Test specimen testing system, test specimen testing method, and test specimen testing program

Abstract

The objective of the present invention is to reduce the number of man-hours required for testing a vehicle that includes an automated driving system or an advanced driving assistance system, and to enable a development period for the same to be reduced, and to this end, the present invention provides a test specimen testing system 100 for testing a test specimen W, which is a vehicle including an ADAS or an AD, or a portion of said vehicle, the test specimen testing system 100 comprising a dynamometer 2 for causing the test specimen W to run in a simulated manner, an ambient environment input device 3 for inputting an ambient environment to the test piece W, and an automated driving robot 4 for performing a brake operation, an accelerator operation, or a steering wheel operation of the test specimen W, wherein, on the basis of an input from the ambient environment input device 3, the automated driving robot 4 causes an active running state in which the test specimen W runs actively by means of the ADAS or the AD, and a passive running state in which the test specimen W runs passively by means of the brake operation, the accelerator operation or the steering wheel operation, to be linked together.

Description

Specimen testing system, specimen testing method, and specimen testing program

[0001] The present invention relates to a specimen testing system, a specimen testing method, and a specimen testing program.

[0002] Conventionally, when developing an advanced driver assistance system or automated driving system (hereinafter also referred to as AD / ADAS) such as adaptive cruise control (ACC) using a dynamometer, the following steps (1) to (5) are performed by a human. (1) The dynamometer applies a load to the vehicle based on a predetermined load calculation. (2) The driver operates the vehicle (engine on, gear shift, acceleration, etc.) until the AD / ADAS can be enabled. (3) The adaptive cruise control or other function provided by the vehicle's AD / ADAS is enabled. (4) The adaptive cruise control or other function provided by the vehicle's AD / ADAS is disabled. (5) The vehicle is stopped by the driver's operation.

[0003] As disclosed in Patent Document 1, a vehicle inspection device for inspecting vehicles equipped with a driving assistance system has been devised. This vehicle inspection device has a free loader for driving inspections and a diagnostic device that outputs a simulated signal created in advance based on image signals output from a stereo camera and checks the operation of the driving assistance system. With the vehicle loaded onto the free loader, the simulated signal is input to a self-diagnosis circuit in the image processing unit to operate the driving assistance system and check its operation.

[0004] Japanese Patent Application Laid-Open No. 2002-257688

[0005] In recent years, with the increasing demand for vehicles equipped with AD / ADAS, the number of tests required for the development of such vehicles has been increasing, and the number of test man-hours required for development has also been increasing. Meanwhile, due to a labor shortage caused by a declining birthrate and aging population, it has become difficult to secure the test man-hours required for development. For this reason, the automation of vehicle testing has been considered, but existing vehicle testing using dynamometers does not have a system that allows for the transition between driver control and AD / ADAS control, making it difficult to realize the automation of vehicle testing.

[0006] Therefore, the present invention has been made in consideration of the above-mentioned problems, and its main objective is to reduce the number of testing man-hours for vehicles equipped with an automated driving system or an advanced driver assistance system, and to enable the shortening of the development period.

[0007] In other words, the specimen testing system of the present invention is a specimen testing system for testing a vehicle or a part thereof that has an autonomous driving system (hereinafter referred to as AD) or an advanced driver assistance system (hereinafter referred to as ADAS), and is characterized in that it comprises a dynamometer that applies a load to the specimen, and an autonomous driving robot that operates the brakes, accelerator or steering of the specimen, and the autonomous driving robot links an active driving state in which the specimen actively drives by the AD or ADAS, with a passive driving state in which the specimen passively drives by operating the brakes, accelerator or steering.

[0008] With such a test specimen testing system, an autonomous driving robot can link an active driving state in which the test specimen actively drives using AD or ADAS, with a passive driving state in which the test specimen drives passively by operating the brakes, accelerator or steering, eliminating the need for a human to be responsible for the test specimen's passive driving state. This reduces the amount of testing labor required for vehicles with AD or ADAS, and also makes it possible to shorten the development period by enabling operations such as night-time autonomous driving for testing.

