located behind the display or monitor 210 is correctly visible to the camera 300 by preventing the virtual lane marker 220 from being visible to the camera 300 on or overlapping with the real object. The virtual lane marker 220 can be considered a “rear layer” of an object that allows the object to appear at least temporarily to cover or obstruct the view of the virtual lane marker 220 whenever, for example, during a lane change or overtaking operation or when a physical target 8, 8', 218 crosses an actual lane marker in a simulated roadway or scenario.By using vehicle speed data feedback 370 (Figure 8) from an associated laboratory dynamometer 12 or roll (not shown) or other instrument, the processor 360 continuously updates the masked lane marker 220 data output to the translucent screen or monitor 210, thereby providing dynamic lane markers 220 that reflect the simulated motion of the vehicle 6 or autonomous control system, the shape and extent of the simulated three-dimensional roadway, as well as the motion of simulated objects behind the screen or monitor in three dimensions, even during simulated driving operations. The net effect is the view to the camera 300 of actual physical targets or objects that are located behind the screen or monitor and move dynamically along the simulated roadway represented by the virtual lane markers 220, which are displayed on the screen or monitor, all according to the selected test scenario.

[0125] Vehicle 6 may also be tested under any traffic scenario or evasive driving actions, including vehicle 6 maneuvering operations performed by a human driver inside the vehicle or a human driver located far outside the vehicle 6, by a robotic driver (not shown), or by the vehicle 6 autonomous vehicle control system itself, for example, during an emergency braking lane change or while performing the "lane keeping assist" function to assist driving. Such maneuvering operations would result in a change to the relative position of vehicle 6 or the geometric relationship of vehicle 6 with respect to virtual lane markers 220, as detected by the vehicle camera 300, compared to the relative position or geometric relationship in the absence of the maneuvering operation. For example, a lateral lane change operation by vehicle 6 would be associated with the relative corresponding motion of vehicle 6 or any physical target 8, 8', 218 that is shifted proportionally in the opposite lateral direction based on maneuvering signals 380 from the dynamometer 12 or roll (not shown) steering mechanism (not shown) and the virtual lane markers 220. Always, and in relation to any operation performed by vehicle 6, or in relation to any movement of physical targets 8, 8', 218, the resulting view of the relative position of physical targets 8, 8', 218 to vehicle 6 and the view of the virtual lane markers 220 presented to the camera 300 of the autonomous vehicle 6 during the test accurately represent the view or perspective that the same vehicle camera 300 would have with respect to a real vehicle or object if the same operation were performed or the same test scenario were executed in the real world in the presence of similar real objects or targets.

[0126] An exemplary embodiment of the test method shown in Figure 9 provides the projection or display of virtual lane markers 220 for viewing by a camera 300 of a vehicle 6 that is appropriately coordinated in space and synchronized in time with inputs from any other vehicle sensors (including those associated with any camera, radar, and LiDAR systems) being tested and related to automated vehicle control.

[0127] The projector 216 projects dynamic images of the lane markers 220 associated with the vehicle operation onto a transparent or semi-transparent screen 210, thereby generating virtual lane markers 220 for traffic or driving scenarios to test the vehicle on the controllable dynamometer 12 or roll. Alternatively, the virtual lane markers 220 may be displayed on a transparent or semi-transparent video monitor appropriately positioned relative to the camera. As described above, the vehicle camera simultaneously "sees" these virtual lane markers 220 fused with its unobstructed view of the actual physical targets 8, 8', 218 via the transparent screen or transparent display monitor 210, while the vehicle 6 also simultaneously receives additional inputs from its radar and LiDAR sensors due to the presence of the same physical targets 8, 8', 218. The result is that "each sensor associated with the autonomous vehicle control system receives appropriate signals that would be indistinguishable from inputs that would be experienced from driving the vehicle 6 in the real world under the same traffic scenario." The vehicle autonomous control system can then combine and fuse various inputs as it is programmed to do so. Vehicle 6 can be tested under any traffic scenario consisting of various vehicle operations simulated by target bodies 8, 8', and 218, as described above, and maneuvering operations of vehicle 6 itself. Additional target bodies with lateral, longitudinal, and even vertical control may also be used.

