CN115798215B - Method for testing cooperative behavior capability of civil aviation airport road - Google Patents
Method for testing cooperative behavior capability of civil aviation airport road Download PDFInfo
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Abstract
The invention discloses a method for testing the cooperative behavior capability of a civil aviation airport road, which comprises the steps of carrying out a test under the condition of conforming to a test environment, wherein the test carries out a plurality of test items under different test scenes; the method comprises the steps of collecting expected early warning information of a tested vehicle under a current test case, and adjusting the states of the tested vehicle and a background vehicle to be the same as the target motion state of the test case when the test is started; and testing, namely collecting related data of the tested vehicle, the background vehicle, the road side unit and the test target substitute in real time, and evaluating until the tested vehicle and the background vehicle meet the test ending condition. The method does not limit the traffic of the unmanned and manual driving, unifies traffic sign marks and open infrastructure, restores real operation scenes, perceives the operation state of an airport, improves the average operation speed, and is more timely in operation and more accurate in dispatching; the airport safety supervision capability is improved, and passenger information service is enriched.
Description
Technical Field
The invention relates to the technical field of vehicle-road cooperative testing, in particular to a vehicle-road cooperative behavior capability testing method for a civil aviation airport.
Background
Along with the great attention and investment of technologies such as vehicle-road coordination, intelligent networking and the like in various communities, the development of software and hardware related to the vehicle-road coordination technology is also developed from an initial model level (microscopic, mesoscopic and macroscopic) to a more real and complex environment. The existing car networking technology is usually used for testing and evaluating a car-road cooperation technology C-ITS (Cooperative Intelligent Transport Systems) before formal road surfing, the car-road cooperation system is used for acquiring car and road information based on technologies such as wireless communication, sensing detection and the like, and information interaction and sharing are realized through car-car and car-road communication, so that intelligent cooperation and coordination between the car and road side facilities are realized, and the aims of optimizing use of road resources, improving traffic safety and relieving congestion are fulfilled. At present, a set of efficient and accurate evaluation method for testing and evaluating the airport road cooperative scene is lacking.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description summary and in the title of the application, to avoid obscuring the purpose of this section, the description summary and the title of the invention, which should not be used to limit the scope of the invention.
The present invention has been made in view of the above-described problems occurring in the prior art.
Therefore, the invention provides a method for testing the cooperative behavior capability of the civil aviation airport road, which can solve the problem that the existing method is not efficient and accurate enough.
In order to solve the technical problems, the invention provides the following technical scheme, namely a method for testing the cooperative behavior capability of a civil aviation airport road, which comprises the following steps:
carrying out a test under the condition of conforming to a test environment, wherein the test is carried out on a plurality of test items under different test scenes;
the method comprises the steps of collecting expected early warning information of a tested vehicle under a current test case, and adjusting the states of the tested vehicle and a background vehicle to be the same as the target motion state of the test case when the test is started;
and testing, namely collecting related data of the tested vehicle, the background vehicle, the road side unit and the test target substitute in real time, and evaluating until the tested vehicle and the background vehicle meet the test ending condition.
As a preferable scheme of the method for testing the cooperative behavior capability of the civil aviation airport road, the invention comprises the following steps: the preprocessing comprises the steps of inputting multi-component submarine node data into a track head keyword program, acquiring observation system information, and sorting out common-detector gather data of a pressure component and a vertical speed component.
As a preferable scheme of the method for testing the cooperative behavior capability of the civil aviation airport road, the invention comprises the following steps: the test adopts automatic driving, and comprises a state adjustment stage and a performance evaluation stage, wherein the state adjustment stage is a process from starting a tested vehicle and a background vehicle to reaching a target motion state of a test case, and the performance evaluation stage is a process from the tested vehicle and the background vehicle to reaching the target motion state of the test case until the test ending condition is met.
As a preferable scheme of the method for testing the cooperative behavior capability of the civil aviation airport road, the invention comprises the following steps: the expected early warning information comprises forward collision early warning, blind area early warning, lane changing early warning, reverse overtaking early warning, emergency braking early warning, vehicle out-of-control early warning, weak traffic participant collision early warning, speed limit early warning, red light running early warning and reverse overtaking early warning.
