CN109387375A - A kind of lane keeps the method for building up of function evaluation and test database - Google Patents
A kind of lane keeps the method for building up of function evaluation and test database Download PDFInfo
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- CN109387375A CN109387375A CN201710671615.0A CN201710671615A CN109387375A CN 109387375 A CN109387375 A CN 109387375A CN 201710671615 A CN201710671615 A CN 201710671615A CN 109387375 A CN109387375 A CN 109387375A
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The present invention relates to a kind of method for building up of lane holding function evaluation and test database, and this method selectes standard lane and driver, and sets driving scheme, drive in the calibration driving of scheme specified in more detail, the specific driving strategy under different situations；Then acquisition driver is carrying out standard evaluation parameter of driving parameters when lane being kept to drive a vehicle as vehicle lane holding system by driving scheme on the lane, and forms evaluation and test database.Realizing based on same Codes and Standards is that different vehicle calibrates a set of evaluation and test database for Lane Keeping System evaluation.
Description
Technical field
The present invention relates to the method for building up that a kind of lane keeps function evaluation and test database, belong to lane and keep evaluation and test field.
Background technique
As vehicle safety and intelligentized requirement are continuously improved, active safety and intelligent driving technology are increasingly closed
Note, Lane Keeping System can effectively assist driver to evade and drive as solution lateral direction of car safety and automatically controlled
Sailing danger, is Shape Of Things To Come technology trends, is increasingly paid attention to by automobile industry, be that each main engine plants and components factory are studied
Emphasis, with the continuous progress of technology, various new technical solutions also continuously emerge.
Lane keep, or be called lane auxiliary, particularly as be by sensing or imaging technique (such as high definition imaging device)
It identifies lane or lane line, is analyzed by calculating, when finding the trend of non-artificial automotive run-off-road, by vehicle
Manipulation (such as amendment steering wheel) maintains a kind of automatic control technology travelled in lane line to reach vehicle.
Lane Keeping System based on different technologies scheme also has different effect and feature.For example, some lanes are protected
Hold system has the Lane Keeping System for preferably showing, having to perform better in the response speed that amendment deviates on comfort；
In addition for identical Lane Keeping System, some performs better than on motorbus, and some effects on pony car are more preferable,
Some is performed better than in high-speed road conditions, and some is particularly suited under the more road conditions of environment complexity bend.And in order to compare and comment
The superiority and inferiority of valence difference Lane Keeping System and the adaptability in different automobile types of identical Lane Keeping System, and to lane
Holding system carries out the evaluation (such as comfort, response speed, stability etc.) based on some independent standard, requires a set of base
In the rating database that uniform rules is established.
It should be kept in traveling comprising multiple corresponding vehicles in lane in the rating database, the vehicle parameter of standard.?
When tested vehicle opens lane and is maintained at the driving of identical lane, acquire corresponding parameter, and with the vehicle standard vehicle parameter into
Row comparison, to realize the evaluation of Lane Keeping System.
Summary of the invention
The object of the present invention is to provide the method for building up that a kind of lane keeps function evaluation and test database, to solve existing skill
In art, the problem of evaluation and test database of evaluation can not be carried out to Lane Keeping System.
A kind of lane of the invention keeps the method for building up of function evaluation and test database, comprising the following steps:
A) standard lane is selected, the standard lane includes at least straight way section and bend section, and each road section is smoothly connected；
B) at least 1 driver is selected；
C) driving scheme is formulated, the driving scheme includes setting initial point position, test segment and final position, with
And the corresponding principle parameter request for keeping lanes；
D) according to the driving scheme of formulation, successively driven on the standard lane by selected driver specified vehicle with
The mode that lane is kept travels at least 1 time；It is corresponding each on the way according to the collection rule of setting every time during traveling
Corresponding driving parameters are acquired on set point；
E) the driving parameters optimization processing of acquisition is become into standard evaluation parameter corresponding with each collection point, with driving side
Case and collection rule are associated, and the lane as the vehicle keeps standard evaluation parameter, form evaluation and test database.
