CN114296421A - A kind of automobile automatic driving safety test system and its operation method - Google Patents
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及汽车自动驾驶技术领域，尤其涉及一种汽车自动驾驶安全测试系统及其运行 方法。The present invention relates to the technical field of automatic driving of automobiles, and in particular, to a safety testing system for automatic driving of automobiles and an operation method thereof.
背景技术Background technique
汽车自动驾驶即汽车自主行驶，无需人为操作，汽车自动驾驶是目前汽车智能化发展的 一个趋势，智能汽车为通过搭载先进传感器等装置，运用人工智能等新技术，具有自动驾驶 功能，逐步成为智能移动空间和应用终端的新一代汽车。在研发汽车自动驾驶技术时需要进 行各项性能测试，包括限速信息识别及响应、跟车行驶等。在对汽车自动驾驶功能进行测试 时，如何保证测试系统的安全性能至关重要。Auto-driving means that the car drives itself without human operation. Auto-driving is a trend in the development of intelligent automobiles. Smart cars are equipped with advanced sensors and other devices, using artificial intelligence and other new technologies, with automatic driving functions, and gradually become intelligent A new generation of vehicles for mobile space and application terminals. Various performance tests, including speed limit information recognition and response, and car-following, are required when developing auto-driving technology. How to ensure the safety performance of the test system is very important when testing the automatic driving function of the car.
现有技术中，汽车自动驾驶功能测试系统的安全性能存在缺陷，在测试时，容易出现自 动驾驶汽车之间、自动驾驶汽车与测试车辆、自动驾驶汽车与测试人员之间出现碰撞，从而 给人身安全和财产安全带来损失。In the prior art, the safety performance of the auto-driving function test system is flawed. During the test, collisions between auto-driving cars, auto-driving cars and test vehicles, and auto-driving cars and test personnel are prone to occur, thereby causing personal injury. Safety and property safety come with losses.
针对以上技术问题，本发明公开了一种汽车自动驾驶安全测试系统及其运行方法，本发 明具有提高汽车自动驾驶功能测试系统的安全性能、降低人身安全和财产安全的损失等优点。Aiming at the above technical problems, the present invention discloses an automobile automatic driving safety test system and its operation method. The present invention has the advantages of improving the safety performance of the automobile automatic driving function test system and reducing the loss of personal safety and property safety.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于克服现有技术的不足，提供了一种汽车自动驾驶安全测试系统及其运 行方法，以解决现有技术中汽车自动驾驶功能测试系统的安全性能存在缺陷，在测试时，容 易出现自动驾驶汽车之间、自动驾驶汽车与测试车辆、自动驾驶汽车与测试人员之间出现碰 撞，从而给人身安全和财产安全带来损失等技术问题，本发明具有提高汽车自动驾驶功能测 试系统的安全性能、降低人身安全和财产安全的损失等优点。The purpose of the present invention is to overcome the deficiencies of the prior art, and to provide a vehicle automatic driving safety test system and its operation method, so as to solve the defects in the safety performance of the vehicle automatic driving function test system in the prior art. There are technical problems such as collisions between automatic driving vehicles, between automatic driving vehicles and test vehicles, and between automatic driving vehicles and test personnel, thereby causing losses to personal safety and property safety. Safety performance, reduce the loss of personal safety and property safety and other advantages.
为解决以上技术问题，本发明公开了一种汽车自动驾驶安全测试系统，包括虚拟电子围 栏、交通单元流、测试车辆、测试人员和射频模块；In order to solve the above technical problems, the present invention discloses a vehicle automatic driving safety test system, including a virtual electronic fence, a traffic unit flow, a test vehicle, a tester and a radio frequency module;
虚拟电子围栏为交通单元流、测试车辆和测试人员圈定一个活动区域；Virtual electronic fences delineate an activity area for traffic unit flow, test vehicles and testers;
交通单元流在虚拟电子围栏内自动驾驶，交通单元流上设置有定位模块，当定位模块探 测到交通单元流驶离虚拟电子围栏时，交通单元流主动刹停；The traffic unit flow is automatically driven in the virtual electronic fence, and a positioning module is set on the traffic unit flow. When the positioning module detects that the traffic unit flow leaves the virtual electronic fence, the traffic unit flow actively brakes;
测试车辆在虚拟电子围栏内行驶，用于测试交通单元流自动驾驶的安全性能；The test vehicle drives in a virtual electronic fence to test the safety performance of autonomous driving in the flow of traffic units;
测试人员在虚拟电子围栏内运动，指挥测试工作；The testers move in the virtual electronic fence and direct the test work;
射频模块用于感应两个交通单元流之间的距离、交通单元流与测试车辆之间的距离、交 通单元流与测试人员之间的距离以及交通单元流与地面障碍物之间的距离。The RF module is used to sense the distance between two traffic unit streams, the distance between the traffic unit stream and the test vehicle, the distance between the traffic unit stream and the test person, and the distance between the traffic unit stream and ground obstacles.
