CN115775457A - Method and system for testing cooperative path of vehicle and road in civil aviation airport - Google Patents
Method and system for testing cooperative path of vehicle and road in civil aviation airport Download PDFInfo
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Abstract
The invention discloses a method and a system for testing a vehicle-road cooperation path of a civil aviation airport, which relate to the technical field of vehicle-road cooperation testing and comprise the following steps: scene design is carried out through the internet cloud platform, hardware is deployed, a test path is planned afterwards, and early warning information of a current test vehicle is collected for testing; monitoring and acquiring detection data parameters in real time through a video monitoring system after the test is started, and outputting a detection result; and verifying whether the tested result meets the requirements of the corresponding test case, and finishing the test when the test meets the preset conditions. The method for testing the cooperative path of the train route of the civil aviation airport reduces manpower, so that the driving test can be accurately carried out after the preset path. The labor cost can be saved, the range and the scale of the test can reach a certain magnitude, and the test requirement is met.
Description
Technical Field
The invention relates to the technical field of vehicle-road cooperative testing, in particular to a method and a system for testing a vehicle-road cooperative path of a civil aviation airport.
Background
At present, unmanned airport equipment is used for improving operation guarantee, based on full-element man-car-road intelligent cooperative models and car-road cooperative big data, intelligent cars and intelligent roads are definitely served for people, the aim of improving airport passing efficiency is taken, pilot application of car-road cooperative automatic driving in airport operation scenes is established, the industrial standard of the field is established, and the demonstration application of national intelligent airports is led.
The application of unmanned equipment and intelligent operation equipment is promoted, unmanned cooperative operation of all types of equipment in a flight area is gradually realized, the level of safety and technical prevention of airport operation is enhanced, the energy consumption of airport equipment is reduced, and the ground support cooperative capability is improved. The intelligent real-time risk identification technology is promoted to be applied, dynamic identification and intelligent decision of risks such as surrounding invasion, sliding conflict, unmanned aircraft and bird invasion, road surface abnormity and the like are realized, and few-person unmanned and self-adaptive operation of the prevention and control facilities is realized.
By means of cooperation of the vehicle and the road with V2X, data communication and path planning, path re-planning can be performed after an event is met, unmanned path guiding is achieved, and effects of reducing risks, reducing cost, saving energy and reducing emission are achieved.
Disclosure of Invention
The present invention has been made in view of the above-mentioned problems.
Therefore, the technical problem solved by the invention is as follows: the existing airport unmanned equipment has no standard basis, and meanwhile, a large amount of manpower and material resources are consumed in the traditional method, so that resource waste is caused.
In order to solve the technical problems, the invention provides the following technical scheme: a method for testing a cooperative path of a train route in a civil aviation airport comprises the following steps:
carrying out scene design through the internet cloud platform, deploying hardware, planning a test path, collecting early warning information of a current test vehicle, and testing;
monitoring and acquiring detection data parameters in real time through a video monitoring system after the test is started, and outputting a detection result;
and verifying whether the tested result meets the requirements of the corresponding test case, and finishing the test when the test meets the preset conditions.
As a preferable scheme of the method for testing the collaborative path of the civil aviation airport vehicle road, the internet cloud platform comprises:
the vehicle running information and the equipment state information are acquired in real time, the traffic state analysis and remote control functions are further supported, and the storage and analysis functions of the internet traffic running data are realized.
As a preferable scheme of the method for testing the cooperative path of the civil aviation airport vehicle road, the scene design comprises the following steps:
automatic parking; testing by a machine; V2X car following driving; speed limit reminding; emergency braking early warning; avoiding the V2X weak traffic participants; prompting road danger conditions; fast passing; changing lanes by V2X; early warning of crossing collision; V2X beyond visual range barrier reminding; backing and warehousing automatically;
the automatic parking comprises the step that the test vehicle autonomously parks in an automatic driving mode;
the safe airplane leaning test comprises the steps that the safe airplane leaning test is arranged between roads, and any airplane leaning ground equipment needs to run at a slow and low speed with stability, reliability and no impact according to the test requirement to be in butt joint with an airplane;
the V2X car following driving comprises that after car following driving, the distance between two cars is kept within the range of +/-25% of the set distance, the maximum distance is not more than 20m, and when the cars are not stopped according to the set distance, the remote driving equipment is manually operated and adjusted;
the speed limit reminding comprises that when the test vehicle reaches the speed limit sign, the speed of the vehicle is not higher than the speed shown by the speed limit sign;
the emergency braking early warning comprises the steps that a test vehicle sends alarm information before braking, wherein the alarm information comprises optical and acoustic alarm signals, and the test vehicle is prevented from colliding with an obstacle;
as a preferable scheme of the method for testing the collaborative path of the vehicle road at the civil aviation airport, the avoidance of the V2X vulnerable traffic participant comprises:
when the test vehicle passes through the marks of the weak traffic participants, the speed of the test vehicle is not higher than 30km/h; the speed of the vehicle can be reduced in advance and the pedestrian can be ensured to safely pass through the lane where the vehicle is located; when the vehicle stops in front of a pedestrian crossing, after a pedestrian passes through a lane where a test vehicle is located, the vehicle can be automatically started to continue running, the starting time cannot exceed 5s, and when the starting time exceeds 5s, if the vehicle is not normally operated, the remote driving equipment carries out manual operation and adjustment;
the road danger condition prompt comprises that the test vehicle can avoid collision with a front obstacle in a braking, steering or combination mode;
the quick pass includes testing that the vehicle should be parked waiting during a red light, and not crossing a stop line
When the signal lamp is changed from a red lamp to a green lamp, the test vehicle is started to pass in time, the starting time is not more than 5s, and when the starting time is more than 5s, if the test vehicle is not normally started, the remote driving equipment performs manual operation and performs adjustment.
