CN114323669A - Method and device for evaluating the performance of an automatic emergency braking system of a vehicle - Google Patents

Method and device for evaluating the performance of an automatic emergency braking system of a vehicle Download PDF

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Publication number
CN114323669A
CN114323669A CN202011055527.6A CN202011055527A CN114323669A CN 114323669 A CN114323669 A CN 114323669A CN 202011055527 A CN202011055527 A CN 202011055527A CN 114323669 A CN114323669 A CN 114323669A
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China
Prior art keywords
vehicle
emergency braking
automatic emergency
data
performance
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Pending
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CN202011055527.6A
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Chinese (zh)
Inventor
翁贤亮
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Robert Bosch GmbH
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Robert Bosch GmbH
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Priority to CN202011055527.6A priority Critical patent/CN114323669A/en
Priority to DE102021209137.7A priority patent/DE102021209137A1/en
Priority to JP2021159195A priority patent/JP2022058260A/en
Publication of CN114323669A publication Critical patent/CN114323669A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/28—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for testing brakes
    • G01L5/284—Measuring braking-time or braking distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • B60T2210/32—Vehicle surroundings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/406—Test-mode; Self-diagnosis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention relates to a method for evaluating the performance of an Automatic Emergency Braking (AEB) system of a vehicle, comprising at least the following steps: i) acquiring data related to a vehicle, which is acquired or recorded by external equipment and/or internal equipment of the vehicle during the running process of the vehicle in a real driving environment; and ii) analyzing the performance of the automatic emergency braking system of the vehicle based on the acquired data. The invention also relates to a device (10) for evaluating the performance of an automatic emergency braking system of a vehicle and to a vehicle-side device (40) which is connected in communication with such a device (10).

Description

Method and device for evaluating the performance of an automatic emergency braking system of a vehicle
Technical Field
The invention relates to a method for evaluating the performance of an automatic emergency braking system of a vehicle and to a device for evaluating the performance of an automatic emergency braking system of a vehicle. The invention further relates to a vehicle-side device which is connected to the device in a communication manner.
Background
With the emphasis on automobile safety, Automatic Emergency Braking (AEB) systems have gradually become the standard for automobiles. Currently, domestic AEB testing and ranking is performed in compliance with C-NCAP. According to the rule of version 2018 of C-NCAP, the AEB system is tested in a mode that a tested vehicle is driven to a simulated vehicle target (namely a fake vehicle, see figure 6) which is static, slow and braked in front at different speeds and a simulated pedestrian target (namely a fake person, see figure 7) so as to test the braking and early warning conditions of the tested vehicle without human intervention, and therefore the performance of the AEB system is evaluated.
Therefore, the current AEB test belongs to a simulation test of a fixed scene, and the actual performance of the AEB system in a variable driving scene cannot be truly and comprehensively reflected.
Therefore, it is desirable to provide a technical solution that can analyze and evaluate the performance of the AEB system in the real world.
Disclosure of Invention
The object of the invention is achieved by a method for the analytical evaluation of the performance of an Automatic Emergency Braking (AEB) system of a vehicle, comprising at least the following steps:
i) acquiring data related to a vehicle, which is acquired or recorded by external equipment and/or internal equipment of the vehicle during the running process of the vehicle in a real driving environment; and
ii) analyzing the performance of the automatic emergency braking system of the vehicle based on the acquired data.
It is noted here that in the context of this document, the term "real driving environment" is used with respect to a fixed simulated environment, which may be understood as a wide variety of, varying situations and conditions that a user may encounter when driving a vehicle in a real-world road.
According to an alternative embodiment, the analytical evaluation is initiated upon the occurrence of: an automatic emergency braking system of the vehicle is triggered; and/or the vehicle is involved in a collision.
According to an alternative embodiment, step i) comprises:
a) determining a time window based on the time point of the event occurrence;
b) and acquiring the data in the time window.
According to an alternative embodiment, step a) comprises: determining a time period having a preset time duration including a time point at which the event occurs as the time window.