优选的，射频模块设置在交通单元流和测试人员身上，交通单元流上的射频模块用于探 测两个交通单元流之间的距离、交通单元流与测试车辆之间的距离以及交通单元流与地面障 碍物之间的距离；测试人员身上的射频模块用于探测交通单元流与测试人员之间的距离。Preferably, the radio frequency module is arranged on the traffic unit stream and the tester, and the radio frequency module on the traffic unit stream is used to detect the distance between the two traffic unit streams, the distance between the traffic unit stream and the test vehicle, and the difference between the traffic unit stream and the test vehicle. The distance between ground obstacles; the RF module on the tester is used to detect the distance between the flow of traffic units and the tester.
优选的，射频模块设置在交通单元流和测试车辆上，并且交通单元流上还设置有防撞雷 达模块，交通单元流上的射频模块以及测试车辆上的射频模块均用于探测交通单元流与测试 车辆之间的距离，并且测试车辆上的射频模块的射频距离大于交通单元流上的射频模块的射 频距离，防撞雷达模块用于探测两个交通单元流之间的距离、交通单元流与测试人员之间的 距离以及交通单元流与地面障碍物之间的距离。Preferably, the radio frequency module is arranged on the traffic unit stream and the test vehicle, and the traffic unit stream is also provided with an anti-collision radar module, and the radio frequency module on the traffic unit stream and the radio frequency module on the test vehicle are both used to detect the traffic unit stream and Test the distance between vehicles, and the radio frequency distance of the radio frequency module on the test vehicle is greater than the radio frequency distance of the radio frequency module on the traffic unit flow, the anti-collision radar module is used to detect the distance between the two traffic unit flows, the traffic unit flow and the The distance between testers and the distance between the flow of traffic units and obstacles on the ground.
优选的，虚拟电子围栏通过GNSS坐标点来圈定区域。Preferably, the virtual electronic fence defines the area by GNSS coordinate points.
优选的，交通单元流上还设置有报警模块，当交通单元流驶离虚拟电子围栏刹停时，报 警模块开始报警。Preferably, the traffic unit flow is further provided with an alarm module, when the traffic unit flow leaves the virtual electronic fence and stops, the alarm module starts to alarm.
进一步的，本发明还还公开了一种汽车自动驾驶安全测试系统的运行方法，其特征在于， 包括以下步骤：Further, the present invention also discloses an operation method of an automobile automatic driving safety test system, which is characterized by comprising the following steps:
步骤一：通过GNSS坐标点来圈定一个区域作为测试区域，构成虚拟电子围栏；Step 1: Delineate an area as a test area through GNSS coordinate points to form a virtual electronic fence;
步骤二：在交通单元流上设置定位模块，同时让交通单元流在虚拟电子围栏内自动驾驶， 当定位模块探测到交通单元流驶离虚拟电子围栏时，交通单元流主动刹停并开始报警；Step 2: Set a positioning module on the traffic unit flow, and at the same time let the traffic unit flow drive automatically in the virtual electronic fence, when the positioning module detects that the traffic unit flow leaves the virtual electronic fence, the traffic unit flow actively brakes and starts to alarm;
步骤三：在交通单元流上和测试人员身上设置射频模块或者在交通单元流和测试车辆上 设置射频模块并在交通单元流上设置防撞雷达模块，让交通单元流在虚拟电子围栏内自动驾 驶，让测试车辆和测试人员在虚拟电子围栏内行驶和运动；Step 3: Set the radio frequency module on the traffic unit flow and the tester, or set the radio frequency module on the traffic unit flow and the test vehicle, and set the anti-collision radar module on the traffic unit flow, so that the traffic unit flow can drive automatically in the virtual electronic fence , allowing test vehicles and testers to drive and move within the virtual electronic fence;
