Front anticollision test system and method for testing based on distance testTechnical field
The invention belongs to technical field of vehicle safety, more particularly, to a kind of front anticollision test system based on distance testSystem and method of testing.
Background technology
With the development of technology, intelligent vehicle field is gradually paid attention to by domestic and international technical enterprise, therefore develops senior drivingThe company for sailing aid system (ADAS) is numerous, but at present the country almost can not find independent development and being capable of accurate validation ADAS work(Can test system, and the system that state external enwergy provides test ADAS is also few, and easily 1,500,000～2,000,000, so in testChecking aspect, is undoubtedly one kind and hinders for some domestic exploitation ADAS and small company, and testing costHeight, error is big.In the market in the urgent need to a kind of simple, practical, economic and little a set of test system of measurement error.
In order to solve the problems, such as prior art, people have carried out long-term exploration, it is proposed that solution miscellaneousScheme.For example, Chinese patent literature discloses a kind of ADAS virtual developments and test system [application number：201510687940.7], including for gathering the collecting unit of true traffic environment, for simulating the virtual of true driving behaviorDrive unit, the real-time emulation unit for simulating true or virtual environment and vehicle driving posture and for display informationDisplay unit.
Such scheme solves to a certain extent problem of the prior art, but the program does not still solve existing skillArt testing cost is high, the big technical problem of measurement error.
The content of the invention
The purpose of the present invention is for the problems referred to above, there is provided a kind of simple, economic front anticollision based on distance testTest system.
Another object of the present invention is for the problems referred to above, there is provided a kind of measurement error it is little based on distance testThe method of testing of front anticollision test system.
To reach above-mentioned purpose, following technical proposal is present invention employs：This front anticollision based on distance test is testedSystem, including target vehicle, be provided with ADAS to be tested test vehicle and installed in for target vehicle and test vehicle rowSome induction installations on the track sailed or stop, described induction installation is along track longitudinally spaced distributions and works as target vehicleOr test vehicle be located at corresponding induction installation position when the induction installation can produce corresponding induced signal, described induction installationBe connected with signal projector and signal projector can receive induced signal, be provided with described test vehicle with it is to be testedADAS is connected and energy collecting test vehicle speed, the corresponding induction installation of arrival sense the moment and receive what ADAS to be tested was calculatedFirst controller of collision time, being provided with described target vehicle can gather target vehicle speed and the corresponding sensing dress of arrivalThe second controller at sensing moment is put, described the first controller and second controller is connected with signal projector and signal is sent outEmitter can respectively to the first controller and second controller forwarding data, and the first described controller is connected and base station energy with base stationEnough reception is calculated the collision warning deviation ratio for obtaining by the first controller.Using the induction installation for being uniformly erected at track both sides,When vehicle drives to the region equipped with induction installation, headstock block induced signal, signal projector sends out signal, testThe first controller and second controller on vehicle and target vehicle upon receipt of the signals, takes immediate measure, acquisition processVehicle speed information and range information, finally draw warning deviation ratio, and the accuracy of anti-collision warning before checking, the test system is openedLow cost is sent out, error is little, popularization of being more convenient for.
In the above-mentioned front anticollision test system based on distance test, described induction installation is equal along track longitudinal directionIt is even to be spaced apart.
In the above-mentioned front anticollision test system based on distance test, the spacing distance of described induction installation is not littleIn target vehicle and the respective length of test vehicle.
In the above-mentioned front anticollision test system based on distance test, be connected with the first described controller forIt is input into the data input list including the data including target vehicle length of wagon, induction installation spacing distance, induction installation numberingUnit.
In the above-mentioned front anticollision test system based on distance test, described induction installation be include transmitting terminal andThe opposite type sensor of receiving terminal, the transmitting terminal and receiving terminal of same induction installation are located at respectively track both sides, described receiving terminalIt is connected with signal projector.