According to an alternative embodiment, step ii) is performed in the following manner: it is analyzed based on the acquired data whether the automatic emergency braking system is triggered at the right moment in the present event.
According to an optional embodiment, the method further comprises: iii) evaluating the performance of the automatic emergency braking system based on a performance analysis of the automatic emergency braking system for a plurality of events.
According to an alternative embodiment, the data relating to the vehicle collected or recorded by the external device of the vehicle comprises: data reflecting the dynamic kinematic state of the vehicle and/or the dynamic distance of the vehicle from surrounding objects, the vehicle-related data collected or recorded by the internal devices of the vehicle comprising: data reflecting the dynamic kinematic state of the vehicle, the dynamic distance of the vehicle from surrounding objects, and/or operational data of the automatic emergency braking system, wherein the operational data of the automatic emergency braking system comprises the time and intensity at which the automatic emergency braking is triggered.
According to an alternative embodiment, the internal apparatus includes a vehicle-side apparatus mounted on the vehicle, the vehicle-side apparatus including at least one of: the vehicle-side environment sensing device is used for collecting surrounding environment data, the vehicle-side state detection device is used for detecting the state of the vehicle, and the data recording device is used for recording working data of the vehicle.
According to an alternative embodiment, the external device comprises: the road side equipment comprises a road side environment sensing device which is configured to collect surrounding environment data, wherein the data collected or recorded by external equipment comprises an image sequence or image data captured by the vehicle.
The object of the invention is also achieved by a device for evaluating the performance of an automatic emergency braking system of a vehicle, comprising a processor and a computer-readable storage medium which is connected in communication with the processor and which stores a computer program which, when executed by the processor, carries out the method according to the invention.
According to an alternative embodiment, the device is communicatively connected with a roadside device and a vehicle-side device, wherein the device is configured to: and sending a request for acquiring the data related to the vehicle to the road side device and/or the vehicle side device in response to the occurrence of the event for starting the method.
The object of the invention is also achieved by a vehicle-side device which is communicatively connected to the device and to a roadside device using the V2X technology.
According to an alternative embodiment, the vehicle-side device is configured to be able to detect the occurrence of an event for starting the method according to the invention and to record the time and place of occurrence of said event.
According to the invention, it is achieved that: the performance of the AEB system in various real driving environments can be truly and comprehensively evaluated, the reason for failure or delay of the AEB system can be searched, and an improved scheme of the AEB system can be provided according to the reason.
According to the invention, it is also achieved: the measurement data of the roadside apparatus and the vehicle-side apparatus are fused to reduce measurement errors, thereby enabling accurate analysis of the AEB system performance to be provided.
Further advantages and advantageous embodiments of the inventive subject matter are apparent from the description, the drawings and the claims.
Drawings
Further features and advantages of the present invention will be further elucidated by the following detailed description of an embodiment thereof, with reference to the accompanying drawings. The attached drawings are as follows:
fig. 1 shows a block diagram of a computer device for evaluating the performance of an automatic emergency braking system of a vehicle according to an exemplary embodiment of the invention;
FIG. 2 shows a flow chart of a method for analyzing the performance of an automatic emergency braking system of a vehicle according to an exemplary embodiment of the present invention;
FIG. 3 illustrates a flowchart of an exemplary embodiment of step S2 in FIG. 2;
FIG. 4 illustrates a flowchart of an exemplary embodiment of step S3 in FIG. 2;
FIG. 5 shows a flowchart of another exemplary embodiment of step S3 in FIG. 2;
FIG. 6 shows a view of a dolly for an AEB test according to the prior art; and
fig. 7 shows a view of a dummy for AEB testing according to the prior art.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and exemplary embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention. In the drawings, the same or similar reference numerals refer to the same or equivalent parts.
Fig. 1 shows a block diagram of a computer device 10 for evaluating the performance of an Automatic Emergency Braking (AEB) system of a vehicle according to an exemplary embodiment of the invention. The computer device 10 comprises a processor 100 and a computer-readable storage medium 200 communicatively connected to the processor 100, the computer-readable storage medium 200 storing a computer program which, when executed by the processor 100, is capable of implementing a method for evaluating the performance of an automatic emergency braking system of a vehicle according to the invention as will be described in detail below.