步骤四：若射频模块设置在交通单元流和测试人员身上，当测试人员身上的射频模块探 测到交通单元流与测试人员之间的距离小于等于设定的安全距离时，交通单元流主动刹停； 当交通单元流上的射频模块探测到两个交通单元流之间的距离、交通单元流与测试车辆之间 的距离以及交通单元流与地面障碍物之间的距离小于设定的安全距离时，交通单元流主动刹 停；若射频模块设置在交通单元流和测试车辆上，并且交通单元流上还设置有防撞雷达模块， 当防撞雷达模块探测到两个交通单元流之间的距离、交通单元流与测试人员之间的距离以及 交通单元流与地面障碍物之间的距离小于设定的安全距离时，防撞雷达模块开始报警，同时 交通单元流主动刹停，当交通单元流进入到测试车辆上的射频模块的射频距离时，交通单元 流上的防撞雷达模块自动关闭，当交通单元流上的射频模块探测到交通单元流与测试车辆之 间的距离小于设定的安全距离时，交通单元流主动刹停。Step 4: If the radio frequency module is installed on the traffic unit stream and the tester, when the radio frequency module on the tester detects that the distance between the traffic unit stream and the tester is less than or equal to the set safe distance, the traffic unit stream will automatically stop. ; When the radio frequency module on the traffic unit stream detects that the distance between two traffic unit streams, the distance between the traffic unit stream and the test vehicle, and the distance between the traffic unit stream and the ground obstacle are less than the set safe distance , the traffic unit flow is actively braked; if the radio frequency module is set on the traffic unit flow and the test vehicle, and the traffic unit flow is also provided with an anti-collision radar module, when the anti-collision radar module detects the distance between the two traffic unit flows , When the distance between the traffic unit flow and the test personnel and the distance between the traffic unit flow and the ground obstacles are less than the set safe distance, the anti-collision radar module starts to alarm, and the traffic unit flow actively stops. When entering the radio frequency distance of the radio frequency module on the test vehicle, the anti-collision radar module on the traffic unit flow is automatically turned off. When the radio frequency module on the traffic unit flow detects that the distance between the traffic unit flow and the test vehicle is less than the set safety When the distance is reached, the flow of traffic units actively brakes.
本发明具有以下优点：本发明通过在交通单元流上和测试人员身上设置射频模块或者在 交通单元流上和测试测量上设置射频模块并在交通单元流上设置防撞雷达模块，保证了汽车 自动驾驶功能测试的顺利进行，同时保障了交通单元流运动安全以及测试人员的人身安全， 提高了汽车自动驾驶功能测试系统的安全性能，降低人身安全和财产安全的损失。The present invention has the following advantages: the present invention ensures that the auto-autonomous vehicle is ensured by arranging the radio frequency module on the traffic unit stream and the tester, or by setting the radio frequency module on the traffic unit stream and on the test and measurement, and setting the anti-collision radar module on the traffic unit stream. The smooth progress of the driving function test ensures the safety of traffic unit flow and the personal safety of testers, improves the safety performance of the automatic driving function test system, and reduces the loss of personal safety and property safety.
附图说明Description of drawings
图1为实施例1中汽车自动驾驶安全测试系统结构示意图；1 is a schematic structural diagram of a vehicle automatic driving safety test system in Embodiment 1;
图2为实施例2中汽车自动驾驶安全测试系统结构示意图。FIG. 2 is a schematic structural diagram of a vehicle automatic driving safety test system in Embodiment 2. FIG.
具体实施方式Detailed ways
下面对本发明的实施例作详细说明，本实施例在以本发明技术方案为前提下进行实施， 给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and provides detailed implementation modes and specific operation processes, but the protection scope of the present invention is not limited to the following implementations example.
