CN112834234A - Method and system for judging collision of target false car - Google Patents
Method and system for judging collision of target false car Download PDFInfo
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- CN112834234A CN112834234A CN201911164908.5A CN201911164908A CN112834234A CN 112834234 A CN112834234 A CN 112834234A CN 201911164908 A CN201911164908 A CN 201911164908A CN 112834234 A CN112834234 A CN 112834234A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/0078—Shock-testing of vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/08—Shock-testing
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Abstract
The invention discloses a method and a system for judging collision of a target false car, wherein the method comprises the following steps: and reading GPS and inertial sensor data of the test vehicle and the target false vehicle. And judging whether the two vehicles collide in a certain time period according to the speed direction, the speed magnitude, the acceleration and the relative distance of the two vehicles in the acquired data, if so, controlling the false vehicle to stretch wheels in time, and otherwise, not controlling the false vehicle. The system comprises a data acquisition module: the system comprises a data acquisition module, a data acquisition module and a data processing module, wherein the data acquisition module is used for respectively acquiring speed, acceleration, position and driving direction data of the two vehicles; determining the safety regulating quantity through the measuring precision of the sensors of the two vehicles; a path judgment module: and the system is used for judging the position relation of the two driving paths according to the position data and the driving direction data. The invention realizes the accurate judgment of whether the fake vehicle collides with the test vehicle, and avoids the damage of the wheel component caused by the fact that the target fake vehicle is not rolled by the test vehicle in time due to the fact that the wheels stretch out and draw back.
Description
Technical Field
The invention relates to the technical field of target false car performance testing, in particular to a method and a system for judging collision of a target false car.
Background
With the rapid development of machine vision and sensor technologies, various industries are undergoing intelligent technological innovation. The advanced driving assistance system utilizes various sensors (millimeter wave radar, laser radar, camera and satellite navigation) installed on a vehicle to sense the surrounding environment at any time in the driving process of the vehicle, collects data, further identifies, detects and tracks static and dynamic objects, and combines with navigator map data to perform systematic operation and analysis, thereby enabling a driver to perceive possible dangers in advance and effectively increasing the comfort and safety of vehicle driving.
The current driving assistance systems mainly include functions such as a lane departure warning system, a lane keeping system, a collision avoidance system, an adaptive cruise system, and an automatic parking system. Before the research and development organization really applies the functions to the market, the auxiliary systems need to be subjected to function testing, and the accuracy and the real-time performance of the functions are ensured, so that the self safety of a driver when the driver drives an automobile carrying the functions is ensured. The target false car is auxiliary equipment generated for the auxiliary driving function test. However, the test vehicle inevitably collides with the dummy vehicle under some conditions in the function test, and the height of the dummy vehicle is low, so when the test vehicle collides with the target dummy vehicle, the test vehicle can roll over from the body of the target dummy vehicle, and in order to ensure that the tire of the dummy vehicle is not damaged, the tire needs to be contracted before the test vehicle collides with the dummy vehicle, so as to ensure that the dummy vehicle is not damaged in the test process, therefore, the dummy vehicle needs to judge whether the dummy vehicle collides with the test vehicle in the test process of the test vehicle, so that the tire can be contracted in time, and the target dummy vehicle is not damaged.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method and a system for judging the collision of a target false car.
The purpose of the invention is realized by the following technical scheme:
a method of determining a target false vehicle collision according to a first aspect of the present invention is characterized by comprising:
respectively acquiring speed, acceleration, position and driving direction data of a test vehicle and a target false vehicle through GPS and inertial sensors of the test vehicle and the target false vehicle; determining a safety regulating quantity through the measuring precision of the sensors of the test vehicle and the target false vehicle;
judging the position relation of the running paths of the test vehicle and the target false vehicle according to the position data and the running direction data, and if the test vehicle and the target false vehicle run on the same straight line, judging the running relation when the test vehicle and the target false vehicle run on the same straight line and whether the target false vehicle is controlled by adopting a judging method 1; if the test vehicle and the target false vehicle do not run on the same straight line, judging whether the running relation of the test vehicle and the target false vehicle when the test vehicle and the target false vehicle do not run on the same straight line and whether the target false vehicle is controlled by adopting a judging method 2.