As a preferable scheme of the method for testing the collaborative path of the vehicle at the civil aviation airport, the V2X collaborative lane change includes:
when no vehicle is in the adjacent lane and the lane is changed, the test vehicle starts a correct steering lamp and starts to turn after the steering lamp is started for at least 3 s; the time from the beginning of turning to the completion of the action of merging into the adjacent lane of the test vehicle is not more than 5s, and when the turn signal lamp is started for 3s and the action is not normally carried out, the remote driving equipment carries out manual operation and adjustment;
when a vehicle is in a lane change of an adjacent lane, the test vehicle can keep running on the original lane and does not collide with the target vehicle;
the intersection collision early warning comprises that when the sight of a host driver is possibly blocked by an obstacle of an intersection or the host driver cannot judge vehicles driving to the intersection at the left side or the right side of the current intersection due to other reasons, an intersection collision early warning function gives an early warning to the driver; the test vehicle should not collide with the obstacle; testing that the vehicle can turn on a correct steering lamp; the test vehicle complies with the traffic rules, realizes passing and enters a corresponding lane for running;
the V2X beyond visual range obstacle reminding comprises reminding a driver when detecting that an obstacle in front of a test vehicle blocks or a distant vehicle running in the same direction on an adjacent lane appears in a blind area of the test vehicle, and at least comprises optical and acoustic reminding signals; the test vehicle does not collide with an obstacle or a subject vehicle;
the automatic backing and warehousing comprises the steps that when the speed of backing and warehousing does not exceed 5km/h, the precision of a parking position after parking is less than or equal to 20cm, a test vehicle autonomously identifies a parking space, a parking path is reasonably planned, and the test vehicle slowly drives into the parking space;
when the precision is more than 20cm, the position is automatically adjusted until the required precision is reached; when the parking space is not identified, continuously searching for the parking space within 10 km/h; braking in time when the test vehicle has collision danger in the parking process;
and planning the test path comprises selecting corresponding hardware for deployment according to scene design and carrying out a preset route test.
As a preferable scheme of the method for testing the car-road cooperation path of the civil aviation airport, the deployment of the hardware includes:
the system comprises an intelligent road side terminal module, a network connection V2X tracking type microwave radar module, a network connection V2X video event detection camera module, a V2X video event GPU server module, a mobile intelligent network connection traffic light module, an intelligent vehicle-mounted terminal OBU module, a remote driving equipment module, a central management system and a cloud supervision system;
the early warning information comprises forward collision early warning, left-turn assistance, blind area early warning, lane changing early warning, reverse overtaking early warning, emergency braking early warning, abnormal vehicle reminding, road danger condition reminding, vehicle out-of-control early warning, speed limit early warning, red light running early warning, collision early warning of vulnerable traffic participants, in-vehicle signs, front congestion reminding and emergency vehicle reminding;
the data parameters comprise test time, vehicle speed, vehicle acceleration, vehicle course angle, vehicle position, vehicle yaw angular speed, vehicle time interval, vehicle collision time and vehicle distance.
As a preferable scheme of the method for testing a vehicle-road cooperation path of a civil aviation airport, the meeting of the preset condition includes:
when the tested vehicle V2X application receives a response to the test case in the performance evaluation stage, judging the vehicle to be normal, and continuing to detect the vehicle;
when the tested vehicle V2X is applied to a performance evaluation stage and receives a response to the test case, when the tested vehicle does not run according to a set path, judging that the tested vehicle is abnormal, maintaining the tested vehicle according to error reasons by a worker, and continuing to test after the tested vehicle passes the maintenance;
when the V2X application of the vehicle to be tested receives a response to the test case in the performance evaluation stage, when the scene design does not reach the preset standard, the scene design is judged to be abnormal, a worker maintains the vehicle according to the error reason, and the vehicle continues to be tested after the maintenance is passed;
for the test cases in a single test scene, each test case is subjected to 10 repeated experiments and passes 7 times or more, and the tested vehicle is considered to pass the test case.