实施例1Example 1
实施例1公开了一种汽车自动驾驶安全测试系统，包括虚拟电子围栏、交通单元流、测 试车辆、测试人员和射频模块；Embodiment 1 discloses a vehicle automatic driving safety test system, including a virtual electronic fence, a traffic unit flow, a test vehicle, a tester and a radio frequency module;
虚拟电子围栏为交通单元流、测试车辆和测试人员圈定一个活动区域，虚拟电子围栏通 过GNSS坐标点来圈定区域；The virtual electronic fence delineates an active area for traffic unit flow, test vehicles and test personnel, and the virtual electronic fence delineates the area through GNSS coordinate points;
交通单元流在虚拟电子围栏内自动驾驶，交通单元流上设置有定位模块，当定位模块探 测到交通单元流驶离虚拟电子围栏时，交通单元流主动刹停，交通单元流上还设置有报警模 块，当交通单元流驶离虚拟电子围栏刹停时，报警模块开始报警；The traffic unit flow drives automatically in the virtual electronic fence, and a positioning module is set on the traffic unit flow. When the positioning module detects that the traffic unit flow leaves the virtual electronic fence, the traffic unit flow will automatically stop, and an alarm is also set on the traffic unit flow. module, when the traffic unit flow leaves the virtual electronic fence and stops, the alarm module starts to alarm;
测试车辆在虚拟电子围栏内行驶，用于测试交通单元流自动驾驶的安全性能；The test vehicle drives in a virtual electronic fence to test the safety performance of autonomous driving in the flow of traffic units;
测试人员在虚拟电子围栏内运动，指挥测试工作；The testers move in the virtual electronic fence and direct the test work;
射频模块用于感应两个交通单元流之间的距离、交通单元流与测试车辆之间的距离、交 通单元流与测试人员之间的距离以及交通单元流与地面障碍物之间的距离；The RF module is used to sense the distance between two traffic unit streams, the distance between the traffic unit stream and the test vehicle, the distance between the traffic unit stream and the test personnel, and the distance between the traffic unit stream and ground obstacles;
具体的，射频模块设置在交通单元流和测试人员身上，交通单元流上的射频模块用于探 测两个交通单元流之间的距离、交通单元流与测试车辆之间的距离以及交通单元流与地面障 碍物之间的距离；测试人员身上的射频模块用于探测交通单元流与测试人员之间的距离。Specifically, the radio frequency module is arranged on the traffic unit stream and the tester, and the radio frequency module on the traffic unit stream is used to detect the distance between the two traffic unit streams, the distance between the traffic unit stream and the test vehicle, and the difference between the traffic unit stream and the test vehicle. The distance between ground obstacles; the RF module on the tester is used to detect the distance between the flow of traffic units and the tester.
本实施例还公开了一种汽车自动驾驶安全测试系统的运行方法，其特征在于，包括以下 步骤：The present embodiment also discloses a method for operating an automobile automatic driving safety test system, which is characterized in that it includes the following steps:
步骤一：通过GNSS坐标点来圈定一个区域作为测试区域，构成虚拟电子围栏；Step 1: Delineate an area as a test area through GNSS coordinate points to form a virtual electronic fence;
步骤二：在交通单元流上设置定位模块，同时让交通单元流在虚拟电子围栏内自动驾驶， 当定位模块探测到交通单元流驶离虚拟电子围栏时，交通单元流主动刹停并开始报警；Step 2: Set a positioning module on the traffic unit flow, and at the same time let the traffic unit flow drive automatically in the virtual electronic fence, when the positioning module detects that the traffic unit flow leaves the virtual electronic fence, the traffic unit flow actively brakes and starts to alarm;
步骤三：在交通单元流上和测试人员身上设置射频模块，让交通单元流在虚拟电子围栏 内自动驾驶，让测试车辆和测试人员在虚拟电子围栏内行驶和运动；Step 3: Set up a radio frequency module on the traffic unit flow and on the tester, let the traffic unit flow automatically drive in the virtual electronic fence, and let the test vehicle and tester drive and move in the virtual electronic fence;
步骤四：当测试人员身上的射频模块探测到交通单元流与测试人员之间的距离小于等于 设定的安全距离时，交通单元流主动刹停；当交通单元流上的射频模块探测到两个交通单元 流之间的距离、交通单元流与测试车辆之间的距离以及交通单元流与地面障碍物之间的距离 小于设定的安全距离时，交通单元流主动刹停。Step 4: When the radio frequency module on the tester detects that the distance between the traffic unit stream and the tester is less than or equal to the set safe distance, the traffic unit stream will automatically stop; when the radio frequency module on the traffic unit stream detects two When the distance between the traffic unit stream, the distance between the traffic unit stream and the test vehicle, and the distance between the traffic unit stream and the ground obstacle are less than the set safety distance, the traffic unit stream will actively brake.
