CN113188815A - Comprehensive safety performance detection method for intelligent automobile under high-speed working condition - Google Patents
Comprehensive safety performance detection method for intelligent automobile under high-speed working condition Download PDFInfo
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Abstract
The invention discloses a method for detecting comprehensive safety performance of an intelligent automobile under high-speed working conditions, which comprises the following steps of: (1) and (4) ASR function detection: simulating a road condition that the rotating speed of a driving wheel is lower than that of a driven wheel on a detection platform, and then judging whether the ASR function of the vehicle to be detected is started and the performance is normal; (2) the driving assistance system detects: simulating a driving scene on a detection platform, and judging whether the function and the performance of a driving assistance system of the vehicle to be detected are normal or not by changing the relative position of an AGV trolley and the vehicle to be detected; (3) and (4) detecting the EBS function: different load states of the vehicle to be detected are simulated by adjusting the inertia of a flywheel connected with a roller on the detection platform; and detecting the EBS function and performance of the vehicle to be detected under different load states. The invention solves the problem that the ASR function and the automobile driving auxiliary system can not be effectively detected, simultaneously perfects the EBS detection process and comprehensively detects the performance stability and reliability of the EBS.
Description
Technical Field
The invention relates to a method for detecting the safety performance of an automobile in a high-speed state.
Background
The safety performance of the automobile in a high-speed state is related to the life and property safety of drivers. When an automobile leaves a factory, safety requirements of GB7258-2017 motor vehicle operation safety technical conditions are firstly met, and multiple tests of braking force, braking distance, braking deceleration, braking stability and the like are completed. For example, the invention patent "automobile discharge and automobile comprehensive safety inspection method" in Chinese patent with publication number CN112798299A provides an automobile inspection method, which can efficiently complete ABS inspection, EBD inspection and environmental protection inspection.
However, the existing automobile inspection method has the following defects:
(1) no check can be made for traction control systems (ASR). ASR is used to provide better traction for automobiles under various driving conditions. When the automobile is accelerated, if the traction control system detects that the difference between the rotating speeds of the driving wheel and the driven wheel is too large, the control system can reduce the oil supply quantity of an engine, reduce the power output and take braking measures on the driven wheel, so that the slip rate of the driving wheel is reduced. However, the above working conditions are difficult to simulate through a road test mode, so that an effective detection mode aiming at the ASR function is not available at present, and potential safety hazards exist when the vehicle faces extreme weather and road conditions.
(2) The functions of collision avoidance early warning FCWS, automatic braking AEB, lane departure early warning LDW/lane keeping LKA, and the like in the driving assistance system cannot be detected on the stage. This kind of driving assistance means has been widely used on high-end, intelligent cars, but its detection mode still relies on the road test seriously, needs to simulate dangerous scenes such as "too close distance", "lane departure" on the highway, not only inefficiency, with high costs, and the security is poor moreover, also is difficult to carry out effective accurate control to vehicle distance, lane departure degree etc. simultaneously.
(3) The detection for EBS systems is not perfect. The work effect of the EBS is greatly influenced by the load degree, and the current detection mode does not require the load condition of the vehicle, so that the detection result cannot accurately reflect the work state of the EBS.
Disclosure of Invention
The invention provides a method for detecting comprehensive safety performance of an intelligent automobile under high-speed working conditions, which aims to: (1) the problem that the ASR function cannot be effectively detected is solved; (2) the method comprises the steps of simulating real road conditions, detecting whether the functions of the automobile driving auxiliary system are normal or not, and solving the problems of high operation difficulty, inaccurate simulation, long time consumption, high cost and poor safety of the existing detection scheme; (3) the detection of the no-load and full-load typical working performances of the EBS is perfected, and the performance stability and reliability of the EBS are comprehensively detected.
The technical scheme of the invention is as follows:
a method for detecting comprehensive safety performance of an intelligent automobile under high-speed working conditions comprises the following steps of:
(1) and (4) ASR function detection: simulating a road condition that the rotating speed of a driving wheel is lower than that of a driven wheel on a detection platform, and then judging whether the ASR function of the vehicle to be detected is started and the performance is normal;
(2) the driving assistance system detects: simulating a driving scene on a detection platform, arranging a movable AGV at the front side of the vehicle to be detected, and judging whether the driving assistance system of the vehicle to be detected is normal in function and performance by changing the relative position of the AGV and the vehicle to be detected;
(3) and (4) detecting the EBS function: different load states of the vehicle to be detected are simulated by adjusting the inertia of a flywheel connected with a roller on the detection platform; and detecting the EBS function and performance of the vehicle to be detected under different load states.