The invention provides the following technical scheme: a system for testing a collaborative path of a vehicle on a civil aviation airport, comprising:
the system comprises an intelligent road side terminal module, an internet V2X tracking type microwave radar module, an internet V2X video event detection camera module, a V2X video event GPU server module, an environment simulation module, an intelligent vehicle-mounted terminal OBU module, a remote driving equipment module, a central management system and a cloud supervision system;
the intelligent road side terminal module is used for acquiring equipment of traffic information and pushing the equipment to a central management system;
the network V2X tracking type microwave radar module is used for detecting the instant position and the instant speed of a pedestrian target and transmitting detection data to the intelligent road side terminal module;
the network V2X video event detection camera module is used for detecting the intrusion targets of pedestrians and non-motor vehicles in the stop area of the sightseeing platform, sending the intrusion targets to the V2X video event GPU server module, extracting traffic targets including the pedestrians, the non-motor vehicles and the motor vehicles in the video, feeding the processed structured data back to the intelligent roadside terminal module, and combining the function of deep learning and detecting events;
the V2X video event GPU server module is used for processing videos of cameras erected on intersections or road sections, extracting traffic targets including pedestrians, non-motor vehicles and motor vehicles in the videos, and feeding back the processed structured data to the intelligent road side terminal module;
the environment simulation module is used for realizing the functions of a traffic sign board, a signal lamp, a road cone, a mark of a weak traffic participant, traffic signal control equipment, LTE-V equipment, WIFI communication equipment, a high-precision map and information induction equipment;
the intelligent vehicle-mounted terminal OBU module is used for a multi-mode plug-and-play platform and comprises DSRC/LTE-V, WIFI, GPS/Beidou and 4G communication modes;
the remote driving equipment module is used for enabling a remote driving system to feed back and operate the driving state of the vehicle, the driving environment of the vehicle, the driving map of the remote vehicle and the current position information in real time;
the central management system is used for receiving equipment information of the intelligent road side terminal module and transmitting the information to the cloud monitoring system;
the cloud monitoring system is used for monitoring in real time and recording and playing back the running data; the system can visually monitor the running states of all intelligent vehicles in the system, grasp dynamic information of the vehicles in time and improve the safety of the system;
as a preferable solution of the system for testing a vehicle-road cooperative path at a civil aviation airport, the remote driving device module includes:
the remote control system comprises a remote control cabin module, a vehicle platform module and a vehicle sensor module;
the remote cockpit module comprises control buttons for providing driving, steering and braking actuating mechanisms, analog data of the equipment are collected through a controller, quantization coding is carried out to form vehicle operation control information, and the control information is transmitted to a vehicle end through a special network;
the vehicle platform module comprises a vehicle control function debugging module, a remote cockpit module and a vehicle control function debugging module, wherein the vehicle control function debugging module is used for debugging the vehicle control function after the remote cockpit module is assembled and debugged, and a driver performs control action simulation on the vehicle platform module to ensure that the action simulation takes effect on a vehicle;
the vehicle sensor module comprises 8 cameras which are respectively arranged at the left side and the right side of a vehicle head, near a left rearview mirror, near a right rearview mirror, above a windshield in a vehicle and at the rear of the vehicle, and the two cameras are arranged at the two sides of a vehicle body, so that the cameras are ensured to be stable after being arranged aiming at a visual field blind area, and cannot fall off or continuously shake in the driving process;
the collected information is uploaded to a remote cockpit module through a link of an on-board controller, a cloud supervisory system, a 5G core network, the cloud supervisory system and a remote cockpit, and a remote driving instruction can be issued to a vehicle through the link to carry out remote vehicle control;
the acquired information is transmitted through a 5G channel, so that the uplink time delay of the video is less than 100ms, and the downlink control instruction time delay is more than 20ms.
As a preferable solution of the system for testing a car-road cooperation path at a civil aviation airport, the remote driving device module further includes:
the simulation system meets the function of simulating nearly real driving behaviors of a driver, acquires road information of the front direction, the left side direction, the right side direction and the back direction of the pose of the driver of the vehicle in real time, simultaneously gives near-real operation feedback according to the driving state of the vehicle by the brake pedal and steering wheel force sense simulation system, and guides required scenes and traffic conditions into a driving simulator.
The invention has the beneficial effects that: the method for testing the vehicle-road cooperative path of the civil aviation airport realizes re-planning of the path after an event is met through vehicle-road cooperative V2X, data communication and path planning, realizes unmanned path guidance, improves efficiency, and also can realize the effects of reducing risk, reducing cost, saving energy and reducing emission.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is an overall flowchart of a method for testing a vehicle-road collaborative path in a civil aviation airport according to an embodiment of the present invention;
fig. 2 is an overall structural diagram of a system for testing a vehicle-road collaborative path in a civil aviation airport according to an embodiment of the present invention;
fig. 3 is a meeting test simulation route map used in a collaborative route testing method for a train route at a civil aviation airport according to a second embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not necessarily enlarged to scale, and are merely exemplary, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Example 1
Referring to fig. 1-2, in an embodiment of the present invention, a method for testing a car-road cooperation path of a civil aviation airport is provided, including:
as shown in fig. 1, a scene design is performed through a network cloud platform, hardware is deployed, a test path is planned afterwards, and early warning information of a current test vehicle is collected for testing;
monitoring and acquiring detection data parameters in real time through a video monitoring system after the test is started, and outputting a detection result;
and verifying whether the tested result meets the requirements of the corresponding test case, and finishing the test when the test meets the preset conditions.
The networking cloud platform includes: the vehicle running information and the equipment state information are acquired in real time, the traffic state analysis and remote control functions are further supported, and the storage and analysis functions of the internet traffic running data are realized.