This front anticollision test system and test method based on distance test, comprises the following steps：
A, by data input cell to the first controller input include target vehicle length of wagon, induction installation spacerNumber in interior data from, induction installation；
B, target vehicle stop or travel on track, test vehicle travel on track, target vehicle and test vehicleInduction installation sends out induced signal when at corresponding induction installation, and second controller is receiving target vehicle placeSpeed, the corresponding induction installation sensing moment of target vehicle are gathered after the induced signal of the induction installation of position, and these are believedBreath is sent to the first controller, and the first controller is adopted after the induced signal of induction installation of test vehicle position is receivedThe speed of collection test vehicle, corresponding induction installation sense the moment and receive collision time TTC that now ADAS to be tested is calculated,First controller calculates time to approach t according to the data for receiving；
C, the first controller are compared collision time TTC and time to approach t, so as to obtain collision warning deviation ratio.
In above-mentioned step B, described target vehicle is rested on track and the tailstock of target vehicle is located at sensing dressAt the n-th induction installation put, described tests vehicle at the uniform velocity or the non-headstock for evenly travelling on track and testing vehicleThe speed that vehicle is tested when reaching at n-th induction installation is V, and wherein N is more than n, and the spacing of each induction installation is s, nowCollision time TTC that ADAS to be tested is calculated, then：
The time to approach t that first controller is calculated is：T=s (N-n)/V；
Collision warning deviation ratio
In above-mentioned step B, the spacing of each induction installation is s, and described target vehicle is at the uniform velocity travelled on track,Described test vehicle at the uniform velocity or it is non-evenly travel on track and move closer to target vehicle, when target vehicle and test surveyWhen amount is respectively positioned on track and is provided with the test zone of induction installation, the headstock of target vehicle is reached at m-th induction installation and MIndividual induction installation produces induced signal, the vehicle velocity V 1 and sensing moment tM of now second controller collection target vehicle and by theseInformation is sent to the first controller；Subsequently the headstock of test vehicle reaches m-th induction installation and m-th induction installation produces senseInduction signal, similarly the vehicle velocity V 2 of the first controller collecting test vehicle and sensing moment tm are while receive now ADAS to be testedCollision time TTC for calculating, then time difference is △ t=| tm-tM |, is calculated in conjunction with the data for being input into the first controller beforeGo out time to approach t；
Target vehicle travel within the △ t times apart from S1=△ t*V1；Target length of wagon is S3；M-th and m-thSpacing between induction installation is S2=(M-m) * s；Spacing between the tailstock of target vehicle and the headstock of test vehicle is S；Then：S=S2- (S3-S1)；
Time to approach t=S/ (V2-V1)=(S2+ △ t*V1-S3)/(V2-V1)
=[(M-m) * s+ △ t*V1-S3]/(V2-V1)
Collision warning deviation ratio
In above-mentioned step B, the spacing of each induction installation is s, and described target vehicle non-is travelled at the uniform velocity or at the uniform velocityOn track, described test vehicle evenly travels on track and moves closer to target vehicle, when target vehicle and testWhen measurement is respectively positioned on track and is provided with the test zone of induction installation, test vehicle headstock reach at first induction installation andThe induction installation produces induced signal and starts timing, and when the headstock for testing vehicle is reached at n-th induction installation, first controlsThe vehicle velocity V and sensing moment tn of device collecting test vehicle processed；Subsequently the headstock of target vehicle is reached at m-th induction installation and theM induction installation produces induced signal, the vehicle velocity V 1 and sensing moment tm of now second controller collection target vehicle and by thisA little information are sent to the first controller；Then time difference is △ t=| tm-tn |, and now the first controller gathers ADAS meters to be testedCollision time TTC for calculating calculates time to approach t in conjunction with the data for being input into the first controller before；
Test vehicle travel within the △ t times apart from S 1=△ t*V；Target length of wagon is S3；M-th and n-thSpacing between induction installation is S2=(m-n) * s；Spacing between the tailstock of target vehicle and the headstock of test vehicle is S；Then：S=S2- (S3-S1)；
Time to approach t=S/ (V-V1)=(S2+ △ t*V-S3)/(V-V1)
=[(m-n) * s+ △ t*V-S3]/(V-V1)
Collision warning deviation ratio
In above-mentioned step B, the spacing of each induction installation is s, and described target vehicle non-is travelled at the uniform velocity or at the uniform velocityOn track, described test vehicle at the uniform velocity or it is non-evenly travel on track, the spacing of target vehicle and test vehicle andSpeed passes through two car real-time, interactives；Time to approach is calculated and obtained by the first controller according to target vehicle and test vehicle, to be measuredThe time of reception of examination ADAS calculating collision times TTC is determined by data input cell；Collision warning deviation ratio
Compared with prior art, the advantage of this front anticollision test system and method for testing based on distance test existsIn：The system can test out the distance between two driving vehicles and speed, and calculate time to approach by algorithm, beThe distance test function of the front collision-proof alarm of ADAS provides data refer and foundation, to judge the accuracy of its function, greatlyCost is reduced, allows small company cost-effective can complete the validation test of frontal collisions early warning system (FCW),Simply, it is practical, and measurement accuracy is high.