In the above aspect, the determination method 1 specifically includes:
1.1, judging that the test vehicle and the target false vehicle collide with each other when the test vehicle and the target false vehicle run oppositely,
when the distance between the test vehicle and the target false vehicle is the safe distance dcWhen the target false vehicle tire is controlled to stretch, the safety distance dcThe calculation method comprises the following steps:
dc＝(v0-v1)*t0+dsafe
wherein d issafeSafety regulation for test vehicles and target false vehicles, v0And v1Representing the current speeds, t, of the target dummy car and test car, respectively0Controlling the expansion time of the tires of the target dummy vehicle;
1.2, when the test vehicle and the target false vehicle run in the same direction, judging the front-back position relation of the test vehicle and the target false vehicle and judging whether to control the target false vehicle;
and 1.3, when the test vehicle and the target false vehicle run relatively, judging that the test vehicle and the target false vehicle do not collide with each other, and keeping the running state of the target false vehicle.
In the above aspect, the determining method 2 specifically includes:
2.1, respectively measuring the angle theta between the driving directions of the test vehicle and the target false vehicle and the horizontal connecting line of the central positions of the vehicle heads of the test vehicle and the target false vehicle through the collected position and driving direction data of the test vehicle and the target false vehicle1And theta2；
2.2 if theta1+θ2If the angle is more than 180 degrees, the test vehicle and the target false vehicle are judged not to collide, and the running state of the target false vehicle is kept;
2.3 if 0 DEG < theta1+θ2If the speed is less than 180 degrees, the speed, the acceleration, the position and the driving direction of the test vehicle and the target false vehicle are obtainedAnd calculating the driving routes of the test vehicle and the target false vehicle by the data, judging whether the driving routes of the test vehicle and the target false vehicle have intersection points or not, and judging whether the target false vehicle is controlled or not.
In the above aspect, the step 1.2 specifically includes:
1.21 if the target false car is behind the test car, setting the obtained current acceleration of the target false car and the current acceleration of the test car as a0And a1The distance change quantity delta d of the test vehicle and the target false vehicle after the time tfThe calculation method comprises the following steps:
Δdf＝(v0-v1)t+1/2*(a0-a1)t2
wherein v is0And v1Respectively representing the current speeds of the target false car and the test car;
the relative distance d between the test vehicle and the target false vehicle after t timef(t) is:
df(t)＝df-Δdf＝df-[(v0-v1)t+1/2*(a0-a1)t2]
wherein d isfThe actual distance between the current test vehicle and the target false vehicle is obtained;
if there is a time tkSo that df(t) when t is 0, judging that the test vehicle and the target false vehicle can collide; and calculate df(t)-dsafeValue of 0
Wherein d issafeAdjusting the safety of the test vehicle and the target false vehicle; control the target false car at
Stretching the tire after time;
if there is no time tkSo that df(t) is 0, judging that the test vehicle and the target false vehicle do not collide, and keeping the running state of the target false vehicle;
1.22 if the target false car is in front of the test car, the test car and the target are in contact after t timeRelative distance d of false carf(t) is:
df(t)＝df-Δdf＝df-[(v0-v1)t+1/2*(a0-a1)t2]
if there is a time tkSo that df(t) when t is 0, judging that the test vehicle and the target false vehicle can collide; and calculate df(t)-dsafeValue of 0
Wherein d issafeAdjusting the safety of the test vehicle and the target false vehicle; control the target false car at
Stretching the tire after time;
if there is no time tkSo that dfAnd (t) is 0, judging that the test vehicle and the target false vehicle do not collide, and keeping the running state of the target false vehicle.
In the above aspect, the step 2.3 specifically includes:
2.31 if the intersection exists, respectively calculating the time of the test vehicle and the time of the target false vehicle reaching the intersection,
assuming that the time when the target dummy vehicle reaches the intersection point is t, the distance traveled by the test vehicle at the moment is:
df(t)＝v1t+1/2a1t2
wherein v is1，a1Respectively the speed and the acceleration of the test vehicle measured by the GPS,
let the distance between the test vehicle and the intersection point be d1，
If there is a time t such that d1-dsafe＜df(t)＜d1+dsafeJudging that the test vehicle and the target false vehicle collide with each other at t-t0After the time, controlling the false car to stretch the tires;
if there is no time t such that d1-dsafe＜df(t)＜d1+dsafeThen judgeDetermining that the test vehicle and the target false vehicle do not collide, and keeping the running state of the target false vehicle;
2.32 if there is no intersection, it is determined that the test vehicle and the target false vehicle do not collide with each other, and the traveling state of the target false vehicle is maintained.