Above scheme is by driving vehicle when by certain requirement carrying out that lane is kept to drive a vehicle on selected lane to driver
Driving parameters optimize processing and calibration, for different automobile types establish it is respective keep lanes standard evaluation parameter simultaneously
Evaluation and test database is formed, method simple possible is realized and established based on uniform rules and standard for evaluating different lanes holdings
The evaluation and test database of system function.
Further, in step c), the principle parameter request include: requirement to speed, the requirement that throttle is used,
The requirement of requirement to brake, the rotational angle to steering wheel and velocity of rotation.
Principle parameter request when specifically defining driving in detail ensure that the feasibility of comparative evaluation below and accurate
Property.
Further, in step d), the collection rule includes that fixed lane position acquires, fixed operating range interval is adopted
Collection, Fixed Time Interval acquisition.
Above scheme can choose different driving parameters collection rules, such as in vehicle in the calibration of standard evaluation parameter
Fixed point acquires, acquires every fixed operating range or acquire at every fixed time on road, can be according to specific traveling ginseng
Number and assessment are selected, and such as acquisition for vehicle center point position should select fixed lane position to acquire, and make to evaluate and test
More accurate and flexible.
Further, in step d), every driver-operated number is identical.
Further, in step d), in every time driving of every driver, parameter group collected is identical.
Further, in step d), the driving parameters include: that vehicle center point position S, speed v, steering wheel turn in real time
Angle θ, steering wheel angle real-time change rate φ.
This programme can flexible choice assessment evaluation parameter, be capable of Comprehensive evaluation vehicle Lane Keeping System
The effect of function, additionally it is possible to choose an angle and go to investigate Lane Keeping System performance；It such as chooses corresponding parameter and removes reflection vehicle
Lane keep in overshoot, response speed, rollover risk, system stability and comfort level etc. performance.
Further, in step e), the optimization processing includes, in various parameters on each set point of collected correspondence
Correspondence parameter, carry out screening and/or average value processing.
Further, it is described screening be, every kind of driving parameters on each collection point, rule of thumb select one it is most suitable
Driving parameters.
Further, the average value processing is to divide on each collection point collected each driving parameters in every time traveling
Other averaged.
Further, the screening and average value processing include doing mean value after removing maximum value, minimum value and abnormal numerical value
Processing.
More sets of data that acquisition is repeatedly travelled in calibration are handled by screening, mean value etc., so that data model is more balanced
Standard effectively prevents the interference of the fortuitous events to standard evaluation parameter such as the interference in operation error or acquisition.
Detailed description of the invention
Fig. 1 is that lane keeps function evaluation and test database building method flow chart.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawing.
Lane as shown in Figure 1 keeps function to evaluate and test database building method flow chart.
A) standard lane of assessment is selected, the lane will include the various lanes such as straight way and bend, and various vehicles
Road is smoothly connected, and can simulate the different kinds of roads and road conditions of real road traffic.
B) driver is selected, driver can choose one, also can choose multidigit.If only a driver is selected to carry out
The foundation for evaluating and testing database, then need to consider age and driving age and the driving ability of the driver, and carries out stringent screening
And competition, finally select that a driving ability is superb, what various aspects ability was optimal in driving, which have, quite representative outstanding drives
The person of sailing.
If establishing evaluation and test database by the way that multidigit driver is comprehensive, screening should be at least passed through in qualified driver
And competition, the suitable experienced driver of multidigit is selected, selected multidigit experienced driver can also have different driving styles, institute
Stating driving style can drive faster for preference, more stable comfortable driving of preference etc..