Description of the drawings
The instrumentation plan of the embodiment 1 that Fig. 1 is provided for the present invention.
The instrumentation plan of the embodiment 2 that Fig. 2 is provided for the present invention.
The instrumentation plan of the embodiment 3 that Fig. 3 is provided for the present invention.
Acceleration becomes big v-t figures in vehicle traveling in the embodiment 4 that Fig. 4 is provided for the present invention.
The v-t figures that acceleration reduces in vehicle traveling in the embodiment 4 that Fig. 5 is provided for the present invention.
When Fig. 6 is at the uniform velocity travelled for the vehicle that the present invention is provided, the V-t figures of the speed of actual capabilities and preferable speed.
The structured flowchart that Fig. 7 is provided for the present invention.
In figure, target vehicle 1, test vehicle 2, track 3, induction installation 4, signal projector 5, the first controller 6, secondController 7, base station 8, data input cell 9, transmitting terminal 10, receiving terminal 11.
Specific embodiment
With reference to the accompanying drawings and detailed description the present invention will be further described in detail.
Embodiment 1：
As illustrated in figures 1 and 7, this front anticollision test system based on distance test, the system includes target vehicle 1, peaceVehicle 2 is tested equipped with ADAS to be tested and on the track 3 for travelling for target vehicle 1 and test vehicle 2 or stoppingSome induction installations 4, induction installation 4 along the longitudinally spaced distributions of track 3 and when target vehicle 1 or test vehicle 2 be located at phaseThe induction installation 4 can produce corresponding induced signal when answering 4 position of induction installation, and induction installation 4 is connected with signal projector 5And signal projector 5 can receive induced signal, it is provided with test vehicle 2 and be connected with ADAS to be tested and energy collecting test vehicle2 speeds, the first controller 6 for reaching the collision time that the corresponding sensing moment of induction installation 4 and reception ADAS to be tested are calculated,The second controller that the speed of target vehicle 1 can be gathered and the corresponding sensing moment of induction installation 4 is reached is installed on target vehicle 17, the first controller 6 and second controller 7 is connected with signal projector 5 and signal projector 5 can respectively to the first controller 6Data are forwarded with second controller 7, the first controller 6 is connected with base station 8 and base station 8 can receive and be calculated by the first controller 6The collision warning deviation ratio of acquisition.Using the induction installation 4 for being uniformly erected at the both sides of track 3, it is equipped with when test vehicle 2 drives toDuring the region of induction installation 4, headstock block induced signal, signal projector 5 sends out signal, tests first on vehicle 2Second controller 7 on controller 6 and target vehicle 1 upon receipt of the signals, takes immediate measure, acquisition process car speedInformation and range information, finally draw warning deviation ratio, the accuracy of anti-collision warning, the test system development cost before checkingLow, error is little, popularization of being more convenient for.