A system for determining a collision of a target false vehicle according to a second aspect of the present invention is characterized by comprising:
a data acquisition module: the system comprises a data acquisition module, a data acquisition module and a data acquisition module, wherein the data acquisition module is used for respectively acquiring speed, acceleration, position and driving direction data of the test vehicle and the target false vehicle; determining a safety regulating quantity through the measuring precision of the sensors of the test vehicle and the target false vehicle;
a path judgment module: and the system is used for judging the position relation between the test vehicle and the target false vehicle according to the position data and the driving direction data and making a judgment method.
In the above aspect, the path determining module specifically includes:
a party line judging unit: the control system is used for judging the running relation when the test vehicle and the target false vehicle run on the same straight line and whether to control the target false vehicle when the test vehicle and the target false vehicle run on the same straight line;
an abnormal line judgment unit: and the control device is used for judging the running relation when the test vehicle and the target false vehicle do not run on the same straight line and whether to control the target false vehicle when the test vehicle and the target false vehicle do not run on the same straight line.
In the above aspect, the collinear determining unit is specifically configured to determine a traveling direction relationship between the test vehicle and the target false vehicle and whether to control the target false vehicle:
1.1, judging that the test vehicle and the target false vehicle collide with each other when the test vehicle and the target false vehicle run oppositely,
when the distance between the test vehicle and the target false vehicle is the safe distance dcWhen the target false vehicle tire is controlled to stretch, the safety distance dcThe calculation method comprises the following steps:
dc＝(v0-v1)*t0+dsafe
wherein d issafeSafety regulation for test vehicles and target false vehicles, v0And v1Representing the current speeds, t, of the target dummy car and test car, respectively0Controlling the expansion time of the tires of the target dummy vehicle;
1.2, judging the front-back position relation of the test vehicle and the target false vehicle when the test vehicle and the target false vehicle run in the same direction,
1.21 if the target false car is behind the test car, setting the obtained current acceleration of the target false car and the current acceleration of the test car as a0And a1The distance change quantity delta d of the test vehicle and the target false vehicle after the time tfThe calculation method comprises the following steps:
Δdf＝(v0-v1)t+1/2*(a0-a1)t2
wherein v is0And v1Respectively representing the current speeds of the target false car and the test car;
the relative distance d between the test vehicle and the target false vehicle after t timef(t) is:
df(t)＝df-Δdf＝df-[(v0-v1)t+1/2*(a0-a1)t2]
wherein d isfThe actual distance between the current test vehicle and the target false vehicle is obtained;
if there is a time tkSo that df(t) when t is 0, judging that the test vehicle and the target false vehicle can collide; and calculate df(t)-dsafeValue of 0
Wherein d issafeAdjusting the safety of the test vehicle and the target false vehicle; control the target false car at
Stretching the tire after time;
if there is no time tkSo that df(t) 0, judging that the test vehicle and the target false vehicle do not collide with each other, and keeping the targetThe driving state of the dummy car;
1.22 if the target false car is in front of the test car, the relative distance d between the test car and the target false car is determined after t timef(t) is:
df(t)＝df-Δf＝df-[(v0-v1)t+1/2*(a0-a1)t2]
if there is a time tkSo that df(t) when t is 0, judging that the test vehicle and the target false vehicle can collide; and calculate df(t)-dsafeValue of 0
Wherein d issafeAdjusting the safety of the test vehicle and the target false vehicle; control the target false car at
Stretching the tire after time;
if there is no time tkSo that df(t) is 0, judging that the test vehicle and the target false vehicle do not collide, and keeping the running state of the target false vehicle;
and 1.3, when the test vehicle and the target false vehicle run relatively, judging that the test vehicle and the target false vehicle do not collide with each other, and keeping the running state of the target false vehicle.