C) driving scheme is set, the scheme that drives includes general driving scheme, constant speed driving scheme etc..It is general to drive scheme head
First provide initial position, running section and final position；Also concrete regulation driver is in the rule for keeping lanes, packet
Include as far as possible along lane center traveling, as far as possible reduce adjustment in direction number, correct direction amplitude it is as small as possible, avoid
The anxious travel speed range accelerated with emergency braking and each road section of limitation.Equally, constant speed drive scheme also provide initial position,
Running section and final position；Constant speed, which drives scheme, can require driver under defined fixed speed per hour, not change speed, into
Runway keeps traveling, for example, speed per hour maintain between 50~55km, between 55~60km, between 60~65km, 65~70km
Between carry out holding lanes；Or it maintains a fixed speed per hour to carry out lane every fixed intervals and keeps traveling, such as tie up
Hold speed per hour 40km, 45km ..., 55km, 60km keep lanes, or maintain speed per hour 20km, 21km, 22km, 23km ...,
39km, 40km carry out holding lanes；Constant speed drives scheme and is mainly used for evaluating and testing Lane Keeping System maintenance lane center row
The ability and corresponding overshoot sailed；The selection of corresponding road section and corresponding constant speed mode and speed should rationally cooperate, and can be real safely
Now, such as similar to the road conditions of highway it can cooperate the constant speed speed per hour of very fast (100km~120km), and bend is more and curved
Then constant speed speed per hour should be arranged by the speed limit or experience of relevant traffic regulation in amplitude biggish road conditions in road.Constant speed drives the specific of scheme
Principle includes reducing adjustment in direction number along lane center traveling, as far as possible as far as possible, correcting the amplitude in direction as far as possible
It is small etc., the selection of Specific Principles also need according to collected driving parameters assessment purpose and constant speed method carry out collocation group
It closes.
Specific driving scheme can also need to further limit and formulate more driving schemes, this implementation according to assessment
Example drives scheme and Specific Principles requirement without limitation to specific.
Depending on the selection of running section specifically needs as the case may be, for example a kind of vehicle of needs assessment is in high-speed road conditions
Under the state that keeps of lane, then the lanes of high-speed road conditions can be simulated by just selecting in the selection of section；It needs to evaluate and test one kind
Whether the Lane Keeping System of vehicle can be suitable for hill path road conditions, then hill path road can be simulated by just selecting in the selection of section
The lane of condition；It needs to evaluate and test performance of the Lane Keeping System of vehicle under comprehensive road condition, then chooses various lane road conditions mixing
The lane of connection；In addition, some vehicles such as motor bus or large-sized truck, can not adapt to some road conditions such as compared with narrow lane and compared with
Anxious is curved, then such section is avoided in route selection.
D) holding lanes are carried out by the driving scheme made by different drivers, every driver's traveling is several
Secondary, the travel times of every driver should be identical.
In each driving process of every driver, one group of driving parameters, acquisition are acquired all in accordance with unified collection rule
Rule is determined according to driving parameters collected.Including vehicle center point position S is using fixed lane position rule acquisition, tool
Body are as follows: one collection point is set every a certain distance on lane, whenever vehicle is by this collection point, is once travelled
Parameter acquisition；Or some fixed points are chosen on lane by other means as collection point.Speed v, steering wheel angle θ, side
Generally Fixed Time Interval is used to acquire to disk corner real-time change rate φ, i.e., carries out a driving parameters at regular intervals and adopt
Collection；Or acquired using fixed range interval, i.e., a driving parameters acquisition is carried out every certain operating range；Acquisition row every time
The point for sailing parameter is collection point.