Illustratively, the computer device 10 is configured as a server, such as a cloud server.
The computer device 10 is communicatively connected to at least one roadside device 30 and at least one vehicle-side device 40 mounted on the vehicle. Illustratively, the vehicle-side device 40, the roadside device 30 and the computer device 10 are communicatively connected by means of V2X technology.
The roadside apparatus 30 includes a roadside environment sensing device 310 configured to collect ambient environment data and a roadside communication device 320 configured to communicate with the outside, and particularly to exchange data with the vehicle-side apparatus 40 and the computer apparatus 10. By means of the roadside communication device 320, the data detected by the roadside environment sensing device 310 may be transmitted to the computer device 10, for example, periodically or in response to a data acquisition request.
Optionally, the roadside apparatus 30 may include a roadside storage device 330 capable of storing data collected by the roadside environment sensing device 310.
According to an example, roadside environment sensing device 310 includes a radar (e.g., millimeter wave radar or lidar) and/or a camera.
The vehicle-side apparatus 40 includes a vehicle-side environment sensing device 410 for acquiring surrounding environment data, a vehicle-side state detection device 420 for detecting a vehicle state (including a kinematic state, an operating state, and the like) of the own vehicle, and a data recording device 430 for recording operation data (e.g., data generated in the operation of the AEB system) of the vehicle.
Illustratively, the vehicle-side environment sensing device 410 includes a radar (e.g., a millimeter wave radar and/or a lidar) and/or an image pickup device (e.g., a monocular vision image pickup device and a binocular vision image pickup device). Specifically, the vehicle-side environment sensing device 410 includes one front-side radar and/or four radars and/or one front-side camera at four corners of the vehicle body.
Exemplarily, the vehicle-side state detection device 420 includes: a vehicle speed sensor, an acceleration sensor, a deceleration sensor, a odometer, a clock, a crash sensor, a GPS, and/or a brake related sensor (e.g., a brake pressure sensor, a brake vacuum sensor, a brake pedal displacement sensor, a brake fluid level sensor).
Exemplarily, the kinematic state of the vehicle comprises: vehicle speed, acceleration and deceleration of the vehicle, and/or distance traveled by the vehicle.
Illustratively, the operating state of the vehicle includes: the timing, duration, distance, and/or intensity of the braking-related operations, such as braking (including driver braking and active braking).
Illustratively, data generated in the operation of the AEB system includes: the AEB system is triggered at a time (e.g., the time that active braking is triggered and the time that the warning is triggered), on-time, and/or active braking intensity.
Alternatively, the data collected by the vehicle-side environment sensing device 410 and the vehicle-side state detection device 420 may be recorded in, for example, the data recording device 430 or another vehicle-side data storage device.
The vehicle-side apparatus 40 further includes a vehicle-side communication device 440 configured to be able to communicate with the outside, and in particular, to be able to exchange data with the roadside apparatus 30, the vehicle-side apparatuses mounted on other vehicles, and the computer apparatus 10. By means of the vehicle-side communication device 440, the data collected or recorded by the vehicle side can be transmitted to the computer device 10 periodically or in response to a data acquisition request.
Fig. 2 shows a flow chart of a method for evaluating the performance of an automatic emergency braking system of a vehicle according to an exemplary embodiment of the invention. As shown in fig. 2, in step S1, it is detected whether an event for starting performance evaluation of the AEB system has occurred. Step S2 is executed in a case where the occurrence of the event is detected. The events include: the AEB is triggered; and/or a vehicle collision. In this manner, the performance of the AEB system can be evaluated for each time the AEB system is triggered and/or each time a collision analysis occurs.
According to an example embodiment, the occurrence of any of at least one performance action of the AEB system may be identified as the AEB system being triggered. The at least one performing action includes, for example: pre-filling brake fluid, generating sound and/or optical alarm, generating brake prompt and starting automatic emergency brake of each level of intensity.