In the above aspect, the different line determining unit is specifically configured to:
2.1, respectively measuring the angle theta between the driving directions of the test vehicle and the target false vehicle and the horizontal connecting line of the central positions of the vehicle heads of the test vehicle and the target false vehicle through the collected position and driving direction data of the test vehicle and the target false vehicle1And theta2；
2.2 if theta1+θ2If the angle is more than 180 degrees, the test vehicle and the target false vehicle are judged not to collide, and the running state of the target false vehicle is kept;
2.3 if 0 DEG < theta1+θ2If the speed, the acceleration, the position and the driving direction of the test vehicle and the target false vehicle are less than 180 degrees, calculating the sum of the speed, the acceleration and the position of the test vehicle and the target false vehicle according to the acquired dataMarking the driving route of the fake vehicle, judging whether the driving routes of the test vehicle and the target fake vehicle have intersection points,
2.31 if the intersection exists, respectively calculating the time of the test vehicle and the time of the target false vehicle reaching the intersection,
assuming that the time when the target dummy vehicle reaches the intersection point is t, the distance traveled by the test vehicle at the moment is:
df(t)＝v1t+1/2a1t2
wherein v is1，a1Respectively the speed and the acceleration of the test vehicle measured by the GPS,
let the distance between the test vehicle and the intersection point be d1，
If there is a time t such that d1-dsafe＜df(t)＜d1+dsafeJudging that the test vehicle and the target false vehicle collide with each other at t-t0After the time, controlling the false car to stretch the tires;
if there is no time t such that d1-dsafe＜df(t)＜d1+dsafeJudging that the test vehicle and the target false vehicle do not collide, and keeping the running state of the target false vehicle;
2.32 if there is no intersection, it is determined that the test vehicle and the target false vehicle do not collide with each other, and the traveling state of the target false vehicle is maintained.
Compared with the prior art, the invention has the beneficial effects that: on the one hand, the existing GPS and inertial navigation of the target dummy car and the test car are utilized to judge the collision, so that the installation of a millimeter wave radar and a camera is avoided, and the expenditure is saved. On the other hand, the safe distance is considered for the test vehicle and the target false vehicle which do not run on the same straight line, so that the collision caused by the sudden change of the state of the test vehicle when the distance between the two vehicles is close is avoided, and the safety is better improved.
Drawings
FIG. 1 is a schematic flow chart of a method of determining a target false car collision of the present invention;
fig. 2 is an angle schematic diagram of a target false car and a test car of the method and system for determining collision of the target false car.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are described in detail with reference to the accompanying drawings.
The structure of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention includes a method for determining a target false car collision, including:
respectively acquiring speed, acceleration, position and driving direction data of a test vehicle and a target false vehicle through GPS and inertial sensors of the two vehicles; acquiring a safety regulating quantity through sensors of the two vehicles; the GPS used by the two vehicles is rt3002, the working frequency is 100Hz, and the position, course angle, speed and acceleration information collected by the GPS rt3002 on the target false vehicle and the test vehicle is refreshed every 0.01 s.
Judging the position relation of the driving paths of the two vehicles according to the position data and the driving direction data, and adopting a judging method 1 if the two vehicles drive on the same straight line; and if the two vehicles do not run on the same straight line, adopting a judgment method 2.
The judgment method 1:
1.1, when the two vehicles run in opposite directions, judging that the two vehicles collide,
when the distance between two vehicles is the safe distance dcWhen the target false vehicle tire is controlled to stretch, the safety distance dcThe calculation method comprises the following steps:
dc＝(v0-v1)*t0+dsafe
wherein d issafeFor two vehicles to adjust the safety quantity v0And v1Representing the current speeds, t, of the target dummy car and test car, respectively0Controlling the expansion time of the tires of the target dummy vehicle;
1.2, judging the front-back position relation of the two vehicles when the two vehicles run in the same direction,
1.21 if the target false car is behind the test car, setting the obtained target false carAnd the current acceleration of the test vehicle is a0And a1Then the distance variation delta d of the two vehicles after the time tfThe calculation method comprises the following steps:
Δdf＝(v0-v1)t+1/2*(a0-a1)t2
wherein v is0And v1Respectively representing the current speeds of the target false car and the test car;
the relative distance d between the two vehicles after t timef(t) is:
df(t)＝df-Δdf＝df-[(v0-v1)t+1/2*(a0-a1)t2]
wherein d isfThe actual distance between the two current vehicles is obtained;
if there is a time tkSo that df(t) 0, judging that the two vehicles collide; and calculate df(t)-dsafeValue of 0
Wherein d issafeThe safety adjustment quantity of the two vehicles is adjusted; control the target false car at
Stretching the tire after time;
if there is no time tkSo that df(t) 0, judging that the two vehicles do not collide with each other, and keeping the running state of the target false vehicle;
1.22 if the target false car is in front of the test car, the relative distance d between the two cars after t timef(t) is:
df(t)＝df-Δdf＝df-[(v0-v1)t+1/2*(a0-a1)t2]
if there is a time tkSo that df(t) 0, judging that the two vehicles collide; and calculate df(t)-dsafeValue of 0
Wherein d issafeThe safety adjustment quantity of the two vehicles is adjusted; control the target false car at
Stretching the tire after time;
if there is no time tkSo that df(t) 0, judging that the two vehicles do not collide with each other, and keeping the running state of the target false vehicle;
and 1.3, when the two vehicles run oppositely, judging that the two vehicles do not collide, and keeping the running state of the target false vehicle.