As a preferable scheme of the method for testing the cooperative behavior capability of the civil aviation airport road, the invention comprises the following steps: when the automobile detects that a stationary vehicle or a slow vehicle is arranged in front of the same lane, or a stationary vehicle or a slow vehicle is arranged in front of an adjacent lane, or a vehicle running in opposite direction is arranged on the adjacent lane, forward collision early warning is sent out, and emergency braking or deceleration or avoidance operation is adopted according to the early warning level after the early warning;
when the automobile detects that the target vehicle runs in the same direction in the blind area of the adjacent lane of the tested vehicle, a blind area early warning is sent out, the speed of the automobile is kept, and lane changing is forbidden until the early warning is finished;
when the target vehicle runs in the same direction in the blind area of the adjacent lane of the test vehicle and the test vehicle has a lane changing intention, or the target vehicle quickly runs to the blind area of the test vehicle in the adjacent lane and the test vehicle has the lane changing intention, the blind area early warning and the lane changing early warning are sent out, and the lane changing is stopped;
when the test vehicle intends to overtake by the reverse lane and the target vehicle which runs oppositely on the reverse lane, sending out a reverse overtaking early warning, stopping overtaking and emergency braking;
when an emergency braking vehicle is arranged in front of the test vehicle, an emergency braking early warning is sent out, and emergency braking operation or lane changing operation is carried out according to the early warning level;
when the vehicle runs in the same direction in the road range in front of the tested vehicle and continuously broadcasts the information of the out-of-control state of the vehicle, the vehicle is sent out to give out an early warning of out-of-control, and the emergency evacuation is carried out and related personnel are informed to carry out treatment;
when the RSU in front of the vehicle is tested to continuously broadcast road speed limit information, sending out speed limit early warning, and immediately adjusting the vehicle speed to be within a limited speed range;
when the RSU in front of the test vehicle continuously broadcasts road traffic light information, sending out red light running early warning, and carrying out emergency braking or braking after acceleration or deceleration according to the early warning level;
when the weak traffic participants in front of the test vehicle cross the road, the collision early warning of the weak traffic participants is sent out to carry out emergency braking.
As a preferable scheme of the method for testing the cooperative behavior capability of the civil aviation airport road, the invention comprises the following steps: the forward collision early warning is divided into three stages, when the distance from other vehicles is greater than 20m, the operation of changing the travelling route to avoid is adopted for the second stage forward collision early warning, when the distance from other vehicles is within the range of 10-20m, the operation of decelerating is adopted for the second stage forward collision early warning, and when the distance from other vehicles is less than or equal to 10m, the operation of emergency braking is adopted for the first stage forward collision early warning;
the emergency braking early warning is divided into two stages, when the distance from the emergency braking vehicle is more than 10m, lane changing operation is adopted for the two stages of emergency braking early warning, and when the distance from the emergency braking vehicle is less than or equal to 10m, emergency braking operation is adopted for the first stage of emergency braking early warning;
the early warning of running the red light is divided into three stages, when the distance between the vehicle and the red light is more than 10m and the time between the vehicle and the green light is less than 5s, braking is carried out after deceleration, when the distance between the vehicle and the red light is less than 10m and the time between the vehicle and the green light is more than or equal to 5s, the early warning of running the red light for the second stage is carried out, acceleration is adopted, and when the distance between the vehicle and the red light is less than 10m and the time between the vehicle and the green light is less than 5s or is in a red light state, emergency braking is adopted.
As a preferable scheme of the method for testing the cooperative behavior capability of the civil aviation airport road, the invention comprises the following steps: the early warning information is broadcast and early warned through voice, meanwhile, icons of early warning primary or single-stage early warning are displayed in red through icon flickering of different shapes on the panel in the vehicle, the early warning secondary icons are displayed in yellow, and the early warning tertiary icons are displayed in green.