The scene design comprises the following steps: automatic parking; testing by a safe machine; V2X car following running; speed limit reminding; emergency braking early warning; avoiding the V2X weak traffic participants; prompting road danger conditions; fast passing; changing lanes by V2X; early warning of crossing collision; reminding the beyond visual range barrier by V2X; automatically backing and warehousing;
the automatic parking includes the test vehicle parking autonomously in an automatic driving mode;
the safe airplane leaning test comprises the steps that the safe airplane leaning test is arranged between roads, and any airplane leaning ground equipment needs to run at a slow and low speed with stability, reliability and no impact according to test requirements and is in butt joint with an airplane;
the V2X car following running comprises the following running, the distance between two cars is kept within +/-25% of the set distance, the maximum distance is not more than 20m, and when the cars are not stopped according to the setting, the remote driving equipment carries out manual operation and adjustment;
the speed limit reminding comprises that when the test vehicle reaches the speed limit sign, the speed of the vehicle is not higher than the speed shown by the speed limit sign;
the emergency braking early warning comprises the steps that a test vehicle sends alarm information before braking, wherein the alarm information comprises optical and acoustic alarm signals, and the test vehicle is prevented from colliding with an obstacle;
the avoidance of the V2X weak traffic participants comprises that when a test vehicle passes through a mark of the weak traffic participants, the vehicle speed is not higher than 30km/h; the speed of the vehicle can be reduced in advance and the pedestrian can be ensured to safely pass through the lane where the vehicle is located; when the vehicle stops in front of the pedestrian crossing, after the pedestrian passes through the lane where the test vehicle is located, the vehicle can be automatically started to continue driving, the starting time cannot exceed 5s, and when the starting time exceeds 5s, if the vehicle is not normally operated, the remote driving equipment carries out manual operation and adjustment;
the road danger condition prompt comprises that the test vehicle can avoid collision with a front obstacle through braking, steering or a combination mode;
fast traffic includes testing that the vehicle should stop waiting during a red light and not cross a stop line;
when the signal lamp is changed from a red lamp to a green lamp, the test vehicle is started to pass in time, the starting time is not more than 5s, and when the starting time is more than 5s, if the test vehicle is not normally started, the remote driving equipment carries out manual operation and adjustment;
the V2X cooperative lane changing comprises the steps that when the adjacent lane does not have a lane changing, a test vehicle starts a correct steering lamp, and steering is started after the steering lamp is started for at least 3 s; the time from the beginning of turning to the completion of the action of merging into the adjacent lane of the test vehicle is not more than 5s, and when the turn signal lamp is started for 3s and the action is not normally carried out, the remote driving equipment carries out manual operation and adjustment;
when the adjacent lane has a vehicle to change lanes, the test vehicle can keep running on the original lane and does not collide with the target vehicle;
the intersection collision early warning comprises that when the sight of a main vehicle driver is possibly blocked by an obstacle of an intersection or the main vehicle driver cannot judge vehicles driving to the intersection at the left side or the right side of the current intersection due to other reasons, an intersection collision early warning function gives an early warning to the driver; the test vehicle should not collide with the obstacle; testing that the vehicle can turn on a correct steering lamp; the test vehicle complies with the traffic rules, realizes passing and enters a corresponding lane for running;
the V2X beyond visual range obstacle reminding comprises reminding a driver when detecting that an obstacle in front of a test vehicle blocks or a distant vehicle running in the same direction on an adjacent lane appears in a blind area of the test vehicle, and at least comprises optical and acoustic reminding signals; the test vehicle does not collide with the obstacle or the subject vehicle;
the automatic backing and warehousing comprises the steps that when the speed of the backing and warehousing does not exceed 5km/h, the precision of the parking position after parking is less than or equal to 20cm, the test vehicle autonomously identifies the parking space, the parking path is reasonably planned, and the test vehicle slowly drives into the parking space;
when the precision is more than 20cm, the position is automatically adjusted until the required precision is reached; when the parking space is not identified, continuously searching for the parking space within 10 km/h; braking in time when the test vehicle has collision danger in the parking process;
planning a test path comprises selecting corresponding hardware for deployment according to scene design, and carrying out a preset route test;
the hardware deployment comprises: the system comprises an intelligent road side terminal module, a network connection V2X tracking type microwave radar module, a network connection V2X video event detection camera module, a V2X video event GPU server module, a mobile intelligent network connection traffic light module, an intelligent vehicle-mounted terminal OBU module, a remote driving equipment module, a central management system and a cloud supervision system;
the early warning information includes: the method comprises the following steps of forward collision early warning, left-turn assistance, blind area early warning, lane change early warning, reverse overtaking early warning, emergency braking early warning, abnormal vehicle reminding, road danger condition reminding, vehicle out-of-control early warning, speed limit early warning, red light running early warning, weak traffic participant collision early warning, in-vehicle signs, front congestion reminding and emergency vehicle reminding;
the data parameters include: the method comprises the following steps of testing time, vehicle speed, vehicle acceleration, vehicle course angle, vehicle position, vehicle yaw angular speed, vehicle time interval, vehicle collision time and vehicle distance.
The meeting of the preset conditions comprises the following steps:
when the V2X application of the vehicle to be detected receives a response to the test case in the performance evaluation stage, judging the vehicle to be normal, and continuing to detect the vehicle;
when the tested vehicle V2X is applied to the performance evaluation stage and receives a response to the test case, when the tested vehicle does not travel according to a set path, the abnormal condition is judged, a worker maintains the vehicle according to error reasons, and the test is continued after the maintenance is passed;
when the V2X application of the vehicle to be tested receives a response to the test case in the performance evaluation stage, when the scene design does not reach the preset standard, the scene design is judged to be abnormal, a worker maintains the vehicle according to the error reason, and the vehicle continues to be tested after the maintenance is passed;
for the test case in a single test scene, each test case is subjected to 10 repeated experiments and passes 7 times or more, and then the tested vehicle is considered to pass the test case.