As a further improvement of the detection method, the specific method of the step (1) is as follows:
(1.1) each wheel is correspondingly contacted with a group of roller components on the detection platform respectively;
(1.2) starting and accelerating the vehicle to be detected, and rotating a roller corresponding to a driving wheel under the action of the driving wheel until the preset rotating speed is reached;
(1.3) the roller corresponding to the driven wheel rotates under the driving of the motor, and then the driven wheel is driven to rotate until the rotating speed of the driven wheel exceeds that of the driving wheel;
and (1.4) observing whether the ASR function of the vehicle to be detected is started and the performance is normal.
As a further improvement of the detection method: the condition for judging whether the ASR function of the vehicle to be detected is started in the step (1.4) is as follows:
the method comprises the following steps that 1, a vehicle-mounted control system is connected in an OBD communication mode, the running data of an engine is obtained, and whether the output torque of the engine of a vehicle to be detected is reduced or not is judged;
if both of the above conditions are satisfied, it may be determined that the ASR function is enabled.
As a further improvement of the detection method, the specific method of the step (2) is as follows:
(2.1) each wheel is correspondingly contacted with a group of roller components on the detection platform respectively; starting the vehicle to be detected, and rotating wheels under the action of the corresponding rollers until the preset rotating speed is reached; meanwhile, an AGV trolley is placed on the front side of the vehicle to be detected;
(2.2) collision avoidance early warning monitoring: controlling the AGV trolley to gradually approach the vehicle to be detected from front to back, and observing whether the vehicle to be detected gives an alarm or not when the distance between the AGV trolley and the vehicle to be detected reaches a specified range;
(2.3) automatic braking detection: controlling the AGV trolley to gradually approach the vehicle to be detected from front to back, and observing whether the vehicle to be detected takes braking measures or not when the distance between the AGV trolley and the vehicle to be detected reaches a specified range;
(2.4) lane departure detection: place the mark target board on the AGV dolly, have the lane pattern on the mark target board, control the AGV dolly and control about waiting to examine the vehicle front side, observe and wait to examine whether the vehicle sends the warning.
As a further improvement of the detection method, the specific method of the step (3) is as follows: firstly, a flywheel is mounted to simulate a load state, then a motor is used for driving a roller to rotate, and then the roller is used for driving wheels to rotate; after the wheel reaches the first rotating speed, disconnecting the transmission connection between the motor and the roller or powering off the motor, leaving the vehicle to be detected in neutral, and starting to brake the vehicle to be detected after the rotating speed of the wheel is reduced to the second rotating speed; during braking, the braking performance of the vehicle is detected.
As a further improvement of the detection method: more than three groups of roller assemblies are arranged on the detection platform.
Compared with the prior art, the invention has the following beneficial effects:
(1) the method controls the driving wheel and the driven wheel of the vehicle at different rotating speeds, so that the driven wheel is slower than the driving wheel, an ASR mechanism is triggered, and then the state of an engine and a brake is detected to judge whether the ASR function is normal or not, so that the ASR function and performance can be effectively detected on a detection platform, and the method has the advantages of accurate simulation, simplicity and convenience in operation, high reliability and the like;
(2) the method changes the distance between the AGV trolley and the vehicle to be detected by controlling the forward and backward movement of the AGV trolley, simulates scenes of 'too close distance to the front vehicle' and 'lane departure' and the like, realizes the function and performance detection of the automobile driving auxiliary system under the high-speed state of the automobile on a detection platform, can comprehensively replace a road test, has simple operation, high efficiency and better safety, and can accurately control the distance between the AGV trolley and the vehicle;
(3) the method also provides a scheme for detecting the EBS under different load states, and the performance stability and reliability of the EBS are comprehensively detected.
Drawings
FIG. 1 is a top view of a vehicle under inspection and an inspection platform in which the method is practiced.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings:
referring to fig. 1, a method for detecting comprehensive safety performance of an intelligent automobile under high-speed working conditions is completed based on a detection platform. The detection platform comprises a base body 1, a table body 2 and a roller assembly arranged on the table body 2.
The bottom of the base body 1 is provided with a support, the top surface of the base body is provided with a hole, and the platform body 2 is arranged in the hole.