As a preferable scheme of the method for testing the cooperative behavior capability of the civil aviation airport road, the invention comprises the following steps: the test termination condition includes that,
when the tested vehicle V2X is applied to reasonably respond to the test case in the performance evaluation stage, the early warning is normal and corresponding operation is carried out, and then the test is ended and test data are recorded;
when the tested vehicle V2X is applied to perform error response on the test case in the performance evaluation stage, early warning display, error broadcasting or error operation on early warning is performed, ending the test, checking the tested vehicle and the test device, checking the error reason and performing repair adjustment;
when the tested vehicle V2X is not responded to the test case in the performance evaluation stage, the corresponding road condition is not pre-warned or is not operated after the pre-warning is not performed, the test is ended, the test condition setting is adjusted, and the test is performed again until the tested vehicle responds to the test case.
The invention also provides a system for testing the cooperative behavior capability of the civil aviation airport road, which comprises,
the network cloud platform can realize the butt joint with the central management system and is used for acquiring the running information of the vehicle and the state information of the equipment in real time;
the central management system is used for remotely controlling the vehicle and setting information of the automatic driving vehicle;
and the information storage center is used for storing the test data.
The invention also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method described above.
The present invention also provides a computer device comprising: a memory and a processor; the memory stores a computer program which when executed by the processor implements the steps of the method described above.
The invention has the beneficial effects that: (1) realizing open job scene automatic driving test: the traffic of the unmanned and manual driving is not particularly limited, traffic sign marks and lines are unified, an infrastructure is opened, and a real running scene is restored.
(2) Operation test of unmanned equipment: sensing the airport running state, improving the average running speed, and enabling the dispatching to be more accurate when the operation is more on time; the airport safety supervision capability is improved, and passenger information service is enriched.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a schematic flow chart of a method for testing collaborative behavior capability of a civil aviation airport road according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a test route for a method for testing collaborative behavior capability of a civil aviation airport roadway according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an intersection collision early warning test for a method for testing the cooperative behavior capability of a civil aviation airport road according to an embodiment of the present invention.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the 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 other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be 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.
While the embodiments of the present invention have been illustrated and described in detail in the drawings, the cross-sectional view of the device structure is not to scale in the general sense for ease of illustration, and the drawings are merely exemplary and should not be construed as limiting the scope of the invention. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Also in the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper, lower, inner and outer", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not 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 coupled" should be construed broadly in this disclosure unless otherwise specifically indicated and defined, such as: can be fixed connection, detachable connection or integral connection; it may also be a mechanical connection, an electrical connection, or a direct connection, or may be indirectly connected through an intermediate medium, or may be a communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1, a first embodiment of the present invention provides a method for testing cooperative behavior capability of a civil aviation airport road, including:
s1: under the condition of conforming to the test environment, carrying out tests, and carrying out various test items under different test scenes;
(1) Basic requirements of test environment
The basic test road, general test road, road network environment and matched service facilities of the intelligent network automobile test field meet the requirements of the T/CSAE 125.
Unless specified, all tests were performed under the following conditions:
-testing the road environment: the device is open, free of shielding and interference;
-no severe weather conditions such as snowfall, hail, dust and the like;
-the ambient temperature is between-20 ℃ and 60 ℃;
-the horizontal visibility should be greater than 500m;
when the speed limit of the tested road is more than or equal to 60km/h, the road width is not less than 3.5m and not more than 3.75m;
when the speed limit of the tested road is less than 60km/h, the road width 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 ensure RSU signal coverage.
(2) Testing basic requirements of vehicles
The tested vehicles and the background vehicles involved in the test should meet the following basic requirements:
-having wireless communication capability;
-the communication distance is not less than 300m under the conditions of spaciousness, no shielding and no interference;
the transmission of the V2X message should meet the specifications of YD/T3340, YD/T3707, YD/T3709 and T/CSAE 53-2020;
-having a basic alarm mechanism corresponding to the scene classification;
the method meets the detection requirement of GB 7258, and for items which do not meet the detection requirement, relevant proving materials which do not reduce the safety performance of the vehicle are required to be provided;
-the vehicle should acquire data information such as vehicle speed, gear information, vehicle steering wheel angle, vehicle lamp status around the vehicle body, vehicle event markers, vehicle four-axis acceleration, vehicle brake system status, etc. from the vehicle data bus or other data sources;
the positioning accuracy of the background vehicle should be less than 1.5 meters.