[0128] Operations requiring lane changes (e.g., overtaking operations or merging operations) can be implemented using the two-dimensional motion of actual physical targets 8, 8', 218 whose speed or position is controlled in conjunction with the generation and projection or display of corresponding virtual lane markers 220. In this embodiment, any of the physical targets 8, 8', 218 can be physically moved not only forward and backward but also to the left and right relative to the test vehicle.

[0129] It should be noted that these operations also include non-vehicle physical targets (e.g., a simulation of a pedestrian crossing the street in front of the test vehicle). This may be achieved by the diagonal real motion of a physical pedestrian target in front of vehicle 6 (shown as part of a set of targets 218), thereby taking into account not only the horizontal motion of the pedestrian but also the forward motion of vehicle 6. The speed of test vehicle 6 on the dynamometer 12 or roll will be limited by the speed constraints of the physical targets used.

[0130] Figure 10 shows an embodiment of the present invention in which the motion range of a physical target 8, 8', 218 includes motion behind the test vehicle 6 on the dynamometer 12 or roll. This allows additional operations (e.g., passing operations) to be tested. If the vehicle autonomous control system employs a rear-facing camera, a rear-projection screen 210' or transparent monitor would also be necessary to display virtual lane markers on it. The use of a dynamometer with steering capability 12 or a roll with steering capability also allows the autonomous control vehicle to react laterally.

[0131] The exemplary scenario shown in Figure 10 is a simulated cyclist 240 crossing a road, or alternatively, a cyclist turning in front of the test vehicle 6 while moving in the same direction as the vehicle 6. Both of these exemplary operations require the ability to coordinate the movement of physical targets 8, 8', 240 in at least two dimensions (i.e., both longitudinally and laterally relative to the test vehicle 6), in conjunction with the virtual lane markers 220. These movements are always necessary when the vehicle 6 performs an evasive maneuver. It should be understood that the vehicle 6 does not need to be in a finished state, and even static test equipment (even without wheels) for mounting various autonomous or semi-autonomous sensors (e.g., radar sensors, LIDAR sensors, and cameras) in desired relative positions to each other and on transparent or translucent screens or monitors 210, 210' can be used instead of a finished vehicle. This testing method is particularly advantageous for developing autonomous or semi-autonomous systems prior to the availability of a finished vehicle, in order to adapt an autonomous or semi-autonomous system from use in one vehicle model to use in another vehicle model, or to easily replace autonomous or semi-autonomous components or in-loop sensors (for example, to evaluate the effect of replacing radar, LiDAR, or camera models with new or different models).

[0132] The processes, methods, or algorithms disclosed herein may be deliverable to or implemented by any processing device, controller, or computer, which may include any existing programmable electronic control unit or dedicated electronic control unit. Similarly, the processes, methods, or algorithms may be stored in many forms as data and instructions executable by a controller or computer (including, but not limited to, information permanently stored on non-writable storage media such as read-only memory (ROM) devices, and information already stored on writable storage media such as floppy disks, magnetic tapes, compact disks (CDs), random access memory (RAM) devices, and other magnetic and optical media). The processes, methods, or algorithms may also be implemented within software executable objects. Alternatively, the processes, methods, or algorithms may be embodied by using suitable hardware components, in whole or in part, such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), state machines, controllers, or other hardware components or devices, or combinations of hardware, software, and firmware components.

[0133] The terms used herein are descriptive rather than restrictive, and it is understood that various modifications may be made without departing from the spirit and scope of the disclosure and claims. As described above, features of several different embodiments may be combined to form several other embodiments, which may not be expressly described or shown. While various embodiments may be described as offering advantages over or being preferable to other embodiments or prior art embodiments with respect to one or more desired features, those skilled in the art will recognize that one or more features may be compromised to achieve desired overall system attributes that depend on the particular application and embodiment. These attributes include, but are not limited to, cost, strength, durability, life cycle cost, marketability, appearance, packaging, size, serviceability, weight, manufacturability, and ease of assembly. Thus, embodiments described as being less desirable than other embodiments or prior art implementations with respect to one or more features are not outside the scope of the disclosure and may be desirable for a particular application.