[0009] In order to test the AD or ADAS functions, the specimen testing system further includes a control unit that controls the autonomous driving robot, and the control unit controls the dynamometer and the autonomous driving robot to link the active driving state and the passive driving state. The control unit includes a load control device that controls the dynamometer, a robot control device that controls the autonomous driving robot, and a host control device that inputs various signals to these control devices and controls the dynamometer and the autonomous driving robot.

[0010] In addition, in order to test the functions of AD or ADAS, the specimen testing system of the present invention may further include a surrounding environment input device that inputs a simulated signal that simulates the surrounding environment to the specimen, and the control unit may control the autonomous driving robot in accordance with the input from the surrounding environment input device to link the active driving state and the passive driving state.

[0011] The control unit controls the dynamometer, and it is also conceivable that the control unit controls the autonomous driving robot and the dynamometer to link the active driving state and the passive driving state.

[0012] A specific embodiment for automatically transitioning from passive driving by an autonomous driving robot to active driving by AD or ADAS is to have an operating actuator that starts or ends active driving by the AD or ADAS of the test subject, and it is desirable to stop at least one of the brake operation, accelerator operation or steering operation of the test subject at the timing when active driving by the AD or ADAS of the test subject starts, or to operate an operation button related to the ADAS.

[0013] As a specific embodiment for automatically transitioning from active driving by AD or ADAS to passive driving by the autonomous driving robot, it is desirable that the autonomous driving robot resumes at least one of braking, accelerating or steering of the test specimen, or operates an operation button related to the ADAS, when the test specimen's active driving by AD or ADAS ends.

[0014] When enabling adaptive cruise control of AD or ADAS, it is necessary to set the ADAS state, target vehicle speed, or following distance. The ADAS state includes at least one of the following states: ADAS off, standby, or set. Therefore, in order to inspect adaptive cruise control of AD or ADAS using the vehicle test system of the present invention, it is preferable that the vehicle test system of the present invention further includes a camera that captures an image of the instrument panel or head-up display of the vehicle under test and an analyzer that reads and analyzes the image captured by the camera, the actuator has a function for setting the adaptive cruise control of the vehicle under test, and the autonomous driving robot sets at least one of the target vehicle speed of the vehicle under test or the following distance from a vehicle ahead using the actuator based on the results of reading and analyzing the image captured by the camera.

[0015] Here, depending on the results of reading and analysis by the analysis device, the vehicle is switched between an active driving state and a passive driving state, or the passive driving state is continued.

[0016] (1) Example of transition from passive driving state to active driving state When the autonomous driving robot detects from the vehicle speed display on the meter, etc., that it has entered an area where adaptive cruise control (ACC) can be turned on (for example, a vehicle speed of 30 km / h), it presses the ADAS set button and transitions to ADAS driving.

[0017] (2) Example of transition from active driving state to passive driving state When the vehicle speed display on the meter or the like detects that the vehicle has moved outside the adaptive cruise control (ACC) operating range (for example, when the vehicle speed is slower or faster than a predetermined speed), the autonomous driving robot begins active driving by operating the pedals.

[0018] (3) Example of continuation of passive driving by ADAS If the vehicle ahead stops during passive driving, the vehicle will automatically stop. When this happens, a brake instruction will be displayed on the meter. When the autonomous driving robot recognizes this display, it will apply the brakes (ADAS continues). After that, when the vehicle ahead starts moving, a restart button press instruction will be displayed on the meter. When the autonomous driving robot recognizes this display, it will operate the button on the steering wheel and the vehicle will start moving.

[0019] In many cases, the operation buttons for the AD or ADAS are provided on the steering wheel, and if a manipulator is extended from the robot body of an autonomous driving robot provided in the driver's seat as in the past, the operation buttons cannot be pressed when the steering wheel is turned. In order to suitably solve this problem, it is desirable that the actuation actuator be fixed to the steering wheel of the test specimen.

[0020] Furthermore, during active driving using AD or ADAS, depending on the conditions, hands-on (holding the steering wheel) may be required. In this case, it is desirable to provide a hands-on simulation unit that simulates hands-on on the fixing member that fixes the actuation actuator to the steering wheel. If the sensor that detects hands-on is a torque sensor, the hands-on simulation unit is configured by attaching a weight to the fixing member. Also, if the sensor that detects hands-on is a capacitance sensor, it is configured by attaching a capacitor to the steering contact surface of the fixing member. Note that if the steering wheel turns on its own due to uneven placement of the actuation actuator or weight attached to the steering wheel, an additional weight may be attached to the opposite side to balance it out.