(3) Accuracy requirements of the test procedure
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 should be met:
-VUT and BV speed error of ±1.0km/h;
-VUT and BV lateral offset of ± 0.5m;
-VUT and BV yaw rate error of ±1.0 °/s;
-PTC is at a speed of 5km/h±0.2km/h when less than 4m (near end scenario) from the vehicle centerline;
when the PTA is less than 6m (far-end scene) from the center line of the vehicle, the speed is 6.5km/h plus or minus 0.2km/h;
when the distance from the BTA to the center line of the vehicle is smaller than 17m (near-end scene), the speed is 15km/h plus or minus 0.2km/h.
(4) Requirements of the tested device
The end-to-end transmission delay of the application layer when the vehicle under test communicates with the background vehicle and the road side unit should be less than 100ms. The tested vehicle system should meet the following early warning form requirements:
the pre-warning should include, but is not limited to, a visual pre-warning or an auditory or a tactile pre-warning;
the preliminary pre-warning means may include visual or audible warning means or a combination of both, and may be tactile or other forms as a supplement;
the volume of the audible early warning prompt should be selected reasonably, clearly and distinctively;
the early warning should have grading capability, and for a single test scene, the number of early warning grades is at least greater than or equal to one level.
(5) Test equipment requirements
(1) Roadside unit requirements
The roadside unit should meet the following requirements:
-the communication distance is not less than 300m under the conditions of spaciousness, no shielding and no interference;
the messages sent should meet the specifications of YD/T3340, YD/T3707, YD/T3709 and T/CSAE 159;
depending on the requirements of the test scenario, the roadside unit should support the pre-configuration of the V2X message content (e.g. configuration of lane limit values in the logical road network (MAP) message, road hazard condition types and impact ranges in the roadside safety message (RSI), etc.).
(2) Logical road network message requirements
The road network message should meet the following requirements:
the road side unit should periodically broadcast logic road network information of the test road and should cover at least the road sections participating in the test;
the logic road network information should be in lane level, and the positioning point precision in the road network information should reach at least centimeter level.
(3) Test target surrogate requirement
In the test process, related test target substitutes can be used for replacing real targets such as pedestrians, non-motor vehicles and the like, the pedestrian target meets the requirements of ISO 19206-2, and the non-motor vehicle target meets the requirements of ISO 19206-4.
(4) Data acquisition precision requirement of test equipment
S2: the method comprises the steps of collecting expected early warning information of a tested vehicle under a current test case, and adjusting the states of the tested vehicle and a background vehicle to be the same as the target motion state of the test case when the test is started;
furthermore, in the testing process, the testing equipment should collect relevant data of the tested vehicle, the background vehicle, the road side unit and the testing target substitute in real time, and monitor, collect and evaluate the testing process. The data record during the test should contain the following:
the measured vehicle and the background vehicle motion state parameters (speed, course angle, four-axis acceleration and the like);
the position information of the detected vehicle and the background vehicle;
the light and related prompt information states of the detected vehicle and the background vehicle;
the detected 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 vehicle;
and testing the position and motion data of the target substitute.
S3: testing, namely collecting related data of the tested vehicle, the background vehicle, the road side unit and the test target substitute in real time, and evaluating the data until the tested vehicle and the background vehicle meet the test ending condition;
furthermore, the test adopts automatic driving, and the automatic driving comprises a state adjustment stage and a performance evaluation stage, wherein the state adjustment stage is a process from starting the tested vehicle and the background vehicle to reaching the target motion state of the test case, and the performance evaluation stage is a process from the tested vehicle and the background vehicle to reaching the target motion state of the test case until the test ending condition is met.