The judgment method 2 comprises the following steps:
the method specifically comprises the steps of obtaining an angle theta between the driving direction of a test vehicle and a target false vehicle and a horizontal connecting line of the center positions of the two vehicle heads through collected data of the two vehicle positions and the driving direction and data of GPS rt30021And theta2As shown in fig. 2:
2.1 if theta1+θ2If the angle is more than 180 degrees, judging that the two vehicles do not collide, and keeping the running state of the target false vehicle;
2.2 if 0 DEG < theta1+θ2If the speed, the acceleration, the position and the driving direction of the two vehicles are less than 180 degrees, the driving routes of the two vehicles are calculated according to the acquired speed, the acceleration, the position and the driving direction data of the two vehicles, whether the intersection point exists between the driving routes of the two vehicles is judged,
2.21 if the intersection exists, respectively calculating the time of the two vehicles arriving at the intersection,
assuming that the time when the target dummy vehicle reaches the intersection point is t, the distance traveled by the test vehicle at the moment is:
df(t)＝v1t+1/2a1t2
wherein v is1，a1Respectively the speed and the acceleration of the test vehicle measured by the GPS,
let the distance between the test vehicle and the intersection point be d1，
If there is a time t such that d1-dsafe＜df(t)＜d1+dsafeIf so, it is determined that two vehicles will sendIn case of collision at t-t0After the time, controlling the false car to stretch the tires;
if there is no time t such that d1-dsafe＜df(t)＜d1+dsafeJudging that the two vehicles do not collide, and keeping the running state of the target false vehicle;
2.22 if there is no intersection, it is determined that the two vehicles do not collide with each other, and the traveling state of the target false vehicle is maintained.
The invention also includes a system for determining a target false car collision:
a data acquisition module: the system comprises a data acquisition module, a data acquisition module and a data processing module, wherein the data acquisition module is used for respectively acquiring speed, acceleration, position and driving direction data of the two vehicles; acquiring a safety regulating quantity through sensors of the two vehicles;
a path judgment module: and the system is used for judging the position relation of the two driving paths according to the position data and the driving direction data.
The path judgment module specifically comprises:
a party line judging unit: the system is used for judging the relation of the driving directions of the two vehicles when the two vehicles drive on the same straight line;
an abnormal line judgment unit: and the method is used for judging the driving direction relation of the two vehicles when the two vehicles do not drive on the same straight line.
The collinear judgment unit is specifically used for judging the driving direction relationship between the test vehicle and the target false vehicle:
1.1, when the two vehicles run in opposite directions, judging that the two vehicles collide,
when the distance between two vehicles is the safe distance dcWhen the target false vehicle tire is controlled to stretch, the safety distance dcThe calculation method comprises the following steps:
dc＝(v0-v1)*t0+dsafe
wherein d issafeFor two vehicles to adjust the safety quantity v0And v1Representing the current speeds, t, of the target dummy car and test car, respectively0Controlling the expansion time of the tires of the target dummy vehicle;
1.2, judging the front-back position relation of the two vehicles when the two vehicles run in the same direction,
1.21 if the target false car is behind the test car, setting the obtained current acceleration of the target false car and the current acceleration of the test car as a0And a1Then the distance variation delta d of the two vehicles after the time tfThe calculation method comprises the following steps:
Δdf＝(v0-v1)t+1/2*(a0-a1)t2
wherein v is0And v1Respectively representing the current speeds of the target false car and the test car;
the relative distance d between the two vehicles after t timef(t) is:
df(t)＝df-Δdf＝df-[(v0-v1)t+1/2*(a0-a1)t2]
wherein d isfThe actual distance between the two current vehicles is obtained;
if there is a time tkSo that df(t) 0, judging that the two vehicles collide; and calculate df(t)-dsafeValue of 0
Wherein d issafeThe safety adjustment quantity of the two vehicles is adjusted; control the target false car at
Stretching the tire after time;
if there is no time tkSo that df(t) 0, judging that the two vehicles do not collide with each other, and keeping the running state of the target false vehicle;
1.22 if the target false car is in front of the test car, the relative distance d between the two cars after t timef(t) is:
df(t)＝df-Δdf＝df-[(v0-v1)t+1/2*(a0-a1)t2]
if there is a time tkSo that df(t) 0, judging that the two vehicles collide;and calculate df(t)-dsafeValue of 0
Wherein d issafeThe safety adjustment quantity of the two vehicles is adjusted; control the target false car at
Stretching the tire after time;
if there is no time tkSo that df(t) 0, judging that the two vehicles do not collide with each other, and keeping the running state of the target false vehicle;
and 1.3, when the two vehicles run oppositely, judging that the two vehicles do not collide, and keeping the running state of the target false vehicle.