In this embodiment, the table body 2 is provided with two sets of front and rear roller assemblies, namely a first roller assembly 3 and a second roller assembly 5. The first roller assembly 3 is matched with two rear wheels of the vehicle 4 to be detected, and the second roller assembly 5 is matched with two front wheels of the vehicle 4 to be detected. Each roller assembly comprises a driving roller, a driven roller and a floating roller. Under the action of a driving belt or other driving mechanisms, the driven roller rotates along with the driving roller. The driving roller is connected with the motor through the clutch device, and when the clutch device is connected, the driving roller and the driven roller can be driven to rotate simultaneously through the motor to drive the wheels to rotate. On the other hand, when the clutch device is disconnected, the wheels can drive the roller to rotate. A rotating shaft connected with the main roller and the driven roller is also connected with a flywheel, and real road condition damping can be simulated by mounting the flywheels with different inertias. The floating roller is always in contact with the wheel under the action of the air cylinder or the spring, and a rotating speed sensor is installed at the roller and used for detecting the actual rotating speed of the wheel.
It should be noted that the table body 2, the roller assembly and the related transmission structure are all the prior art, and may be implemented by referring to the technical scheme disclosed in the integrated vehicle emission and vehicle comprehensive safety performance inspection platform of the chinese patent application publication No. CN112781895A, or by referring to other documents in the field to design and implement the table body 2 and the roller assembly.
Further, the roller assembly may be provided in multiple sets, and this structure corresponds to a large vehicle having multiple axles, such as a truck.
During detection, the code is scanned firstly, the computer receives vehicle information, and the station lamp board prompts the vehicle 4 to be detected to move forwards for weighing. The weighing can be completed on a separate weighing platform, or the hidden weighing part can be lifted from the gap of the roller assembly to weigh after the roller assembly runs onto the detection platform. The system is hung on the flywheel set corresponding to the vehicle weight in a matching mode, and meanwhile the system can determine the moving amount of the wheel base according to the information of the wheel base of the vehicle in advance to move the distance between the roller assemblies to correspond to the vehicle. Finally, the vehicle 4 to be inspected is stopped at the position where the wheels are engaged with the roller assemblies.
The detection method comprises the detection items of ABS, EBD, retarding force and the like, and also comprises ASR function detection, driving assistance system detection and EBS function detection.
(1) And (4) ASR function detection: and simulating the road condition that the rotating speed of the driving wheel is lower than that of the driven wheel on the detection platform, and then judging whether the ASR function of the vehicle 4 to be detected is started and the performance is normal.
The specific method comprises the following steps:
(1.1) each wheel is correspondingly contacted with a group of roller components on the detection platform respectively;
(1.2) starting and accelerating the vehicle 4 to be detected, rotating a roller corresponding to a driving wheel under the action of the driving wheel until a preset rotating speed is reached, wherein the preset speed is higher than a threshold speed for starting the ASR function, and the ASR function can be triggered;
(1.3) the roller corresponding to the driven wheel rotates under the driving of the motor, and then the driven wheel is driven to rotate until the rotating speed of the driven wheel exceeds that of the driving wheel;
(1.4) observing whether the ASR function of the vehicle 4 to be detected is started or not, wherein the judgment conditions are as follows:
the method comprises the following steps that 1, a vehicle-mounted control system is connected in an OBD communication mode, the running data of an engine is obtained, and whether the output torque of the engine is reduced by a vehicle 4 to be detected is judged;
If the two conditions are met, the ASR function can be judged to be normally started, otherwise, the ASR function is judged to be abnormal.
Whether the ASR performance is normal can be judged by observing the output torque reduction degree of the engine, the braking distance and the like.
(2) The driving assistance system detects: the driving scene is simulated on the detection platform, the movable AGV trolley 6 is arranged on the front side of the vehicle 4 to be detected, and whether the function and the performance of the driving auxiliary system of the vehicle 4 to be detected are normal or not is judged by changing the relative position of the AGV trolley 6 and the vehicle 4 to be detected.
This part relies on the structural upgrade of the detection platform: the top surface of the base body 1 is strip-shaped, and an AGV trolley 6 is placed on the base body. An AGV car 6 is located on the front side of the table body 2.
AGVs are collectively called an Automated Guided Vehicle, and refer to a transport Vehicle equipped with an electromagnetic or optical automatic navigation device, which can travel along a predetermined navigation path, and has safety protection and various transfer functions. The trolley can be also provided with a wireless remote controller, and the trolley can be controlled to freely move back and forth and left and right through manual remote control. A common remote controller is a CAN bus output double-rocker wireless remote controller of Nanjing Dihuai, and the model is DH-2YL1M6B2 SCAN.
Because the AGV car 6 itself is of a certain size and volume, it can directly simulate a vehicle in front. Obviously, devices such as an automobile bumper and a steel plate can be arranged at the tail of the AGV trolley 6 to increase the size of the simulated obstacle and perform simulation detection in different scenes.