[0021] In order to stop active driving by AD or ADAS when the specimen test system becomes unable to operate normally due to a power outage or loss of power, etc., it is desirable that the autonomous driving robot have a stop actuator that cancels the active driving by AD or ADAS of the specimen by stepping on the brake pedal of the specimen or pressing a cancel button for the AD or ADAS function.

[0022] Furthermore, the test specimen testing method of the present invention is a test specimen testing method for testing a test specimen that is a vehicle or part thereof that has an automated driving system (hereinafter referred to as AD) or an advanced driver assistance system (hereinafter referred to as ADAS), and is characterized in that it uses a dynamometer that applies a load to the test specimen and an automated driving robot that operates the brakes, accelerator or steering of the test specimen, and by using the automated driving robot, links an active driving state in which the test specimen actively drives by the AD or ADAS with a passive driving state in which the test specimen passively drives by operating the brakes, accelerator or steering.

[0023] Furthermore, the specimen testing program of the present invention is a specimen testing program used in a specimen testing system that tests a vehicle or a part thereof that has an autonomous driving system (hereinafter referred to as AD) or an advanced driver assistance system (hereinafter referred to as ADAS), wherein the specimen testing system is equipped with a dynamometer that applies a load to the specimen and an autonomous driving robot that operates the brakes, accelerator or steering of the specimen, and the specimen testing program is characterized in that it controls the autonomous driving robot to cause a computer to perform the function of linking an active driving state in which the specimen actively drives by the AD or ADAS with a passive driving state in which the specimen passively drives by operating the brakes, accelerator or steering.

[0024] According to the present invention configured in this manner, it is possible to reduce the number of man-hours required for testing a vehicle having an automated driving system or an advanced driver assistance system, and to shorten the development period.

[0025] FIG. 1 is a schematic diagram showing a specimen testing system according to one embodiment of the present invention; FIG. 2 is a schematic diagram showing a gradient profile relative to a travel distance in the same embodiment; FIG. 3 is a schematic diagram showing a steering wheel (handle) in the same embodiment as viewed from the front; FIG. 4 is a schematic diagram showing a configuration of a hands-on simulation unit in the same embodiment; FIG. 5 is a schematic diagram showing a stopping actuator in the same embodiment; and FIG. 6 is a diagram showing the procedure of a specimen testing method in the same embodiment.

[0026] <One embodiment of the present invention> Hereinafter, one embodiment of a specimen testing system according to the present invention will be described with reference to the drawings. Note that in all of the drawings shown below, parts are appropriately omitted or exaggerated for clarity. Identical components are assigned the same reference numerals, and descriptions thereof will be omitted as appropriate.

[0027] The specimen testing system 100 of this embodiment is used to test a vehicle (hereinafter also referred to as an AD / ADAS vehicle) having an automated driving system (hereinafter referred to as AD) or an advanced driver assistance system (hereinafter referred to as ADAS), or a specimen W that is part of such a vehicle.

[0028] Specifically, as shown in Figure 1, the specimen testing system 100 includes a dynamometer 2 for simulating a run of the specimen W, an ambient environment input device 3 for inputting the ambient environment to the specimen W, and an autonomous driving robot 4 for operating the brakes, accelerator, or steering of the specimen W.

[0029] The dynamometer 2 of this embodiment is a so-called chassis dynamometer, and includes front wheel rollers 21 on which the front wheels of the test specimen are mounted, rear wheel rollers 22 on which the rear wheels of the test specimen are mounted, load devices 23 and 24 connected to the front wheel rollers 21 and rear wheel rollers 22, respectively, and a load control device 25 that controls the load devices 23 and 24. The front wheel rollers 21 and rear wheel rollers 22 of the dynamometer 2 rotate in accordance with the movement of the test specimen W.

[0030] The load control device 25 controls the load devices 23, 24 so that the test specimen W travels in a predetermined travel pattern (vehicle speed pattern). In this embodiment, the load control device 25 performs gradient control (control of gradient with respect to travel distance) in Road Load Simulation (RLS) control of the dynamometer in a predetermined travel pattern, as shown in Fig. 2, in order to reproduce the load due to the road gradient. This gradient control with respect to travel distance is performed using a gradient profile that associates a load according to the gradient with the travel distance of the test specimen W.