As shown in fig. 2, there is provided a collaborative path testing system for a civil aviation airport vehicle road, comprising:
the system comprises an intelligent roadside terminal module 100, a networking V2X tracking type microwave radar module 200, a networking V2X video event detection camera module 300, a V2X video event GPU server module 400, an environment simulation module 500, an intelligent vehicle-mounted terminal OBU module 600, a remote driving equipment module 700, a central management system 800 and a cloud monitoring system 900;
the intelligent roadside terminal module 100 is a device for acquiring traffic information and pushing the traffic information to the central management system 800;
the internet V2X tracking type microwave radar module 200 is used for detecting the instant position and the instant speed of a pedestrian target and transmitting the detection data to the intelligent road side terminal module 100;
the network V2X video event detection camera module 300 is used for detecting the intrusion targets of pedestrians and non-motor vehicles in the stop area of the sightseeing platform, sending the intrusion targets to the V2X video event GPU server module 400, extracting traffic targets including the pedestrians, the non-motor vehicles and the motor vehicles in the video, feeding the processed structured data back to the intelligent roadside terminal module 100, and combining the function of deep learning and event detection;
the V2X video event GPU server module 400 is configured to process a video of a camera erected at an intersection or a road segment, extract traffic targets including pedestrians, non-motor vehicles, and motor vehicles in the video, and feed back the processed structured data to the intelligent roadside terminal module 100;
the environment simulation module 500 is used for realizing the functions of a traffic sign board, a signal lamp, a road cone, a mark of a weak traffic participant, traffic signal control equipment, LTE-V equipment, WIFI communication equipment, a high-precision map and information induction equipment;
the intelligent vehicle-mounted terminal OBU module 600 is used for a multi-mode plug-and-play platform and comprises DSRC/LTE-V, WIFI, GPS/Beidou and 4G communication modes;
the remote driving equipment module 700 is used for the remote driving system to feed back the driving state of the vehicle, the driving environment of the vehicle, the driving map of the remote vehicle and the current position information in real time;
the central management system 800 is configured to receive the device information of the intelligent roadside terminal module 100, and transmit the information to the cloud monitoring system 900;
the cloud monitoring system 900 is used for real-time monitoring and recording and playing back the running data; the system can visually monitor the running states of all intelligent vehicles in the system, timely master the dynamic information of the vehicles and improve the safety of the system;
the remote driving apparatus module 700 includes: a remote cockpit module 701, a vehicle platform module 702, a vehicle sensor module 703;
the remote cockpit module 701 includes control buttons for providing driving, steering and braking actuators, collects analog data of the devices through a controller, performs quantization coding to form vehicle operation control information, and transmits the control information to a vehicle end through a dedicated network;
the vehicle platform module 702 is used for debugging the vehicle control function after the remote cockpit module 701 is assembled and debugged, and a driver performs control action simulation on the vehicle platform module 702 to ensure that the action simulation takes effect on a vehicle;
the vehicle sensor module 703 comprises 8 cameras respectively arranged at the left side and the right side of a vehicle head, near a left rearview mirror, near a right rearview mirror, above a windshield in a vehicle, and at the rear of the vehicle, the two cameras are arranged at the two sides of a vehicle body, and the cameras are ensured to be stable after installation aiming at a vision blind area, and cannot fall off or continuously shake in the driving process;
the collected information is uploaded to a remote cockpit module 701 through a link of an on-board controller, a cloud supervisory system 900, a 5G core network, the cloud supervisory system 900 and a remote cockpit, and a remote driving instruction can be issued to a vehicle through the link to carry out remote vehicle control;
the acquired information is transmitted through a 5G channel, so that the uplink time delay of the video is less than 100ms, and the downlink control instruction time delay is more than 20ms.
The simulation system meets the function of simulating nearly real driving behaviors of a driver, acquires road information of the front, left, right and back positions of the position and posture of the driver of the vehicle in real time, gives near-real operation feedback according to the driving state of the vehicle by the brake pedal and steering wheel force sense simulation system, and guides the required scene and traffic conditions into the driving simulator.
Example 2
Referring to fig. 3, a method for testing a car-road cooperation path of a civil aviation airport is provided as an embodiment of the present invention, and scientific demonstration is performed through simulation experiments in order to verify the beneficial effects of the present invention.
In this embodiment, a specific use experiment is performed on the method of the present invention, and in a preset identical experiment environment, 3 sets of experiments are performed on the conventional method and the method of this embodiment, respectively, and the specific experiment results are shown in tables 1 and 2
The working conditions are as follows:
basic test roads, general test roads, road networking environments, matched service facilities and the like of the intelligent networking automobile test field meet the requirements of T/CSAE 125.
All tests were carried out under the following conditions, unless specified otherwise:
testing the road environment: open, without shelter, without interference; the severe weather conditions such as snowfall, hailstones, dust flying and the like are avoided; the environment temperature is-20 ℃ to 60 ℃; the horizontal visibility should be greater than 500m; when the speed limit of the test road is more than or equal to 60km/h, the width of the road is not less than 3.5m and not more than 3.75m; when the speed limit of the test road is less than 60km/h, the width of the road is not less than 3.0m and not more than 3.5m; the length of the test road is preferably more than 500m, the longitudinal gradient is preferably less than 0.5%, and the transverse gradient is preferably less than 3%; the test environment should guarantee RSU signal coverage.
The tested vehicle and the background vehicle which participate in the test meet the following basic requirements: the wireless communication capability is provided; the communication distance is not less than 300m under the conditions of spaciousness, no shielding and no interference; the transmission of the V2X message is in accordance with the regulations of YD/T3340, YD/T3707, YD/T3709 and T/CSAE 53-2020; the method has a basic alarm mechanism corresponding to scene classification; the method meets the GB7258 detection requirement, and for the projects which do not meet the detection requirement, a relevant certification material which does not reduce the safety performance of the vehicle is prepared;
the vehicle should acquire data information such as vehicle speed, gear information, vehicle steering wheel angle, vehicle lamp states around the vehicle body, vehicle event marks, vehicle four-axis acceleration, vehicle brake system states and the like from a vehicle data bus or other data sources; the background vehicle positioning accuracy should be less than 1.5 meters.
In the test process, when the tested vehicle, the background vehicle and the test target substitute reach the stable motion state specified by the test scene, the following data precision requirements are met:
the VUT and BV speed errors are +/-1.0 km/h; VUT and BV lateral offset are +/-0.5 m; the errors of VUT and BV yaw rates are +/-1.0 degree/s; when the distance between the PTC and the central line of the vehicle is less than 4m (near-end scene), the speed is 5km/h +/-0.2 km/h; when the PTA is less than 6m (far-end scene) away from the central line of the vehicle, the speed is 6.5km/h +/-0.2 km/h; when the distance between the BTA and the center line of the vehicle is less than 17m (near-end scene), the speed is 15km/h +/-0.2 km/h.