Further, the induction installation 4 in the present embodiment is distributed along the longitudinal uniform intervals in track 3, between induction installation 4Gauge is from not less than target vehicle 1 and the test respective length of vehicle 2.Be connected with first controller 6 includes mesh for inputThe mark length of wagon of vehicle 1, the spacing distance of induction installation 4, induction installation 4 number the data input cell 9 in interior data.SensingDevice 4 is the opposite type sensor for including transmitting terminal 10 and receiving terminal 11,11 points of the transmitting terminal 10 and receiving terminal of same induction installation 4Not Wei Yu the both sides of track 3, receiving terminal 11 is connected with signal projector 5.
This front anticollision test system and test method based on distance test, comprises the following steps：
A, by data input cell 9 to the first controller 6 input include between the length of wagon of target vehicle 1, induction installation 4Gauge is numbered in interior data from, induction installation 4；
B, target vehicle 1 are stopped or travelled on track 3, test vehicle 2 travel on track 3, target vehicle 1 and testInduction installation 4 sends out induced signal when vehicle 2 is located at corresponding induction installation 4, and second controller 7 is receiving targetWhen speed, the sensing of corresponding induction installation 4 of target vehicle 1 is gathered after the induced signal of the induction installation 4 of the position of vehicle 1Carve, and these information are sent to the first controller 6, the first controller 6 is receiving the sensing dress of test vehicle 2 positionPut the speed of collecting test vehicle 2 after 4 induced signal, the sensing moment of corresponding induction installation 4 and receive now ADAS to be testedCollision time TTC for calculating, the first controller 6 calculates time to approach t according to the data for receiving；
C, the first controller 6 are compared collision time TTC and time to approach t, so as to obtain collision warning deviation ratio.
In above-mentioned step B, target vehicle 1 is rested on track 3 and the tailstock of target vehicle 1 is located at induction installation 4N-th induction installation 4 at, test vehicle 2 at the uniform velocity or it is non-evenly travel on track 3 and test the headstock of vehicle 2 reachThe speed that vehicle 2 is tested when at n-th induction installation 4 is V, and wherein N is more than n, and the spacing of each induction installation 4 is s, is now treatedCollision time TTC that test ADAS is calculated, then：
The time to approach t that first controller 6 is calculated is：T=s (N-n)/V；
Collision warning deviation ratio
Embodiment 2：
As shown in Fig. 2 the technical scheme in the present embodiment with it is identical in embodiment 1, except for the difference that：In above-mentioned stepIn B, the spacing of each induction installation 4 is s, and target vehicle 1 is at the uniform velocity travelled on track 3, test vehicle 2 at the uniform velocity or it is non-evenlyTraveling is on track 3 and moves closer to target vehicle 1, and when target vehicle 1 and test measurement are respectively positioned on track 3 sensing dress is provided withWhen putting 4 test zone, the headstock of target vehicle 1 is reached at m-th induction installation 4 and the generation sensing letter of m-th induction installation 4Number, the vehicle velocity V 1 and sensing moment tM of the now collection of second controller 7 target vehicle 1 simultaneously send these information to the first controlDevice 6；Subsequently the headstock of test vehicle 2 reaches m-th induction installation 4 and m-th induction installation 4 produces induced signal, similarlyWhat the vehicle velocity V 2 of the collecting test vehicle 2 of the first controller 6 and sensing moment tm received that now ADAS to be tested calculates simultaneously touchesTime TTC is hit, then time difference is △ t=| tm-tM |, when calculating close in conjunction with the data for being input into the first controller 6 beforeBetween t；