It should be noted that the expected early warning information includes forward collision early warning, blind area early warning, lane change early warning, reverse overtaking early warning, emergency braking early warning, vehicle out-of-control early warning, weak traffic participant collision early warning, speed limit early warning, red light running early warning, and reverse overtaking early warning.
Furthermore, when the automobile detects that a stationary vehicle or a slow vehicle is arranged in front of the same lane, or a stationary vehicle or a slow vehicle is arranged in front of an adjacent lane, or an opposite running vehicle is arranged on the adjacent lane, forward collision early warning is sent out, and emergency braking or deceleration or avoidance operation is adopted according to the early warning level after the early warning;
when the automobile detects that the target vehicle runs in the same direction in the blind area of the adjacent lane of the tested vehicle, a blind area early warning is sent out, the speed of the automobile is kept, and lane changing is forbidden until the early warning is finished;
when the target vehicle runs in the same direction in the blind area of the adjacent lane of the test vehicle and the test vehicle has a lane changing intention, or the target vehicle quickly runs to the blind area of the test vehicle in the adjacent lane and the test vehicle has the lane changing intention, the blind area early warning and the lane changing early warning are sent out, and the lane changing is stopped;
when the test vehicle intends to overtake by the reverse lane and the target vehicle which runs oppositely on the reverse lane, sending out a reverse overtaking early warning, stopping overtaking and emergency braking;
when an emergency braking vehicle is arranged in front of the test vehicle, an emergency braking early warning is sent out, and emergency braking operation or lane changing operation is carried out according to the early warning level;
when the vehicle runs in the same direction in the road range in front of the tested vehicle and continuously broadcasts the information of the out-of-control state of the vehicle, the vehicle is sent out to give out an early warning of out-of-control, and the emergency evacuation is carried out and related personnel are informed to carry out treatment;
when the RSU in front of the vehicle is tested to continuously broadcast road speed limit information, sending out speed limit early warning, and immediately adjusting the vehicle speed to be within a limited speed range;
when the RSU in front of the test vehicle continuously broadcasts road traffic light information, sending out red light running early warning, and carrying out emergency braking or braking after acceleration or deceleration according to the early warning level;
when the weak traffic participants in front of the test vehicle cross the road, the collision early warning of the weak traffic participants is sent out to carry out emergency braking.
It should be noted that, the forward collision early warning is divided into three stages, when the distance from other vehicles is greater than 20m, the operation of changing the travelling route to avoid is adopted for the second forward collision early warning, when the distance from other vehicles is within the range of 10-20m, the deceleration operation is adopted for the second forward collision early warning, and when the distance from other vehicles is less than or equal to 10m, the emergency braking operation is adopted for the first forward collision early warning;
the emergency braking early warning is divided into two stages, when the distance from the emergency braking vehicle is more than 10m, lane changing operation is adopted for the two stages of emergency braking early warning, and when the distance from the emergency braking vehicle is less than or equal to 10m, emergency braking operation is adopted for the first stage of emergency braking early warning;
the early warning of running the red light is divided into three stages, when the distance between the vehicle and the red light is more than 10m and the time between the vehicle and the green light is less than 5s, braking is carried out after deceleration, when the distance between the vehicle and the red light is less than 10m and the time between the vehicle and the green light is more than or equal to 5s, the early warning of running the red light for the second stage is carried out, acceleration is adopted, and when the distance between the vehicle and the red light is less than 10m and the time between the vehicle and the green light is less than 5s or is in a red light state, emergency braking is adopted.
Furthermore, when the tested vehicle V2X is applied to reasonably respond to the test case in the performance evaluation stage, the early warning is normal and corresponding operation is carried out, the test is ended and the test data is recorded;
when the tested vehicle V2X is applied to perform error response on the test case in the performance evaluation stage, early warning display, error broadcasting or error operation on early warning is performed, ending the test, checking the tested vehicle and the test device, checking the error reason and performing repair adjustment;
when the tested vehicle V2X is not responded to the test case in the performance evaluation stage, the corresponding road condition is not pre-warned or is not operated after the pre-warning is not performed, the test is ended, the test condition setting is adjusted, and the test is performed again until the tested vehicle responds to the test case.