And the end-to-end transmission delay of an application layer when the detected vehicle is communicated with the background vehicle and the road side unit is less than 100ms. The tested vehicle system should meet the following early warning form requirements:
the alert should include, but is not limited to, a visual alert or an audible or tactile alert; the preliminary warning should include a visual warning mode, an auditory warning mode or a combined warning mode of the visual warning and the auditory warning mode, and a tactile warning mode or other forms can be selected as supplements; the sound volume of the auditory early warning prompt is reasonably selected and clearly distinguished; the early warning has grading capability, and for a single test scene, the grading number of the early warning is at least more than or equal to one grade.
The communication distance is not less than 300m under the conditions of spaciousness, no shielding and no interference; the transmitted message is in accordance with the specifications of YD/T3340, YD/T3707, YD/T3709 and T/CSAE 159; according to the requirements of the test scene, the roadside unit should support the pre-configuration of the content of the V2X message (such as configuring a lane speed limit value in a logical road network (MAP) message, and configuring a road hazard condition type and an influence range in a roadside safety message (RSI)).
The road side unit periodically broadcasts the logic road network information of the test road and at least covers the road sections participating in the test; the logical road network information should be at lane level, and the positioning point precision in the road network information should at least reach centimeter level.
Test target surrogate requirements: in the testing process, the related testing target substitute can be used for replacing real targets such as pedestrians, non-motor vehicles and the like, wherein the pedestrian target is required to meet the requirement of ISO 19206-2, and the non-motor vehicle target is required to meet the requirement of ISO 19206-4.
In the test process, the test equipment acquires relevant data of the tested vehicle, the background vehicle, the road side unit and the test target substitute in real time, and monitors, collects and evaluates the test process. The data record during the test should contain the following: the motion state parameters (speed, course angle, four-axis acceleration and the like) of the detected vehicle and the background vehicle; the position information of the detected vehicle and the background vehicle; the lamplight and related prompt information states of the detected vehicle and the background vehicle; the tested vehicle V2X applies early warning information (audio, video, image information or other early warning signals); video information reflecting the running state of the detected and background vehicles; and testing the position and motion data of the target substitute.
According to scene design, deploying intelligent road side equipment, intelligent sensing equipment, a network connection type mobile traffic light and the like, wherein as shown in fig. 3, a position A is a staff parking lot, and the position A is finished when the staff parking lot arrives at an original parking space at the front door of a factory, and the depth of the staff parking lot is 11.6 meters; the position B is an automatic driving starting point and an automatic backing and warehousing experiment position of the vehicle, the length is 16 meters in total, and three parking spaces are divided, the width is 4 meters, the depth is 10 meters, and the interval is 1.3 meters; c1, performing an automatic parking experiment, and parking in parallel in the east-west direction and with the length of 5.3 meters; c2, performing a safety on-board test experiment, wherein the length of the safety on-board test experiment is 10.6 meters, the simulated cabin of the airplane is vertical to the wall surface, the length of the aviation food vehicle is 6.7 meters, and the distance to the front of the airplane is 5 meters, which is 12.7 meters in total; the position 2 is an experimental path point, a sensing device is deployed and comprises an L-shaped light pole, a road side unit RSU and an eastern event camera; performing a V2X car following running experiment at the position E; 3, an experimental path point, a deployment sensing device and a navigation device, wherein the deployment sensing device comprises an L-shaped light pole, a roadside unit RSU, a north-facing signal lamp, a north-facing millimeter wave radar, a north-facing laser radar, a north-facing event camera and a south-facing event camera; a speed limit reminding experiment is carried out at the position F, vehicle-mounted meeting is warned, the road width is 8 meters, and the maximum position is 19 meters; performing an emergency braking early warning experiment at the K position; 7, arranging a sensing device comprising an L-shaped light pole, a road side unit RSU, a western-facing millimeter wave radar and an east-facing millimeter wave radar, wherein the experimental path point is arranged at the position 7; the position 6 is an experimental path point, and a deployment sensing device comprises an L-shaped light pole, a road side unit RSU, a north-to-west signal lamp, a north-facing laser radar, a west-facing event camera and a north-facing event camera; performing a V2X weak traffic participant avoidance experiment at the position G; performing a road dangerous condition prompting experiment at the position H, approaching a factory side, changing the lane of the vehicle to a left lane and turning; 5, an experimental path point, a deployment sensing device comprising an L-shaped light pole, a road side unit RSU and a north facing event camera; performing a rapid passing experiment at the position I, wherein the lane is a single lane, the width is 4.7 meters, and the maximum position is 7.5 meters; 4, experimental path points, deployment sensing equipment, including an L-shaped light pole, a road side unit RSU, an eastern-oriented millimeter wave radar and an eastern-oriented event camera; performing a V2X cooperative lane change experiment at the J position, and changing the lane to the right lane after the vehicle turns right; 3-4, marking off a west road to be used as a straight road for automatically following a front vehicle; performing an intersection collision early warning experiment at the position L; m, performing a V2X beyond visual range obstacle reminding experiment; n is a large monitoring screen; the 1 place is an experimental path point, and the deployment sensing equipment comprises an L-shaped light pole, a road side unit RSU, an eastern event camera and a western event camera.
Carrying out a vehicle-road cooperative path test of the civil aviation airport according to a preset path, setting an unmanned vehicle for meeting test for a path B-1-6-7-3-2-B of a path 1, and setting the unmanned vehicle for meeting test for a path 2 of B-2-3-7-6-5-4-3-7-6-1-B, wherein the path is shown in figure 3;
TABLE 1 scene design accuracy contrast table
TABLE 2 comparison table of accuracy rates of test paths
Compared with the prior art, the method can ensure that the equipment can accurately advance 100% according to the preset route and simultaneously carry out scene test, ensure that the test result is 100% correct and reduce the error rate.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
1. A method for testing a cooperative path of a vehicle road in a civil aviation airport is characterized by comprising the following steps:
carrying out scene design through the internet cloud platform, deploying hardware, planning a test path, collecting early warning information of a current test vehicle, and testing;
monitoring and acquiring detection data parameters in real time through a video monitoring system after the test is started, and outputting a detection result;
and verifying whether the tested result meets the requirements of the corresponding test case, and finishing the test when the test meets the preset conditions.