The different-line judging unit is specifically used for respectively measuring the angle theta between the driving direction of the test vehicle and the target false vehicle and the horizontal connecting line of the center positions of the two vehicle heads through the acquired position and driving direction data of the two vehicles1And theta2：
2.1 if theta1+θ2If the angle is more than 180 degrees, judging that the two vehicles do not collide, and keeping the running state of the target false vehicle;
2.2 if 0 DEG < theta1+θ2If the speed, the acceleration, the position and the driving direction of the two vehicles are less than 180 degrees, the driving routes of the two vehicles are calculated according to the acquired speed, the acceleration, the position and the driving direction data of the two vehicles, whether the intersection point exists between the driving routes of the two vehicles is judged,
2.21 if the intersection exists, respectively calculating the time of the two vehicles arriving at the intersection,
assuming that the time when the target dummy vehicle reaches the intersection point is t, the distance traveled by the test vehicle at the moment is:
df(t)＝v1t+1/2a1t2
wherein v is1，a1Respectively the speed and the acceleration of the test vehicle measured by the GPS,
let the distance between the test vehicle and the intersection point be d1，
If there is a time t such that d1-dsafe＜df(t)＜d1+dsafeThen, it is determined that the two vehicles will collide at t-t0After the time, controlling the false car to stretch the tires;
if there is no time t such that d1-dsafe＜df(t)＜d1+dsafeJudging that the two vehicles do not collide, and keeping the running state of the target false vehicle;
2.22 if there is no intersection, it is determined that the two vehicles do not collide with each other, and the traveling state of the target false vehicle is maintained.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (9)
1. A method of determining a target false car collision, comprising:
respectively acquiring speed, acceleration, position and driving direction data of a test vehicle and a target false vehicle through GPS and inertial sensors of the test vehicle and the target false vehicle; determining a safety regulating quantity through the measuring precision of the sensors of the test vehicle and the target false vehicle;
judging the position relation of the running paths of the test vehicle and the target false vehicle according to the position data and the running direction data, and if the test vehicle and the target false vehicle run on the same straight line, judging the running relation when the test vehicle and the target false vehicle run on the same straight line and whether the target false vehicle is controlled by adopting a judging method 1; if the test vehicle and the target false vehicle do not run on the same straight line, judging whether the running relation of the test vehicle and the target false vehicle when the test vehicle and the target false vehicle do not run on the same straight line and whether the target false vehicle is controlled by adopting a judging method 2.
2. The method for determining the collision of the target false vehicle according to claim 1, wherein the determination method 1 specifically comprises:
1.1, judging that the test vehicle and the target false vehicle collide with each other when the test vehicle and the target false vehicle run oppositely,
when the distance between the test vehicle and the target false vehicle is the safe distance dcWhen the target false vehicle tire is controlled to stretch, the safety distance dcThe calculation method comprises the following steps:
dc＝(v0-v1)*t0+dsafe
wherein d issafeSafety regulation for test vehicles and target false vehicles, v0And v1Representing the current speeds, t, of the target dummy car and test car, respectively0Controlling the expansion time of the tires of the target dummy vehicle;
1.2, when the test vehicle and the target false vehicle run in the same direction, judging the front-back position relation of the test vehicle and the target false vehicle and judging whether to control the target false vehicle;
and 1.3, when the test vehicle and the target false vehicle run relatively, judging that the test vehicle and the target false vehicle do not collide with each other, and keeping the running state of the target false vehicle.
3. The method for determining the collision of the target false vehicle according to claim 1, wherein the determination method 2 specifically comprises:
2.1, respectively measuring the angle theta between the driving directions of the test vehicle and the target false vehicle and the horizontal connecting line of the central positions of the vehicle heads of the test vehicle and the target false vehicle through the collected position and driving direction data of the test vehicle and the target false vehicle1And theta2；
2.2 if theta1+θ2If the angle is more than 180 degrees, the test vehicle and the target false vehicle are judged not to collide, and the running state of the target false vehicle is kept;
2.3 if 0 DEG < theta1+θ2If the speed, the acceleration, the position and the driving direction of the test vehicle and the target false vehicle are less than 180 degrees, the driving routes of the test vehicle and the target false vehicle are calculated according to the acquired speed, acceleration, position and driving direction data of the test vehicle and the target false vehicle, whether the driving routes of the test vehicle and the target false vehicle have intersection points or not is judged, and whether the target false vehicle is controlled or not is judged.