The embodiment also provides a system for testing the cooperative behavior capability of the civil aviation airport road, which comprises,
the network cloud platform can realize the butt joint with the central management system and is used for acquiring the running information of the vehicle and the state information of the equipment in real time;
the central management system is used for remotely controlling the vehicle and setting information of the automatic driving vehicle;
and the information storage center is used for storing the test data.
The present embodiment also provides a computing device comprising, a memory and a processor; the memory is used for storing computer executable instructions, and the processor is used for executing the computer executable instructions to realize the method for testing the cooperative behavior capability of the civil aviation airport road, which is provided by the embodiment.
The present embodiment also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the method for testing collaborative behavior capability of a civil aviation airport road as set forth in the above embodiment.
The storage medium proposed in this embodiment belongs to the same inventive concept as the method for testing the cooperative behavior capability of a civil aviation airport roadway proposed in the above embodiment, and technical details not described in detail in this embodiment can be seen in the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.
Example 2
Referring to fig. 2-3, for one embodiment of the present invention, a method for testing the capability of cooperative behavior of a civil aviation airport road is provided, and in order to verify the beneficial effects of the present invention, scientific demonstration is performed through experiments.
Vehicle route 1:B-2-3-7-6-5-4-3-7-6-1-B
Vehicle route 2: B-1-6-7-3-2-B
A, an employee parking lot, and the parking lot ends at the original parking space (11.6 m deep) where the factory is right.
B-vehicle automatic driving start point, the total length is about 3 x 5.3=16m, and three parking spaces (north-south direction, width 4m, depth 10 m) are divided by 1.3m.
C1-white parking (east-west, parallel parking, length about 5.3 m).
C2—safety test (total length about 2×5.3=10.6m), aircraft simulated nacelle is perpendicular to wall. Wherein the length of the food vehicle is 6.7m, the distance between the vehicle and the machine is 5m, and the total distance is 12.7m.
2-L-shaped light pole + road side unit RSU + eastward event camera.
E-V2X is driven along with the vehicle.
3-L-shaped street lamp pole + road side unit RSU + north signal lamp + north millimeter wave radar + north lidar + north event camera + south event camera.
F-speed limiting reminding (vehicle-mounted meeting warning, road width of 8m and maximum 19 m).
K-emergency braking early warning.
7-L-shaped street lamp pole + road side unit RSU + towards west millimeter wave radar + towards eastern millimeter wave radar.
6-L-shaped street lamp pole + road side unit RSU + northwest signal lamp + northbound lidar + northwest event camera + northbound event camera.
The G-V2X disadvantaged traffic participants avoid.
H-road hazard condition prompt (toward the factory side, vehicle lane change to left lane and turn)
5-L type street lamp pole + road side unit RSU + north incident camera.
I-fast traffic, single lane (4.7 m width, 7.5m maximum).
4-L-shaped street lamp pole + road side unit RSU + eastward millimeter wave radar + eastward event camera.
J-V2X cooperative lane change (right turn back straight lane change return right lane)
3-4-western road marking as a straight road for automatic following of a car in front of a car
L-intersection collision early warning.
M-V2X beyond-the-horizon obstacle alert
N is a large monitoring screen.
1-L-shaped street lamp pole + road side unit RSU + southeast event camera + west event camera.
B-back warehouse-in, automatic parking
Point location deployment and sensing equipment planning:
the acquisition parameters and accuracy requirements of the test equipment are shown in the following table:
the early warning application function test and evaluation procedure of the vehicle-road cooperative automatic driving system comprises 15 test items and 21 test scenes, as shown in the following table:
emergency braking early warning:
is arranged between the 4-3 or 3-6 positions of the road; when the vehicles running on the road are braked emergently, the vehicles running on the rear are easy to collide with the vehicles braked emergently in front due to untimely braking, and particularly, the situation of cascade collision is easy to occur. When the emergency braking occurs in the road running vehicle, information such as the position, the speed and the like of the emergency vehicle can be sent to the vehicle behind the emergency vehicle, so that a driver of the vehicle behind is reminded of braking in advance or changing the road, and collision with the vehicle braked in front is avoided.