According to an exemplary embodiment, a signal representative of the triggering of the AEB system may be generated within the vehicle and transmitted to the computer device 10, and the computer device 10 may initiate a performance evaluation of the AEB system in response to the signal.
According to an exemplary embodiment, the occurrence of a vehicle collision may be detected by means of a detection device, such as a collision sensor and/or a camera device, or a roadside environment sensing device 310, which is mounted on the vehicle. For example, when the detection device of the host vehicle or other vehicle or the roadside environment sensing device 310 detects that the host vehicle collides, the vehicle-side device 40 or the roadside device 30 of the host vehicle or other vehicle may send a signal representing that the host vehicle collides to the computer device 10 to initiate performance evaluation of the AEB system of the host vehicle.
In step S2, data related to the vehicle collected or recorded by external devices and/or internal devices of the vehicle during traveling of the vehicle in the real driving environment is acquired.
According to an example, the external device includes the roadside device 30 and/or the vehicle-side device 40 mounted on another vehicle. Accordingly, the data collected or recorded by the external device includes, for example: environmental data (e.g., image sequence or video data) around the host vehicle collected by the roadside apparatus 30, particularly the roadside environment sensing device 310; environmental data around the host vehicle collected by the vehicle-side environment sensing device 410 mounted on another vehicle; state data of another vehicle collected by a vehicle-side state detection device 420 mounted on the other vehicle; and/or operation data of another vehicle recorded by data recording device 430 mounted on the other vehicle.
Other vehicles in the preceding paragraph may include any vehicle that appears at least temporarily in the vicinity of the host vehicle, such as a leading vehicle, a trailing vehicle, and/or an adjacent vehicle on an adjacent lane of the host vehicle.
Additionally, the external device may also include a terminal carried by a two-or three-wheeled mobile body and/or a terminal carried by a pedestrian (e.g., a cell phone, a wearable device).
According to an example, the internal device includes a vehicle-side device 40 mounted on the host vehicle. Accordingly, the data collected or recorded by the internal device in step S2 includes: ambient environment data collected by the vehicle-side environment sensing device 410 mounted on the host vehicle, such as the distance between the host vehicle and another object; state data of the host vehicle, such as a vehicle speed, a deceleration, and/or a braking distance, detected by a vehicle-side state detection device 420 mounted on the host vehicle; and/or the operation data of the host vehicle recorded by the data recording device 430 mounted on the host vehicle, such as the time at which each execution operation of the AEB system is triggered and/or the intensity of automatic emergency braking.
According to an exemplary embodiment of the present invention, step S2 includes step S21 (see fig. 3): a time window is determined based on the point in time at which the event occurred, e.g., the point in time at which the AEB system was triggered or the point in time at which the collision occurred.
In an exemplary embodiment, step S21 is performed as: and determining the time point of the event as a time stamp, and determining a time period with preset duration containing the time stamp as the time window based on the time stamp. In an example, a time point before the timestamp and having a preset first time length from the timestamp may be taken as a starting point of the time window, and a time point after the timestamp and having a preset second time length from the timestamp may be taken as an ending point of the time window. In another example, a time point before the timestamp and having a preset third time length from the timestamp may be used as the starting point of the time window, and the timestamp may be used as the ending point of the time window. In yet another example, the timestamp may be a start of the time window, and a time point after the timestamp and having a preset fourth time length from the timestamp may be an end of the time window. The first, second, third, and fourth time periods may be fixed values or variable values, and may be the same or different values from each other.
In step S22, data related to the vehicle collected or recorded by an external device and/or an internal device of the vehicle within the time window is acquired.
According to an exemplary embodiment, the data within the time window comprises a sequence of measurements of a measurement parameter within the time window, such as a dynamic change in the distance between the vehicle and other objects and/or a dynamic change in the speed or acceleration of the vehicle and a moving body surrounding the vehicle.
According to an example, step S22 may be performed as: the computer device 10 requests the relevant data within the time window from the respective vehicle-side device 40 or the respective roadside device 30 in response to the signal representing the occurrence of the event received from the vehicle-side device 40 or the roadside device 30. To this end, the signal may include the geographical location of the event, so that the vehicle-side device 40 and/or the roadside device 30 associated with the event can be identified according to the geographical location, and thus a data acquisition request can be sent to the associated vehicle-side device 40 and/or roadside device 30 in a targeted manner.