4. The method for determining the collision of the target false car as claimed in claim 2, wherein the step 1.2 specifically comprises:
1.21 if the target false car is behind the test car, setting the obtained current acceleration of the target false car and the current acceleration of the test car as a0And a1The distance change quantity delta d of the test vehicle and the target false vehicle after the time tfThe calculation method comprises the following steps:
Δdf＝(v0-v1)t+1/2*(a0-a1)t2
wherein v is0And v1Respectively representing the current speeds of the target false car and the test car;
the relative distance d between the test vehicle and the target false vehicle after t timef(t) is:
df(t)＝df-Δdf＝df-[(v0-v1)t+1/2*(a0-a1)t2]
wherein d isfThe actual distance between the current test vehicle and the target false vehicle is obtained;
if there is a time tkSo that df(t) when t is 0, judging that the test vehicle and the target false vehicle can collide; and calculate df(t)-dsafeValue of 0
Wherein d issafeAdjusting the safety of the test vehicle and the target false vehicle; control the target false car at
Stretching the tire after time;
if there is no time tkSo that df(t) is 0, judging that the test vehicle and the target false vehicle do not collide, and keeping the running state of the target false vehicle;
1.22 if the target false car is in front of the test car, the relative distance d between the test car and the target false car is determined after t timef(t) is:
df(t)＝df-Δdf＝df-[(v0-v1)t+1/2*(a0-a1)t2]
if there is a time tkSo that df(t) when t is 0, judging that the test vehicle and the target false vehicle can collide; and calculate df(t)-dsafeValue of 0
Wherein d issafeAdjusting the safety of the test vehicle and the target false vehicle; control the target false car at
Stretching the tire after time;
if there is no time tkSo that dfAnd (t) is 0, judging that the test vehicle and the target false vehicle do not collide, and keeping the running state of the target false vehicle.
5. The method for determining the collision of the target false car as claimed in claim 3, wherein the step 2.3 specifically comprises:
2.31 if the intersection exists, respectively calculating the time of the test vehicle and the time of the target false vehicle reaching the intersection,
assuming that the time when the target dummy vehicle reaches the intersection point is t, the distance traveled by the test vehicle at the moment is:
df(t)＝v1t+1/2a1t2
wherein v is1，a1Respectively the speed and the acceleration of the test vehicle measured by the GPS,
let the distance between the test vehicle and the intersection point be d1，
If there is a time t such that d1-dsafe＜df(t)＜d1+dsafeJudging that the test vehicle and the target false vehicle collide with each other at t-t0After the time, controlling the false car to stretch the tires;
if there is no time t such that d1-dsafe＜df(t)＜d1+dsafeJudging that the test vehicle and the target false vehicle do not collide, and keeping the running state of the target false vehicle;
2.32 if there is no intersection, it is determined that the test vehicle and the target false vehicle do not collide with each other, and the traveling state of the target false vehicle is maintained.
6. A system for determining a target false car collision, comprising:
a data acquisition module: the system comprises a data acquisition module, a data acquisition module and a data acquisition module, wherein the data acquisition module is used for respectively acquiring speed, acceleration, position and driving direction data of the test vehicle and the target false vehicle; determining a safety regulating quantity through the measuring precision of the sensors of the test vehicle and the target false vehicle;
a path judgment module: and the system is used for judging the position relation between the test vehicle and the target false vehicle according to the position data and the driving direction data and making a judgment method.
7. The system for determining the collision of the target false vehicle as claimed in claim 5, wherein the path determination module specifically comprises:
a party line judging unit: the control system is used for judging the running relation when the test vehicle and the target false vehicle run on the same straight line and whether to control the target false vehicle when the test vehicle and the target false vehicle run on the same straight line;
an abnormal line judgment unit: and the control device is used for judging the running relation when the test vehicle and the target false vehicle do not run on the same straight line and whether to control the target false vehicle when the test vehicle and the target false vehicle do not run on the same straight line.