2. The method for testing the collaborative path for the civil aviation airport vehicle road of claim 1, wherein the internet cloud platform comprises:
the vehicle running information and the equipment state information are acquired in real time, the traffic state analysis and remote control functions are further supported, and the functions of storing and analyzing the internet traffic running data are realized.
3. The method for testing the civil aviation airport vehicle road collaborative path according to claim 1, wherein the scene design includes:
automatic parking; testing by a safe machine; V2X car following driving; speed limit reminding; early warning for emergency braking; avoiding the V2X weak traffic participants; prompting road danger conditions; fast passing; changing lanes by V2X; early warning of collision at the intersection; reminding the beyond visual range barrier by V2X; automatically backing and warehousing;
the automatic parking comprises the test vehicle parking autonomously in an automatic driving mode;
the safe airplane leaning test comprises the steps that the safe airplane leaning test is arranged between roads, and any airplane leaning ground equipment needs to run at a slow and low speed with stability, reliability and no impact according to the test requirement to be in butt joint with an airplane;
the V2X car following running comprises the following running, the distance between two cars is kept within a range of +/-25% of a set distance, the maximum distance is not more than 20m, and when the cars are not parked according to the set distance, remote driving equipment carries out manual operation and adjustment;
the speed limit reminding comprises that when the test vehicle reaches the speed limit sign, the speed of the vehicle is not higher than the speed shown by the speed limit sign;
the emergency braking early warning comprises the steps that a test vehicle sends alarm information before braking, optical and acoustic alarm signals are contained, and the test vehicle is prevented from colliding with an obstacle.
4. The method for testing the collaborative path for the civil aviation airport vehicle road of claim 3, wherein the V2X vulnerable traffic participant avoidance comprises:
when the test vehicle passes through the marks of the weak traffic participants, the speed of the test vehicle is not higher than 30km/h; the speed of the vehicle can be reduced in advance and the pedestrian can be ensured to safely pass through the lane where the vehicle is located; when the vehicle stops in front of the pedestrian crossing, after the pedestrian passes through the lane where the test vehicle is located, the vehicle can be automatically started to continue driving, the starting time cannot exceed 5s, and when the starting time exceeds 5s, if the vehicle is not normally operated, the remote driving equipment carries out manual operation and adjustment;
the road danger condition prompt comprises that the test vehicle can avoid collision with a front obstacle in a braking, steering or combination mode;
the quick pass includes testing that the vehicle should be parked waiting during the red light, and not crossing the stop line
When the signal lamp is changed from a red lamp to a green lamp, the test vehicle is started to pass in time, the starting time is not more than 5s, and when the starting time is more than 5s, if the test vehicle is not normally started, the remote driving equipment performs manual operation and performs adjustment.
5. The method for testing the collaborative path for the civil aviation airport vehicle road of claim 3, wherein the V2X collaborative lane change comprises:
when no vehicle is in the adjacent lane for changing the lane, testing that the vehicle turns on a correct steering lamp, and starting to turn after the steering lamp is turned on for at least 3 s; the time from the beginning of turning to the completion of the action of merging into the adjacent lane of the test vehicle is not more than 5s, and when the turn signal lamp is started for 3s and the action is not normally carried out, the remote driving equipment carries out manual operation and adjustment;
when a vehicle is in a lane change of an adjacent lane, the test vehicle can keep running on the original lane and does not collide with the target vehicle;
the intersection collision early warning comprises that when the sight of a main vehicle driver is possibly blocked by an obstacle of an intersection or the main vehicle driver cannot judge vehicles driving to the intersection at the left side or the right side of the current intersection due to other reasons, an intersection collision early warning function gives an early warning to the driver; the test vehicle should not collide with the obstacle; testing that the vehicle can turn on a correct steering lamp; the test vehicle complies with the traffic rules, and passes and enters a corresponding lane to run;
the V2X beyond visual range obstacle reminding comprises reminding a driver when detecting that an obstacle in front of a test vehicle blocks or a far vehicle running in the same direction on an adjacent lane appears in a blind area of the test vehicle, and at least comprises optical and acoustic reminding signals; the test vehicle does not collide with an obstacle or a subject vehicle;
the automatic backing and warehousing comprises the steps that when the speed of the backing and warehousing does not exceed 5km/h, the precision of the parking position after parking is less than or equal to 20cm, the test vehicle autonomously identifies the parking space, the parking path is reasonably planned, and the test vehicle slowly drives into the parking space;
when the precision is more than 20cm, the position is automatically adjusted until the required precision is reached; when the parking space is not identified, continuously searching for the parking space within 10 km/h; stopping in time when the test vehicle has collision danger in the parking process;
and planning the test path comprises selecting corresponding hardware for deployment according to scene design and carrying out a preset route test.
6. The method for testing the civil aviation airport vehicle-road co-operative path of claim 1, wherein the deploying hardware comprises:
the system comprises an intelligent road side terminal module, a network connection V2X tracking type microwave radar module, a network connection V2X video event detection camera module, a V2X video event GPU server module, a mobile intelligent network connection traffic light module, an intelligent vehicle-mounted terminal OBU module, a remote driving equipment module, a central management system and a cloud supervision system;
the early warning information comprises forward collision early warning, left turn assisting, blind area early warning, lane change early warning, reverse overtaking early warning, emergency braking early warning, abnormal vehicle reminding, road danger condition reminding, vehicle out-of-control early warning, speed limit early warning, red light running early warning, weak traffic participant collision early warning, in-vehicle signs, front congestion reminding and emergency vehicle reminding;
the data parameters comprise test time, vehicle speed, vehicle acceleration, vehicle course angle, vehicle position, vehicle yaw angular speed, vehicle time interval, vehicle collision time and vehicle distance.