[0031] 2, for example, the section from the 100 m point to the 200 m point is a downhill gradient, and the load control device 25 controls the load devices 23, 24 to provide a negative gradient load corresponding to the downhill gradient. Furthermore, the section from the 200 m point to the 300 m point is an uphill gradient, and the load control device 25 controls the load devices 23, 24 to provide a positive gradient load corresponding to the uphill gradient. Additionally, when the vehicle is on flat ground (zero gradient), the load control device 25 controls the load devices 23, 24 to provide a zero gradient load.

[0032] The dynamometer 2 is not limited to a chassis dynamometer, but may be configured to include a hub dynamo or a flat dynamo connected to the axle of the test specimen W. In the case of a configuration including a hub dynamo, it may be possible to connect it to the axle using, for example, a freewheel or a universal joint. The dynamometer 2 may also be configured to be connected only to the drive wheels of the test specimen W.

[0033] The surrounding environment input device 3 inputs the surrounding environment when the specimen W runs in a simulated manner to the specimen W. Specifically, the surrounding environment input device 3 may be configured to input a simulated signal simulating the surrounding environment when the specimen W runs in a simulated manner to various sensors (radar, LiDAR, ultrasonic sensor, camera, GNSS, etc.) mounted on the specimen W.

[0034] In this case, the surrounding environment input device 3 includes a radar simulator that inputs a radar simulation signal to a radar, a LiDAR simulator that inputs a LiDAR simulation signal to a LiDAR, an ultrasonic sensor simulator that inputs an ultrasonic sensor simulation signal to an ultrasonic sensor, a camera simulator that inputs a camera simulation signal to a camera, or a GNSS simulator that inputs a GNSS simulation signal to a GNSS, etc. Furthermore, the surrounding environment input device 3 may be a physical structure that is arranged around various sensors and simulates the surrounding environment.

[0035] Alternatively, the ambient environment input device 3 may be configured to input a simulated signal simulating the ambient environment when the test piece W is running in a simulated manner to the ECU of the AD / ADAS vehicle.

[0036] The autonomous driving robot 4 includes an operation actuator 41 that operates the brake pedal, accelerator pedal, or steering wheel of the test specimen W, and a robot control device 42 that controls the operation actuator 41. The robot control device 42 operates the operation actuator 41 so that the test specimen W can travel according to command values ​​based on commands from the higher-level control device 5, or so that the test specimen W can travel in a predetermined travel pattern (vehicle speed pattern).

[0037] The dynamometer 2, surrounding environment input device 3, and autonomous driving robot 4 are controlled by a host control device 5, as shown in Figure 1. Specifically, the host control device 5 inputs various signals to the load control device 25 of the dynamometer 2, the surrounding environment input device 3, and the robot control device 42 of the autonomous driving robot 4, thereby controlling the dynamometer 2, the surrounding environment input device 3, and the autonomous driving robot 4. Note that if the surrounding environment input device 3 is configured to input a simulated signal to the ECU of the AD / ADAS vehicle, the surrounding environment input device 3 may be incorporated into the host control device 5.

[0038] In addition, in the specimen testing system 100 of this embodiment, in response to input from the surrounding environment input device 3, the autonomous driving robot 4 links an active driving state in which the specimen W actively drives using AD / ADAS, with a passive driving state in which the specimen W drives passively using brake operation, accelerator operation, or steering operation.

[0039] Specifically, as shown in Figures 1 and 3, the autonomous driving robot 4 has an operating actuator 43 that starts or ends active driving by the AD or ADAS of the test specimen W. This operating actuator 43 operates a start button included in a button group B (see Figure 3) provided on the front of the steering wheel W1 of the test specimen W, thereby operating at least the start of active driving. The operation of this start button is performed by the robot control device 42 controlling the operating actuator 43.

[0040] The operating actuator 43 is fixed to the steering wheel W1 (specifically, the handle) of the specimen W. Specifically, the operating actuator 43 is fixed to the steering wheel W1 by a fixing member 6.