As soon as vehicle is every to pass through the collection point determined by collection rule, an acquisition is carried out to each driving parameters.Generally
, the evaluation parameter of acquisition may include that vehicle center point position S, speed v, the real-time rotational angle theta of steering wheel, steering wheel angle are real-time
Change rate φ；It is acquired in general, the parameter for being able to reflect vehicle running state all can serve as evaluation parameter, based on more
The evaluation and test database that more evaluation parameter is established can more comprehensively, a kind of multi-sided lane holding for evaluating vehicle of more perspective
Function；It is of course also possible to which a part of evaluation parameter is selected to go to construct the evaluation and test database of a special angle, such as selection and vehicle
Related driving parameters of level of comfort (acceleration of such as vehicle on horizontal and vertical, speed) are used as evaluation parameter, this
Exactly one of a little evaluation parameter buildings is served only for the vehicle comfort level tested and assessed under vehicle lane holding system manipulation；In addition,
For any assessment mesh or the standard evaluation parameter for angle of testing and assessing, it should all contain at least one and be able to reflect vehicle lane holding row
In sailing, if crimping gets over line, i.e., does not meet and keep the evaluation parameter of lanes (such as left and right vehicle wheel two edges far from lane sideline
Distance, vehicle center point position S can also be met the requirements to a certain extent), this parameter is used to judge that vehicle lane holding function is
It is no to make mistakes, if most basic lane keeping task can be completed.
E) each driving parameters are optimized into processing in each collection point numerical value collected, the optimization processing is specific
For screening plus average value processing；It is screened first, the screening principle can be to remove every kind of driving parameters in each collection point
Maximum value and minimum value and the traveling several times of every driver in obviously belong to the exception of operation error or acquisition fault
Value regard remaining value as virtual value；Then one group of virtual value averaged by each driving parameters in each collection point,
Averaging of income value keeps standard evaluation parameter in the lane of corresponding collection point as the vehicle, then by standard evaluation parameter and drives
Scheme and collection rule are associated, form evaluation and test database.It is all fewer in driver and driving number, collected traveling ginseng
Maximum, minimum value can not also be removed in the case that array is fewer, in screening, only remove exceptional value.
The optimization processing may be Screening Treatment, in the correspondence parameter in collected each group parameter, filter out
Optimal data keeps standard evaluation parameter in the lane of corresponding collection point as the vehicle, then by standard evaluation parameter and drives
Scheme and collection rule are associated, form evaluation and test database.
The optimization processing may be average value processing, and to collected driving parameters in every time traveling, corresponding parameter exists
Averaged on each collection point, averaging of income value keep standard evaluation parameter in the lane of corresponding collection point as the vehicle,
It is again that standard evaluation parameter is associated with driving scheme and collection rule, form evaluation and test database.
The acquisition of vehicle center point position S can be to remember longitude and latitude out in high-precision map subscript by high-precision positioner
Degree or transverse and longitudinal coordinate are recorded in the form of coordinate (a, b)；The method of the result averaged of multi collect can be right respectively
Abscissa or latitude data averaged, then to ordinate or longitude data averaged, last vehicle center point position S
Average value be exactly transverse and longitudinal coordinate or longitude and latitude average value combination, i.e.,The vehicle center point of each collection point
The average value for setting S forms a curve, which is the central point locus line that vehicle keeps lanes.
In this example, it is assumed that we have selected the experienced driver of A, B, C tri- different driving styles and preference, often
Position driver has respectively carried out the driving in 3 holding lanes under constant speed driving scheme and under general driving scheme, and drives in constant speed
It sails and acquires the real-time rotational angle theta of center position S, steering wheel and steering wheel turn by fixed lane distance interval collection rule under scheme
Angle real-time change rate φ；Center position S is acquired by fixed lane distance interval collection rule under general driving scheme, is pressed
Fixed Time Interval collection rule acquires the real-time rotational angle theta of speed v, steering wheel, steering wheel angle real-time change rate φ, obtains
Following collection result.
Constant speed drives scheme collection result:
It is general to drive scheme collection result:
1,2,3 be to drive for the first time, drive for second, drive for the third time.
After obtaining collection result, the processing method that specific optimization processing becomes one group of standard evaluation parameter includes that screening adds
Average value processing, average value processing, Screening Treatment.