Furthermore, in order to realize lane departure detection, the AGV trolley 6 is also provided with a target plate, and lane patterns are printed on the target plate. The target plate can be vertically arranged and is arranged at the tail part of the AGV trolley 6, and the target plate can also be horizontally arranged on the AGV trolley 6. According to the lane width and lane line shape to be simulated, different target plates can be equipped for respective simulation.
Further, the base body 1 is further provided with a navigation magnetic stripe 9 for providing a reference for the forward and backward movement of the AGV trolley 6. The general AGV 6 has the function of cruising along the magnetic stripes at a constant speed automatically. Like this, when the car constantly is close to waiting to examine the vehicle 4 before the simulation, can set AGV dolly 6 to automatic cruise mode, needn't manual remote control, it is more convenient to operate.
And a warning mark is also arranged on the base body 1. In this embodiment, the warning marks include a first warning mark 7 and a second warning mark 8, the distance between the first warning mark 7 and the table body 2 is 2 meters, and the distance between the second warning mark 8 and the table body 2 is 10 meters, which can be freely set according to the situation. Normally, the front end of the table body 2 is close to the front end position of the vehicle 4 to be inspected. The warning mark is mainly used for prompting an operator whether the distance between the current AGV trolley 6 and the vehicle 4 to be detected reaches the range within which the driving assistance function should start to be started.
According to different vehicle types, a plurality of groups of different warning marks can be arranged on the base body 1. It is also possible to use magnetic-type warning marks instead of the marks printed on the substrate 1, and to shift the positions of the warning marks according to the actual situation.
Other distance detection modes can be adopted, for example, an infrared or laser type distance measuring device is arranged at the tail part of the AGV trolley 6 to align the front side of the vehicle 4 to be detected, and the accurate vehicle distance is measured in real time.
The specific method for detecting the driving assistance system comprises the following steps:
(2.1) each wheel is correspondingly contacted with a group of roller components on the detection platform respectively; starting the vehicle 4 to be detected, and rotating wheels under the action of the corresponding rollers until the preset rotating speed is reached; the preset vehicle speed is higher than a threshold vehicle speed for starting the driving assistance system, so that the driving assistance system can be triggered; meanwhile, an AGV trolley 6 is placed at the front side of the vehicle 4 to be detected;
(2.2) collision avoidance early warning monitoring: controlling the AGV trolley 6 to gradually approach the vehicle 4 to be detected from front to back, and observing whether the vehicle 4 to be detected gives an alarm or not when the distance between the AGV trolley 6 and the vehicle 4 to be detected reaches a specified range;
(2.3) automatic braking detection: controlling the AGV trolley 6 to gradually approach the vehicle 4 to be detected from front to back, and observing whether the vehicle 4 to be detected takes braking measures or not when the distance between the AGV trolley 6 and the vehicle 4 to be detected reaches a specified range; the performance condition of automatic braking can be obtained by detecting the braking distance;
(2.4) lane departure detection: place the mark target board on AGV dolly 6, have the lane pattern on the mark target board, control AGV dolly 6 and control the left and right sides and remove in waiting to examine 4 front sides of vehicle, observe and wait to examine whether to send the warning of vehicle 4.
(3) And (4) detecting the EBS function: different load states of the vehicle 4 to be detected are simulated by adjusting the inertia of a flywheel connected with a roller on the detection platform; the EBS function and performance of the vehicle 4 under inspection is detected under different load conditions. In this embodiment, two different load states, i.e., full load and no load, need to be realized.
The specific method comprises the following steps: firstly, a flywheel is mounted to simulate a load state, then a motor is used for driving a roller to rotate, and then the roller is used for driving wheels to rotate; after the wheel reaches the first rotating speed, disconnecting the transmission connection between the motor and the roller or powering off the motor, hanging the vehicle 4 to be detected in a neutral position, waiting for the rotating speed of the wheel to be reduced to a second rotating speed, and starting braking the vehicle 4 to be detected; during braking, the braking performance of the vehicle is detected. When detecting, the vehicle speed needs to be controlled to exceed a threshold vehicle speed capable of triggering the EBS function.
During detection, a distance sensor can be arranged on the side of the automobile to judge the performance of the stable control (ESC) of the automobile body.
By adopting the method, the ASR detection process is not more than 20 seconds, the detection of the driving auxiliary system is not more than 40 seconds, and the ESC detection is not required to be carried out independently by adding the detection time of the braking safety performance (including EBD \ EBS and the like), the total time consumption is not more than 3 minutes, and the detection efficiency is greatly improved compared with the traditional road test.