[0041] As shown in Fig. 4, the fixed member 6 is provided with a hands-on simulation unit 7 that simulates a state in which the driver is holding the steering wheel W1 with his or her hands on the steering wheel. When the sensor that detects the hands-on state is a torque sensor, the hands-on simulation unit 7 can be configured, for example, by attaching a weight 71 to the fixed member 6, as shown in Fig. 4(a). When the sensor that detects the hands-on state is a capacitance sensor, the hands-on simulation unit 7 can be configured, for example, by attaching a capacitor 72 to the steering contact surface of the fixed member 6, as shown in Fig. 4(b).

[0042] Then, at the timing when the autonomous driving robot 4 starts active driving using the AD / ADAS, it stops at least one of the braking operation, accelerator operation, and steering operation performed by the operation actuator 41. This puts the test piece W into an active driving state. This stopping of at least one of the braking operation, accelerator operation, and steering operation is performed by the robot control device 42 controlling the operation actuator 41.

[0043] Furthermore, the autonomous driving robot 4 resumes at least one of braking, accelerating, and steering of the test subject W when active driving by the AD / ADAS ends or when active driving ends due to another event (an event that terminates active driving). This causes the test subject W to enter a passive driving state. This resumption of at least one of braking, accelerating, and steering is performed by the robot control device 42 controlling the operation actuator 41.

[0044] Here, a specific example for testing the adaptive cruise control function of the test subject W will be described. In this case, the test subject testing system 100 may further include a camera 8 that captures an image of the instrument panel of the test subject W, and an analysis device 9 that reads and analyzes the image captured by the camera 8, as shown in FIG. 1 . The image (which may be a still image or a moving image) captured by the camera 8 is then transmitted to the analysis device 9. The results of the reading and analysis by the analysis device 9 are transmitted to the upper control device 5, and depending on the content of the image, the upper control device 5 operates the actuation actuator 43 to start active driving.

[0045] Furthermore, the operating actuator 43 of the autonomously driving robot 4 has a function of setting the adaptive cruise control of the test specimen W. This operating actuator 43 sets the adaptive cruise control, for example, by operating an adaptive cruise control setting button (included in button group B (see FIG. 3 )) provided on the front of the steering wheel. Specifically, the autonomously driving robot 4 sets at least one of the target vehicle speed of the test specimen W or the distance to the vehicle ahead by the operating actuator 43 based on the results of reading and analyzing the image captured by the camera 8. This setting is performed by the host control device 5 transmitting a setting signal to the robot control device 42 so that a predetermined setting value is achieved based on the results of reading and analyzing the image captured by the camera 8, and the robot control device 42 receiving the setting signal controls the operating actuator 43.

[0046] Furthermore, the specimen testing system 100 of this embodiment may have an emergency stop function that stops active driving by the AD / ADAS in the event of a loss of power due to a power outage, etc. Specifically, as shown in Figures 1 and 5, the autonomous driving robot 4 has a stop actuator 44 that cancels active driving by the AD / ADAS of the specimen W by stepping on the brake pedal of the specimen W.

[0047] The stop actuator 44 is configured to press the brake pedal when no power is supplied. For example, as shown in FIG. 5( a), under normal circumstances, the plunger 44a is separated from the brake pedal by motor drive or the like. In the event of a power outage or other power loss, as shown in FIG. 5( b), the motor drive or the like is released, and the plunger 44a extends by the elastic body 44b or the like, pressing the brake pedal. This cancels active driving by the AD / ADAS. The test specimen W then stops. The stop actuator 44 is provided separately from the brake actuator 41, but the stop actuator 44 and the brake actuator 41 may be a common actuator. Alternatively, the stop actuator 44 may be configured to press a predetermined button to cancel the AD / ADAS function. The stop actuator 44 may also be configured using an air cylinder.

[0048] <Specimen Testing Method> Next, a specimen testing method using the specimen testing system 100 of this embodiment will be described with reference to FIG.

[0049] (1) Setting the Conditions of the Test Sequence First, the test specimen W is placed on the chassis dynamometer 2. Then, the test sequence is set using the higher-level control device 5. Setting this test sequence includes setting the vehicle speed pattern of the test specimen W, setting road surface information including road surface gradient, setting the position of the preceding vehicle, setting the vehicle speed pattern of the preceding vehicle, and setting various AD / ADAS parameters for the test specimen W. The various parameters include parameters related to control that is adapted during development, or parameters selected by the driver according to their preferences, such as a set vehicle speed or a set following distance.