The target vehicle is arranged stationary or the dummy suddenly traverses in front of the test vehicle. The special purpose vehicle was tested for its identification and automatic braking capabilities for a front stationary vehicle. The test vehicle is traveling at a constant speed in the automatic driving mode.
Intersection collision early warning:
when the host vehicle drives to the intersection, the sight of the host vehicle driver may be blocked by the obstacle of the intersection or for other reasons, so that the host vehicle driver cannot judge the vehicle driving to the intersection on the left side or the right side of the current intersection, and an intersection collision early warning (ICW) function is required to perform early warning on the driver. The intersection collision early warning (ICW) function is used for assisting a driver in avoiding or relieving side collision, improving the traffic safety of the intersection, and is arranged at the intersection 3 or 6.
As shown in fig. 3, video monitoring equipment, signal lamps, RSUs, millimeter wave radars and laser radars are deployed on the L-bar at the t-junction.
The test vehicle is driven to the intersection at a constant speed in the automatic driving mode.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, 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 the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The solutions in the embodiments of the present application may be implemented in various computer languages, for example, object-oriented programming language Java, and an transliterated scripting language JavaScript, etc.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (6)
1. A method for testing the cooperative behavior capability of a civil aviation airport road is characterized by comprising the following steps of: comprising the steps of (a) a step of,
carrying out a test under the condition of conforming to a test environment, wherein the test is carried out on a plurality of test items under different test scenes;
the method comprises the steps of collecting expected early warning information of a tested vehicle under a current test case, and adjusting the states of the tested vehicle and a background vehicle to be the same as the target motion state of the test case when the test is started;
testing, namely collecting related data of the tested vehicle, the background vehicle, the road side unit and the test target substitute in real time, and evaluating the data until the tested vehicle and the background vehicle meet the test ending condition;
when the automobile detects that a stationary vehicle or a slow vehicle is arranged in front of the same lane, or a stationary vehicle or a slow vehicle is arranged in front of an adjacent lane, or a vehicle running in opposite direction is arranged on the adjacent lane, forward collision early warning is sent out, and emergency braking or deceleration or avoidance operation is adopted according to the early warning level after the early warning;
when the automobile detects that the target vehicle runs in the same direction in the blind area of the adjacent lane of the tested vehicle, a blind area early warning is sent out, the speed of the automobile is kept, and lane changing is forbidden until the early warning is finished;
when the target vehicle runs in the same direction in the blind area of the adjacent lane of the test vehicle and the test vehicle has a lane changing intention, or the target vehicle quickly runs to the blind area of the test vehicle in the adjacent lane and the test vehicle has the lane changing intention, the blind area early warning and the lane changing early warning are sent out, and the lane changing is stopped;
when the test vehicle intends to overtake by the reverse lane and the target vehicle which runs oppositely on the reverse lane, sending out a reverse overtaking early warning, stopping overtaking and emergency braking;
when an emergency braking vehicle is arranged in front of the test vehicle, an emergency braking early warning is sent out, and emergency braking operation or lane changing operation is carried out according to the early warning level;
when the vehicle runs in the same direction in the road range in front of the tested vehicle and continuously broadcasts the information of the out-of-control state of the vehicle, the vehicle is sent out to give out an early warning of out-of-control, and the emergency evacuation is carried out and related personnel are informed to carry out treatment;
when the RSU in front of the vehicle is tested to continuously broadcast road speed limit information, sending out speed limit early warning, and immediately adjusting the vehicle speed to be within a limited speed range;
when the RSU in front of the test vehicle continuously broadcasts road traffic light information, sending out red light running early warning, and carrying out emergency braking or braking after acceleration or deceleration according to the early warning level;
when a weak traffic participant in front of the test vehicle crosses the road, the method sends out collision early warning of the weak traffic participant and carries out emergency braking;