7. The method for testing the collaborative path for the civil aviation airport vehicle road according to claim 1, wherein the meeting of the preset condition comprises:
when the V2X application of the vehicle to be detected receives a response to the test case in the performance evaluation stage, judging the vehicle to be normal, and continuing to detect the vehicle;
when the tested vehicle V2X is applied to the performance evaluation stage and receives a response to the test case, when the tested vehicle does not travel according to a set path, the abnormal condition is judged, a worker maintains the vehicle according to error reasons, and the test is continued after the maintenance is passed;
when the tested vehicle V2X application receives a response to the test case in the performance evaluation stage, when the scene design does not reach the preset standard, the abnormal situation is judged, a worker maintains the abnormal situation according to error reasons, and the test is continued after the maintenance is passed;
for the test case in a single test scene, each test case is subjected to 10 repeated experiments and passes 7 times or more, and then the tested vehicle is considered to pass the test case.
8. A be used for civil aviation airport vehicle road collaborative path test system which characterized in that includes:
the system comprises an intelligent roadside terminal module (100), a networking V2X tracking type microwave radar module (200), a networking V2X video event detection camera module (300), a V2X video event GPU server module (400), an environment simulation module (500), an intelligent vehicle-mounted terminal OBU module (600), a remote driving equipment module (700), a central management system (800) and a cloud monitoring system (900);
the intelligent road side terminal module (100) is used for acquiring equipment of traffic information and pushing the equipment to a central management system (800);
the network V2X tracking type microwave radar module (200) is used for detecting the instant position and the instant speed of a pedestrian target and transmitting detection data to the intelligent roadside terminal module (100);
the network V2X video event detection camera module (300) is used for detecting the intrusion targets of pedestrians and non-motor vehicles in the stop area of the sightseeing platform, sending the intrusion targets to the V2X video event GPU server module (400), extracting traffic targets including the pedestrians, the non-motor vehicles and the motor vehicles in the video, feeding the processed structured data back to the intelligent roadside terminal module (100), and combining the function of deep learning and event detection;
the V2X video event GPU server module (400) is used for processing videos of cameras erected on intersections or road sections, extracting traffic targets including pedestrians, non-motor vehicles and motor vehicles in the videos, and feeding back the processed structured data to the intelligent road side terminal module (100);
the environment simulation module (500) is used for realizing the functions of a traffic sign board, a signal lamp, a road cone, a mark of a weak traffic participant, traffic signal control equipment, LTE-V equipment, WIFI communication equipment, a high-precision map and information induction equipment;
the intelligent vehicle-mounted terminal OBU module (600) is used for a multi-mode plug-and-play platform and comprises DSRC/LTE-V, WIFI, GPS/Beidou and 4G communication modes;
the remote driving equipment module (700) is used for enabling a remote driving system to feed back and operate the driving state of the vehicle, the driving environment of the vehicle, the driving map of the remote vehicle and the current position information in real time;
the central management system (800) is used for receiving equipment information of the intelligent road side terminal module (100) and transmitting the information to the cloud supervision system (900);
the cloud monitoring system (900) is used for monitoring in real time and recording and playing back running data; the system can visually monitor the running states of all intelligent vehicles in the system, timely master dynamic information of the vehicles and improve the safety of the system.
9. The system for civil aviation airport vehicle road co-ordination path testing of claim 8, wherein the remote piloting device module (700) comprises:
a remote cockpit module (701), a vehicle platform module (702), a vehicle sensor module (703);
the remote cockpit module (701) comprises control buttons for providing driving, steering and braking actuating mechanisms, analog data of the equipment are collected through a controller, quantization coding is carried out to form vehicle operation control information, and the control information is transmitted to a vehicle end through a special network;
the vehicle platform module (702) is used for debugging the vehicle control function after the remote cockpit module (701) is assembled and debugged, and a driver performs control action simulation on the vehicle platform module (702) to ensure that the action simulation takes effect on a vehicle;
the vehicle sensor module (703) comprises cameras respectively arranged at 8 places, wherein the cameras comprise the left side and the right side of a vehicle head, the vicinity of a left rearview mirror, the vicinity of a right rearview mirror, the upper part of a windshield in a vehicle, and the two cameras are arranged at the two sides of a vehicle body, and aiming at a vision blind area, the cameras are ensured to be stable after installation, cannot fall off in the driving process and cannot continuously shake;
the collected information is uploaded to a remote cockpit module (701) through a link of a vehicle-mounted controller, a cloud supervisory system (900), a 5G core network, the cloud supervisory system (900) and a remote cockpit, and a remote driving instruction can be issued to a vehicle through the link to carry out remote vehicle control;
the acquired information is transmitted through a 5G channel, so that the uplink time delay of the video is less than 100ms, and the downlink control instruction time delay is more than 20ms.
10. The system for civil aviation airport vehicle road co-ordination path testing of claim 8, wherein the remote piloting device module (700) further comprises:
the simulation system meets the function of simulating nearly real driving behaviors of a driver, acquires road information of the front direction, the left side direction, the right side direction and the back direction of the pose of the driver of the vehicle in real time, simultaneously gives near-real operation feedback according to the driving state of the vehicle by the brake pedal and steering wheel force sense simulation system, and guides required scenes and traffic conditions into a driving simulator.
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