实施例2Example 2
实施例2公开了一种汽车自动驾驶安全测试系统，包括虚拟电子围栏、交通单元流、测 试车辆、测试人员和射频模块；Embodiment 2 discloses a vehicle automatic driving safety test system, including a virtual electronic fence, a traffic unit flow, a test vehicle, a tester and a radio frequency module;
虚拟电子围栏为交通单元流、测试车辆和测试人员圈定一个活动区域，虚拟电子围栏通 过GNSS坐标点来圈定区域；The virtual electronic fence delineates an active area for traffic unit flow, test vehicles and test personnel, and the virtual electronic fence delineates the area through GNSS coordinate points;
交通单元流在虚拟电子围栏内自动驾驶，交通单元流上设置有定位模块，当定位模块探 测到交通单元流驶离虚拟电子围栏时，交通单元流主动刹停，交通单元流上还设置有报警模 块，当交通单元流驶离虚拟电子围栏刹停时，报警模块开始报警；The traffic unit flow drives automatically in the virtual electronic fence, and a positioning module is set on the traffic unit flow. When the positioning module detects that the traffic unit flow leaves the virtual electronic fence, the traffic unit flow will automatically stop, and an alarm is also set on the traffic unit flow. module, when the traffic unit flow leaves the virtual electronic fence and stops, the alarm module starts to alarm;
测试车辆在虚拟电子围栏内行驶，用于测试交通单元流自动驾驶的安全性能；The test vehicle drives in a virtual electronic fence to test the safety performance of autonomous driving in the flow of traffic units;
测试人员在虚拟电子围栏内运动，指挥测试工作；The testers move in the virtual electronic fence and direct the test work;
射频模块用于感应两个交通单元流之间的距离、交通单元流与测试车辆之间的距离、交 通单元流与测试人员之间的距离以及交通单元流与地面障碍物之间的距离；The RF module is used to sense the distance between two traffic unit streams, the distance between the traffic unit stream and the test vehicle, the distance between the traffic unit stream and the test personnel, and the distance between the traffic unit stream and ground obstacles;
具体的，射频模块设置在交通单元流和测试车辆上，并且交通单元流上还设置有防撞雷 达模块，交通单元流上的射频模块以及测试车辆上的射频模块均用于探测交通单元流与测试 车辆之间的距离，并且测试车辆上的射频模块的射频距离大于交通单元流上的射频模块的射 频距离，防撞雷达模块用于探测两个交通单元流之间的距离、交通单元流与测试人员之间的 距离以及交通单元流与地面障碍物之间的距离。Specifically, the radio frequency module is arranged on the traffic unit stream and the test vehicle, and the traffic unit stream is also provided with an anti-collision radar module. The radio frequency module on the traffic unit stream and the radio frequency module on the test vehicle are both used to detect the traffic unit stream and the test vehicle. Test the distance between vehicles, and the radio frequency distance of the radio frequency module on the test vehicle is greater than the radio frequency distance of the radio frequency module on the traffic unit flow, the anti-collision radar module is used to detect the distance between the two traffic unit flows, the traffic unit flow and the The distance between testers and the distance between the flow of traffic units and obstacles on the ground.
本实施例还公开了一种汽车自动驾驶安全测试系统的运行方法，其特征在于，包括以下 步骤：The present embodiment also discloses a method for operating an automobile automatic driving safety test system, which is characterized in that it includes the following steps:
步骤一：通过GNSS坐标点来圈定一个区域作为测试区域，构成虚拟电子围栏；Step 1: Delineate an area as a test area through GNSS coordinate points to form a virtual electronic fence;
步骤二：在交通单元流上设置定位模块，同时让交通单元流在虚拟电子围栏内自动驾驶， 当定位模块探测到交通单元流驶离虚拟电子围栏时，交通单元流主动刹停并开始报警；Step 2: Set a positioning module on the traffic unit flow, and at the same time let the traffic unit flow drive automatically in the virtual electronic fence, when the positioning module detects that the traffic unit flow leaves the virtual electronic fence, the traffic unit flow actively brakes and starts to alarm;
步骤三：在交通单元流和测试车辆上设置射频模块并在交通单元流上设置防撞雷达模块， 让交通单元流在虚拟电子围栏内自动驾驶，让测试车辆和测试人员在虚拟电子围栏内行驶和 运动；Step 3: Set the radio frequency module on the traffic unit flow and the test vehicle and set up the anti-collision radar module on the traffic unit flow, let the traffic unit flow automatically drive in the virtual electronic fence, and let the test vehicle and tester drive in the virtual electronic fence and sports;
步骤四：当防撞雷达模块探测到两个交通单元流之间的距离、交通单元流与测试人员之 间的距离以及交通单元流与地面障碍物之间的距离小于设定的安全距离时，防撞雷达模块开 始报警，同时交通单元流主动刹停，当交通单元流进入到测试车辆上的射频模块的射频距离 时，交通单元流上的防撞雷达模块自动关闭，当交通单元流上的射频模块探测到交通单元流 与测试车辆之间的距离小于设定的安全距离时，交通单元流主动刹停。Step 4: When the anti-collision radar module detects that the distance between the two traffic unit streams, the distance between the traffic unit stream and the tester, and the distance between the traffic unit stream and the ground obstacles are less than the set safety distance, The anti-collision radar module starts to alarm, and the traffic unit flow actively stops. When the traffic unit flow enters the RF distance of the radio frequency module on the test vehicle, the anti-collision radar module on the traffic unit flow is automatically turned off. When the radio frequency module detects that the distance between the traffic unit stream and the test vehicle is less than the set safety distance, the traffic unit stream will actively brake.
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