The screening plus average value processing are that one group of collection value to each driving parameters under each collection point is sieved first
Choosing processing.
Assuming that driver A is driven in the real-time rotational angle theta of steering wheel of collection point n acquisition for the second time under constant speed driving scheme2A2
With steering wheel angle change rate φ2A2, it is excessive numerical bias occur, is identified as abnormal numerical value, belongs to operation error or acquisition is lost
Accidentally, it is deleted, is not involved in calibration.In addition, it is assumed that corresponding parameter maximum value is S1A1、θ1A2、φ1A3、S2B1、θ2B2、
φ2B3、…、SnC1、θnC2、φnC3；Corresponding parameter minimum value is S1C3、θ1C2、φ1C1、S2B3、θ2B3、φ2B1、…、SnA3、θnA2、
φnA1；Above-mentioned maximum, minimum value is not involved in calibration.
Assuming that under general driving scheme, in the real-time corner of steering wheel of the acquisition of collection point 2 when driver's A third time drives
θ2A3The speed v acquired when being driven with second of driver C in collection point 11C2, it is excessive numerical bias occur, is identified as exception
Numerical value belongs to operation error or acquisition fault, is deleted, be not involved in calibration.In addition, it is assumed that corresponding parameter maximum value is
v1A1、θ1A2、φ1A3、v2B1、θ2B2、φ2B3、…、vnC1、θnC2、φnC3；Corresponding parameter minimum value is v1C3、θ1C2、φ1C1、v2B3、
θ2B3、φ2B1、…、vnA3、θnA2、φnA1；Above-mentioned maximum, minimum value is not involved in calibration.
Then, the acquisition knot of each driving parameters of each collection point under scheme and general driving scheme is driven to constant speed
Fruit averaged, and the results are as follows.
Constant speed drives scheme:
Collection point 1
Collection point 2
Collection point ...
……
Collection point n
It is general to drive scheme:
Collection point 1
Collection point 2
Collection point ...
……
Collection point n
The average value processing is to do average value processing to the correspondence parameter in collected each group parameter.Constant speed is driven
The collection result averaged of each driving parameters of each collection point under scheme and general driving scheme, and obtain as follows
As a result.
Constant speed drives scheme:
Collection point 1
Collection point 2
Collection point ...
……
Collection point n
It is general to drive scheme:
Collection point 1
Collection point 2
Collection point ...
……
Collection point n
Above two processing method finally drives each collection point under scheme and general driving scheme in constant speed, all
Arrive a series of average value of evaluation parameters:
Constant speed drives scheme
It is general to drive scheme
Each parameter under above two driving scheme each collection point a series of average values, it is associated with collection rule,
As the standard evaluation parameter of the vehicle, evaluation and test database is formed.
The Screening Treatment is to do optimal value choice of parameters to the correspondence parameter in collected each group parameter.I.e. to fixed
The collection result of each driving parameters of each collection point rule of thumb filters out under fast driving scheme and general driving scheme
One optimal value, it is assumed that the selection result such as following table.
The optimal value of the constant speed driving various driving parameters in each collection point of scheme
The general optimal value for driving the various driving parameters in each collection point of scheme
Under Screening Treatment, each parameter under above two driving scheme each collection point optimal value, with collection rule phase
Association forms evaluation and test database as the standard evaluation parameter of the vehicle.
The above parameter acquisition, screening, processing and calculating are all completed by evaluation and test host and corresponding program, and screening can also be by people
The further screening of work progress is rejudged with abnormal numerical value.In addition, the judgment criteria of abnormal numerical value is generally, it will be abnormal
Mutation numerical value (such as a series of one of collection points in one section of straight way section collected one with front and back acquisition point value do not connect
The real-time corner of continuous steering wheel) and abnormal excessive or too small numerical value be considered as belonging to the exception of operation error or acquisition fault
Numerical value.