Target vehicle 1 travel within the △ t times apart from S1=△ t*V1；Target length of wagon is S3；M-th and mSpacing between individual induction installation 4 is S2=M-m*s；Spacing between the headstock of the tailstock of target vehicle 1 and test vehicle 2 isS；Then：S=S2- (S3-S1)；
Time to approach t=S/ (V2-V1)=(S2+ △ t*V1-S3)/(V2-V1)
=[(M-m) * s+ △ t*V1-S3]/(V2-V1)
Collision warning deviation ratio
Embodiment 3：
As shown in figure 3, it is identical in the technical scheme embodiment 1 in the present embodiment, except for the difference that：In above-mentioned step BIn, the spacing of each induction installation 4 is s, target vehicle 1 at the uniform velocity or it is non-at the uniform velocity travel on track 3, test vehicle 2 is evenlyTraveling is on track 3 and moves closer to target vehicle 1, when target vehicle 1 and test vehicle 2 are respectively positioned on track 3 and are provided with sensingDuring the test zone of device 4, the headstock for testing vehicle 2 is reached at first induction installation 4 and the generation sensing letter of induction installation 4Number and start timing, the collecting test vehicle 2 of first controller 6 when the headstock for testing vehicle 2 is reached at n-th induction installation 4Vehicle velocity V and sensing moment tn；Subsequently the headstock of target vehicle 1 is reached at m-th induction installation 4 and m-th induction installation 4 is producedRaw induced signal, the vehicle velocity V 1 and sensing moment tm of the now collection of second controller 7 target vehicle 1 and by these information send toFirst controller 6；Then time difference is △ t=| tm-tn |, and now the first controller 6 gathers the collision that ADAS to be tested is calculatedTime TTC calculates time to approach t in conjunction with the data for being input into the first controller 6 before；
Test vehicle 2 travel within the △ t times apart from S1=△ t*V；Target length of wagon is S3；M-th and n-thSpacing between induction installation 4 is S2=m-n*s；Spacing between the tailstock of target vehicle 1 and the headstock of test vehicle 2 is S；Then：S=S2- (S3-S1)；
Time to approach t=S/ (V-V1)=(S2+ △ t*V-S3)/(V-V1)
=[(m-n) * s+ △ t*V-S3]/(V-V1)
Collision warning deviation ratio
Embodiment 4：
It is identical in technical scheme embodiment 1 in the present embodiment, except for the difference that：In above-mentioned step B, each sensingThe spacing of device 4 is s, target vehicle 1 at the uniform velocity or it is non-at the uniform velocity travel on track 3, test vehicle 2 non-is travelled at the uniform velocity or evenlyOn track 3, the spacing and speed of target vehicle 1 and test vehicle 2 pass through two car real-time, interactives；Time to approach is by the first controlDevice 6 is calculated and obtained according to target vehicle 1 and test vehicle 2, and ADAS to be tested calculates the time of reception of collision time TTC by dataInput block 9 determines；Collision warning deviation ratio
Embodiment 4 is similar to embodiment 2 and embodiment 3, and difference is target vehicle 1 and test carriage in embodiment 42 all right and wrong are at the uniform velocity travelled, in the case of ensureing that final testing result error is less, it is necessary to by a car thereinSpeed is changed into and at the uniform velocity travelled, will embodiment 4 become a certain kind of embodiment 2 or 3, method for transformation is as follows.
Method for transformation 1：
If Fig. 4-5 is the v-t figures of car speed, wherein Va represents vehicle and starts at the t1 moment with peak acceleration amax evenThe velocity function of acceleration, Vb refers to the velocity function with acceleration a in the even acceleration of t1 moment, and Vc was referred in t0 to the t2 time periodsWith fluctuating acceleration acceleration, the velocity function at the uniform velocity travelled with V2 after the t2 moment.