According to another example, step S22 may be performed as: one of the vehicle-side device 40 and the roadside device 30 uploads the data within the collected or recorded time window to the computer device 10 upon detection of the occurrence of the event and sends a signal to the other of the vehicle-side device 40 and the roadside device 30, such that the other also uploads the data within the collected or recorded time window to the computer device 10 in response to the signal.
According to an example, for each measurement parameter, the measurement result from one of the vehicle-side device and the roadside device may be selectively used in the subsequent analysis, or the measurement data from the vehicle-side device and the roadside device may be merged and the merged result may be used in the subsequent analysis.
According to an exemplary embodiment, the data transmitted by the roadside apparatus 30 and/or the vehicle-side apparatus 40 to the computer apparatus 10 may be raw data or processed data.
Next, in step S3, the performance of the AEB system of the vehicle is analytically evaluated based on the data acquired in step S2.
According to an exemplary embodiment of the present invention, the performance of the AEB system is analytically evaluated based on the acquired data from the following perspectives: whether the AEB function is triggered at the right moment. According to the present invention, inappropriate triggering occasions include two classes, the first class being that AEB functions are triggered at a point in time when they should not be triggered, which mainly includes redundant, i.e. unnecessary, triggers and premature triggers, and the second class being that AEB functions are not triggered at a point in time when they should be triggered, which mainly includes failed triggers and too late triggers.
In the case where the AEB performance analysis is initiated because the AEB system is triggered, it is mainly analyzed whether the present trigger is a redundant, premature or late trigger. Fig. 4 shows a flowchart of an exemplary embodiment of step S3 in this case. In step S31, it is determined whether it is necessary to trigger the AEB function under the present driving environment and vehicle speed based on the data acquired in step S2. If it is found by the analysis that the vehicle is put at a high risk of collision without triggering, it is further determined whether the time of this triggering is too early or too late based on the acquired data in step S32. If not too early and too late, then a conclusion is reached in step S33 that this triggering of the AEB system is appropriate. In contrast, if it is analyzed in step S31 that there is no need to trigger the AEB function at all under the present driving environment and vehicle speed or the time of the present trigger is found to be too early or too late in step S32, then the conclusion is made that the present trigger of the AEB system is inappropriate in step S34.
In the case where the AEB performance analysis is initiated due to a vehicle collision, it is mainly analyzed whether there is a failed or too late trigger during the collision. Fig. 5 shows a flowchart of an exemplary embodiment of step S3 in this case. In step S31', it is determined whether the AEB system is triggered during the present collision based on the acquired data. If triggered, then it is further determined in step S32' whether the timing at which the AEB is triggered is too late. If not too late, it is an indication that the crash is due to other causes than an AEB failure or delay, i.e., the AEB system is functioning properly, and thus step S33' concludes that the AEB system is performing acceptably in the crash. Conversely, if the analysis in step S31 ' indicates that the AEB system is not triggered or the analysis in step S32 ' indicates that the AEB system is triggered too late, then in step S34 ' it is concluded that the AEB system is performing ineligibly in the present crash.
Then, in step S4, the present analysis evaluation is recorded. The recorded content may include any data used and generated in the present analytical evaluation, such as: the event triggering the analysis and evaluation of this time and the time and place of occurrence thereof, the application time, distance and intensity of the automatic emergency brake, the type, apparent characteristics and dynamic kinematic data of the object triggering the automatic emergency brake, the dynamic kinematic state of the vehicle in this event, whether the automatic emergency brake is triggered at the right time in this event, and the type of expression (e.g., redundant, failed, premature or late triggering).