the forward collision early warning is divided into three stages, when the distance from other vehicles is greater than 20m, the operation of changing the travelling route to avoid is adopted for the second stage forward collision early warning, when the distance from other vehicles is within the range of 10-20m, the operation of decelerating is adopted for the second stage forward collision early warning, and when the distance from other vehicles is less than or equal to 10m, the operation of emergency braking is adopted for the first stage forward collision early warning;
the emergency braking early warning is divided into two stages, when the distance from the emergency braking vehicle is more than 10m, lane changing operation is adopted for the two stages of emergency braking early warning, and when the distance from the emergency braking vehicle is less than or equal to 10m, emergency braking operation is adopted for the first stage of emergency braking early warning;
the early warning of running the red light is divided into three stages, braking is carried out after deceleration when the distance between the vehicle and the red light is more than 10m and the time between the vehicle and the green light is less than 5s, the early warning of running the red light is carried out for the second stage when the distance between the vehicle and the red light is less than 10m and the time between the vehicle and the green light is more than or equal to 5s, the early warning of running the red light is carried out for the third stage, and emergency braking is carried out when the distance between the vehicle and the red light is less than 10m and the time between the vehicle and the green light is less than 5s or the vehicle is in a red light state;
the early warning information is broadcast and early warned through voice, meanwhile, icons with different shapes are flashing and reminded on the panel in the vehicle, icons with early warning primary or single-stage early warning are displayed in red, icons with early warning secondary are displayed in yellow, and icons with early warning tertiary are displayed in green;
the test termination condition includes that,
when the tested vehicle V2X is applied to reasonably respond to the test case in the performance evaluation stage, the early warning is normal and corresponding operation is carried out, and then the test is ended and test data are recorded;
when the tested vehicle V2X is applied to perform error response on the test case in the performance evaluation stage, early warning display, error broadcasting or error operation on early warning is performed, ending the test, checking the tested vehicle and the test device, checking the error reason and performing repair adjustment;
when the tested vehicle V2X is not responded to the test case in the performance evaluation stage, the corresponding road condition is not pre-warned or is not operated after the pre-warning is not performed, the test is ended, the test condition setting is adjusted, and the test is performed again until the tested vehicle responds to the test case.
2. The method for testing the cooperative behavior capability of a civil aviation airport road according to claim 1, wherein: the test adopts automatic driving, and comprises a state adjustment stage and a performance evaluation stage, wherein the state adjustment stage is a process from starting a tested vehicle and a background vehicle to reaching a target motion state of a test case, and the performance evaluation stage is a process from the tested vehicle and the background vehicle to reaching the target motion state of the test case until the test ending condition is met.
3. The method for testing the cooperative behavior capability of a civil aviation airport road according to claim 2, wherein: the expected early warning information comprises forward collision early warning, blind area early warning, lane changing early warning, reverse overtaking early warning, emergency braking early warning, vehicle out-of-control early warning, weak traffic participant collision early warning, speed limit early warning, red light running early warning and reverse overtaking early warning.
4. A system for testing the cooperative behavior of a civil aviation airport roadway, which performs the method of any one of claims 1 to 3, characterized in that: comprising the steps of (a) a step of,
the network cloud platform can realize the butt joint with the central management system and is used for acquiring the running information of the vehicle and the state information of the equipment in real time;
the central management system is used for remotely controlling the vehicle and setting information of the automatic driving vehicle;
and the information storage center is used for storing the test data.
5. A computer device, comprising: a memory and a processor; the memory stores a computer program characterized in that: the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 3.
6. A computer-readable storage medium having stored thereon a computer program, characterized by: the computer program implementing the steps of the method of any one of claims 1 to 3 when executed by a processor.
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Application publication date: 20230314 Assignee: Jiangsu Tianyi Airport Equipment Maintenance Service Co.,Ltd. Assignor: Jiangsu Tianyi Aviation Industry Co.,Ltd. Contract record no.: X2023980044219 Denomination of invention: A Method for Testing the Ability of Vehicle Road Collaborative Behavior in Civil Aviation Airports Granted publication date: 20230609 License type: Common License Record date: 20231024 |