In the present embodiment, the positioning device can also be connect to obtain more evaluation parameters, example with other devices of vehicle
Such as vehicle ECU connection, obtain the aperture and change rate of throttle or brake, obtain instantaneous acceleration etc.；It is connected with gyroscope, obtains
Obtain lateral speed, transverse acceleration, yaw angle etc..More different evaluation parameters are calibrated into standard evaluation parameter, it being capable of shape
At more comprehensively integrating, more stress and evaluate the evaluation and test database of angle.Selection and acquisition methods about evaluation parameter, this reality
Apply example herein with no restrictions.
In the present embodiment, used driving scheme and collection rule when about the acquisition of each driving parameters can be as needed
It is reasonably selected with evaluation and test purpose, when such as acquiring vehicle center position S, collection rule is generally using fixed lane position
Acquisition is protected because the variable quantity of the vehicle center point position S acquired in fixed lane position is able to reflect Lane Keeping System
It holds the ability of lanes and keeps the stability of lanes.What this patent was protected is the calibration and evaluation and test of standard evaluation parameter
The design of Database to specific driving parameters, drives the selection and combination of scheme and collection rule without limitation.
Claims (10)
1. the method for building up that a kind of lane keeps function evaluation and test database, which comprises the following steps:
A) standard lane is selected, the standard lane includes at least straight way section and bend section, and each road section is smoothly connected；
B) at least 1 driver is selected；
C) driving scheme is formulated, the driving scheme includes setting initial point position, test segment and final position and right
The principle parameter request for the holding lanes answered；
D) according to the driving scheme of formulation, specified vehicle is driven on the standard lane successively by selected driver with lane
The mode of holding travels at least 1 time；Every time during traveling, according to the collection rule of setting, each setting is corresponded on the way
Corresponding driving parameters are acquired on point；
E) by the driving parameters optimization processing of acquisition become standard evaluation parameter corresponding with each collection point, with drive scheme and
Collection rule is associated, and the lane as the vehicle keeps standard evaluation parameter, forms evaluation and test database.
2. the method for building up that a kind of lane according to claim 1 keeps function evaluation and test database, which is characterized in that step
C) in, the principle parameter request includes: requirement to speed, the requirement used to throttle, the requirement to brake, other side
To the rotational angle of disk and the requirement of velocity of rotation.
3. the method for building up that a kind of lane according to claim 1 keeps function evaluation and test database, which is characterized in that step
D) in, the collection rule includes fixed lane position acquisition, fixed operating range interval acquisition, Fixed Time Interval acquisition.
4. the method for building up that a kind of lane according to claim 1 keeps function evaluation and test database, which is characterized in that step
D) in, every driver-operated number is identical.
5. the method for building up that a kind of lane according to claim 1 keeps function evaluation and test database, which is characterized in that step
D) in, in every time driving of every driver, parameter group collected is identical.
6. the method for building up that a kind of lane according to claim 1 keeps function evaluation and test database, which is characterized in that step
D) in, the driving parameters include: that vehicle center point position S, speed v, the real-time rotational angle theta of steering wheel, steering wheel angle become in real time
Rate φ.
7. the method for building up that a kind of lane according to claim 1 keeps function evaluation and test database, which is characterized in that step
E) in, the optimization processing includes, to the correspondence parameter in various parameters on each set point of collected correspondence, being screened
And/or average value processing.
8. the method for building up that a kind of lane according to claim 7 keeps function evaluation and test database, which is characterized in that described
Screening is that every kind of driving parameters rule of thumb select a most suitable driving parameters on each collection point.
9. the method for building up that a kind of lane according to claim 7 keeps function evaluation and test database, which is characterized in that described
Average value processing is that averaged is distinguished on each collection point to collected each driving parameters in every time traveling.
10. the method for building up that a kind of lane according to claim 9 keeps function evaluation and test database, which is characterized in that institute
It states screening and average value processing includes doing average value processing after removing maximum value, minimum value and abnormal numerical value.
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