The spacing for assuming adjacent induction installation 4 is s, and vehicle is with the speed of 54km/h from n-th laser rays of triggering to triggeringTime used by (n+1)th laser rays be t. then t=S/Vt=0.2s so when speed is bigger, the time used is shorter
Assume that vehicle is 10s from 0～100km/h used times, then peak acceleration amax=V/t, amax=2.78m/s2
Assume V1=54km/h, i.e. 15m/s, vehicle speed is by V1 (speed during n-th laser rays of triggering) with most greatlySpeed accelerates to V2 (speed during (n+1)th laser rays of triggering),
Then, V2=V1+amax*t (formula 1)
Assume that speed accelerates to V2 from V1 with peak acceleration, and same time t, the distance of generation are at the uniform velocity travelled with V1Difference is △ S,
Then
Can be obtained by formula 1, formula 2, formula 3:
Substituting into data can obtain △ S=0.0556m
Due to acceleration a during actual driving<Amax. then actual △ S1<△ S, therefore, the change within the time of 0.2S acceleratesCan regard and at the uniform velocity process.
Method for transformation 2：
According to the actual △ S of the v-t map analysis of car speed, from the knowledge of definite integral, calculate in method for transformation 1The △ S=0.0556m for coming, are actually as labeled as the area value of the triangle of X in Fig. 4, but when actually normally driving,Can not possibly be accelerated with peak acceleration, but change acceleration is carried out with a certain acceleration, it is assumed that during driving, be with acceleration aCarry out even acceleration, then velocity function now should be Vb, and velocity function when actually driving should be Vc, so when speedV2 is accelerated to acceleration a from V1, and to become the time t for giving it the gun same, the range difference of generation is exactly Fig. 4 acceptances of the bid for △ S1The area of the figure of Y is designated as, and △ S1 are exactly the range difference that actual capabilities are produced, △ S1 now should be much smaller than △ S,I.e. actual range error will be much smaller than 0.0556m, so the two following distance S that we finally calculate are just closer to actual value.(△ S1 and △ S are less, illustrate that the two following distance S for calculating are more accurate, and range error is less, that is to say, that two cars for calculating are close toTime is more accurate).
Error analyses：When foot step on the gas allow vehicle remain a constant speed traveling when, because the foot of people has shake, it is impossible to asMechanical mechanism equally allows the aperture of air throttle to keep unalterable, so this process will produce velocity error, i.e., actual rowSail at the uniform velocity with ideal at the uniform velocity there is less error.
For the source of error of embodiment 2 and embodiment 3 mainly has two kinds, when the first is that vehicle is at the uniform velocity travelled, due toPeople's foot is shaken and the uneven change of less speed that causes, be for second due to signal transmission between each controller cause whenBetween error (more than ten milliseconds to a few tens of milliseconds), it is contemplated that two kinds of errors are all very little, and every time value time error will not add up,So these errors can be ignored in actual test.
When Fig. 6 is that vehicle is at the uniform velocity travelled, the V-t figures of the speed of actual capabilities and preferable speed, due to obtaining speed every timeAll it is a certain moment in 0.2s, and the required vehicle speed in this period in embodiment 2 and embodiment 3 is at the uniform velocityTransport condition, so the error for producing is minimum, it is negligible.
It is as follows for the source of error in embodiment 4 and process：
Because embodiment 4 is that the speed change state of a wherein car is transformed into at the uniform velocity state being processed, soA certain distance error can be produced during conversion, it is contemplated that the range error very little produced within the time of 0.2s is (theoreticalMaximum is 5cm or so), and this error is for each value is all without cumulative, it is possible to ignore.Also can be at the uniform velocityOn the basis of give a certain distance compensation, to make the spacing of calculating closer to two actual following distance S.So, as long as ensureingThe close enough actual values of two following distance S of gained, then the time to approach t of final first controller output will be more accurate.
Specific embodiment described herein is only explanation for example spiritual to the present invention.Technology neck belonging to of the inventionThe technical staff in domain can be made various modifications to described specific embodiment or supplement or replaced using similar modeGeneration, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more used herein target vehicle 1, test vehicle 2, track 3, induction installation 4, signal projector 5,The terms such as the first controller 6, second controller 7, base station 8, data input cell 9, transmitting terminal 10, receiving terminal 11, but do not arrangeExcept the probability using other terms.It is used for the purpose of more easily describing and explaining the essence of the present invention using these terms；It is all contrary with spirit of the invention to be construed as any additional restriction.