Claims (6)
1. A method for detecting comprehensive safety performance of an intelligent automobile under high-speed working conditions is characterized by comprising the following steps of:
(1) and (4) ASR function detection: simulating a road condition that the rotating speed of a driving wheel is lower than that of a driven wheel on a detection platform, and then judging whether the ASR function of the vehicle to be detected is started and the performance is normal;
(2) the driving assistance system detects: simulating a driving scene on a detection platform, arranging a movable AGV at the front side of the vehicle to be detected, and judging whether the driving assistance system of the vehicle to be detected is normal in function and performance by changing the relative position of the AGV and the vehicle to be detected;
(3) and (4) detecting the EBS function: different load states of the vehicle to be detected are simulated by adjusting the inertia of a flywheel connected with a roller on the detection platform; and detecting the EBS function and performance of the vehicle to be detected under different load states.
2. The method for detecting the comprehensive safety performance of the intelligent automobile under the high-speed working condition as claimed in claim 1, wherein the method comprises the following steps: the specific method of the step (1) is as follows:
(1.1) each wheel is correspondingly contacted with a group of roller components on the detection platform respectively;
(1.2) starting and accelerating the vehicle to be detected, and rotating a roller corresponding to a driving wheel under the action of the driving wheel until the preset rotating speed is reached;
(1.3) the roller corresponding to the driven wheel rotates under the driving of the motor, and then the driven wheel is driven to rotate until the rotating speed of the driven wheel exceeds that of the driving wheel;
and (1.4) observing whether the ASR function of the vehicle to be detected is started and the performance is normal.
3. The intelligent automobile high-speed working condition comprehensive safety performance detection method as claimed in claim 2, characterized in that: the condition for judging whether the ASR function of the vehicle to be detected is started in the step (1.4) is as follows:
the method comprises the following steps that 1, a vehicle-mounted control system is connected in an OBD communication mode, the running data of an engine is obtained, and whether the output torque of the engine of a vehicle to be detected is reduced or not is judged;
condition 2, observing whether the output torque of the motor for driving the roller corresponding to the driven wheel is increased;
if both of the above conditions are satisfied, it may be determined that the ASR function is enabled.
4. The method for detecting the comprehensive safety performance of the intelligent automobile under the high-speed working condition according to claim 1, wherein the specific method in the step (2) is as follows:
(2.1) each wheel is correspondingly contacted with a group of roller components on the detection platform respectively; starting the vehicle to be detected, and rotating wheels under the action of the corresponding rollers until the preset rotating speed is reached; meanwhile, an AGV trolley is placed on the front side of the vehicle to be detected;
(2.2) collision avoidance early warning monitoring: controlling the AGV trolley to gradually approach the vehicle to be detected from front to back, and observing whether the vehicle to be detected gives an alarm or not when the distance between the AGV trolley and the vehicle to be detected reaches a specified range;
(2.3) automatic braking detection: controlling the AGV trolley to gradually approach the vehicle to be detected from front to back, and observing whether the vehicle to be detected takes braking measures or not when the distance between the AGV trolley and the vehicle to be detected reaches a specified range;
(2.4) lane departure detection: place the mark target board on the AGV dolly, have the lane pattern on the mark target board, control the AGV dolly and control about waiting to examine the vehicle front side, observe and wait to examine whether the vehicle sends the warning.
5. The method for detecting the comprehensive safety performance of the intelligent automobile under the high-speed working condition as claimed in claim 1, wherein the specific method in the step (3) is as follows: firstly, a flywheel is mounted to simulate a load state, then a motor is used for driving a roller to rotate, and then the roller is used for driving wheels to rotate; after the wheel reaches the first rotating speed, disconnecting the transmission connection between the motor and the roller or powering off the motor, leaving the vehicle to be detected in neutral, and starting to brake the vehicle to be detected after the rotating speed of the wheel is reduced to the second rotating speed; during braking, the braking performance of the vehicle is detected.
6. The method for detecting the comprehensive safety performance of the intelligent automobile under the high-speed working condition as claimed in any one of claims 1 to 5, characterized in that: more than three groups of roller assemblies are arranged on the detection platform.
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| 李蕊: "《长安商用车星级维修技师培训理论教程 五星》", 31 December 2017 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116698447A (en) * | 2023-08-04 | 2023-09-05 | 安徽中科星驰自动驾驶技术有限公司 | Calibration device of double-target type automatic driving auxiliary system |
| CN116698447B (en) * | 2023-08-04 | 2023-10-20 | 安徽中科星驰自动驾驶技术有限公司 | Calibration device of double-target type automatic driving auxiliary system |
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