[0050] (2) Test execution (2-1) Initial condition sequence When the test is executed, the upper control device 5 inputs a target vehicle speed signal to the robot control device 42 of the autonomous driving robot 4, and the robot control device 42 controls the actuator 41 for accelerator operation to accelerate the test specimen W to the target vehicle speed (passive driving state).

[0051] (2-2) AD / ADAS Activation Sequence After the test specimen W is accelerated to the target vehicle speed, the host controller 5 inputs an AD / ADAS activation signal to the robot controller 42 of the autonomous driving robot 4, and the robot controller 42 controls the activation actuator 43 to operate the AD / ADAS activation button of the test specimen W. This activates the AD / ADAS of the test specimen W. Then, the host controller 5 determines the target vehicle speed and the set distance from the vehicle ahead of the test specimen W based on the results of reading and analyzing the image captured by the camera 8, and inputs the signal to the robot controller 42. For example, the robot controller 42 controls the activation actuator 43 to operate the adaptive cruise control setting button to set the adaptive cruise control. As a result, the test specimen W travels on the chassis dynamometer 2 using the adaptive cruise control (active driving state). Simultaneously with or after the start of the AD / ADAS operation sequence, a simulation signal simulating the surrounding environment, such as information indicating the vehicle ahead (for example, the speed of the vehicle ahead), is input to the test piece W by the surrounding environment input device 3.

[0052] (2-3) Gradient or Forward Vehicle Speed ​​Sequence In this embodiment, a load due to a road surface gradient is applied to the test specimen W while the test specimen W is traveling using adaptive cruise control. This load due to the road surface gradient is input by the load devices 23 and 24. Here, the road surface gradient may be a step gradient, in which the gradient changes in a stepwise manner, or a transition gradient, in which the gradient changes continuously.

[0053] (2-4) End sequence After the above gradient sequence is completed, the host control device 5 inputs an AD / ADAS stop signal to the robot control device 42 of the autonomous driving robot 4, and the robot control device 5 controls the operating actuator 43 to operate the stop button of the adaptive cruise control of the specimen W. This stops the adaptive cruise control of the specimen W. Next, the robot control device 5 controls the actuator 43 to stop the AD / ADAS of the specimen W. When the AD / ADAS of the specimen W has stopped, the robot control device 42 controls the brake operation actuator 41 and the like to stop the specimen W.

[0054] (3) Data Management The various data obtained in the above "(2) Test Execution" are collected and analyzed by the upper control device 5. This makes it possible to examine the validity of parameters related to the control of the AD / ADAS in the test specimen W and to propose optimal parameters.

[0055] <Effects of this embodiment> According to the thus configured specimen testing system 100 of this embodiment, the autonomous driving robot 4 links an active driving state in which the specimen W actively drives using AD / ADAS with a passive driving state in which the specimen W drives passively using brake, accelerator, or steering operation, thereby eliminating the need for a human to be responsible for the passive driving state of the specimen W. As a result, it is possible to reduce the man-hours required for testing vehicles equipped with AD / ADAS, and to shorten the development period by enabling operations such as nighttime autonomous driving tests, for example.

[0056] <Other Embodiments> For example, although the above embodiment shows an example of testing the adaptive cruise control function, various other AD / ADAS functions (e.g., lane keeping, emergency avoidance, automatic braking, etc.) may also be tested. In this case, in accordance with the test of various AD / ADAS functions, the surrounding environment input device 3 inputs simulated signals for testing various functions to the test piece W.

[0057] In addition, the load applied by the dynamometer is acquired by an external simulation device, and the vehicle speed is calculated according to the vehicle model and the external environment (road, etc.). The calculated vehicle speed may be used as a target vehicle speed to control the chassis dynamometer 2. In this case, the chassis dynamometer 2 is speed-controlled so as to achieve the calculated target vehicle speed.

[0058] In addition, various modifications and combinations of the embodiments may be made as long as they do not go against the spirit of the present invention.