8. The system for determining the collision of the target false vehicle according to claim 7, wherein the collinear determining unit is specifically configured to determine a traveling direction relationship between the test vehicle and the target false vehicle and whether to control the target false vehicle:
1.1, judging that the test vehicle and the target false vehicle collide with each other when the test vehicle and the target false vehicle run oppositely,
when the distance between the test vehicle and the target false vehicle is the safe distance dcWhen the target false vehicle tire is controlled to stretch, the safety distance dcThe calculation method comprises the following steps:
dc＝(v0-v1)*t0+dsafe
wherein d issafeSafety regulation for test vehicles and target false vehicles, v0And v1Representing the current speeds, t, of the target dummy car and test car, respectively0Controlling the expansion time of the tires of the target dummy vehicle;
1.2, judging the front-back position relation of the test vehicle and the target false vehicle when the test vehicle and the target false vehicle run in the same direction,
1.21 if the target false car is behind the test car, setting the obtained current acceleration of the target false car and the current acceleration of the test car as a0And a1The distance change quantity delta d of the test vehicle and the target false vehicle after the time tfThe calculation method comprises the following steps:
Δdf＝(v0-v1)t+1/2*(a0-a1)t2
wherein v is0And v1Respectively representing the current speeds of the target false car and the test car;
the relative distance d between the test vehicle and the target false vehicle after t timef(t) is:
df(t)＝df-Δdf＝df-[(v0-v1)t+1/2*(a0-a1)t2]
wherein d isfThe actual distance between the current test vehicle and the target false vehicle is obtained;
if there is a time tkSo that df(t) when t is 0, judging that the test vehicle and the target false vehicle can collide; and calculate df(t)-dsafeValue of 0
Wherein d issafeAdjusting the safety of the test vehicle and the target false vehicle; control the target false car at
Stretching the tire after time;
if there is no time tkSo that df(t) is 0, judging that the test vehicle and the target false vehicle do not collide, and keeping the running state of the target false vehicle;
1.22 if the target false car is in front of the test car, the relative distance d between the test car and the target false car is determined after t timef(t) is:
df(t)＝df-Δdf＝df-[(v0-v1)t+1/2*(a0-a1)t2]
if there is a time tkSo that df(t) when t is 0, judging that the test vehicle and the target false vehicle can collide; and calculate df(t)-dsafeValue of 0
Wherein d issafeAdjusting the safety of the test vehicle and the target false vehicle; control the target false car at
Stretching the tire after time;
if there is no time tkSo that df(t) is 0, judging that the test vehicle and the target false vehicle do not collide, and keeping the running state of the target false vehicle;
and 1.3, when the test vehicle and the target false vehicle run relatively, judging that the test vehicle and the target false vehicle do not collide with each other, and keeping the running state of the target false vehicle.
9. The system for determining the collision of the target false vehicle according to claim 7, wherein the different-line determining unit is specifically configured to:
2.1, respectively measuring the angles between the driving directions of the test vehicle and the target false vehicle and the horizontal connecting lines of the central positions of the vehicle heads of the test vehicle and the target false vehicle through the collected position and driving direction data of the test vehicle and the target false vehicleθ1And theta2；
2.2 if theta1+θ2If the angle is more than 180 degrees, the test vehicle and the target false vehicle are judged not to collide, and the running state of the target false vehicle is kept;
2.3 if 0 DEG < theta1+θ2If the speed, the acceleration, the position and the driving direction of the test vehicle and the target false vehicle are less than 180 degrees, the driving routes of the test vehicle and the target false vehicle are calculated according to the acquired speed, the acceleration, the position and the driving direction data of the test vehicle and the target false vehicle, whether the driving routes of the test vehicle and the target false vehicle have intersection points or not is judged,
2.31 if the intersection exists, respectively calculating the time of the test vehicle and the time of the target false vehicle reaching the intersection,
assuming that the time when the target dummy vehicle reaches the intersection point is t, the distance traveled by the test vehicle at the moment is:
df(t)＝v1t+1/2a1t2
wherein v is1，a1Respectively the speed and the acceleration of the test vehicle measured by the GPS,
let the distance between the test vehicle and the intersection point be d1，
If there is a time t such that d1-dsafe＜df(t)＜d1+dsafeJudging that the test vehicle and the target false vehicle collide with each other at t-t0After the time, controlling the false car to stretch the tires;
if there is no time t such that d1-dsafe＜df(t)＜d1+dsafeJudging that the test vehicle and the target false vehicle do not collide, and keeping the running state of the target false vehicle;
2.32 if there is no intersection, it is determined that the test vehicle and the target false vehicle do not collide with each other, and the traveling state of the target false vehicle is maintained.
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