Claims

1. A test method for a camera-based autonomous or semi-autonomous vehicle control system, While the vehicle control system operates using at least one control input from at least one camera during the first laboratory test of the vehicle control system, Automatically controlling an electronic simulator configured to generate signals that indicate dynamic virtual lane markers based on speed schedules from experimental equipment or speed information from feedback signals; and A test method comprising displaying the virtual lane marker on a transparent or semi-transparent screen or monitor within the field of view of at least one camera, wherein the virtual lane marker is displayed at coordinates on the screen or monitor determined based on a spatial relationship defined between the at least one camera and the screen or monitor.

2. The generated signal is The coordinates of the virtual lane marker on the screen or monitor, The test method according to claim 1, wherein a modified virtual lane marker, masked on the transparent or semi-transparent screen or monitor, is displayed at a position that coincides with coordinates on the screen or monitor corresponding to the position information of a detected or simulated object.

3. The test method according to claim 1, further comprising detecting, with the at least one camera, an object or simulated object that is moving relative to the vehicle and is visible through the screen or monitor and behind the screen or monitor.

4. A method for testing a vehicle using a camera-based autonomous or semi-autonomous vehicle control system, While the vehicle operates based on at least one control input from at least one camera during the first laboratory test of the vehicle, Automatically controlling an electronic simulator configured to generate signals indicating dynamic virtual lane markers based on speed information from the vehicle or feedback signals from experimental equipment; and A test method comprising displaying the virtual lane marker on a transparent or semi-transparent screen or monitor within the field of view of at least one camera, wherein the virtual lane marker is displayed at coordinates on the screen or monitor determined based on a spatial relationship defined between the at least one camera and the screen or monitor.

5. The generated signal is The coordinates of the virtual lane marker on the screen or monitor, The test method according to claim 4, wherein a masked, modified virtual lane marker is displayed on the screen or monitor at a position that coincides with coordinates on the screen or monitor corresponding to the position information of a detected or simulated object.

6. The test method according to claim 4, further comprising detecting, with the at least one camera, an object or simulated object that is moving relative to the vehicle and is visible through and behind the screen or monitor.

7. While the dynamometer assembly applies a load to the autonomous or semi-autonomous vehicle during the first laboratory test of the autonomous or semi-autonomous vehicle, or while the roller assembly allows the autonomous or semi-autonomous vehicle to perform simulated motion during the first laboratory test of the autonomous or semi-autonomous vehicle, Automatically controlling an electronic simulator configured to display virtual lane markers moving relative to the vehicle on a transparent or semi-transparent screen or monitor, in accordance with speed parameter feedback from the dynamometer assembly, the roller assembly, or the vehicle; and The aforementioned virtual lane marker, A test method comprising detecting, by means of a camera, an object or simulated object that is moving relative to the vehicle and is visible through and behind the screen or monitor.

8. The virtual lane markers are selectively masked according to the coordinate data on the screen or monitor that matches the position data of the detected or simulated object. moreover, The masked virtual lane marker and, The test method according to claim 7, comprising detecting by the camera an object or simulated object that is moving relative to the vehicle and is visible through and behind the screen or monitor.

9. A road lane marker generation and virtual display system for testing camera-based autonomous or semi-autonomous vehicles or vehicle control systems, wherein the system is: Data input channels for electronically receiving test configuration data, road design data, simulated or real object position data, and simulated vehicle speed data; A processor for generating virtual lane marker data; A data output channel for electronically outputting virtual lane marker data; and Includes a transparent or semi-transparent display screen or monitor for displaying virtual lane markers, The aforementioned test configuration data defines the geometric relationship between the camera and the display screen or monitor, and the spatial orientation of the screen or monitor. The aforementioned simulated or real object position data defines the position of an object visible through the display screen or monitor. The aforementioned roadway design data defines the size and position of the virtual lane markers, The system comprises a processor that receives data from the data input channel, outputs the virtual lane marker data to the transparent or semi-transparent display screen or monitor via the data output channel, and the transparent or semi-transparent display screen or monitor that displays the virtual lane marker.

Images