[0059] According to the present invention, it is possible to reduce the number of man-hours required for testing a vehicle having an automated driving system or an advanced driver assistance system, and to shorten the development period.

[0060] REFERENCE SIGNS LIST 100... Specimen testing system W... Specimen 2... Dynamometer 3... Surrounding environment input device 4... Automatic driving robot 41... Operation actuator 42... Robot control device 43... Operation actuator 44... Stopping actuator 5... Upper control device

Claims

1. A test specimen testing system for testing a vehicle having an automated driving system (hereinafter, AD) or an advanced driver assistance system (hereinafter, ADAS) or a test specimen that is a part thereof, A dynamometer for applying a load to the specimen; An automatic driving robot that performs braking, accelerating or steering of the test specimen, A specimen testing system in which the autonomous driving robot links an active driving state in which the specimen actively drives using AD or ADAS, and a passive driving state in which the specimen passively drives using the brakes, accelerator, or steering wheel.

2. A control unit for controlling the autonomous driving robot is further provided. The specimen testing system according to claim 1 , wherein the control unit controls the autonomous driving robot to link the active driving state with the passive driving state.

3. The test piece further includes an ambient environment input device for inputting a simulated signal simulating an ambient environment to the test piece, The specimen testing system according to claim 2 , wherein the control unit controls the autonomous driving robot in response to an input from the surrounding environment input device to link the active driving state with the passive driving state.

4. The control unit controls the dynamometer, The specimen testing system according to claim 2 or 3, wherein the control unit controls the autonomous driving robot and the dynamometer to link the active driving state with the passive driving state.

5. The autonomous driving robot is An actuator for starting or ending active travel by the AD or ADAS of the test specimen; 2. The specimen testing system according to claim 1, wherein at least one of the brake operation, accelerator operation, and steering operation of the specimen is stopped at the timing when active driving by the AD or ADAS of the specimen is started.

6. The autonomous driving robot is 6. The specimen testing system according to claim 5, wherein at least one of braking operation, accelerator operation, and steering operation of the specimen is resumed when active driving by the AD or ADAS of the specimen is terminated.

7. Further comprising a camera for capturing an image of the instrument panel or head-up display of the test specimen, and an analysis device for reading and analyzing the captured image of the camera; the actuation actuator has a function of setting an adaptive cruise control of the test specimen, The specimen testing system according to claim 5 or 6, wherein the autonomous driving robot sets at least one of the target vehicle speed of the specimen or the distance between the specimen and the vehicle in front by the actuation actuator based on the results of reading and analyzing the image captured by the camera.

8. 7. The system for testing a specimen according to claim 5 or 6, wherein the actuation actuator is fixed to a steering wheel of the specimen.

9. 9. The specimen testing system according to claim 8, further comprising a hands-on simulation section for simulating a hands-on state, the hands-on simulation section being provided on a fixing member for fixing the operating actuator to the steering wheel.

10. 4. The specimen testing system according to claim 1, wherein the autonomous driving robot has a stop actuator that cancels active driving by the AD or ADAS of the specimen by stepping on the brake pedal of the specimen or by pressing a cancel button of the AD or ADAS function.

11. A test specimen testing method for testing a vehicle having an automated driving system (hereinafter, referred to as AD) or an advanced driver assistance system (hereinafter, referred to as ADAS) or a part thereof, comprising: A dynamometer is used to apply a load to the test specimen, and an automatic driving robot is used to perform braking, accelerating, or steering of the test specimen. A specimen testing method in which the autonomous driving robot links an active driving state in which the specimen actively drives using AD or ADAS with a passive driving state in which the specimen passively drives using the brakes, accelerator or steering wheel.

12. A test specimen test program used in a test specimen test system that tests a vehicle having an automated driving system (hereinafter, AD) or an advanced driver assistance system (hereinafter, ADAS) or a test specimen that is a part thereof, The specimen testing system includes: A dynamometer for applying a load to the specimen; An automatic driving robot that operates the brakes, accelerators, or steering wheels of the test specimen, The specimen testing program controls the autonomous driving robot to cause a computer to perform the function of linking an active driving state in which the specimen actively drives using AD or ADAS with a passive driving state in which the specimen passively drives using the brakes, accelerator or steering wheel.