In step S5, the information in the multiple analysis evaluations is aggregated and counted for further analysis. According to an example, results of multiple analytical evaluations for an AEB system can be aggregated and counted to re-rate and/or analyze the strengths and weaknesses of such an AEB system. Additionally and/or alternatively, if the information evaluated by multiple analyses is counted to find that the AEB system has similar defects, such as failure of triggering always in the face of pedestrians, the reasons for the defects are further analyzed, so that improvement suggestions can be made for the AEB system. Analysis can also be done for each event that the AEB is not properly triggered to track down the cause of the failure to trigger or too late to trigger.
Although some embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the invention. The appended claims and their equivalents are intended to cover all such modifications, substitutions and changes as fall within the true scope and spirit of the invention.

Claims (10)

1. A method for analyzing and evaluating the performance of an Automatic Emergency Braking (AEB) system of a vehicle, the method comprising at least the steps of:
i) acquiring data related to a vehicle, which is acquired or recorded by external equipment and/or internal equipment of the vehicle in the driving process of the vehicle in a real driving environment; and
ii) analyzing the performance of an automatic emergency braking system of the vehicle based on the acquired data.
2. The method of claim 1,
initiating the analytical evaluation upon detection of the occurrence of one of the following events: an automatic emergency braking system of the vehicle is triggered and the vehicle collides.
3. The method according to claim 2, wherein step i) comprises:
a) determining a time window based on the time point of the event occurrence;
b) and acquiring the data in the time window.
4. The method of claim 3, wherein step a) comprises:
determining a time period having a preset time duration including a time point at which the event occurs as the time window.
5. The method according to any one of claims 2 to 4,
performing step ii) in the following manner: analyzing whether the automatic emergency braking system is triggered at a proper time in the event based on the acquired data; and/or
The method further comprises the following steps: iii) evaluating the performance of the automatic emergency braking system of the vehicle based on a performance analysis of the automatic emergency braking system for a plurality of events.
6. The method according to any of the preceding claims,
the data related to the vehicle collected or recorded by the external device of the vehicle includes: data reflecting the dynamic kinematic state of the vehicle and/or the dynamic distance of the vehicle from surrounding objects; the data related to the vehicle collected or recorded by the internal devices of the vehicle include: data reflecting the dynamic kinematic state of the vehicle, the dynamic distance of the vehicle from surrounding objects, and/or operational data of the automatic emergency braking system, wherein the operational data of the automatic emergency braking system comprises the time at which the automatic emergency braking is triggered and the intensity of the triggered braking.
7. The method according to any of the preceding claims,
the internal device includes a vehicle-side device (40) mounted on the vehicle, and the external device includes a roadside device (30) and/or a vehicle-side device (40) mounted on another vehicle.
8. An apparatus (10) for analyzing the performance of an automatic emergency braking system of a vehicle, the apparatus (10) comprising a processor (100) and a computer readable storage medium (200) communicatively connected to the processor (100), the computer readable storage medium (200) storing a computer program which, when executed by the processor (100), carries out the method according to any one of the preceding claims.
9. The apparatus (10) of claim 8,
the device (10) is communicatively connected with a roadside device (30) and a vehicle-side device (40), wherein the device (10) is configured to: sending a request to retrieve data related to the vehicle to the roadside device (30) and/or the vehicle-side device (40) in response to the occurrence of the event.
10. A vehicle-side device (40), the vehicle-side device (40) being in communicative connection with the device (10) according to claim 8 or 9 and a roadside device (30), in particular the vehicle-side device (40) being configured to be able to detect the occurrence of the event and to be able to record the time and place of occurrence of the event.
CN202011055527.6A 2020-09-30 2020-09-30 Method and device for evaluating the performance of an automatic emergency braking system of a vehicle Pending CN114323669A (en)

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CN202011055527.6A CN114323669A (en) 2020-09-30 2020-09-30 Method and device for evaluating the performance of an automatic emergency braking system of a vehicle
DE102021209137.7A DE102021209137A1 (en) 2020-09-30 2021-08-19 Method and apparatus for analyzing and evaluating the performance of a vehicle's automatic emergency braking system
JP2021159195A JP2022058260A (en) 2020-09-30 2021-09-29 Method and device for analyzing and evaluating performance of automatic emergency braking system of vehicle

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